KR20140019273A - Radiographic apparatus and method for moving the same - Google Patents

Abstract

Disclosed is a radiographic apparatus moved by a weak force. The radiographic apparatus includes a photographing device arranged to be moved; a measurement device for measuring at least one of an external force and a torque applied to the photographing device; and a driving device for straightly moving and rotating the photographing device corresponding to the size and at least one direction of the torque and the force measured by the measurement device. [Reference numerals] (110) Driving device; (120) Measurement device; (130) Control device; (70) Photographing device

Description

X-ray imaging system and its moving method {RADIOGRAPHIC APPARATUS AND METHOD FOR MOVING THE SAME}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an x-ray imaging system, and more particularly, to an x-ray imaging system and a method for moving the x-ray imaging system.

An x-ray imaging system is an apparatus that acquires an image of the inside of a human body using an X-ray. The X-ray imaging system is used for inspections of injuries or illnesses inside the human body which can not be confirmed by appearance. The X-ray imaging system is capable of obtaining images of the inside of the human body by irradiating X-rays to the areas of the human head, chest, etc. and detecting transmitted X-rays.

The X-ray imaging system is equipped with an X-ray tube that irradiates the X-rays at the imaging site. The x-ray tube is movable to allow inspection of various parts of the human body.

Generally, a ceiling-mounted x-ray imaging system has one or more guide rails mounted on the ceiling of a laboratory and a post frame foldably connected to the guide rails. The X-ray tube is rotatably installed at the lower end of the post frame.

In recent years, when an actuator is installed on a moving axis of a ceiling-mounted x-ray imaging system and a desired position is input, an automatic moving mode in which an x-ray tube is automatically moved to an input position is implemented.

In addition, the x-ray imaging system can support a manual movement mode in which the user can manually move the x-ray tube. For the manual movement mode, a manual operation switch can be provided around the x-ray tube, and the user can manually move the x-ray tube after switching from the automatic movement mode to the manual movement mode using the manual operation switch.

Due to the weight of the X-ray tube and the frictional resistance of each drive shaft of the X-ray imaging system, the user must apply a large force or torque to the X-ray tube to move it in the manual movement mode. Therefore, when the X-ray tube is repeatedly moved, the user may feel physical fatigue.

One aspect of the present invention discloses an x-ray imaging system capable of moving with a small force and a method of moving the same.

An X-ray imaging system according to an embodiment of the present invention includes a photographing device arranged to be movable, a measuring device provided to measure at least one of an external force and a torque acting on the photographing device, And a driving device for moving the photographing device in accordance with at least one direction and magnitude of a force and a torque.

Further comprising a first guide rail fixed to the ceiling and extending in a first direction, the photographing apparatus being movable in the first direction along the first guide rail, And a first force sensor arranged to measure an external force acting on the device, the driving device including a first driving device arranged to move the photographing device in the first direction .

And a second guide rail extending in a second direction orthogonal to the first direction and slidably coupled to the first guide rail, wherein the photographing apparatus moves along the second guide rail in the second direction Wherein the measuring device further comprises a second force sensor provided to measure an external force acting on the photographing device in the second direction, and the driving device moves the photographing device in the second direction The second driving device may be provided.

Further comprising a post frame disposed so as to increase or decrease its length in a first direction and a third direction orthogonal to the first direction and the second direction, And the measuring device further comprises a third force sensor arranged to measure an external force acting on the photographing device in the third direction, and the driving device moves the photographing device in the third direction And a third driving device arranged to move the first driving device to the second driving device.

The third force sensor may be disposed around an output portion of the third driving device.

And a first rotary joint rotatable in a fourth direction defined by a rotation direction of an axis parallel to the third direction, wherein the photographing apparatus is connected to the first rotary joint and is rotatable in the fourth direction , The measuring apparatus further comprises a first torque sensor arranged to measure a torque acting on the photographing apparatus in the fourth direction, and the driving apparatus rotates the photographing apparatus in the fourth direction And a fourth drive device for driving the second drive motor.

