KR101725189B1 - Medical apparatus using ultrasound and method of movement control of transducer - Google Patents

Abstract

According to various embodiments of the present invention, a method of controlling movement of a transducer includes transmitting a first ultrasonic wave and receiving the reflected first ultrasonic wave; Analyzing the time and intensity of the reflected first ultrasound and outputting structural information of the skin tissue based on the analysis result; Receiving an input for selecting at least a portion of the structural information of the skin tissue output; And controlling the movement of the transducer so that a second ultrasound focusing point of the transducer is formed at a treatment site corresponding to the selected at least part of the transducer.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a medical apparatus and a method of controlling movement of a transducer using ultrasonic waves,

The present invention relates to a medical device using ultrasound, and more particularly, to a method for controlling the movement of a transducer mounted on a medical device using ultrasound.

Ultrasonic wave is a wave having a frequency of 20 KHz or more and has a property of transmitting water, and is widely used in medical fields such as an ultrasonic diagnostic apparatus and an ultrasonic therapeutic apparatus.

Ultrasonic imaging devices using the transmission and reflection properties of ultrasound are the most typical applications of ultrasound in the medical field. For example, there is an apparatus for obtaining a cross-sectional image in a human body by visualizing the time and intensity of reflection while transmitting the ultrasonic waves through the human body and passing through each organ.

In addition, a device for burning certain subcutaneous tissues such as tumors in the skin using heat generated by high-intensity focused ultrasound, or inducing denaturation and regeneration of skin tissue to cause skin cosmetic or skin molding effects such as wrinkle improvement have.

However, in the case of a conventional medical apparatus using a high-intensity focused ultrasonic wave, the transducer inside the cartridge is not moved. Therefore, in order to perform an ultrasonic procedure on a large area, a practitioner has to carry the handpiece while moving it little by little. Therefore, not only is it very cumbersome, but also the interval can not be maintained constant, so that uneven treatment can not be achieved over the entire treatment area.

The present invention seeks to provide an apparatus capable of controlling three-dimensional spatial movement of a transducer inside a cartridge.

An object of the present invention is to provide an apparatus capable of automatically controlling the movement of a transducer to form an ultrasonic focusing point at a desired treatment site.

According to various embodiments of the present invention, a method of controlling movement of a transducer includes transmitting a first ultrasonic wave and receiving the reflected first ultrasonic wave; Analyzing the received time and intensity of the reflected first ultrasound and outputting structural information of the skin tissue based on the analysis result; Receiving an input for selecting at least a portion of the structural information of the skin tissue output; And controlling the movement of the transducer so that a second ultrasound focusing point of the transducer is formed at a treatment site corresponding to the selected at least part of the transducer.

According to various embodiments of the present invention, a medical device using ultrasound includes at least one transducer for converting a vibration current into an ultrasonic wave; A driving unit having at least three motors; And receiving the reflected first ultrasonic wave, analyzing the time and intensity of the reflected first ultrasonic wave, outputting structural information of the skin tissue based on the analysis result, And a main controller for receiving an input for selecting at least part of the structural information of the skin tissue and controlling the movement of the transducer so that a second ultrasound focusing point of the transducer is formed at a treatment region corresponding to the selected at least part .

The medical device using ultrasonic waves according to various embodiments of the present invention can provide a device capable of irradiating a wide treatment area and changing the depth at which ultrasonic waves are focused.

The medical device using ultrasonic waves according to various embodiments of the present invention can provide an apparatus that can automatically adjust the position of the transducer to enable accurate operation.

1 is a block diagram of a medical device 100 using ultrasound according to various embodiments of the present invention.
2 is an exemplary diagram of a method for controlling three-dimensional movement of a transducer 131, in accordance with various embodiments of the present invention.
3 is a flowchart illustrating a method of automatically controlling the movement of the transducer 131, according to various embodiments of the present invention.
Figure 4 is a schematic view of a connection according to various embodiments.
5 is a schematic view of the cartridges 510 and 520 according to the first embodiment.
6 is a schematic view of a cartridge 620 according to a second embodiment.
7 is a schematic view of a cartridge 720 according to the third embodiment.
FIGS. 8A and 8B are exemplary diagrams for comparing the case of obtaining the ultrasound image of the skin using the image probe and the case of obtaining the ultrasound image of the skin using the therapeutic ultrasound transducer.

