Mobile medical imaging device having foldable arm and method for operating medical imaging device

Abstract

A medical imaging device of the present disclosure comprises: a main body that can travel; a first arm coupled to the main body by a first joint unit; a second arm coupled to the first arm by a second joint unit that comprises a smart actuator; and a control unit for controlling a joint unit comprising at least one of the first joint unit and the second joint unit.

Description

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

[0001] The present disclosure relates to a mobile medical imaging device having a foldable arm and an operating method thereof. More specifically, the medical imaging device of the present disclosure can comfortably position a source assembly at an imaging position by means of a foldable arm with a high degree of freedom.

[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] Because the source assembly is relatively heavy, it can be difficult for users to manually position it close to the patient or align it with the detector. Mobile medical imaging devices, in particular, require not only moving the source assembly but also positioning the main unit near the patient, which can increase the user's or patient's effort compared to fixed devices. Therefore, research is ongoing into mobile medical imaging devices that utilize arms with high degrees of freedom to move the source assembly.

[0007] [Prior Art Literature]

[0008] [Patent Document]

[0009] (Patent Document 1) Patent Registration No. 10-1616670 (April 28, 2016)

[0010]

[0011] The present disclosure describes a mobile medical imaging device having an arm (ARM) having a high degree of freedom of movement.

[0012]

[0013] A medical imaging device according to the present disclosure includes a movable main body, a first arm coupled to the main body by a first joint part, a second arm coupled to the first arm by a second joint part including a smart actuator, and a control part for controlling the second joint part.

[0014] The control unit of the medical imaging device according to the present disclosure controls the second joint to rotate the second arm relative to the first arm based on at least one of a torque applied to the second joint and a user input.

[0015] The control unit of the medical imaging device according to the present disclosure measures a first torque applied to a second joint, determines whether the first torque is equal to or greater than a predetermined critical sensitivity torque of the second joint, and, if the first torque is equal to or greater than the critical sensitivity torque of the second joint, controls the second joint to rotate the second arm relative to the first arm, wherein the critical sensitivity torque of the second joint is changeable.

[0016] The control unit of the medical imaging device according to the present disclosure controls the second joint unit so that the first arm and the second arm have a predetermined angle based on a user's input to a button related to joint movement.

[0017] A medical imaging device according to the present disclosure further includes a source assembly coupled to the other end of a second arm and including a second transceiver, and a detector that receives radiation irradiated from the source assembly to generate a medical image and includes a first transceiver that transmits and receives signals to and from the second transceiver, and a control unit controls a second joint unit so that a direction of radiation irradiation of the source assembly becomes perpendicular to a radiation receiving surface of the detector based on the first transceiver unit and the second transceiver unit.

[0018] The control unit of the medical imaging device according to the present disclosure obtains a second torque by an external force while the second arm moves relative to the first arm by driving the second joint, determines whether the second torque is greater than or equal to a predetermined critical impact torque, and stops driving the second joint if the second torque is greater than or equal to the predetermined critical impact torque.

[0019] A second arm of a medical imaging device according to the present disclosure includes a 2-1 arm having one end connected to a second joint; a 2-2 arm having at least a portion inserted into a space formed inside the 2-1 arm and capable of moving along the 2-1 arm; and a telescopic arm driving unit connected inside the 2-1 arm and providing a driving force for the 2-2 arm to move relative to the 2-1 arm.

[0020] A second joint of a medical imaging device according to the present disclosure includes a first smart actuator coupled to at least one side of the first arm and the second arm and a second smart actuator coupled to the other side of at least one of the first arm and the second arm, wherein the first smart actuator and the second smart actuator provide a driving force to a rotational axis of the second arm with respect to the first arm.

[0021] A medical imaging device according to the present disclosure includes a movable main body, a first arm coupled to the main body by a first joint portion, a second arm coupled to the first arm by a second joint portion and capable of extension by a telescopic arm drive portion, and a control portion for controlling the second joint portion.

[0022] A second arm of a medical imaging device according to the present disclosure includes a 2-1 arm having one end coupled to a second joint, a 2-2 arm having at least a portion inserted into a space formed inside the 2-1 arm and capable of moving along the 2-1 arm, and a telescopic arm driving unit coupled inside the 2-1 arm and controlling a driving force for the 2-2 arm to move relative to the 2-1 arm.

[0023] The control unit of the medical imaging device according to the present disclosure controls the movement of the 2-2 arm relative to the 2-1 arm based on either a user's input to a button related to telescoping or a force applied by the user to the 2-2 arm.

[0024] The control unit of the medical imaging device according to the present disclosure acquires an external force by an external force while the 2-2 arm moves relative to the 2-1 arm by the telescopic arm driving unit, determines whether the external force is greater than a predetermined critical impact force, and stops the driving of the telescopic arm driving unit if the external force is greater than the predetermined critical impact force.

[0025] Additionally, a program for implementing the medical imaging device operating method as described above can be recorded on a computer-readable recording medium.

[0026]

[0027] The mobile medical imaging device of the present disclosure utilizes a high-degree-of-freedom arm, allowing the user to easily position the source assembly toward the user. Furthermore, the arm supports the weight of the source assembly, allowing the user to move the source assembly without exerting significant force.

[0028] In addition, by providing a means for quickly aligning the source assembly and detector of the mobile medical imaging device of the present disclosure, user convenience can be improved and the quality of medical images can be improved.

[0029] 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.

[0030]

[0031] FIG. 1 is a drawing showing a mobile medical imaging device according to one embodiment of the present disclosure.

[0032] FIG. 2 is a drawing showing a process of using a medical imaging device according to one embodiment of the present disclosure.

[0033] 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.

[0034] FIG. 4 illustrates a source arm of a medical imaging device according to one embodiment of the present disclosure.

[0035] FIG. 5 is a drawing for explaining a second joint part according to one embodiment of the present disclosure.

[0036] FIG. 6 is a flowchart for explaining the operation of another medical imaging device according to one embodiment of the present disclosure.

[0037] FIG. 7 is a flowchart showing the operation of a medical imaging device according to one embodiment of the present disclosure.

[0038] Figure 8 is a drawing for explaining the angular acceleration of the second arm of the present disclosure.

[0039] FIG. 9 is a drawing for explaining the degrees of freedom of an arm of a medical imaging device according to one embodiment of the present disclosure.

[0040] FIG. 10 is a drawing for explaining a configuration for moving an arm of a medical imaging device according to one embodiment of the present disclosure.

[0041] FIG. 11 shows a plan view of a medical imaging device according to one embodiment of the present disclosure.

[0042] FIG. 12 is a drawing for explaining a second joint part according to one embodiment of the present disclosure.

[0043] FIG. 13 may be a drawing explaining a moving brake of a main body according to one embodiment of the present disclosure.

[0044]

[0045] 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.

[0046] The terms used in this specification will be briefly explained, and the disclosed embodiments will be described in detail.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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."

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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).

[0057] Referring to FIG. 2, the main body (130) may be drivable. The main body (130) may include wheels. The wheels may include at least one of a caster wheel, an electric wheel, and an omni-wheel. The main body (130) may be moved by the user's force or automatically by a wheel actuator.

[0058] The 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 (210). Accordingly, the radiation emitted from the source assembly (110) can pass through the subject (210) and reach the detector (120). The detector (120) can detect the radiation passing through the subject (210) and convert it into an electrical signal. In addition, the detector (120) can acquire a radiological image based on the electrical signal.

[0059] A medical imaging device (100) may include a source arm (140). The source assembly (110) may be connected to the main body (130) via the source arm (140). The source assembly (110) may include an X-ray source and a collimator. The X-ray source may be configured to irradiate radiation. The X-ray source may be rotatable about an axis parallel to the longitudinal direction of the source arm (140).

[0060] Additionally, the irradiation range of the radiation can be determined by a collimator. The collimator can rotate with respect to the X-ray source about an axis parallel to the irradiation direction of the radiation.

[0061] 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).

[0062] 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.

[0063] 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).

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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).

[0072] 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).

[0073] 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 include at least one of the main display (150) included in the main body (130) and the sub-display included in the source assembly (110). The output unit (340) can output medical images generated by the main control unit (300). The output unit (340) can output information necessary for 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) may include a speaker, a printer, a CRT display, an LCD display, a PDP display, an OLED display, a FED display, an LED display, a VFD display, a DLP display, an FPD display, a 3D display, a transparent display, etc., and may include various output devices within a range obvious to those skilled in the art.

[0074] 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).

[0075] 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).

[0076] 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).

[0077] 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).

[0078] 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).

[0079] 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).

[0080] 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).

[0081] 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.

[0082] 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).

[0083] The medical imaging device (100) can be 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.

[0084] 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.

[0085] 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.

[0086] 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).

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Below, the source assembly (110) and detector (120) are described in detail with reference to FIGS. 4 and 5.

[0094] FIG. 4 illustrates a source arm of a medical imaging device according to one embodiment of the present disclosure.