And a second rotation joint rotatable in a fifth direction defined by a rotation direction of an axis parallel to the first direction, wherein the photographing apparatus is rotatable in the fifth direction connected to the second rotation joint , The measuring apparatus further comprises a second torque sensor provided to measure an external torque acting on the photographing apparatus in the fifth direction, and the driving apparatus includes a fifth torque sensor for rotating the photographing apparatus in the fifth direction And may further include a driving device.

And a control device connected to the measuring device and the driving device, respectively.

The control device may control a magnitude and a driving direction of a driving force of the driving device in correspondence with a value measured by the measuring device.

The measuring device may be a force / torque sensor arranged to measure a force acting on three axes orthogonal to each other and a torque acting on each of at least two axes of the three axes.

Further comprising a handle fixed to a side surface of the photographing apparatus so as to apply a force or a torque to the photographing apparatus, wherein the force / torque sensor can be disposed between the handle and the photographing apparatus.

And a rotation joint connected to the photographing device such that the photographing device is rotatable, and the force / torque sensor can be disposed between the photographing device and the rotary joint.

According to another aspect of the present invention, there is provided a method of moving an X-ray imaging system, including a photographing device for irradiating an X-ray, a measuring device for measuring at least one of a force and a torque applied to the photographing device, Wherein at least one of a force and a torque is applied to the photographing apparatus in order to linearly or rotationally move the photographing apparatus; The measuring device measures at least one of a force and a torque applied to the photographing device; Moving the photographing apparatus in accordance with at least one direction and magnitude of a force and a torque to be measured by the driving apparatus; And the like.

Wherein the X-ray imaging system further comprises a control device connected to the measuring device and the driving device, respectively, wherein the control device controls the driving device and the driving device corresponding to at least one direction and magnitude of force and torque measured from the measuring device Determining the magnitude of the driving direction and the driving force, and controlling the operation of the driving device.

The control device may further comprise periodically monitoring the direction and magnitude of the force and torque measured at the measuring device.

The X-ray photographing system includes a handle fixed to the photographing device so that the user can grasp the X-ray photographing system, and the measuring device and the driving device can operate only when the user grasps the handle.

According to another aspect of the present invention, there is provided a method of moving an X-ray imaging system including a photographing device for irradiating an X-ray and a driving device connected to the photographing device for moving the photographing device, Measuring a first current value of the drive device when no torque is applied; Measuring a second current value of the driving device when at least one of an external force and a torque acts on the photographing device; Determining at least one direction and magnitude of an external force and a torque applied to the photographing apparatus through the difference between the first current value and the second current value; Moving the photographing apparatus by operating the driving apparatus so as to correspond to the determined direction and magnitude of the torque; .

When a force or a torque is applied to the photographing device in an arbitrary direction, the driving device operates correspondingly, so that the user can easily linearly or rotationally move the photographing device to a desired position. Since the driving device can be operated without moving the photographing device directly at the beginning of the photographing device, the force or torque that the user has to apply to the photographing device can be minimized.

In addition, since the driving device is operated according to the force or torque measured by the measuring device, the moving algorithm of the photographing device can be simplified to precisely implement the linear or rotational movement of the photographing device.

1 is a conceptual diagram showing a main configuration of an X-ray imaging system according to an embodiment of the present invention;
FIG. 2 is a perspective view illustrating an X-ray imaging system according to an embodiment of the present invention; FIG.
3 is an exploded perspective view of an X-ray imaging system according to an embodiment of the present invention.
FIG. 4 is a side view showing the moving handle in an X-ray imaging system according to an embodiment of the present invention; FIG.
FIG. 5A is an exploded perspective view of an X-ray imaging system according to another embodiment of the present invention. FIG.
FIG. 5B is a perspective view showing a force / torque sensor in an X-ray imaging system according to another embodiment of the present invention; FIG.
FIG. 6 illustrates a method of moving an X-ray imaging system according to an embodiment of the present invention. FIG.
FIG. 7 illustrates a moving method of an X-ray imaging system according to another embodiment of the present invention. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a conceptual diagram showing a main configuration of an X-ray imaging system according to an embodiment of the present invention, FIG. 2 is a perspective view showing an X-ray imaging system according to an embodiment of the present invention, 1 is an exploded perspective view of an X-ray imaging system according to an embodiment of the present invention. 4 is a side view showing the moving handle in an X-ray imaging system according to an embodiment of the present invention.

