Abstract: Disclosed herein are an X-ray imaging apparatus and a method for controlling the X-ray imaging apparatus. A path on which an X-ray source avoids an obstacle is automatically set on a movement path of the X-ray source, or a user sets the path manually by using simple manipulation so that an efficient X-ray imaging system can be provided. The X-ray imaging apparatus includes: an X-ray source movably disposed; a manipulation unit through which control instructions relating to a movement region of the X-ray source are input; and a processor that controls at least one movement of the X-ray source so that the X-ray source is moved within the movement region based on the inputted control instructions.

Abstract: There are provided a radiographic imaging apparatus that is movable in response to a relatively small application of force and a method for controlling the same. A radiographic imaging apparatus includes a radiographic image generator; a motor configured to move the radiographic image generator; and a controller configured to calculate a disturbance applied to the radiographic image generator and to drive the motor based on the disturbance.

Abstract: Provided is an information providing method for aligning an X-ray tube and a detector of a mobile X-ray apparatus, the information providing method including: obtaining first angle information which relates to the X-ray tube by using a first angle measurement sensor which is connected to the X-ray tube; obtaining second angle information which relates to the detector by using a second angle measurement sensor which is connected to the detector; and outputting rotation information for guiding a rotation direction and a rotation angle of the X-ray tube or a rotation direction and a rotation angle of the detector such that an angle between a first plane which is set with respect to the X-ray tube and a second plane which is set with respect to the detector is within a predetermined angle range, based on the first angle information and the second angle information.

Abstract: A surgical implement and a manipulation system including the surgical implement may include at least one instrument including at least one joint portion. The joint portion may include a first part, a second part connected to the first part, and a force applying element for applying a force for bending (or rotating) the second part. A distance between a joint point and a force application point where a force is applied may be greater than a diameter of at least one of the first part and the second part. The instrument may further include a second joint portion spaced apart from the joint portion, and a surgical tool connected to an end portion of the second joint portion. The manipulation system may include a supporting structure, at least one instrument supported by the supporting structure, and an operating device for operating the instrument.

Abstract: An X-ray apparatus includes a C-arm for adjusting a position of an X-ray source; a table on which an object is positioned; a data obtaining unit for obtaining position information of a target in the object; and a control unit for moving at least one of the C-arm and the table to allow tracking of the target based on the position information when capturing an X-ray image.

Abstract: Disclosed herein are an X-ray imaging apparatus which recognizes a marker located at a part to be subjected to X-ray imaging from an image of a subject imaged by a camera and which controls a respective movement of each of an X-ray tube and an X-ray detector to a respective position which corresponds to the recognized marker, and a method for controlling the same. An X-ray imaging apparatus includes an X-ray tube which radiates X-rays toward a subject, an X-ray detector which detects X-rays which propagate through the subject, an imaging unit which generates an image of the subject, a recognizes which recognizes a part to be subjected to X-ray imaging from the image of the subject, and a position controller which controls a movement of the X-ray tube and the X-ray detector to a position corresponding to the part to be subjected to X-ray imaging.

Abstract: A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle.

Abstract: Disclosed herein are an X-ray imaging apparatus and a method for controlling the X-ray imaging apparatus. A path on which an X-ray source avoids an obstacle is automatically set on a movement path of the X-ray source, or a user sets the path manually by using simple manipulation so that an efficient X-ray imaging system can be provided. The X-ray imaging apparatus includes: an X-ray source movably disposed; a manipulation unit through which control instructions relating to a movement region of the X-ray source are input; and a processor that controls at least one movement of the X-ray source so that the X-ray source is moved within the movement region based on the inputted control instructions.

Abstract: A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.

Abstract: An X-ray apparatus includes a control unit configured to acquire orientation information of an X-ray radiation unit and orientation information of X-ray detectors, select an X-ray detector among the X-ray detectors whose orientation information complements or matches the orientation information of the X-ray radiation unit, and generate a control signal; and a communication unit configured to transmit, to the X-ray detector which has been selected, the control signal generated in the control unit so that the selected X-ray detector becomes paired with the X-ray radiation unit for an X-ray imaging of an object.

Abstract: There are provided a radiographic imaging apparatus that is movable in response to a relatively small application of force and a method for controlling the same. A radiographic imaging apparatus includes a radiographic image generator; a motor configured to move the radiographic image generator; and a controller configured to calculate a disturbance applied to the radiographic image generator and to drive the motor based on the disturbance.

Abstract: An X-ray apparatus includes an X-ray radiation unit configured to radiate X-rays to an object; and a main control unit configured to acquire orientation information of the X-ray radiation unit and orientation information of an X-ray detector and select the X-ray detector based on the orientation information of the X-ray radiation unit and the orientation information of the X-ray detector.

Abstract: Disclosed herein are an X-ray imaging apparatus which recognizes a marker located at a part to be subjected to X-ray imaging from an image of a subject imaged by a camera and which controls a respective movement of each of an X-ray tube and an X-ray detector to a respective position which corresponds to the recognized marker, and a method for controlling the same. An X-ray imaging apparatus includes an X-ray tube which radiates X-rays toward a subject, an X-ray detector which detects X-rays which propagate through the subject, an imaging unit which generates an image of the subject, a recognizes which recognizes a part to be subjected to X-ray imaging from the image of the subject, and a position controller which controls a movement of the X-ray tube and the X-ray detector to a position corresponding to the part to be subjected to X-ray imaging.

Abstract: A method for controlling a movement of a medical device includes: acquiring location information of an object by using an ultra-wideband (UWB) location tracker; acquiring location information of the medical device by using a sensor disposed in the medical device; generating a movement path of the medical device based on the location information of the object and the location information of the medical device; and controlling the movement of the medical device based on the generated movement path.

Abstract: An X-ray apparatus includes an X-ray radiation unit configured to radiate X-rays to an object; and a main control unit configured to acquire orientation information of the X-ray radiation unit and orientation information of an X-ray detector and select the X-ray detector based on the orientation information of the X-ray radiation unit and the orientation information of the X-ray detector.

Abstract: Provided is an information providing method for aligning an X-ray tube and a detector of a mobile X-ray apparatus, the information providing method including: obtaining first angle information which relates to the X-ray tube by using a first angle measurement sensor which is connected to the X-ray tube; obtaining second angle information which relates to the detector by using a second angle measurement sensor which is connected to the detector; and outputting rotation information for guiding a rotation direction and a rotation angle of the X-ray tube or a rotation direction and a rotation angle of the detector such that an angle between a first plane which is set with respect to the X-ray tube and a second plane which is set with respect to the detector is within a predetermined angle range, based on the first angle information and the second angle information.

Abstract: A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

Abstract: A torque-based walking robot and a control method thereof which stably controls walking of the robot. In the control method, in which high rigidity, equal to that achieved through a position-based control method, is achieved using a torque-based control method without switching between the position-based control method and the torque-based control method while the robot is in motion, a difference between a target torque and a measured torque is forcibly generated by limiting a torque range measurable by each torque sensor, thereby increasing voltage applied to each actuator, and thus achieving high rigidity, equal to that achieved through the position-based control method, using the torque-based control method without switching between the position-based control method and the torque-based control method.

Abstract: A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle.

Abstract: A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.