[0095] The source arm (140) may include a first arm (410), a second arm (420), a first joint portion (430), and a second joint portion (440).

[0096] The first arm (410) can be coupled to the main body (130) by a first joint part (430). The medical imaging device (100) of the present disclosure can include a joint part (450). The joint part (450) can include at least one of the first joint part (430) and the second joint part (440). In addition, the first joint part (430) can include a first-first joint part (431) and a first-second joint part (432).

[0097] The first-first joint (431) can rotate the first arm (410) about an axis parallel to the top. That is, the first-first joint (431) can rotate the first arm (410) about an axis perpendicular to the ground. The first-first joint (431) can include a friction brake. The friction brake can be always in operation, so that the first arm (410) may not rotate about an axis parallel to the top. For example, the first friction plate fixed to the main body (130) and the second friction plate fixed to the first arm (410) are in contact with each other, so that the first arm (410) may not rotate about an axis parallel to the top. However, when receiving an input from the user for a brake release button related to the 1-1 joint (431), the main control unit (300) can release the friction brake to allow the first arm (410) to rotate about an axis parallel to the top. More specifically, the first friction plate and the second friction plate, which receive an input for the brake release button from the user, can separate from each other to allow the first arm (410) to rotate about an axis parallel to the top. The force for separating the first friction plate and the second friction plate from each other can be provided by a magnetic force or a driving force of a motor.

[0098] The maximum rotation angle based on an axis parallel to the top of the first arm (410) may be 20 degrees or less to the right and 20 degrees or less to the left. More specifically, the maximum rotation angle based on an axis parallel to the top of the first arm (410) may be 15 degrees or less to the right and 15 degrees or less to the left. By limiting the rotation angle based on the axis parallel to the top of the first arm (410) in this way, the balance of the main body (130) can always be maintained. A heavy source assembly (110) may be coupled to the source arm (140), and if the first arm (410) rotates excessively around the axis parallel to the top, the main body (130) may lose its balance and fall to the side. However, the medical imaging device (100) of the present disclosure can prevent the main body (130) from losing its center and falling by limiting the rotation angle of the source arm (140).

[0099] In the above, the configuration in which the 1-1 joint part (431) rotates relative to the main body (130) about an axis perpendicular to the ground has been described, but it is not limited thereto. The 1-1 joint part (431) may not be rotatable relative to the main body (130) about an axis perpendicular to the ground. That is, the 1-1 joint part (431) may be fixed so as not to be movable relative to the main body (130). If rotation is required relative to the axis perpendicular to the ground of the source arm (140), the user may rotate the main body (130) itself.

[0100] The first-second joint part (432) may be configured to couple the main body (130) and the first arm (410). The first-second joint part (432) may be configured to couple the first-first joint part (431) and the first arm (410). The first-second joint part may have a fixed structure. That is, the first-second joint part may not be rotatable. The first-second joint part may not be rotatable about an axis parallel to the ground. The first-second joint part may include a plurality of fixing screws. The plurality of fixing screws may be configured to couple the first-first joint part (431) and the first arm (410). The first-second joint part (432) may have to withstand a large torque due to the weight of the source arm (140) and the source assembly (110). The first-second joint (432) can withstand a large torque applied to the first joint (430) by including a plurality of fixing screws.

[0101] By means of the first-second joint portion (432), the first arm (410) can be fixed by being inclined at a predetermined fixed angle with respect to the ground. By means of the first-second joint portion (432), the first arm (410) can be fixed by being inclined at a predetermined fixed angle (460) with respect to a line perpendicular to the ground. The predetermined fixed angle (460) can be 10 degrees or more and 60 degrees or less.

[0102] The predetermined fixed angle (460) may be determined according to the on-site situation. For example, in a site with a low ceiling, the predetermined fixed angle (460) may be increased. In addition, the predetermined fixed angle (460) may vary based on the size of the bed deployed on-site. For example, if the size of the bed deployed on-site is width x length x height, and the length is longer than the width, the range of the angle may be determined by the following equation.

[0103] Bed length / 2 - Predetermined allowable length <= Length of first arm * sin(predetermined fixed angle) + Length of second arm <= Bed length / 2 + Predetermined allowable length

[0104] The predetermined allowable length here can have a value of 10 cm or more and 40 cm or less.

[0105] In the above, the case where the 1-2 joint part (432) is fixed has been described, but it is not limited thereto. The 1-2 joint part (432) may be rotatable about an axis parallel to the ground.

[0106] More specifically, the first-second joint (432) can rotate the first arm (410) about a parallel axis to the left and right. The first-second joint (432) can include a smart actuator. The smart actuator can be configured to support the first arm (410) in the first-second joint (432). That is, the first-second joint (432) can generate a torque in the opposite direction to the torque due to the weight of the source arm (140) to prevent the first arm (410) from moving. When the first-second joint (432) is stationary, the smart actuator can include a magnetic brake to generate a torque in the opposite direction to the torque due to the weight of the source arm (140). Additionally, when the first-second joint (432) is moving, the smart actuator may include a joint motor to generate torque in the opposite direction of the torque due to the weight of the source arm (140).

[0107] The first-second joint (432) may be configured to rotate the first arm (410) about an axis parallel to the left and right. The first-second joint (432) may be configured to rotate the first arm (410) about an axis parallel to the ground. The first-second joint (432) may rotate the first arm (410) about an axis parallel to the left and right or the ground under the control of the user's input or the control unit (300).

[0108] The second arm (420) can be coupled to the first arm (410) by the second joint (440). The second arm (420) can be extended by the telescopic arm drive (1030). However, this is not limited thereto, and the second arm (420) may not be extended. The second arm (420) can be rotated left and right or about an axis parallel to the ground with respect to the first arm (410) by the second joint (440). The second arm (420) may be configured to place the source assembly (110) near the patient.

[0109] The second joint part (440) may include a smart actuator. The second joint part (440) may be configured to move the second arm (420) relative to the first arm (410). The smart actuator may include at least one of a joint motor (540), a harmonic drive (550), a torque sensor, and a joint encoder (520). The smart actuator will be described later. The second joint part (440) may move the second arm (420) relative to the first arm (410) based on a user input or a signal from the control part (300). The second arm (420) may move relative to the first arm (410) about an axis parallel to the ground. For example, the second arm (420) may rotate relative to the first arm (410) about an axis extending left and right. The movement of the second joint (440) will be described later.

[0110] Additionally, the second joint part (440) may be configured to fix the second arm (420) to the first arm (410). The second joint part (440) may receive torque due to the weight of the second arm (420) and the source assembly (110). For example, the direction of the torque that the second joint part (440) receives due to the weight of the second arm (420) and the source assembly (110) may be clockwise. The smart actuator included in the second joint part (440) may provide torque to offset the torque received due to the weight of the second arm (420) and the source assembly (110). For example, when the second arm (420) is stationary with respect to the first arm (410), the magnetic brake (530) can provide a torque to offset the torque received by the second joint part (440) due to the weight of the second arm (420) and the source assembly (110). The second arm (420) can be fixed with respect to the first arm (410) by a smart actuator included in the second joint part (440). In addition, when the second arm (420) is moving with respect to the first arm (410), the joint motor (540) can provide a torque to offset the torque received by the second joint part (440) due to the weight of the second arm (420) and the source assembly (110).

[0111] According to various embodiments of the present disclosure, the second joint part (440) may further include a gas spring (441). The gas spring (441) may provide a torque to offset the torque applied to the second joint part (440) due to the weight of the second arm (420) and the source assembly (110). That is, the gas spring (441) and the smart actuator included in the second joint part (440) may provide a torque to prevent the second arm (420) from moving relative to the first arm (410). In addition, the gas spring (441) may be configured to reduce the burden on the smart actuator. This is because, without the gas spring (441), the smart actuator must alone withstand the torque applied due to the weight of the source assembly (110).

[0112] FIG. 5 is a drawing for explaining a second joint part according to one embodiment of the present disclosure.

[0113] The second joint part (440) may include a smart actuator (500). FIG. 5 illustrates the structure of the smart actuator (500). The smart actuator (500) may include at least one of a motor drive (510), a joint encoder (520), a magnetic brake (530), a joint motor (540), and a harmonic drive (550). The motor drive (510), the joint encoder (520), the magnetic brake (530), the joint motor (540), and the harmonic drive (550) may be arranged along a drive shaft (560) of the smart actuator (500). Although not described in FIG. 5, the smart actuator (500) may further include a torque sensor.

[0114] The motor drive (510) may include a control board for driving the joint motor (540). The motor drive (510) may generate a signal for driving the joint motor (540) based on a signal from the control unit (300) of the main body (130). The motor drive (510) may also transmit a signal of a joint encoder according to the rotation of the joint motor to the control unit (300) of the main body (130). In addition, the motor drive (510) may control the magnetic brake (530). The magnetic brake (530) may be in a state where the brake is always operated. The magnetic brake (530) may release the brake when the joint motor (540) rotates based on the signal from the motor drive (510). For example, when a user presses a brake release button, the magnetic brake (530) is released, allowing the smart actuator to move.