1, the photographing apparatus 70 is physically coupled to the measuring apparatus 120 and the driving apparatus 110, and the controlling apparatus 130 electrically connects the measuring apparatus 120 and the driving apparatus 110 to each other Lt; / RTI > A detailed description of each configuration will be given later.

2 to 4, the X-ray imaging system 1 includes a guide rail 30, a movable carriage 40, a post frame 50, a photographing apparatus 70, a driving apparatus 110 . The X-ray imaging system 1 may further include a photographing stand 10 and a photographing table 20 having X-ray receiving units 11 and 21, respectively.

The guide rail 30, the movable carriage 40, the post frame 50, and the like are provided for moving the photographing apparatus 70 toward the photographed body.

The guide rail 30 includes a first guide rail 31 and a second guide rail 32 installed at predetermined angles relative to each other. It is preferable that the first guide rail 31 and the second guide rail 32 extend in directions perpendicular to each other.

The first guide rail 31 is installed on the ceiling of the examination room where the X-ray imaging system 1 is disposed. The second guide rail 32 is located on the lower side of the first guide rail 31 and is slidably mounted on the first guide rail 31. The first guide rail 31 may be provided with rollers (not shown) movable along the first guide rails 31. The second guide rail 32 is connected to the roller (not shown) and can move along the first guide rail 31.

A first direction D1 is defined in a direction in which the first guide rail 31 extends and a second direction D2 is defined in a direction in which the second guide rail 32 extends. Therefore, the first direction D1 and the second direction D2 may be orthogonal to each other and parallel to the ceiling of the examination room.

The movable carriage 40 is disposed below the second guide rail 32 so as to be movable along the second guide rail 32. The moving carriage 40 may be provided with a roller (not shown) provided to move along the second guide rail 32. The movable carriage 40 is movable in the first direction D1 along with the second guide rail 32 and is movable in the second direction D2 along the second guide rail 32. [

The post frame 50 is fixed to the movable carriage 40 and positioned below the movable carriage 40. The post frame 50 may have a plurality of posts 51, 52, 53, 54, 55.

The plurality of posts 51, 52, 53, 54 and 55 are foldably connected to each other so that the length of the post frame 50 in the vertical direction of the examination chamber can be increased or decreased while being fixed to the moving carriage 40 . A third direction D3 is defined in a direction in which the length of the post frame 50 increases or decreases. Therefore, the third direction D3 can be orthogonal to the first direction D1 and the second direction D2.

The photographing apparatus 70 is an apparatus for irradiating an object to be photographed with X-rays. The photographing apparatus 70 may be an X-ray tube provided in a general X-ray photographing system. The x-ray tube may include an x-ray source 71 for generating an x-ray and a collimator 72 for guiding the generated x-ray toward the imaged object.

A rotation joint 60 is disposed between the photographing apparatus 70 and the post frame 50. The rotary joint 60 couples the photographing apparatus 70 to the post frame 50 and supports a load acting on the photographing apparatus 70. [

The rotary joint 60 may include a first rotary joint 61 connected to the lower end post of the post frame 50 and a second rotary joint 62 connected to the photographing apparatus 70.

The first rotary joint 61 is rotatable about the center axis of the post frame 50 extending in the vertical direction of the examination room. Therefore, the first rotary joint 61 can rotate on a plane perpendicular to the third direction D3. At this time, the rotation direction of the first rotary joint 61 can be newly defined, and the newly defined fourth direction D4 is the rotation direction of the axis parallel to the third direction D3.

The second rotary joint 62 is rotatable on a plane perpendicular to the ceiling of the examination room. Therefore, the second rotary joint 62 can rotate in the rotating direction of the axis parallel to the first direction D1 or the second direction D2. At this time, the rotation direction of the second rotary joint 62 can be newly defined, and the newly defined fifth direction D5 is the rotation direction of the axis extending in the first direction or the second direction.

The photographing apparatus 70 may be connected to the rotary joint 60 and rotated in the fourth direction D4 and the fifth direction D5. The photographing apparatus 70 may be connected to the post frame 50 by the rotary joint 60 and may linearly move in the first direction D1, the second direction D2 and the third direction D3.