Hereinafter, various embodiments of the present document will be described with reference to the accompanying drawings. It should be understood, however, that this invention is not intended to be limited to the particular embodiments described herein but includes various modifications, equivalents, and / or alternatives of the embodiments of this document . In connection with the description of the drawings, like reference numerals may be used for similar components.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the other embodiments. The singular expressions may include plural expressions unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art. The general predefined terms used in this document may be interpreted in the same or similar sense as the contextual meanings of the related art and, unless expressly defined in this document, include ideally or excessively formal meanings . In some cases, even the terms defined in this document can not be construed as excluding the embodiments of this document.

1 is a block diagram of a medical device 100 using ultrasound according to various embodiments of the present invention.

The medical device 100 using ultrasound according to various embodiments of the present invention can be composed of a main body 110 and a connection part, and the main body part 110 and the connection part can be connected. The connection part may be composed of the hand piece 120 and the cartridge 130 and the main body part 110 may transmit a control signal to the cartridge 130 through the hand piece 120 of the connection part.

The main body 110 may include a main controller 111 for controlling the entire system, a memory 113, a high frequency oscillator 112, an input / output interface 114, a display 115, and an imaging circuit 116 . In some embodiments, the ultrasound-based medical device 100 may omit at least one of the components or additionally include other components.

The main controller 111 may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). The main controller 111 may perform calculations or data processing relating to, for example, control and / or communication of at least one other component of the medical device 100 using ultrasound.

Memory 113 may include volatile and / or non-volatile memory. The memory 113 may, for example, store instructions or data related to at least one other component of the medical device 100 using ultrasound. According to one embodiment, the memory 113 may store software and / or programs.

The high-frequency oscillator 112 may include one or more of a semi-coupled oscillator, a negative resistance oscillator, and a crystal oscillator. The high frequency oscillator 112 may be configured to emit a continuous oscillating current into the cartridge 130 of the medical device 100 using ultrasonic waves so that the transducers in the cartridge 130 can be changed to ultrasonic waves of the same frequency. do.

The input / output interface 114 may serve as an interface capable of transmitting, for example, a command or data input from a user or another external device to another component (s) of the medical device 100 using ultrasonic waves.

The display 115 includes, for example, a liquid crystal display (LCD), a light-emitting diode (LED) display, an organic light-emitting diode (OLED) can do. Display 115 may include a touch screen and may receive touch input, for example, using an electronic pen or a portion of the user's body.

The imaging circuit 116 can be imaged using the structural information of the skin tissue output by the main controller 111. [ That is, the imaging circuit 116 receives the analysis result from the main controller 111 and converts it into an image when the main controller 111 analyzes the time and intensity of the reflected ultrasonic wave received by the transducer 131 Can be performed. The imaging circuit 116 may be omitted when the structure information of the skin tissue is not outputted as an image as a necessary component only when the structure information of the skin tissue is outputted as an image. 130 and a cartridge 130 that is removable and attachable to the handpiece 120 and includes a transducer.

The handpiece 120 may include a handpiece controller 121. The handpiece controller 121 receives a signal from the main controller 111 and can control the driving unit 122 of the handpiece 120 and can serve as a hub for signals between the main body 110 and the connecting unit .

The handpiece 120 may include a driver 122. The driving unit 122 according to an embodiment of the present invention is composed of at least three motors, and each motor can be configured to control X-axis, Y-axis, and Z-axis movement of the transducer. Each motor can be configured in various ways using a solenoid, a step motor, and a linear motor. According to some embodiments, one or more motors may be omitted and other components may be used to provide similar motor power to the motor.

The transducer may be configured to be physically connected to three or more motors of the driver 122. The handpiece controller 121 can receive a control signal from the main controller 111 of the main body 110 and can control the movement of the transducer 131 by adjusting the motor in the driving unit according to the received control signal have.

The cartridge 130 may include a transducer 131 that is detachable and attachable to the handpiece 120 and that receives high frequency pulses from the main body 110 and converts the high frequency pulses into ultrasound waves. The transducer 131 in the cartridge 130 can be controlled by connecting the main body 110 and the cartridge 130 through the handpiece 120. [

According to various embodiments of the present invention, a medical device using ultrasound includes at least one transducer for converting a vibration current into an ultrasonic wave; A driving unit having at least three motors; And receiving the reflected first ultrasonic wave, analyzing the time and intensity of the reflected first ultrasonic wave, outputting structural information of the skin tissue based on the analysis result, And a main controller for receiving an input for selecting at least part of the structural information of the skin tissue and controlling the movement of the transducer so that a second ultrasound focusing point of the transducer is formed at a treatment region corresponding to the selected at least part .