[0115] The joint encoder (520) may be configured to measure at least one of a rotational angle, a rotational speed, and a rotational acceleration of a drive shaft of the smart actuator (500). The joint encoder (520) may be a multi-turn absolute encoder. The rotational angle of the joint motor may refer to a rotational position of the second arm (420) with respect to the first arm (410). That is, the joint encoder (520) may measure the position of the second arm (420) with respect to the first arm (410). In addition, the joint encoder (520) may measure a rotational speed of the second arm (420) with respect to the first arm (410). The rotational speed may be information including a rotational direction and a rotational speed. The joint encoder (520) may measure a rotational acceleration of the second arm (420) with respect to the first arm (410). The joint encoder (520) may also function as a torque sensor. However, this is not limited to this, and the smart actuator (500) may be equipped with a separate torque sensor. The control unit (300) may perform necessary control based on the rotation angle, rotation speed, and rotational acceleration measured by the joint encoder (520).

[0116] The magnetic brake (530) may be configured to fix the drive shaft of the smart actuator (500) so that it does not rotate. As already described, the smart actuator (500) included in the second joint part (440) may be configured to rotate or fix the second arm (420) with respect to the first arm (410). The magnetic brake (530) may be configured to fix the second arm (420) with respect to the first arm (410). As already described, the second joint part (440) may receive torque due to the weight of the second arm and the weight of the source assembly (110). When the second arm (420) is fixed to the first arm (410), the magnetic brake (530) can provide a force that can offset the torque received by the second joint part (440) due to the weight of the second arm and the weight of the source assembly (110). In addition, based on a control signal of the control unit (300), the magnetic brake (530) can be released and the joint motor (540) can start to rotate. More specifically, when the magnetic brake (530) is released, the joint motor (540) can be controlled to offset the torque that the magnetic brake (530) was offsetting. The control unit can measure the torque that the magnetic brake (530) was offsetting by a torque sensor. The offsetting torque can be a torque due to the weight of at least one of the second arm (420) and the source assembly (110). The control unit can maintain the second arm (420) in a fixed state by releasing the magnetic brake (530) and causing the joint motor (540) to generate torque at the same time. At this time, the gas spring (441) can prevent sudden movement of the second arm (420). In addition, the gas spring (441) can provide a force (torque) to support at least one of the source assembly (110) and the second arm (420) so that it does not move in the direction of gravity.Therefore, at least one of the magnetic brake (530) or the joint motor (540) can offset the torque caused by the weight of at least one of the source assembly (110) and the second arm (420) with a small force. In this state, the second arm (420) can move relative to the first arm (410) while the control unit (300) changes the torque generated from the joint motor (540).

[0117] The joint motor (540) may be configured to provide driving force based on electric energy. In the second joint part (440) equipped with the smart actuator (500), the joint motor (540) may provide driving force for the second arm (420) to rotate with respect to the first arm (410).

[0118] The harmonic drive (550) may be a type of reducer. The harmonic drive (550) may be a reducer that uses the principle of epicyclic gear engagement by utilizing the bending of a rigid body. The harmonic drive (550) has a large basic reduction ratio and almost no backlash, so it is advantageously used for miniaturizing mechanical devices such as high rigidity and high output. The harmonic drive can rotate the drive shaft of the smart actuator (500) based on the driving force provided by the joint motor (540).

[0119] In addition, although not shown in FIG. 5, the smart actuator (500) may include a torque sensor. The torque sensor may be configured to measure a torque applied externally to the drive shaft of the joint part (450). For example, the smart actuator (500) may be in a state of not moving due to a magnetic brake (530). At this time, the torque sensor may measure at least one of a torque applied to the joint part (450) by a user and a torque applied to the joint part (450) by gravity. In addition, the smart actuator (500) may be in a state of moving due to a joint motor (540). At this time, the torque sensor may measure at least one of a torque applied to the joint part (450) by gravity, a torque applied to the joint part (450) by the joint motor (540), and a torque applied to the joint part (450) by an external force.

[0120] As previously described, the medical imaging device (100) may include a control unit (300). The control unit (300) may be configured to control a joint unit (450) including at least one of a first joint unit (430) and a second joint unit (440).

[0121] The control unit (300) can control the second joint unit (440) to rotate the second arm (420) relative to the first arm (410) based on at least one of the torque applied to the joint unit and the user's input. Hereinafter, a process of controlling the second joint unit (440) based on the torque applied to the joint unit will be described.

[0122] FIG. 6 is a flowchart for explaining the operation of another medical imaging device according to one embodiment of the present disclosure.

[0123] Fig. 6 can be performed when the second arm (420) is stationary with respect to the first arm (410). More specifically, the second arm (420) can be stationary with respect to the first arm (410) by the magnetic brake (530) included in the second joint (440).

[0124] The control unit (300) can perform the step (610) of measuring the first torque applied to the second joint unit (440). More specifically, the second joint unit (440) can include a smart actuator (500), and the control unit (300) can perform the step (610) of measuring the first torque based on at least one of the torque sensor and the joint encoder (520) included in the smart actuator (500).

[0125] The first torque may be a force applied by an external force to the second joint portion (440) while the second arm (420) is stationary with respect to the first arm (410). The fact that the second arm (420) is stationary with respect to the first arm (410) may mean that the torque applied by the second arm (420) and the source assembly (110) is offset by at least one of the magnetic brake (530) or the gas spring (441). At this time, an additional external force, such as a user's force, may be applied to the second arm (420) to generate the first torque at the second joint portion (440).

[0126] The control unit (300) may perform a step (620) of determining whether the first torque is greater than or equal to a predetermined critical sensitivity torque of the second joint. The predetermined critical sensitivity torque of the second joint may be set by the user or may be automatically determined based on a predetermined algorithm. The critical sensitivity torque of the second joint may be related to a force required by the user to move the source arm (140). The critical sensitivity torque of the second joint may be changeable. The smaller the critical sensitivity torque of the second joint, the more the user can initially move the second arm (420) with a small force relative to the first arm (410). In addition, the larger the critical sensitivity torque of the second joint, the more the user must initially apply a large force to move the second arm (420) with respect to the first arm (410).

[0127] The critical sensitivity torque of the second joint may be selected from among a plurality of predetermined candidate critical sensitivity torques. The plurality of candidate critical sensitivity torques may include five different ones. For example, the plurality of candidate critical sensitivity torques may correspond to one of very sensitive, sensitive, normal, insensitive, or very insensitive. The magnitude of the candidate critical sensitivity torque may increase as it goes from very sensitive to very insensitive. One of the plurality of predetermined candidate critical sensitivity torques may be selected based on a user's selection input. The smaller the critical sensitivity torque, the less force is required to move the second arm (420), but there may be a possibility that the second arm (420) moves incorrectly. The larger the critical sensitivity torque, the greater the force is required to move the second arm (420), but there may be no possibility that the second arm (420) moves incorrectly.

[0128] According to various embodiments of the present disclosure, the medical imaging device (100) can select one of the candidate critical sensitivity torques based on the user's identification information. More specifically, the user can register the identification information in the medical imaging device (100). The medical imaging device (100) can be configured to be used only by a user whose identification information is registered. The medical imaging device (100) can store the critical sensitivity torque of the second joint portion corresponding to the user's identification information. Accordingly, when the user inputs the user's identification information in the medical imaging device (100) to use the medical imaging device (100), the medical imaging device (100) can automatically select one of the plurality of candidate critical sensitivity torques.

[0129] The medical imaging device (100) may perform the following steps to store the critical sensitivity torque of the second joint in response to the user's identification information. When the medical imaging device (100) receives the user's identification information, the medical imaging device (100) may also receive the critical sensitivity torque. In addition, the medical imaging device (100) may automatically determine the critical sensitivity torque based on at least one of the user's gender, age, and weight. In addition, the medical imaging device (100) may output a message to the user to comfortably apply force to rotate the second arm (420) relative to the first arm (410) for testing. For example, the medical imaging device (100) may output a message to comfortably apply force to "lift" the second arm (420). The user may apply force to the second arm (420). The medical imaging device (100) can measure the torque applied to the second joint (440) based on the force applied by the user to the second arm (420). The torque applied to the second joint (440) may be the net torque applied to the second joint (440). However, the present invention is not limited thereto, and the torque applied to the second joint (440) may be the torque applied by the user to the second joint (440).

[0130] The medical imaging device (100) may select the candidate critical sensitivity torque that is closest to the measured torque as the critical sensitivity torque of the second joint. Alternatively, the medical imaging device (100) may select the candidate critical sensitivity torque that is larger than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint. In addition, the medical imaging device (100) may select the candidate critical sensitivity torque that is smaller than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint. In addition, the medical imaging device (100) may determine the measured torque as the critical sensitivity torque of the second joint.

[0131] In the above, only the critical sensitivity torque of the second joint part has been described, but the critical sensitivity torque may also be set for the first joint part (430). Since the same description can be applied to the critical sensitivity torque of the first joint part, redundant description is omitted.