A driving device 110 is provided to move the photographing apparatus 70 in the first direction D1 to the fifth direction D5. The driving device 110 may be an electrically driven motor. The driving device 110 may include first, second, third, fourth, and fifth driving devices 111, 112, 113, 114, and 115 corresponding to the respective directions.

Each of the driving devices 111, 112, 113, 114, and 115 may be disposed at various positions in consideration of design convenience. For example, the first driving device 111 for moving the second guide rail 32 in the first direction D1 is disposed around the first guide rail 31, and moves the movable carriage 40 in the second direction The third driving device 113 for moving the post frame 50 in the third direction D3 is disposed in the vicinity of the second guide rail 32 and the third driving device 113 for moving the post frame 50 in the third direction D3 And may be disposed within the movable carriage 40. [ The fourth driving device 114 that rotates the photographing device 70 in the fourth direction D4 is disposed around the first rotating joint 61 and rotates the photographing device 70 in the fifth direction D5, The fifth driving device 115 may be disposed around the second rotary joint 62. [

Each driving device 110 may be connected to power transmission means (not shown) so as to linearly or rotationally move the photographing device 70 in the first direction D1 to the fifth direction D5. The power transmission means (not shown) may be a commonly used belt and pulley, chain and sprocket, shaft or the like.

A moving handle 80 may be provided around the photographing device 70 so that the user can grasp it. The shift knob 80 is fixed to the photographing apparatus 70 and the user can move the photographing apparatus 70 by holding the shift knob 80 and applying a force or a torque. The movement of the photographing apparatus 70 will be described later.

An operation panel 90 may be provided to input various kinds of information related to the X-ray imaging and to operate each of the devices. The operation panel 90 is disposed at a position where the user can easily operate, and can be disposed on one side of the photographing apparatus 70.

A control device 130 is provided to be connected to the devices provided in the X-ray imaging system 1 including the respective driving devices 110 and the operation panel 90 and to control them respectively.

The control device 130 may be connected to each driving device 110 to move the photographing device 70 to a desired position. For example, when the user inputs a desired photographing position on the operation panel 90, the controller 130 determines the current position and the inputted photographing position, and controls the operation of the driving device 110 that requires driving. The photographing apparatus 70 can be moved to a desired photographing position by the operation of the driving apparatus 110. [ This is called automatic movement mode.

In addition, the user can directly apply the force or torque to move the photographing apparatus 70. This is called manual movement mode. A mode switching unit 81 may be provided to switch from the automatic moving mode to the manual moving mode. The mode switching unit 81 may be a switch or integrated with the operation panel 90. [ The mode switching unit 81 may be mounted on the shift knob 80 in the form of a switch. The mode switching unit 81 is provided integrally with the shift knob 80 so that when the user grasps the shift knob 80, the mode switching unit 81 is switched to the manual shift mode and the shift knob 80 is shifted to the automatic shift mode.

In the manual moving mode, in order to move the position of the photographing apparatus 70 by the user, a large force or torque is required because the frictional force generated around each driving apparatus 110 must be overcome. Accordingly, when the user grasps the user's intention to move when the user applies force or torque to the photographing apparatus 70 and operates the driving apparatus 110 correspondingly, the photographing apparatus 70 can be moved with a smaller force or torque have.

Accordingly, the x-ray imaging system 1 has a measuring device 120 for measuring the force or torque applied by the user to grasp the user's intention to move.

The measuring device 120 is connected to the control device 130 so that the control device 130 operates the driving device 110 in accordance with the force or the size measured by the measuring device 120. [

The measuring device 120 includes first, second and third force sensors 121, 122 and 123 for measuring the forces in the first, second and third directions D1, D2 and D3, And first and second torque sensors 124 and 125 for measuring the torque in five directions D4 and D5.

The first force sensor 121 is provided to measure the direction and magnitude of the force in the first direction D1. The first force sensor 121 is disposed at a position capable of transmitting the force in the first direction D1. As shown in FIG. 2, the first force sensor 121 may be disposed around the first driving device 111. Since the force applied by the user in the first direction D1 is transmitted to the output terminal of the first driving device 111, when the first force sensor 121 is connected to the output terminal of the first driving device 111, Can be measured.