The at least three or more motors of the medical device using ultrasound according to various embodiments of the present invention may be an X-axis motor, a Y-axis motor, and a Z-axis motor.

The at least one transducer of the medical device using ultrasound, according to various embodiments of the present invention, may be characterized in that it comprises an imaging probe and a therapeutic ultrasound transducer.

In accordance with various embodiments of the present invention, at least one transducer of the medical device using ultrasound includes a therapeutic ultrasound transducer, wherein the therapeutic ultrasound transducer transmits a first ultrasound wave, And a receiving unit for receiving the data.

According to various embodiments of the present invention, the main controller of the ultrasound-based medical device analyzes structural information of at least some selected dermal tissues and calculates a necessary amount of movement of the transducer for focusing the second ultrasound at the corresponding treatment site As shown in FIG.

The main controller of the medical device using ultrasonic waves according to various embodiments of the present invention is characterized in that the transducer controls the second ultrasonic wave corresponding to the high intensity focused ultrasonic wave to radiate heat to a specific position within the selected human body to generate heat can do.

The input for selecting at least a part of the structural information of the skin tissue output from the ultrasound-based medical device according to various embodiments of the present invention may be manual selection by a user or automatic selection according to predetermined instructions .

2 is an exemplary diagram of a method for controlling three-dimensional movement of a transducer 131, in accordance with various embodiments of the present invention.

Referring to FIG. 2, the handpiece 120 may include at least three motors. At least three motors may be mounted on the X axis, the Y axis, and the Z axis, respectively, and the motors mounted on the axes may provide power to perform a linear reciprocating motion within a certain range of the transducer 131 . For example, the Z-axis motor adjusts the height of the transducer 131 so that the depth of the focal point 132 of the transducer 131 can be adjusted, and the X-axis motor and the Y-axis motor are perpendicular to the Z- The movement of the transducer 131 on the plane can be controlled.

That is, the movement of the transducer 131 can be controlled so that the ultrasonic wave can be focused on a portion to be processed in a state in which the cartridge 130 is in close contact with the surface of the skin without moving the cartridge 130.

3 is a flowchart illustrating a method of automatically controlling the movement of the transducer 131, according to various embodiments of the present invention.

In step S310, the first ultrasonic wave can be transmitted and received. The first ultrasonic wave means an ultrasonic wave having a specific frequency for acquiring a sectional image in the human body, and may preferably be an ultrasonic wave in a range of 1 MHz to 10 MHz. The transducer 131 can transmit the first ultrasonic wave and can receive the ultrasonic wave which is transmitted through the inside of the human body and reflected back and returned. According to various embodiments, the transmission and reception of the first ultrasonic wave can be performed using one transducer 131, and the transmission transducer 131 and the reception transducer 131 can be separately provided, that is, A transducer 131 may be used.

In step S320, the reflected first ultrasound may be analyzed to output structural information of the skin tissue.

According to various embodiments, the main controller 111 may analyze the reflected first ultrasound to output structural information of the skin tissue. For example, the main controller 111 may control to output the structure information of the skin tissue through the user interface or to perform predetermined instructions using the structure information of the skin tissue output.

According to various embodiments, output via the user interface may be a method of displaying on display 115 using imaging circuitry 116. [ For example, the imaging circuit 116 can be imaged using the structural information of the skin tissue output by the main controller 111. [ That is, the imaging circuit 116 receives the analysis result from the main controller 111 and converts it into an image when the main controller 111 analyzes the time and intensity of the reflected ultrasonic wave received by the transducer 131 Can be performed. The imaging circuit 116 transfers information converted into an image to the main controller 111 and the main controller 111 can control the display 115 to output the converted image. For example, the epidermal layer, the dermal layer, and the subcutaneous fat layer can be expressed in the form of a sectional structure.

According to some embodiments, the output via the user interface may be a method of displaying the analysis results by the main controller 111 in data format on the display 115. For example, the display 115 may display data on the coordinates (eg, Dermis: xx mm) by dividing epidermis, dermis, hypodermis, and the like according to the analysis result.

According to an embodiment, when the main controller 111 performs the predetermined instruction using the structure information of the skin tissue output, it may not output the skin structure information through the user interface.