[0132] The control unit (300) may perform a step (630) of controlling the second joint to rotate the second arm with respect to the first arm (410) when the first torque is greater than or equal to the critical sensitivity torque of the second joint (440). The rotation direction of the second arm (420) with respect to the first arm (410) may be the same as the direction of the force applied by the user to the second arm (420). For example, in FIG. 4, if the user applied an upward force to the second arm (420), the second arm (420) may rotate counterclockwise. Additionally, if the user applied a downward force to the second arm (420), the second arm (420) may rotate clockwise.

[0133] When a user applies force to the second arm (420), torque may be applied not only to the second joint part (440) but also to the first joint part (430). The control unit (300) may control only one of the first joint part (430) and the second joint part (440) to move. However, the present invention is not limited thereto, and the control unit (300) may control both the first joint part (430) and the second joint part (440) to move simultaneously. The control unit (300) may determine a mode in which only one of the first joint part (430) and the second joint part (440) moves and a mode in which both the first joint part (430) and the second joint part (440) move based on the user's input.

[0134] In a mode where only one of the first joint part (430) and the second joint part (440) moves, the control unit (300) can move only the first joint part (430) or only the second joint part (440) based on whether the user applied force to the second arm (420) or the first arm (410). For example, if the user applied force to the second arm (420), both the first joint part (430) and the second joint part (440) of the medical imaging device (100) can receive torque. Therefore, the medical imaging device (100) can determine to rotate the second joint part (440) regardless of the first joint part torque measured at the first joint part (430) if the second joint part torque measured at the second joint part (440) is equal to or greater than a predetermined threshold starting torque. That is, the first arm (410) is fixed to the main body (130), and the second arm (420) can move with respect to the first arm (410). If it is determined that the second arm (420) moves, the process of FIG. 6 can be performed.

[0135] In addition, the medical imaging device (100) may determine that the first joint (430) rotates when the second joint torque measured at the second joint (440) is less than or equal to a predetermined critical starting torque and the first joint torque measured at the first joint (430) is greater than or equal to the critical starting torque. That is, the first arm (410) may move with respect to the main body (130), and the second arm (420) may be fixed with respect to the first arm (410). In this way, by moving one of the first joint (430) and the second joint (440), the first arm (410) or the second arm (420) may move as intended by the user, and this may be convenient for the user because it is intuitive. However, the present invention is not limited thereto.

[0136] Step (630) may include the following steps. The control unit (300) may control the second arm (420) to accelerate below a predetermined maximum angular acceleration in a stopped state in order to prevent the second arm (420) from accelerating too quickly. In addition, the control unit (300) may control the second arm (420) to move below a predetermined maximum constant angular velocity after accelerating in a stopped state in order to prevent the second arm (420) from moving too quickly. In addition, the control unit (300) may cause the second arm (420) to move when a user applies force to the second arm (420) and may cause the second arm (420) to not move again when a user does not apply force to the second arm (420). When the second arm (420) is moving, the torque that the user must apply to the second arm (420) may be less than or equal to the critical sensitivity torque. The control unit (300) can control the second arm (420) to decelerate below a predetermined maximum angular acceleration when it stops moving in order to prevent the second arm (420) from decelerating too quickly. Accordingly, the user can avoid being surprised by sudden movements or uncontrollable angular velocities of the second arm (420).

[0137] Since the second arm (420) and the source assembly (110) are coupled to the second joint part (440), a torque due to the weight of the second arm (420) and the source assembly (110) can be applied to the second joint part (440). Even while the second arm (420) is moving, a torque due to the weight of the second arm (420) and the source assembly (110) can be applied to the second joint part (440). The torque applied to the second joint part (440) by the second arm (420) and the source assembly (110) can be determined by a predetermined function. The predetermined function can output an output torque applied to the second joint part (440) by using at least one of the weight of the second arm (420), the weight of the source assembly (110), the angle of the first arm (410) with respect to the ground, the angle of the second arm (420) with respect to the first arm (410), the length of the second arm (420), the length of the gas spring, or the force provided by the gas spring as a variable. The output torque may be a torque due to the weight of the second arm (420) and the source assembly (110). The control unit (300) can control the smart actuator included in the second joint part (440) to generate a torque in a direction opposite to the output torque determined by the predetermined function so that the second arm (420) moves at a constant angular velocity with respect to the first arm (410). For example, if the second arm moves at a constant angular velocity, the torque generated by the smart actuator may be:

[0138] 1) TOUT = -T1 -T2 (when the torque applied by the user to the second arm is in the same direction as the torque due to the weight of the second arm (420) and the source assembly (110))

[0139] 2) TOUT = -T1 + T2 (when the torque applied by the user to the second arm is in a different direction from the torque due to the weight of the second arm (420) and the source assembly (110))

[0140] Here, TOUT may be the magnitude of the torque generated by the smart actuator. T1 may be the torque due to the weight of the second arm (420) and the source assembly (110). T2 may be the torque applied by the user to the second arm (or the second joint (440)).

[0141] By utilizing the critical sensitivity torque of the second joint part that can be changed in this way, the user can comfortably move the second arm (420) relative to the first arm (410) regardless of the user's muscle strength. That is, since the critical sensitivity torque is determined according to the user, the user can freely control the arm of the medical imaging device (100) regardless of the user's muscle strength.

[0142] Hereinafter, a process of controlling the second joint (440) to rotate the second arm (420) relative to the first arm (410) based on a user's input will be described. Here, the user's input may not mean the user directly applying force to the second arm (420), but rather inputting the user's intention into an input unit (350) such as a button or touch screen.

[0143] The control unit (300) may perform a step of controlling the second joint so that the first arm (410) and the second arm (420) have a predetermined angle based on a user's input for a button related to joint movement. For example, the predetermined angle may be 90 degrees or more and 180 degrees or less. In addition, the predetermined angle may mean the angle between the first arm (410) and the second arm (420) when the second arm (420) is substantially parallel to the ground.

[0144] Referring to FIG. 4, the button related to joint movement may be a physical button. The button related to joint movement may be included in at least two of the second joint part (440), the second arm (420), and the source assembly (110). For example, the button related to joint movement may be located on the left or right side of the second joint part (440). In addition, the button related to joint movement may be located on at least one of the upper side, the left side, the right side, and the lower side of the second arm (420). In addition, the button related to joint movement may be located on at least one of the front, upper side, left side, right side, and lower side of the source assembly (110).

[0145] Additionally, the button related to joint movement may be a button displayed on a graphical user interface (GUI) such as a touch screen. The button related to joint movement may be located on at least one of the auxiliary display located on the source assembly (110) and the main display (150) located on the main body (130). The auxiliary display located on the source assembly (110) may be located on the front surface of the source assembly (110). However, the present invention is not limited thereto.

[0146] In order to prevent the first arm (410) and the second arm (420) from colliding with surrounding objects during movement of the medical imaging device (100), the first arm (410) and the second arm (420) may be in a folded state. For example, the medical imaging device (100) may be moved in a posture as shown in FIG. 1. The second arm (420) may be in a state substantially perpendicular to the ground. Accordingly, the torque applied to the second joint part (440) by the source assembly (110) and the second arm (420) can be minimized, thereby preventing the second joint part (440) from being damaged by impact during movement. In addition, the source assembly (110) can be minimized from colliding with surrounding objects.

[0147] When the medical imaging device (100) is placed near a patient and receives an input for a button from the user, the medical imaging device (100) can cause the second arm (420) to have a predetermined angle with respect to the first arm (410). That is, the second arm (420) can rotate counterclockwise with respect to the second joint (440) in the posture of FIG. 1 so that the angle formed by the first arm (410) and the second arm (420) can have a predetermined angle. Through this process, the second arm (420) can have an unfolded posture with respect to the first arm (410). For example, the unfolded posture of the second arm (420) can be as shown in FIG. 4. The unfolded posture of the second arm (420) can mean a state in which the second arm (420) is parallel to the ground. However, the present invention is not limited thereto. The angular velocity of the movement of the second arm (420) can be predetermined. Furthermore, the angular velocity of the movement of the second arm (420) can be changed according to the user's settings. Since the user does not need to lift the second arm (420), user convenience can be enhanced.

[0148] In addition, when receiving a button input from the user after completing the shooting, the medical imaging device (100) can rotate the second arm (420) clockwise so that the second arm (420) assumes the same posture as in FIG. 1 again. That is, the second arm (420) can return to a movable posture. The movable posture may be a state in which the second arm (420) is folded relative to the first arm (410). Since the user does not need to move the second arm back to a movable posture, user convenience can be increased.

[0149] The medical imaging device (100) has a plurality of buttons related to joint movement so that the user can move the second arm (420) relative to the first arm (410) with minimal movement.