The first force sensor 121 is not limited to being located around the first driving device 111 but may be positioned anywhere that the force in the first direction D1 can be measured. For example, the first force sensor 121 may be disposed between the photographing apparatus 70 and the rotary joint 60, between the rotary joint 60 and the lower end posts of the post frame 50, and the like. When the first force sensor 121 is disposed between the photographing apparatus 70 and the rotary joint 60, the first force sensor 121 is directly attached to the post frame 50 without passing through the photographing apparatus 70. [ It is not possible to measure the force in the first direction D1 applied. Therefore, in this case, the user must apply the force in the first direction D1 to the moving knob 80 or the photographing apparatus 70 in order to move the photographing apparatus 70 in the first direction D1.

Similarly, the second force sensor 122 and the third force sensor 123 may be disposed at any positions capable of measuring the force in the second direction D2 and the third direction D3, respectively. 2, the second force sensor 122 is disposed around the output end of the second driving device 112, and the third force sensor 123 is disposed around the output end of the third driving device 113 do.

The first torque sensor 124 is provided to measure the direction and magnitude of the torque in the fourth direction D4. When the user applies a torque in the fourth direction D4 to rotate the photographing apparatus 70 in the fourth direction D4, the first torque sensor 124 can measure the direction and the magnitude of the torque. Therefore, the first torque sensor 124 is disposed at a position capable of measuring the torque in the fourth direction D4. 2, the first torque sensor 124 is disposed at the lower end of the post frame 50 and at the first rotational joint 61. The first torque sensor 124 is connected to the lower end of the post frame 50 and the first rotary joint 61, respectively.

The second torque sensor 125 may be disposed at any position capable of measuring the force in the fifth direction D5. As shown in Fig. 2, the second torque sensor 125 is disposed between the second rotary joint 62 and the photographing apparatus 70. Fig.

Although the first, second, and third force sensors 121, 122, 123 and the first and second torque sensors 124, 125 are provided to measure force or torque in each direction, And may be integrally formed. For example, the first, second and third force sensors 121, 122, and 123 may be replaced by force sensors capable of measuring forces in three directions orthogonal to each other, and the first and second torque sensors 124 and 125 ) Can be replaced by a torque sensor capable of measuring torque in two directions. In addition, the measuring apparatus 120 can be configured in various combinations according to the characteristics of the force sensor and the torque sensor.

FIG. 5A is an exploded perspective view illustrating an X-ray imaging system according to another embodiment of the present invention, and FIG. 5B is a perspective view illustrating a force / torque sensor in an X-ray imaging system according to another embodiment of the present invention.

As shown in FIGS. 5A-5B, the measuring device 120 may include a force torque sensor 126.

The force / torque sensor 126 may be provided to measure forces in three directions orthogonal to each other and torque in the rotational direction with respect to each of the three directions. Since the force / torque sensor 126 can measure the forces or torques of all six axes, the force in three directions transmitted in the first direction D1 to the third direction D3 and the forces in the fourth direction D4, The torque in the two directions transmitted in the fifth direction D5 can be measured.

The force / torque sensor 126 is connected to the controller 130 so that the direction and magnitude of the force or torque measured at the force / torque sensor 126 is transmitted to the controller 130.

The force / torque sensor 126 is preferably disposed around the photographing apparatus 70 so as to measure a force or torque transmitted to the photographing apparatus 70 to grasp the user's will to move. Accordingly, the force / torque sensor 126 can be disposed between the shift knob 80 and the photographing apparatus 70. [ When the force / torque sensor 126 is connected to the shift knob 80 because the user grasps the shift knob 80 and applies the force or torque to the shift knob 80 in the manual shift mode, the correct force or torque Can be measured.

The force / torque sensor 126 may be disposed between the photographing apparatus 70 and the rotary joint 60 and connected to the photographing apparatus 70 and the rotary joint 60, respectively. The force or torque can be measured when the force / torque sensor 126 is placed in the above-mentioned position when the user directly applies force or torque to the photographing apparatus 70 instead of the shift knob 80. [

6 is a view illustrating a moving method of an X-ray imaging system according to an embodiment of the present invention.