In step S330, an input for selecting at least a part of the structural information of the skin tissue output may be received.

According to various embodiments, the input for selecting at least some of the structural information of the skin tissue may be manual selection by the user or automatic selection according to predetermined instructions.

Manual selection by the user may be, for example, a method of selecting at least a portion of the image displayed on the display 115 or a method of selecting at least a portion of the data displayed on the display 115, and so on. According to some embodiments, a user may select at least some of the structural information of the skin tissue through the input / output interface 114 or other external device.

The automatic selection according to the predetermined instruction can, for example, control the main controller 111 to automatically select at least a part of the section corresponding to the dermis when the instruction is set to select the dermis.

In step S340, the main processor 111 may analyze the structure information of at least some skin tissues selected and calculate a necessary movement amount of the transducer 131 for focusing the second ultrasound on the corresponding treatment site.

According to some embodiments, the main processor 111 analyzes structure information of at least some selected skin tissues to determine whether the user's intention is to select a dermal layer, a subcutaneous layer, or a layer boundary It can also be analyzed according to the set instruction.

In step S350, the main processor 111 may control the transducer 131 to move based on the analyzed result.

The main controller 111 can drive each of the X-axis, Y-axis, and Z-axis motors based on the calculation result. The main controller 111 causes the handpiece controller 121 to control the driving unit 122 so that the ultrasonic focusing point 132 is formed at a specific position inside the human body corresponding to the selected coordinates, .

In step S360, the second ultrasonic wave corresponding to the high-intensity focused ultrasonic wave may be radiated to a specific position in the selected human body to generate heat. Using the generated heat, the removal of specific subcutaneous tissue such as a tumor in the skin (coagulative necrosis) or the denaturation and regeneration of the skin tissue can be induced to improve the wrinkles.

According to various embodiments of the present invention, a method of controlling movement of a transducer includes transmitting a first ultrasonic wave and receiving the reflected first ultrasonic wave; Analyzing the received time and intensity of the reflected first ultrasound and outputting structural information of the skin tissue based on the analysis result; Receiving an input for selecting at least a portion of the structural information of the skin tissue output; And controlling the movement of the transducer so that a second ultrasound focusing point of the transducer is formed at a treatment site corresponding to the selected at least part of the transducer.

According to various embodiments of the present invention, the step of controlling the movement of the transducer in the method of controlling the movement of the transducer is characterized in that at least three or more motors are physically connected to the transducer to control the movement in the three-dimensional space .

The at least three or more motors of the method for controlling movement of the transducer according to various embodiments of the present invention may be characterized by being an X-axis motor, a Y-axis motor, and a Z-axis motor.

The step of controlling the movement of the transducer in the method of controlling movement of the transducer according to various embodiments of the present invention includes the steps of analyzing the structural information of at least some selected skin tissues to focus the second ultrasound on the corresponding treatment site, And calculating a required movement amount of the ducer.

According to various embodiments of the present invention, the method for controlling movement of a transducer may further include the step of generating heat by radiating a second ultrasonic wave corresponding to a high-intensity focused ultrasonic wave to a specific position within a selected human body.

According to various embodiments of the present invention, a method of controlling movement of a transducer is characterized in that the input for selecting at least a part of the structure information of the skin tissue output is manual selection by a user or automatic selection according to predetermined instructions have.

Figure 4 is a schematic view of a connection according to various embodiments.

The connection part according to various embodiments of the present invention can be configured to attach and detach the cartridge 130 to the handpiece 120. [

The transducer 131 may be attached to the inside of the cartridge 130 so that the interior space of the cartridge 130 may be filled with the acoustic liquid 134. The acoustic liquid 134 acts as a medium for transmitting the ultrasonic waves generated in the transducer 131 to the interior of the skin tissue of the subject and can also serve to cool the heat generated in the transducer 131 have.

An image probe 133, which is an image-use ultrasonic transducer 131, may be combined to acquire structural information of a skin tissue of a subject to be treated. The image probe 133 is designed to sense and receive a weak ultrasonic signal reflected from a living body. The image probe 133 is not an essential component and can be omitted if necessary. The manner in which the image probes are combined will be described in detail with reference to FIG.

In order to prevent the loss of the acoustic liquid in the cartridge 130, the cartridge 130 may be formed so that the inside and the outside are completely closed.