[0150] A medical imaging device (100) may include a source assembly (110). One end of a second arm (420) may be coupled to a second joint (440). In addition, the other end of the second arm (420) may be coupled to a source assembly (110). The source assembly (110) may include a second transceiver. The second transceiver may include a second transmitter and a second receiver. The second transceiver may be positioned on a surface located in a direction in which radiation is emitted from the source assembly (110). The second transceiver may be positioned on a surface perpendicular to the direction in which radiation is emitted from the source assembly (110). The second transceiver may communicate with the first transceiver. The first transceiver and the second transceiver may communicate with each other using Ultra Wide Band (UWB).

[0151] A medical imaging device (100) may include a detector (120). The detector (120) may receive radiation irradiated from a source assembly (110) to generate a medical image. The detector (120) may include a second transceiver and a first transceiver that transmits and receives signals. The first transceiver may be configured to wirelessly communicate with the second transceiver included in the source assembly (110). The first transceiver may include a first transmitter and a first receiver. The detector (120) may include a plurality of first transceivers. The first transceivers may be located on a surface of the detector (120) that receives radiation. The first transceivers may be arranged along an edge of the detector (120). The first transceivers may be located on the left and right sides of the detector (120). For example, two first transceivers may be arranged on the left side of the detector (120) and two on the right side. In this case, when a plurality of first transceivers 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 may be positioned near the corner of the rectangular detector (120).

[0152] The control unit (300) can perform a step of controlling the joint unit so that the radiation irradiation direction of the source assembly (110) is perpendicular to the radiation receiving surface of the detector (120) based on the first transceiver unit and the second transceiver unit.

[0153] More specifically, the main control unit (300) may perform a step of outputting a message guiding alignment of the radiation irradiation area of ​​the source assembly (110) and the area of ​​the detector based on the alignment information. The main control unit (300) may determine alignment information related to at least one of a direction, a distance, and an angle by 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, and the second transceiver. The main control unit (300) may obtain the alignment information to perform the step of outputting the 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 are identical, or that the line connecting the center of the detector and the center of the source assembly (110) is parallel to the direction of radiation irradiation.

[0154] 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 and the second transceiver. The main control unit (300) can further obtain at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110) by using a 3D camera. Alternatively, the main control unit (300) can correct at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110) by using a 3D camera.

[0155] The main control unit (300) may perform a step of acquiring alignment information for adjusting the angle of the source assembly (110) so that the radiation irradiation direction of the source assembly (110) 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 a gyro sensor included in the detector (120) or the first transceiver. The detector (120) may also be indirectly measured by triangulation using the first transceiver and the second transceiver. The attitude information of the detector (120) may include at least one of the degree of inclination (tilt) and the distance of the detector (120) with respect to the source assembly (110) or the ground. The attitude information of the detector (120) may include the degree to which the detector (120) rotates 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). The point of the source assembly (110) may be either the center of the source assembly (110) or the center of the front surface of the source assembly (110). Additionally, the point of the detector (120) may be the center of the radiation irradiation surface of the detector (120). However, the points of the main body (130), the source assembly (110), and 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).

[0156] The main control unit (300) included in the medical imaging device (100) can obtain attitude information of the source assembly (110) based on at least one of a gyro sensor or a second transceiver. The attitude information of the source assembly (110) can include at least one of a degree of inclination (tilt) of the source assembly (110) with respect to the detector (120) or the ground, and a 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 and the second transceiver. The attitude information of the source assembly (110) can include information on rotation of the source assembly (110) based on at least one of a first axis, a second axis, and a third axis. The first axis, the second axis, and the third axis can be mutually perpendicular axes. 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 coordinates 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).

[0157] The medical imaging device (100) can determine alignment information based on at least one of the position information of the detector (120) and the position information of the source assembly (110). In addition, the medical imaging device (100) can perform a step of controlling a joint part by moving at least one of the first arm (410) and the second arm (420) based on the alignment information so that the radiation irradiation direction of the source assembly (110) becomes perpendicular to the radiation receiving surface of the detector (120). In this way, the medical imaging device (100) automatically moves at least one of the first arm (410) or the second arm (420) so that the radiation irradiation direction of the source assembly (110) becomes perpendicular to the radiation receiving surface of the detector (120), so that the user hardly needs to manipulate the source assembly (110). In addition, there is no need to adjust the position of the source assembly (110) by looking at the sensor values ​​displayed on the display to place the source assembly (110) in the correct position. Therefore, the medical imaging device (100) can maximize user convenience.

[0158] FIG. 7 is a flowchart showing the operation of a medical imaging device according to one embodiment of the present disclosure.

[0159] The control unit (300) can perform a step (710) of acquiring a second torque by an external force while the second arm (420) moves with respect to the first arm (410) by driving the second joint unit (440). By the control of the control unit (300), the second joint unit (440) can move the second arm (420) with respect to the first arm (410) at a constant angular velocity. A torque can be applied to the second joint unit (440) due to the weight of the second arm (420) and the weight of the source assembly (110), but the smart actuator included in the second joint unit (440) can offset the torque due to the weight of the second arm (420) and the weight of the source assembly (110) to allow the second arm (420) to move with a constant angular velocity.

[0160] Alternatively, under the control of the control unit (300), the second joint part (440) can move the second arm (420) relative to the first arm (410) with an angular acceleration proportional to the torque applied by the user to the second arm (420) (or the second joint part (440)). Refer to FIG. 8 to explain the movement of the second arm (420).

[0161] Figure 8 is a drawing for explaining the angular acceleration of the second arm of the present disclosure.

[0162] The x-axis of Fig. 8 may represent the torque applied by the user to the second arm, and the y-axis may represent the angular acceleration of the second arm. Fig. 8 is a graph showing a case where the angular acceleration of the second arm is nearly 0.

[0163] Referring to (a) of Fig. 8, the torque (t) applied by the user to the second arm (420) may be proportional to the angular acceleration (a) of the movement of the second arm (420). When the second arm (420) is stationary, the second arm (420) may start to move with respect to the first arm (410) through a process similar to Fig. 6. Thereafter, the user must continuously apply force to the second arm (420) so that the control unit (300) can maintain the movement of the second arm (420). For example, the relationship between the torque (t) applied by the user to the second arm (420) and the angular acceleration (a) may be as follows.

[0164] a = K * (t - F)

[0165] Here, t represents the torque (t) applied by the user to the second arm (420), and a may be the angular acceleration for the movement of the second arm (420). K may be a predetermined proportional constant. Additionally, F may be a predetermined constant. F may be a critical movement torque that the user must apply to the second arm (420) to move the second arm (420) at a constant angular velocity or positive angular acceleration. The critical movement torque (F) may be equal to or less than the critical sensitivity torque. F may act as a kind of virtual frictional force. Generally, since the user intuitively knows that there is a frictional force when moving an object, the medical imaging device (100) of the present disclosure may utilize the virtual F as a control variable so that the user can intuitively move the second arm (420).

[0166] Referring to (b) of Fig. 8, the relationship between the torque (t) applied by the user to the second arm (420) and the angular acceleration (a) may be as follows.

[0167] a = K * (t - F), if t is less than F.

[0168] a = 0, t is greater than or equal to F and less than or equal to MF.

[0169] a = K * (t - MF), if t is greater than MF.

[0170] Unlike (a) of FIG. 8, in (b) of FIG. 8, when the torque applied by the user to the second arm (420) is greater than or equal to F and less than or equal to MF, the second arm (420) can move at a constant angular velocity. Here, F and MF may be predetermined constants. When the angular acceleration of the second arm (420) continuously changes, the user may have difficulty controlling the movement of the second arm (420). Therefore, the medical imaging device (100) of the present disclosure can control the movement of the second arm (420) as shown in (b) of FIG. 8.

[0171] However, the movement of the second arm (420) is not limited to FIG. 8. The second arm (420) may always move at a constant angular velocity. Furthermore, the angular acceleration of the second arm (420) may be limited to a predetermined maximum angular acceleration or less. Furthermore, the angular acceleration of the second arm (420) may be limited to a predetermined minimum angular acceleration or more.

[0172] Referring back to FIG. 7, in step (710), the second torque may refer to a torque different from the torque applied to the second arm (420) by the user to move the second arm (420). The second torque may be a torque generated when the second arm (420) or the first arm (410) comes into contact with an external object not intended by the user. In other words, the second torque may be a torque generated when the second arm (420) or the first arm (410) collides with an external object.

[0173] The control unit (300) can measure the absolute value of the change in torque per hour applied to the second arm. If the absolute value of the change in torque per hour is greater than or equal to a predetermined impact detection time determination threshold change torque, the control unit (300) can determine that an impact has occurred to the second arm (420). The control unit (300) can determine the second torque by subtracting the torque (t) applied to the second arm (420) by the user immediately before the impact from the torque (at) applied to the second arm (420) by the external object and the user immediately after the impact has occurred. That is, the second torque can mean the torque applied to the second arm by the external object. The control unit (300) can also measure the second torque by a sensor.