The user may switch 210 from the automatic movement mode to the manual movement mode. The user can start the manual movement mode by operating the mode switching unit 81 shown in Fig. As described above, when the mode switching unit 81 is integrally provided with the shift knob 80 shown in FIG. 2, the manual shift mode is started when the user grips the shift knob 80.

The measurement apparatus 120 shown in FIG. 2 measures the force or torque applied to the X-ray imaging system (220). The measuring device 120 may transmit the measured value to the control device 130 shown in Fig. Alternatively, the control device 130 may periodically measure and measure a force or a torque while exchanging electrical signals periodically with the measuring device 120.

The control device 130 determines the direction and magnitude of the driving force of the driving device 110 in accordance with the force or torque to be measured (230). The direction of the force or the torque to be measured coincides with the direction of the driving force of the driving device 110 and the magnitude of the force or torque to be measured may be proportional to the driving force of the driving device 110. [ The proportional relationship between the magnitude of the force or the torque and the magnitude of the driving force of the driving device 110 may be input in advance to the control device 130. [

The control device 130 operates the driving device 110 according to the determined direction and magnitude of the driving force of the driving device 110 (240). Accordingly, the photographing apparatus 70 shown in FIG. 2 connected to the driving apparatus 110 can be moved linearly or rotationally (250).

And confirms whether the manual movement mode is terminated (260). When the mode switching unit 81 is provided integrally with the shift knob 80, when the user releases the shift knob 80, the manual shift mode ends (270). If the manual movement mode has not been terminated, it is checked whether force or torque is applied to the X-ray imaging system 1 again (220).

7 is a view illustrating a moving method of an X-ray imaging system according to another embodiment of the present invention.

The driving device 110 shown in Fig. 2 is an electrically operated motor.

When the manual movement mode is started (310), a change in the current flowing through the driving device 110 is confirmed (320). When the user applies a force or a torque to the X-ray imaging system in a state where the driving apparatus 110 is stopped, the force or torque is transmitted to the driving apparatus 110 to cause a change in the current flowing in the driving apparatus 110. Therefore, when a change in the measured value of the current flowing through the driving device 110 occurs, it can be seen that force or torque is applied to the X-ray imaging system. At this time, the driving apparatus 110 may be regarded as including the measuring apparatus 120 shown in FIG.

The controller 130 shown in FIG. 2 determines the direction and magnitude of the force or torque applied to the X-ray imaging system in accordance with a change in the measurement value of the current (330). The magnitude of the current change measured at the drive device 110 is proportional to the magnitude of the force or torque transmitted to the drive device 110 and the sign of the change in current (plus or minus) corresponds to the direction of the transmitted force or torque do. Therefore, if the current measurement value when the force or the torque is not transmitted to the driving apparatus 110 is known, a change in the current measurement value of the driving apparatus 110 can be used to determine the force or torque applied to the X-ray imaging system .

The control device 130 determines the direction and size of the driving force of the driving device 110 in accordance with the force or the torque applied to the x-ray imaging system determined in operation 340.

The control device 130 operates the driving device 110 according to the determined direction and magnitude of the driving force and the photographing device 70 shown in Fig. 2 connected to the driving device 110 moves linearly or rotationally (360).

Check whether the manual movement mode is terminated (370), and if the manual movement mode is not terminated, check whether the current change of the driving apparatus 110 occurs again.

10: Shooting stand 20: Shooting table
30: guide rail 40: moving carriage
50: post frame 60: rotary joint
70: photographing apparatus 80: handle
90: Operation panel 110: Driving device
120: Measuring device 130: Control device

Claims (17)

