# US 9,433,395 B2 · X-ray imaging apparatus and method for controlling X-ray imaging apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,433,395 B2 - Document ID: US9433395B2 - Status: Granted - Kind: B2 - Application number: 13/940,465 - Filed: 2013-07-12 - Published: 2014-01-16 - Granted: 2016-09-06 - Earliest claimed: 2012-07-12 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Dong Goo Kang; Young Hun Sung - Web page: https://patentgrep.com/patent/US9433395B2 ## CPC - A61B 6/544: {dependent on patient size} - A61B 6/4476: {related to motor-assisted motion of the source unit} - A61B 6/469: {for selecting a region of interest [ROI]} - A61B 6/547: {involving tracking of position of the device or parts of the device} - A61B 6/587: {Alignment of source unit to detector unit} - A61B 6/588: {Setting distance between source unit and detector unit} - A61B 6/589: {Setting distance between source unit and patient} - G01B 11/022: {by means of tv-camera scanning} - G01B 11/024: {by means of diode-array scanning} - H01J 37/3045: {Object or beam position registration} - A61B 6/0492: {using markers or indicia for aiding patient positioning} - A61B 6/08: Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams - A61B 6/4452: {the source unit and the detector unit being able to move relative to each other} - A61B 6/542: {involving control of exposure} - G01B 11/026: {by measuring distance between sensor and object (G01B11/0608 takes precedence)} - G01C 3/02: Details - G01N 23/046: using tomography, e.g. computed tomography [CT] - G01N 2223/419: computed tomograph - G01S 17/06: Systems determining position data of a target - G06T 12/10: Image preprocessing, e.g. calibration, positioning of sources or scatter correction - H01J 37/302: Controlling tubes by external information, e.g. program control (H01J37/304 takes precedence) - H01J 37/304: Controlling tubes by information coming from the objects {or from the beam}, e.g. correction signals - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - H01J: ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS (spark-gaps H01T; electric arc lamps H05B31/00; particle accelerators H05H) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Disclosed herein are an X-ray imaging apparatus and a method of controlling the same. The X-ray imaging apparatus includes an X-ray emitter to irradiate an object with X-rays and be movable, an X-ray detector to detect X-rays having passed through the object, convert the detected X-rays into an electric signal, and be movable, a location information collector to collect location information regarding the object, and a controller to control the X-ray emitter or the X-ray detector based on the location information regarding the object collected by the location information collector. ## Claims ### Claim 1 An X-ray imaging apparatus comprising: an X-ray emitter configured to irradiate an object with X-rays and be independently movable with respect to an X-ray detector of the X-ray imaging apparatus; the X-ray detector configured to detect X-rays having passed through the object, convert the detected X-rays into an electric signal, and be independently movable with respect to the X-ray emitter; a location information collector configured to collect location information regarding the object; and a controller configured to execute a computer program stored in a computer readable medium, wherein the computer program is provided to perform controlling the X-ray emitter or the X-ray detector based on the location information regarding the object collected by the location information collector, by determining a first movement location of one of the X-ray emitter and the X-ray detector, and using the determined first movement location to determine a second movement location of a remaining one of the X-ray emitter and the X-ray detector after the first one of the X-ray emitter and the X-ray detector moves to the first movement location. ### Claim 2 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the location information regarding the object is a location of the object in a three-dimensional coordinate system. ### Claim 3 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the location information collector is a three-dimensional sensor to sense the object. ### Claim 4 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the location information collector collects location information regarding the object by identifying a marker on the object. ### Claim 5 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the location information collector is at least one of a range sensor, a three-dimensional (3D) camera, a 3D depth camera, a 3D color/depth camera, a stereo camera, an infrared camera, and a position sensitive device (PSD). ### Claim 6 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the controller controls the X-ray emitter or the X-ray detector by transmitting one of first movement location information on the X-ray emitter and second movement location information on the X-ray detector to the X-ray emitter or the X-ray detector or by generating one of a first movement command based on the first movement location information and a second movement command based on the second movement location information, and transmitting the generated one of the first and the second movement command to the X-ray emitter or the X-ray detector. ### Claim 7 (depends on 6) The X-ray imaging apparatus according to claim 6, wherein the controller transmits the one of the first and the second movement location information or one of the first and the second movement command of the X-ray emitter or the X-ray detector to the X-ray emitter or the X-ray detector using a wired communication network or a wireless communication network. ### Claim 8 (depends on 6) The X-ray imaging