[0174] The control unit (300) may perform a step (720) of determining whether the second torque is greater than or equal to a predetermined critical impact torque. The critical impact torque may be a predetermined value and may be a value for determining whether an impact has actually occurred. The critical impact torque may be changeable. For example, the critical impact torque may have a direct proportional relationship with the critical sensitivity torque. Therefore, since the critical impact torque and the critical sensitivity torque have a direct proportional relationship, the possibility that the control unit (300) will misjudge that an impact has occurred on the second arm (420) may be greatly reduced.

[0175] The control unit (300) can perform a step (730) of stopping the operation of the second joint unit (440) when the second torque is greater than a predetermined critical impact torque. Accordingly, the medical imaging device (100) of the present disclosure can immediately stop when the second arm (420) comes into contact with an external object, thereby preventing additional damage to the external object. In addition, through this, damage to the components of the medical imaging device (100), such as the second arm (420) and the source assembly (110), can also be prevented.

[0176] According to various embodiments of the present disclosure, the medical imaging device (100) may include a distance sensor. The distance sensor may be configured to determine whether an external object is approaching. The distance sensor may be located at least on one of the upper and lower sides of the source assembly (110). In addition, the distance sensor may be included in at least one of the first arm (410) and the second arm (420). For example, the distance sensor may be located at least on one of the upper and lower sides of at least one of the first arm (410) and the second arm (420). The control unit (300) may measure the distance between an external object and the medical imaging device (100) using the distance sensor. If the measured distance is less than a threshold distance, the control unit (300) may stop the operation of the second joint unit (440). Accordingly, the medical imaging device (100) may prevent contact with an external object.

[0177] The medical imaging device (100) can continue the operation that was being performed manually or automatically after stopping at least one of the first arm (410) and the second arm (420) due to an impact from an external object. For example, if an impact is detected while the second arm (420) is being expanded or folded with respect to the first arm (410), the medical imaging device (100) can stop the movement of the second arm (420). Thereafter, if the user presses the collision release button, the medical imaging device (100) can continue the operation of expanding or folding the second arm (420) with respect to the first arm (410). In addition, the medical imaging device (100) can obtain a signal indicating that there is no external object based on a distance sensor and a torque sensor. The medical imaging device (100) can continue the operation of expanding or folding based on the signal indicating that there is no external object.

[0178] FIG. 9 is a drawing for explaining the degrees of freedom of an arm of a medical imaging device according to one embodiment of the present disclosure. FIG. 10 is a drawing for explaining a configuration for moving an arm of a medical imaging device according to one embodiment of the present disclosure.

[0179] Figures 9 and 10 show side views of a medical imaging device (100). Parts already described above in Figures 9 and 10 are omitted.

[0180] The second arm (420) may include a second-first arm (910) and a second-second arm (920). One end of the second-first arm (910) may be connected to the second joint portion (440). The second-first arm (910) may have a tube shape. A cross-section of the second-first arm (910) taken along a plane perpendicular to the longitudinal direction of the second-first arm (910) may be one of a circle, a square, a hexagon, and an octagon. A space may be formed inside the second-first arm (910).

[0181] The second-second arm (920) may be inserted at least partially into a space formed inside the second-first arm (910). In addition, the second-second arm (920) may move along the second-first arm (910). The second arm (420) may be extended or contracted by the second-first arm (910) and the second-second arm (920). For example, when the second-second arm (920) is inserted to the maximum extent into the second-first arm (910), the second arm (420) may have a minimum length. The minimum length may be, for example, 890 mm. In addition, when the second-second arm (920) is inserted to the minimum extent into the second-first arm (910), the second arm (420) may have a maximum length. The maximum length may be, for example, 1070 mm. The 2-2 arm (920) can move 180 mm relative to the 2-1 arm (910). Since the 2nd arm (420) is extended or contracted in this way, even if there is not enough space around the patient, the 2nd arm (420) can be extended to position the source assembly (110) around the patient. In particular, the space on the left and right of the patient table in a general hospital room is very narrow, so that the medical imaging device (100) cannot enter. Therefore, the medical imaging device (100) must be positioned in front or behind the patient table to take medical images. Since the front-to-back length is longer than the left-to-right width of the patient table, there were cases where it was difficult to place the source assembly (110) close to the patient, but the medical imaging device (100) of the present disclosure has an advantage in that the 2nd arm (420) can be extended to position the source assembly (110) close to the patient.

[0182] The second arm (420) may include a telescopic arm drive unit (1030). The telescopic arm drive unit (1030) may be coupled to the interior of the 2-1 arm (910). The telescopic arm drive unit (1030) may be configured to provide a driving force for the 2-2 arm (920) to move relative to the 2-1 arm (910).

[0183] The telescopic arm driving unit (1030) may include a telescopic arm motor (1010) and a telescopic arm shaft (1020). The telescopic arm motor (1010) may rotate the telescopic arm shaft (1020) based on a signal from the control unit (300). Referring to FIG. 10, the telescopic arm shaft (1020) may rotate about an axis parallel to the front-rear direction. The telescopic arm shaft (1020) may rotate about an axis parallel to the extension direction of the second arm (420). A screw line may be formed on the outer surface of the telescopic arm shaft (1020). The screw line formed on the outer surface of the telescopic arm shaft (1020) may be coupled with a screw hole formed at one end of the second-second arm (920). Therefore, by rotation of the telescopic arm shaft (1020), the 2-2 arm (920) can move forward or upward with respect to the 2-1 arm (910).

[0184] The control unit can control the movement of the 2-2 arm relative to the 2-1 arm based on either a user input to a button associated with the telescope or a force applied by the user to the 2-2 arm.

[0185] More specifically, the user can extend or retract the second arm (420) using buttons associated with the telescope. For example, the user can extend the second arm (420) by pressing the extension button, and retract the second arm (420) by pressing the retraction button. However, this is not limited to this, and the extension button and the retraction button may be a single button. For example, pressing the button once can extend the second arm (420), and pressing the same button again can retract the second arm (420).

[0186] As the second arm (920) moves automatically in this way, the user may not need to use muscle strength to extend or retract the second arm (420). In addition, the medical imaging device (100) may automatically control the joints so that the direction of radiation from the source assembly (110) is perpendicular to the radiation receiving surface of the detector (120). Therefore, user convenience may be enhanced.

[0187] As previously described, the medical imaging device (100) of the present disclosure can determine at least one of the critical sensitivity torque, the critical starting torque, the critical moving torque (F), and the critical impact torque based on the length of the second arm (420).

[0188] For example, at least one of the critical sensitivity torque, the critical starting torque, the critical moving torque (F), and the critical impact torque may increase as the length of the second arm (420) increases. As the second arm (420) increases, the torque applied by the weight of the source assembly (110) to the second joint part (440) may increase. In addition, in order to direct the radiation irradiation direction of the source assembly (110) toward the patient, the user may hold the vicinity of the source assembly (110) and move the second arm (420). At this time, when the second arm (420) is long, the torque applied by the user to the second joint part (440) may increase. Therefore, the control unit (300) may set at least one of the critical sensitivity torque, the critical starting torque, the critical moving torque (F), and the critical impact torque to increase as the length of the second arm (420) increases. Therefore, the same user experience can always be maintained regardless of the length of the second arm (420).

[0189] However, it is not limited thereto, and at least one of the critical sensitivity torque, the critical starting torque, the critical moving torque (F), and the critical impact torque may be independent of the length of the second arm (420).

[0190] The telescopic arm drive unit (1030) may also function as a brake. That is, the movement of the 2-2 arm (920) relative to the 2-1 arm (910) by an external object may not occur due to the telescopic arm drive unit (1030). This is because the movement of the 2-2 arm (920) relative to the 2-1 arm (910) requires a very large external force from the telescopic arm drive unit (1030). That is, in most situations, the movement of the 2-2 arm (920) relative to the 2-1 arm (910) may be possible due to the telescopic arm drive unit (1030).

[0191] In this way, the telescopic arm drive unit (1030) functions as a brake, so that the situation in which the 2-2 arm (920) moves unpredictably relative to the 2-1 arm (910) can be prevented. Accordingly, the safety of the medical imaging device (100) can be improved.

[0192] The control unit (300) can control the movement of the 2-2 arm relative to the 2-1 arm based on the force applied by the user to the 2-2 arm. More specifically, the 2-2 arm (420) can be contracted or extended based on the measured user force. For example, the control unit (300) can perform a step of measuring a linear force applied to the 2-2 arm (420). The telescopic arm drive unit (1030) can include a force sensor. The telescopic force sensor can measure the linear force applied by the user to the 2-2 arm (920) relative to the 2-1 arm (910). More specifically, when the user holds the 2-2 arm (920) and applies force forward or backward, the telescopic force sensor can detect the linear force applied by the user. The direction of the linear force can be either forward or backward. The control unit (300) can receive the force measured by the telescopic force sensor.