The transducer 131 can be formed and arranged such that ultrasonic waves are radiated toward one focal point. The cross-sectional structure of the transducer 131 has a concave shape, so that the ultrasonic wave generated in the ultrasonic transducer 131 can be converged to the concave center point of the transducer 131. Thus, at the concave center point of the transducer 131, an ultrasonic focusing point 132 can be formed.

The operation principle of the medical device 100 using ultrasound according to an embodiment of the present invention will be described. After the cartridge 130 of the present invention is brought into close contact with the skin tissue of the subject of the face or the like, And the ultrasound scan is performed on the focus of the skin tissue, which is the operation site. When the image probe 133 is installed on the transducer 131, the skin tissue at the focus region to be irradiated with the ultrasonic wave may be imaged to observe the thermal coagulation state of the skin tissue region.

Hereinafter, a method of automatically controlling the movement of the transducer 131 according to various embodiments will be described with various embodiments.

First Embodiment

The method of automatically controlling the movement of the transducer 131 according to various embodiments of the present invention may be a method using two or more cartridges 130. [

5 is a schematic view of cartridges according to the first embodiment.

Referring to Figure 5, two or more cartridges of different uses are shown. For example, (a) may be a cartridge 510 incorporating an image probe 511, and (b) may be a cartridge 520 incorporating a therapeutic ultrasound transducer 521. First, a cartridge 510 containing an image probe 511 is connected to a handpiece of a medical device using an ultrasonic wave, and the first ultrasonic wave is transmitted and received in close contact with the surface of the skin, Can be obtained. When the structure information of the skin tissue in the human body is acquired, the cartridge 510 containing the image probe 511 can be detached and the cartridge 520 containing the therapeutic ultrasonic transducer 521 can be attached. When the cartridge 520 incorporating the therapeutic ultrasound transducer 521 is attached, a high-intensity focused ultrasonic wave can be emitted to a desired treatment site using a method of automatically controlling the movement of the transducer.

This method has the problem that it is necessary to replace the cartridge, and since the cartridge must be separated from the surface of the skin, there is a problem that precise ultrasonic radiation is difficult to be performed at a desired site even when a sectional image is acquired.

Second Embodiment

The method of automatically controlling the movement of the transducer 131 according to the various embodiments of the present invention may be a method using the cartridge 130 in which two or more transducers 131 are embedded.

6 is a schematic view of a cartridge according to a second embodiment.

Referring to FIG. 6, the cartridge 620 may include an image probe 622 and a therapeutic ultrasound transducer 621. The image probe 622 is disposed vertically above the focusing point 132 of the therapeutic ultrasonic transducer 621 and has a structure capable of effectively converging the irradiated ultrasonic wave without any ambient interference. However, the therapeutic ultrasound transducer 621 can not have a complete hemispherical shape due to the image probe 622. [ The ultrasonic transducer 621 may be provided with a bonding layer 623 under the therapeutic ultrasonic transducer 621 and acoustic lenses 624 and 622 may be provided under the bonding layer 623 so that high- 625 may be installed. On the other hand, since the image probe 622 does not require the focal point 132, an acoustic lens may not be installed.

A method of automatically controlling the movement of the transducer using the cartridge 620 shown in Fig. 6 will be described below. In the state in which the cartridge 620 is in close contact with the surface of the skin, And the therapeutic ultrasound transducer 621 can radiate a high-intensity focused ultrasonic wave to a desired treatment site using a method of automatically controlling the movement of the transducer.

Since this method is performed in a state in which the cartridge 130 is in close contact with the surface of the skin, it is possible to focus the high-intensity focused ultrasonic wave on the precise part to be treated.

Third Embodiment

A method of automatically controlling the movement of the transducer 131 according to various embodiments of the present invention may be a method using a cartridge 130 having one transducer 131 incorporated therein.

7 is a schematic view of a cartridge according to a third embodiment.

Referring to Fig. 7, a therapeutic ultrasound transducer 721 having a complete hemispherical shape is shown in the cartridge 720. Fig.

A method of automatically controlling the movement of the transducer using the cartridge 720 shown in Fig. 7 will be described. The frequency of the therapeutic ultrasonic transducer 721 is adjusted (preferably, 1 MHz to 20 MHz) . At this time, the structure information can be obtained by receiving the examined ultrasonic waves without employing the separate image probe 133. When the structure information of the skin tissue is acquired, a high-intensity focused ultrasonic wave is emitted to a desired treatment site by a method of adjusting the frequency of the therapeutic ultrasound transducer 131 to a high frequency and automatically controlling the movement of the transducer .