apparatus according to claim 6, wherein the computer program is further provided to perform generating the first movement command for the X-ray emitter based on the first movement location information on the X-ray emitter or the second movement command for the X-ray detector based on the second movement location information on the X-ray detector. ### Claim 9 (depends on 1) The X-ray imaging apparatus according to claim 1, further comprising an input unit configured to receive data or a command. ### Claim 10 (depends on 9) The X-ray imaging apparatus according to claim 9, wherein the computer program is further provided to perform calculating a first movement location information of the X-ray emitter and a second movement location information of the X-ray detector using user input information input via the input unit and the location information of the object collected by the location information collector. ### Claim 11 (depends on 10) The X-ray imaging apparatus according to claim 10, wherein the user input information comprises at least one from among a radiographic location and a radiographic range of the object to be X-ray imaged by a user, unique information of the object, information on a marker to be identified, setting information for operation of the X-ray imaging apparatus or the location information collector, and location information of the object. ### Claim 12 (depends on 9) The X-ray imaging apparatus according to claim 9, wherein the input unit transmits at least one input movement location to the controller using a wired communication network or a wireless communication network. ### Claim 13 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the computer program is further provided to perform determining a first movement location information of the X-ray emitter based on the location information of the object collected by the location information collector and determining a second movement location information of the X-ray detector using the determined first movement location information of the X-ray emitter, or determining the second movement location information of the X-ray detector based on the location information of the object collected by the location information collector and determining the first movement location information of the X-ray emitter using the determined second movement location information of the X-ray detector. ### Claim 14 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the computer program is further provided to perform determining a second movement location information of the X-ray detector based on the location information of the object collected by the location information collector and a first movement location information of the X-ray emitter, or determining the first movement location information of the X-ray emitter based on the location information of the object collected by the location information collector and the second movement location information of the X-ray detector. ### Claim 15 (depends on 14) The X-ray imaging apparatus according to claim 14, wherein the first movement location information of the X-ray emitter or the second movement location information of the X-ray detector, used to calculate a movement location of the X-ray detector or a movement location of the X-ray emitter, is input by a user. ### Claim 16 A method of controlling an X-ray imaging apparatus, the method comprising: collecting location information of the object, by a location information collector; determining a first movement location of one of a movable X-ray emitter and a movable X-ray detector based on the location information of the object collected by the location information collector; moving the one of the movable X-ray emitter or the movable X-ray detector according to the determined first movement location; and determining a second movement location of a remaining one of the movable X-ray emitter and the movable X-ray detector based on the first movement location of the one of the movable X-ray emitter and the movable X-ray detector after the one of the movable X-ray emitter and the movable X-ray detector moves to the first movement location. ### Claim 17 (depends on 16) The method according to claim 16, wherein the location information collector is a 3D sensor configured to sense the object, and the collecting is performed by sensing the object, the sensing being performed by the 3D sensor, generating three-dimensional location information regarding the sensed object, and collecting the generated three-dimensional location information. ### Claim 18 (depends on 16) The method according to claim 16, wherein the location information collector is a marker identification sensor configured to identify a marker formed on the object, and the collecting is performed such that the marker identification sensor identifies the marker formed on the object and location information regarding the object is calculated using the identified marker. ### Claim 19 (depends on 16) The method according to claim 16, wherein the moving comprises: generating one of a first movement control command for the X-ray emitter and a second movement control command for the X-ray detector based on the determined first movement location and the determined second movement location; transmitting the generated one of the first and the second movement control command to the X-ray emitter or the X-ray detector; and moving the X-ray emitter or the X-ray detector according to the transmitted one of the first and the second movement control command. ### Claim 20 (depends on 16) The method according to claim 16, wherein the method further comprises: moving the X-ray emitter or the X-ray detector according to the determined second movement location of the remaining one of the X-ray emitter and the X-ray detector.