[0193] The control unit (300) may perform a step of determining whether the linear force is greater than or equal to a predetermined threshold sensitivity force. The predetermined threshold sensitivity force may be set by the user or automatically determined based on a predetermined algorithm. The threshold sensitivity force may be related to a force required by the user to move the 2-2 arm (920) relative to the 2-1 arm (910). The threshold sensitivity force may be changeable. The smaller the threshold sensitivity force, the more the user can initially move the 2-2 arm (920) relative to the 2-1 arm (910) with a smaller force. In addition, the larger the threshold sensitivity force, the more the user must initially apply a larger force to move the 2-2 arm (920) relative to the 2-1 arm (910).

[0194] The critical sensitivity force may be selected from among a plurality of predetermined candidate critical sensitivity forces. The plurality of candidate critical sensitivity forces may include five different values. For example, the plurality of candidate critical sensitivity forces may correspond to one of very sensitive, sensitive, normal, insensitive, or very insensitive. The magnitude of the candidate critical sensitivity force may increase from very sensitive to very insensitive. One of the plurality of predetermined candidate critical sensitivity forces may be selected based on a user's selection input. The smaller the critical sensitivity force, the smaller the force required to move the 2-2 arm (920), but the possibility of the 2-2 arm (920) moving incorrectly may increase. The larger the critical sensitivity force, the greater the force required to move the 2-2 arm (920), but the possibility of the 2-2 arm (920) moving incorrectly may decrease.

[0195] According to various embodiments of the present disclosure, the medical imaging device (100) can select one of the candidate critical sensitivity forces based on the user's identification information. More specifically, the user can register the identification information in the medical imaging device (100). The medical imaging device (100) can be used only by the user whose identification information is registered. The medical imaging device (100) can store the critical sensitivity force corresponding to the user's identification information. Accordingly, when the user inputs the user's identification information in the medical imaging device (100) to use the medical imaging device (100), the medical imaging device (100) can automatically select one of the plurality of candidate critical sensitivity forces.

[0196] The medical imaging device (100) may perform the following steps to store the critical sensitivity force in response to the user's identification information. When the medical imaging device (100) receives the user's identification information, the medical imaging device (100) may also receive the critical sensitivity force. In addition, the medical imaging device (100) may automatically determine the critical sensitivity force based on at least one of the user's gender, age, and weight. In addition, the medical imaging device (100) may output a message to the user to apply force to the 2-2 arm (920) against the 2-1 arm (910) for testing. For example, the medical imaging device (100) may output a message to "pull" or "press" the 2-2 arm (920) against the 2-1 arm (910) comfortably. The user may apply force to the 2-2 arm (920). The medical imaging device (100) may measure the force applied by the user to the 2-2 arm (920).

[0197] The medical imaging device (100) may select the candidate critical sensitivity force closest to the measured force as the critical sensitivity force. Alternatively, the medical imaging device (100) may select the candidate critical sensitivity force closest to the measured force while being greater than the measured force as the critical sensitivity force. In addition, the medical imaging device (100) may select the candidate critical sensitivity force closest to the measured force while being smaller than the measured force as the critical sensitivity force. In addition, the medical imaging device (100) may determine the measured force as the critical sensitivity force.

[0198] The control unit (300) may perform a step of controlling the telescopic arm driving unit (1030) to move the 2-2 arm (920) relative to the 2-1 arm (910) when the linear force is greater than the critical sensitivity force. The movement direction of the 2-2 arm (920) may be the same as the movement direction of the linear force applied by the user. For example, in FIG. 9, if the user applies a force forward to the 2-2 arm (920), the 2-2 arm (920) may move forward. Additionally, if the user applies a force backward to the 2-2 arm (920), the 2-2 arm (920) may move backward.

[0199] When a user applies force to the 2-2 arm (920), force may be applied not only to the 2-2 arm (920), but also to the first joint part (430) and the second joint part (440). The control unit (300) may control only one of the 2-2 arm (920), the first joint part (430), and the second joint part (440) to move. However, the present invention is not limited thereto, and the control unit (300) may control the 2-2 arm (920), the first joint part (430), and the second joint part (440) to move simultaneously. The control unit (300) can determine a mode in which only one of the 2-2 arm (920), the first joint part (430), and the second joint part (440) moves based on the user's input, and a mode in which all of the 2-2 arm (920), the first joint part (430), and the second joint part (440) move.

[0200] In a mode where only one of the 2-2 arm (920), the first joint part (430), and the second joint part (440) moves, the control unit (300) can move only the first joint part (430) or only the second joint part (440) based on whether the user applied force to the 2-2 arm (920), the second arm (420), or the first arm (410). For example, if the user applies force to the 2-2 arm (920), not only the 2-2 arm (920), but also the first joint part (430) and the second joint part (440) can receive the force. Accordingly, the medical imaging device (100) can determine to move the 2-2 arm (920) regardless of the torque measured at the first joint part (430) and the second joint part (440) if the linear force applied to the 2-2 arm (920) is greater than a predetermined threshold starting force. That is, the 1st arm (410) is fixed to the main body (130), the 2nd arm (420) is fixed to the 1st arm (410), and the 2-2 arm (920) can move to the 2-1 arm (910).

[0201] In addition, the medical imaging device (100) can determine to rotate the second joint part (440) regardless of the torque measured at the first joint part (430) if the linear force measured at the 2-2 arm (920) is less than or equal to a predetermined threshold starting force and the torque measured at the second joint part (440) is greater than or equal to the threshold starting torque. That is, the first arm (410) is fixed with respect to the main body (130), and the second arm (420) can rotate with respect to the first arm (410). In this way, by moving one of the 2-2 arm (920), the first joint part (430), and the second joint part (440), the 2-2 arm (920), the first arm (410), or the second arm (420) can move as intended by the user, and this can be convenient for the user because it is intuitive. However, the present invention is not limited thereto.

[0202] The control unit (300) may perform a step of acquiring an external force by an external force while the 2-2 arm (920) moves with respect to the 2-1 arm (910) by the telescopic arm driving unit (1030). The external force may be acquired by a force sensor included in the telescopic arm driving unit (1030). Under the control of the control unit (300), the 2-2 arm (920) may be moved at a constant angular velocity with respect to the 2-1 arm (910). The external force may mean a force that is different from a force that a user applies to the 2-2 arm (920) to move the 2-2 arm (920) or a force that the telescopic arm driving unit (1030) applies to the 2-2 arm (920). The external force may be a force that occurs when the 2-2 arm (420) comes into contact with an external object that is not intended by the user. That is, the external force may be a force generated when the second arm (420) collides with an external object.

[0203] The control unit (300) can measure the absolute value of the change in the external force per hour applied to the 2-2 arm (920). If the absolute value of the change in the time is greater than or equal to a predetermined threshold change in force for determining the impact detection time, the control unit (300) can determine that an impact has occurred on the 2-2 arm (920). The control unit (300) can determine the external force by subtracting the force applied to the 2-2 arm (920) by the user immediately before the impact from the force applied to the 2-2 arm (920) by the external object and the user immediately after the impact has occurred. The external force may refer to a force applied by an external object. The external force may also be measured by the control unit (300) using a sensor.

[0204] The control unit (300) may perform a step of determining whether an external force is greater than a predetermined threshold impact force. The threshold impact force may be a predetermined value and may be a value for determining whether an impact has actually occurred. The threshold impact force may be changeable. For example, the threshold impact force may have a direct proportional relationship with the threshold sensitivity force. Therefore, since the user has a direct proportional relationship with the threshold impact force and the threshold sensitivity force, the possibility that the control unit (300) will misjudge that an impact has occurred on the 2-2 arm (920) may be greatly reduced.

[0205] The control unit (300) can perform a step of stopping the operation of the telescopic arm driving unit (1030) when the external force is greater than a predetermined critical impact force. Accordingly, the medical imaging device (100) of the present disclosure can immediately stop when the 2-2 arm (920) comes into contact with an external object, thereby preventing additional damage to the external object. In addition, through this, damage to the components of the medical imaging device (100), such as the 2-2 arm (920) and the source assembly (110), can also be prevented.

[0206] Referring to FIG. 9, the other end of the second arm (420) can be coupled with the source assembly (110). The second arm (420) can be coupled with the source assembly (110) by a source assembly coupling portion. The source assembly (110) can be rotatable about an axis parallel to the longitudinal direction of the second arm (420). In addition, the source assembly (110) can be rotatable about an axis extending left and right. Since the degree of freedom of movement of the source assembly (110) is high in this way, the user can adjust the direction of radiation irradiation of the source assembly (110) to be perpendicular to the surface of the detector (120) by moving the source assembly (110).

[0207] FIG. 11 shows a plan view of a medical imaging device according to one embodiment of the present disclosure.

[0208] One end of the source assembly (110) may be coupled to one end of the source assembly bracket (1101). In addition, the other end of the source assembly (110) may be coupled to the other end of the source assembly bracket (1101). Here, one end may mean left or right, and the other end may mean right or left.

[0209] The source assembly bracket (1101) may have a “ㄷ” shape. The source assembly bracket (1101) may include a bracket base (1211) extending left and right. In addition, the source assembly bracket (1101) may include a first bracket extension (1212) extending forwardly from a left end of the bracket base (1211) and a second bracket extension (1213) extending forwardly from a right end of the bracket base (1211). A source assembly (110) including an X-ray source and a collimator may be positioned between the first bracket extension (1212) and the second bracket extension (1213).