A photographing device arranged to be movable;
A measuring device provided to measure at least one of external force and torque acting on the photographing device;
A driving device provided to move the photographing device corresponding to the direction and magnitude of at least one of the force and torque measured by the measuring device;
Ray imaging system. The method of claim 1,
Further comprising a first guide rail fixed to the ceiling and extending in a first direction,
Wherein the photographing apparatus is movable in the first direction along the first guide rail,
Wherein the measuring device includes a first force sensor arranged to measure an external force acting on the photographing device in the first direction,
Wherein the driving device includes a first driving device configured to move the imaging device in the first direction. 3. The method of claim 2,
And a second guide rail extending in a second direction orthogonal to the first direction and slidably coupled with the first guide rail,
Wherein the photographing apparatus is movable in the second direction along the second guide rail,
Wherein the measuring apparatus further comprises a second force sensor provided to measure an external force acting on the photographing apparatus in the second direction,
Wherein the driving device further comprises a second driving device arranged to move the photographing device in the second direction. The method of claim 3,
Further comprising a post frame disposed such that its length increases or decreases in a third direction orthogonal to the first direction and the second direction,
Wherein the photographing device is movable in the third direction as the length of the post frame increases or decreases,
Wherein the measuring device further comprises a third force sensor provided to measure an external force acting on the photographing device in the third direction,
Wherein the driving device further comprises a third driving device arranged to move the photographing device in the third direction. 5. The method of claim 4,
And the third force sensor is disposed around an output portion of the third driving device. 3. The method of claim 2,
Further comprising a first rotation joint rotatable in a fourth direction defined by a rotation direction of an axis parallel to the third direction,
Wherein the photographing apparatus is rotatable in the fourth direction in connection with the first rotary joint,
Wherein the measuring device further comprises a first torque sensor arranged to measure a torque acting on the photographing device in the fourth direction,
Wherein the driving device further comprises a fourth driving device for rotating the photographing device in the fourth direction. 5. The method of claim 4,
And a second rotary joint rotatable in a fifth direction defined by a rotation direction of an axis parallel to the first direction,
Wherein the photographing apparatus is rotatable in the fifth direction in connection with the second rotary joint,
Wherein the measuring device further comprises a second torque sensor arranged to measure an external torque acting on the photographing device in the fifth direction,
Wherein the driving device further comprises a fifth driving device for rotating the photographing device in the fifth direction. The method of claim 1,
And a control device each connected to the measuring device and the driving device. 9. The method of claim 8,
And the control device controls the magnitude and driving direction of the driving force of the driving device in correspondence with the value measured by the measuring device. The method of claim 1,
Wherein the measuring device is a force / torque sensor configured to measure a force acting on each of three axes orthogonal to each other and a torque acting on each of at least two axes of the three axes, X-ray imaging system. 11. The method of claim 10,
The apparatus may further include a handle fixed to the side of the photographing apparatus to apply at least one of a force and a torque to the photographing apparatus.
And the force / torque sensor is disposed between the handle and the photographing apparatus. 11. The method of claim 10,
Further comprising a rotation joint connected to the photographing apparatus such that the photographing apparatus is rotatable,
Wherein the force / torque sensor is disposed between the imaging device and the rotational joint. An x-ray imaging system including an imaging device for irradiating x-rays, a measurement device provided to measure at least one of a force and a torque applied to the imaging device, and a driving device connected to the imaging device to move the imaging device In the method of moving,
At least one of a force and a torque is applied to the imaging device to move the imaging device;
The measuring device measures at least one of a force and a torque applied to the imaging device;
Moving the imaging device according to the direction and magnitude of at least one of the force and torque measured by the drive device; Thing
The method comprising the steps < RTI ID = 0.0 > of: < / RTI > 14. The method of claim 13,
The x-ray imaging system further includes a control device connected to the measuring device and the driving device, respectively.
And controlling the operation of the driving apparatus by determining the magnitude of the driving direction and the driving force of the driving apparatus corresponding to the direction and magnitude of at least one of the force and torque measured by the measuring apparatus. To move the x-ray imaging system. 15. The method of claim 14,
And the control device periodically monitors the direction and magnitude of at least one of the force and torque measured by the measuring device. 14. The method of claim 13,
The x-ray photographing system includes a handle fixed to the photographing apparatus so that the user can grip,
And the measuring device and the driving device operate only when a user grips the handle. A moving method of an X-ray imaging system including a photographing device for irradiating an X-ray and a driving device connected to the photographing device for moving the photographing device,
Measuring a first current value of the driving device when external force and torque are not applied to the photographing device;
Measuring a second current value of the driving device when at least one of an external force and a torque acts on the photographing device;
Determining at least one direction and magnitude of an external force and a torque applied to the photographing apparatus through the difference between the first current value and the second current value;
Moving the photographing device by operating the drive device to correspond to the determined direction and magnitude of the torque; Wherein the method comprises the steps of:

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