Since this method is performed in a state in which the cartridge 130 is in close contact with the surface of the skin, it is possible to focus the ultrasound energy on the precise region desired to be treated and has a complete hemispherical shape.

8A and 8B are illustrations for comparing the structure information of the skin tissue to the image using the image probe and the structure information of the skin tissue using the therapeutic ultrasound transducer.

8A shows a case where the structure information of the skin tissue is converted into an image using the image probe, and the dermal layer 810 and the subcutaneous layer 820 are clearly distinguished from each other and output as an image.

8B shows a case in which structural information of the skin tissue is converted into an image by using a therapeutic ultrasound transducer. It is not clear when compared with the case of using an image probe, but it is not so clear as to distinguish between the dermal layer 810 and the subcutaneous layer 820 Video is being output.

As a result, it can be understood that the structure information of the skin tissue can be obtained using only the therapeutic ultrasonic transducer without employing the image probe 133, and the operation can also be performed using the high-intensity focused ultrasonic wave.

The embodiments of the disclosure disclosed herein and in the drawings are illustrative only and are not intended to limit the scope of the embodiments of the present disclosure to those of ordinary skill in the art, It is not intended to be limiting. Thus, the scope of various embodiments of the present disclosure should be construed to cover all modifications and variations that come within the scope of the various embodiments of the present disclosure, other than those disclosed herein, that are also based on the spirit of the various embodiments of the disclosure .

Medical devices using ultrasound: 100
Body part: 110 Hand piece: 120
Cartridge: 30 Main controller: 111
High frequency oscillator: 112 Memory: 113
Input / output interface: 114 Display: 115
Imaging circuit: 116 Handpiece controller: 121
Driving section: 122 Transducer: 131

Claims (13)

A method of controlling movement of a transducer,
Transmitting a first ultrasonic wave to the skin tissue and receiving the reflected first ultrasonic wave;
Analyzing structure information of the skin tissue based on the time and intensity of the first ultrasound received;
Dividing the skin tissue into epidermis, dermis, and subcutaneous skin based on the analysis result, and outputting the data in a data format;
Receiving an input that selects at least some data based on the output data format; And
And controlling movement of the transducer such that a second ultrasound focusing point of the transducer is formed at a treatment site corresponding to the selected at least some data. 2. The method of claim 1, wherein controlling the movement of the transducer comprises:
Wherein at least three or more motors are physically connected to the transducer to control movement in three-dimensional space. 3. The method of claim 2,
Wherein the at least three motors are an X-axis motor, a Y-axis motor, and a Z-axis motor. 2. The method of claim 1, wherein controlling the movement of the transducer comprises:
Further comprising calculating the amount of movement of the transducer necessary to focus the second ultrasound at the treatment site. The method according to claim 1,
And irradiating a second ultrasound wave corresponding to a high-intensity focused ultrasound wave to the treatment site to generate heat. The method of claim 1, wherein the input for selecting at least some data is at least one of manual input by a user or automatic input according to a predetermined instruction. In a medical device using ultrasonic waves,
At least one transducer for converting a vibration current into an ultrasonic wave;
A driving unit having at least three motors; And
A method of analyzing skin structure, comprising: transmitting a first ultrasonic wave to skin tissue, receiving the reflected first ultrasonic wave, analyzing structure information of the skin tissue based on the time and intensity of the received first ultrasonic wave, The method comprising the steps of: dividing the skin tissue into epidermis, dermis and subcutaneous and outputting it in a data format; receiving an input for selecting at least some data based on the output data format; And a main controller for controlling the movement of the transducer so that a second ultrasonic focusing point of the transducer is formed. The motor control apparatus according to claim 7,
An X-axis motor, a Y-axis motor, and a Z-axis motor. 8. The apparatus of claim 7, wherein the at least one transducer comprises:
An imaging probe, and a therapeutic ultrasound transducer. delete 8. The apparatus of claim 7, wherein the main controller comprises:
And calculate the amount of movement of the transducer necessary to focus the second ultrasound at the treatment site. 8. The apparatus of claim 7, wherein the main controller comprises:
Wherein the transducer radiates a second ultrasonic wave corresponding to a high-intensity focused ultrasonic wave to the treatment region to generate heat. 8. The method of claim 7,
Wherein the input for selecting at least some data is at least one of manual input by a user or automatic input according to a predetermined instruction.

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