[0210] The second joint (440) may include a first smart actuator (1231) coupled to at least one side of the first arm (410) and the second arm (420). Here, the one side may mean the left side. The first smart actuator (1231) may include the configuration described in FIG. 5.

[0211] The second joint (440) may include a second smart actuator (1232) coupled to the other side of at least one of the first arm (410) and the second arm (420). Here, the other side may mean the right side. The second smart actuator (1232) may include the same configuration as the first smart actuator (1231).

[0212] The first smart actuator (1231) and the second smart actuator (1232) can provide driving force to the rotation axis of the second arm (420) with respect to the first arm (410). In this way, by providing the first smart actuator (1231) and the second smart actuator (1232) at the second joint part, the insufficient driving force of one smart actuator can be supplemented. In addition, when the smart actuator is provided on either the right or left side of the second joint part (440), the balance of the source arm may be tilted to one side due to the weight of the smart actuator, which may cause a problem with durability or cause the medical imaging device (100) to wobble when moving, which may be a problem. Here, a problem with durability may mean that only one side is worn out. However, since the first smart actuator (1231) and the second smart actuator (1232) are provided on the left and right sides of the second joint (440), the left and right sides of the source arm are balanced, so that the durability of the source arm increases and the medical imaging device (100) can move stably and in a balanced manner.

[0213] FIG. 12 is a drawing for explaining a second joint part according to one embodiment of the present disclosure.

[0214] Referring to (a) of FIG. 12, the second joint part (440) may include a first smart actuator (1231) and a rotary bearing (1310). The first smart actuator (1231) may include the same configuration as FIG. 5. The rotary bearing (1310) may be configured to smoothly rotate the second joint part (440). If necessary, the rotary bearing (1310) may be mounted on the medical imaging device (100) instead of the second smart actuator (1232). The first smart actuator (1231) is positioned on one side (left) and the rotary bearing (1310) is positioned on the other side (right), so that the phenomenon of wear on only one side of the second joint part (440) can be alleviated.

[0215] Figure 12 (b) illustrates the components included in a rotary bearing. Because rotary bearings include numerous components, assembly can be challenging. Furthermore, incorrect assembly can sometimes result in problems, as the bearing fails to function properly.

[0216] Figure 12 (c) illustrates a case in which a second smart actuator (1232) is provided instead of a rotary bearing. That is, the second joint part (440) may include a first smart actuator (1231) and a second smart actuator (1232). Since the second smart actuator (1232) is modularized, assembly may be easy. In addition, by providing the first smart actuator (1231) and the second smart actuator (1232) in the second joint part, the insufficient driving force of one smart actuator may be supplemented.

[0217] FIG. 13 may be a drawing explaining a moving brake of a main body according to one embodiment of the present disclosure.

[0218] Referring to (a) of Fig. 13, a brake paddle (1420) may be positioned at the bottom of the main body (130). When the user steps on the brake paddle (1420) and the brake paddle (1420) is lowered, the medical imaging device (100) may be in a state where it cannot move. The medical imaging device (100) must be fixed to capture medical images without shaking and to irradiate radiation only to the location desired by the user.

[0219] Conversely, if the user lifts the brake paddle (1420) with his / her foot so that the brake paddle (1420) is raised, the medical imaging device (100) may be in a movable state. Since the mobile medical imaging device (100) moves to the location of the patient and takes X-ray images, there is no need to move the patient who is physically challenged, which may increase user convenience. The user can move the medical imaging device (100) by holding the handle (1410) formed at the rear of the main body (130).

[0220] The medical imaging device (100) according to various embodiments of the present disclosure may include a brake drive motor (1440). The brake paddle (1420) of the medical imaging device (100) may also be moved by the brake drive motor (1440). For example, the brake drive motor (1440) may rotate a brake drive shaft (1450) fixed to the brake paddle (1420). When the brake drive motor (1440) rotates the brake drive shaft (1450) so that the brake paddle (1420) is lowered, the medical imaging device (100) may be in a state where it cannot move. For example, the brake drive shaft (1450) may prevent the wheel (1460) from rotating by bringing the brake pads (1431, 1432) into contact with a part of the wheel (1460). When the brake drive motor (1440) rotates the brake drive shaft (1450) in the opposite direction so that the brake paddle (1420) is raised, the medical imaging device (100) may be in a movable state. For example, the brake drive shaft (1450) may move the brake pads (1431, 1432) to be away from the wheel (1460) so as not to impede the rotation of the wheel (1460). The control unit (300) may automatically operate the brake drive motor (1440) to operate the brake when the medical imaging device (100) has not received any input for a predetermined period of time and does not move. In addition, when a user pushes or pulls the medical imaging device (100) in order to move the medical imaging device (100), the control unit (300) may detect such force and automatically release the brake. The brake paddle (1420) can be manually moved by the user or automatically moved by the brake drive motor (1440). Since the brake paddle (1420) is automatically controlled by the brake drive motor (1440) in this way, the convenience of the medical imaging device (100) can be improved.

[0221] 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.

[0222] 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. Drivable body; A first arm connected to the main body by the first joint portion; A second arm coupled to the first arm by a second joint portion including a smart actuator; Including a control unit for controlling the first joint part and the second joint part, The above control unit, Control the above first arm to be fixed and tilted at a predetermined fixed angle with respect to the ground, Controlling the second joint to rotate the second arm relative to the first arm based on at least one of a torque applied to the second joint and a user input; A medical imaging device that controls the second joint part so that the first arm and the second arm have a predetermined angle based on the user's input related to joint movement.

2. In paragraph 1, The above control unit, Measure the first torque applied to the second joint, Determine whether the above first torque is greater than or equal to the threshold sensitivity torque of the second joint part determined in advance, When the first torque is greater than or equal to the critical sensitivity torque of the second joint, the second joint is controlled to rotate the second arm relative to the first arm. A medical imaging device wherein the critical sensitivity torque of the second joint part is changeable.

3. In paragraph 1, A source assembly coupled to the other end of the second arm and including a second transceiver; and A detector further comprising a first transceiver for receiving radiation irradiated from the source assembly to generate a medical image and a second transceiver for transmitting and receiving signals, The above control unit, A medical imaging device that controls the second joint unit so that the radiation irradiation direction of the source assembly becomes perpendicular to the radiation receiving surface of the detector based on the first transceiver unit and the second transceiver unit.

4. In paragraph 1, The above control unit, By driving the second joint, the second arm obtains a second torque by an external force while moving with respect to the first arm, Determine whether the above second torque is greater than or equal to a predetermined critical impact torque, A medical imaging device that stops driving of the second joint when the second torque is greater than or equal to the predetermined critical impact torque.

5. In paragraph 1, The second cancer above is, First, a second-first arm joined to the second joint; A 2-2 arm, at least a part of which is inserted into a space formed inside the 2-1 arm and is capable of moving along the 2-1 arm; and A medical imaging device including a telescopic arm driving unit coupled to the inside of the 2-1 arm and providing a driving force for the 2-2 arm to move relative to the 2-1 arm.

6. In paragraph 1, The above second joint part, a first smart actuator coupled to at least one side of the first arm and the second arm; and A second smart actuator coupled to at least one side of the first arm and the second arm, A medical imaging device wherein the first smart actuator and the second smart actuator provide driving force to the rotational axis of the second arm with respect to the first arm.

7. Drivable body; A first arm connected to the main body by the first joint portion; A second arm connected to the first arm by a second joint portion and capable of extension by a telescopic arm drive portion; Including a control unit for controlling the first joint part and the second joint part, The above control unit, Control the above first arm to be fixed and tilted at a predetermined fixed angle with respect to the ground, Controlling the second joint to rotate the second arm relative to the first arm based on at least one of a torque applied to the second joint and a user input; A medical imaging device that controls the second joint part so that the first arm and the second arm have a predetermined angle based on the user's input related to joint movement.

8. In paragraph 7, The second cancer above is, First, a second-first arm joined to the second joint; A 2-2 arm, at least a part of which is inserted into a space formed inside the 2-1 arm and is capable of moving along the 2-1 arm; and A medical imaging device including a telescopic arm driving unit coupled to the inside of the 2-1 arm and controlling a driving force for the 2-2 arm to move relative to the 2-1 arm.

9. In paragraph 8, The above control unit, A medical imaging device that controls movement of the second-second arm relative to the second-first arm based on either a user's input to a button associated with the telescope or a force applied by the user to the second-second arm.

10. In paragraph 8, The above control unit, By the above telescopic arm driving unit, the 2-2 arm obtains an external force by an external force while moving with respect to the 2-1 arm, Determine whether the above external force is greater than a predetermined critical impact force, A medical imaging device that stops the operation of the telescopic arm drive unit when the external force exceeds the predetermined critical impact force.

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