A an X-ray imaging device (100, 100a) for minimally invasive surgery, the device comprising: a rod (110,110a,110b) having a predetermined length that can be inserted into a human body; a clamp module (120,120a,120b) disposed at a first end of the rod (110,110a,110b) and including a first clamp body (121,121a,121b), a second clamp body (122,122a,122b), and a clamp support (123,123a,123b) supporting at least one of the first clamp body (121,121a,121b) and the second clamp body (122,122a,122b) such that a first end of the first clamp body (121,121a,121b) and a first end of the second clamp body (122,122a,122b) open and close; an X-ray emission module (141,141a,141b) disposed at the first end of the first clamp body (121,121a,121b) and emitting X-rays to the first end of the second clamp body (122,122a,122b); an X-ray sensing module disposed at the first end of the second clamp and sensing the X-rays emitted from the X-ray emission module (141,141a,141b); and a manipulation module (130,130a) disposed at a second end of the rod (110,110a,110b) and operating the clamp module (120,120a,120b) to open and close the first end of the first clamp body (121,121a,121b) and the second end of a second clamp body (122,122a,122b) of the clamp module (120,120a,120b), wherein the rod (110,110a,110b) is inserted into the human body, X-rays are emitted from the X-ray emission module (141,141a,141b) with the first end of the first clamp body (121,121a,121b) and the first end of the second clamp body (122,122a,122b) open with a lesion positioned therebetween in the human body, and the X-rays travel through the lesion and is then sensed by the X-ray sensing module. a rod (110,110a,110b) having a predetermined length that can be inserted into a human body; a clamp module (120,120a,120b) disposed at a first end of the rod (110,110a,110b) and including a first clamp body (121,121a,121b), a second clamp body (122,122a,122b), and a clamp support (123,123a,123b) supporting at least one of the first clamp body (121,121a,121b) and the second clamp body (122,122a,122b) such that a first end of the first clamp body (121,121a,121b) and a first end of the second clamp body (122,122a,122b) open and close; an X-ray emission module (141,141a,141b) disposed at the first end of the first clamp body (121,121a,121b) and emitting X-rays to the first end of the second clamp body (122,122a,122b); an X-ray sensing module disposed at the first end of the second clamp and sensing the X-rays emitted from the X-ray emission module (141,141a,141b); and a manipulation module (130,130a) disposed at a second end of the rod (110,110a,110b) and operating the clamp module (120,120a,120b) to open and close the first end of the first clamp body (121,121a,121b) and the second end of a second clamp body (122,122a,122b) of the clamp module (120,120a,120b), wherein the rod (110,110a,110b) is inserted into the human body, X-rays are emitted from the X-ray emission module (141,141a,141b) with the first end of the first clamp body (121,121a,121b) and the first end of the second clamp body (122,122a,122b) open with a lesion positioned therebetween in the human body, and the X-rays travel through the lesion and is then sensed by the X-ray sensing module.