JPH05184586A - Impact wave treating device - Google Patents

Abstract

PURPOSE:To diminish shafts for controlling speeds to reduce the size over the entire part of the device and to change the impact wave irradiation direction of an impact wave oscillating section along the same plane as a probe screen. CONSTITUTION:This device has the impact wave oscillating section 1 including the probe for obtaining the tomographic image of a testee body, a moving mechanism 2 for moving the impact wave oscillating section by having at least three shafts in a translation direction and two shafts in a rotating direction and a movement control means 20 for moving the impact wave oscillating section along the same plane direction as the plane direction of the tomographic image obtd. by the probe by emitting a position instruction to the respective shafts of the translation direction and the rotating direction of this mechanism and emitting a speed instruction and position instruction to the two shafts in the rotating direction.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a shock wave therapy device.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram of a shock wave treatment device.
This device comprises a shock wave oscillator 1 and a moving mechanism 2. In the moving mechanism 2, a vertical moving shaft 4 is erected on a support base 3, and an L-shaped arm 6 is provided on the vertical moving shaft 4 via an arm 5.
Is connected to the tip of the L-shaped arm 6 and the shock wave oscillating portion 1
Are connected. Of these, the L-shaped arm 6 is the arm 5
Is provided so as to be rotatable in the α direction, and the shock wave oscillating portion 1 is provided so as to be rotatable in the β and γ directions with respect to the L-shaped arm 6. Therefore, the moving mechanism 2 is XYZ.
And 3 rotation degrees of freedom of αβγ. The moving mechanism 2 is operated by a controller (not shown) in accordance with the operation of the joystick in four directions.

On the other hand, the shock wave oscillating section 5 oscillates a shock wave, and P is its focal position. Also, the shock wave oscillator 5
Ultrasonic diagnostic probe (hereinafter abbreviated as probe)
Is built in, and this probe is for obtaining a cross-sectional image of the subject.

When the treatment is performed by such a device, the moving mechanism 2 is operated by the operation of the joystick and the shock wave oscillating section 1 comes into contact with the subject. In this state, the probe obtains a cross-sectional image of the subject. FIG. 4 is a cross-sectional image displayed on the monitor television. For example, a stone 7 of the kidney is displayed on the left side of the screen. Next, by operating the joystick,
The calculus 7 is moved to the center of the monitor television screen as shown in FIG. In this case, the movement of the sectional image is rotated in the same plane direction as the sectional image, that is, along the slice direction of the sectional image.

The speed of each axis when moving the cross-sectional image will be described with reference to FIG. The figure schematically shows the coordinate system of the moving mechanism 2. In addition, Q is a probe screen. Σ1 is an absolute coordinate system, and Σ2 to Σ4 are coordinate systems that rotate with each joint.

[0006]

[Equation 1] In order to move the shock wave oscillating unit 1 along the probe screen Q, the moving velocity vector input in the Σ4 coordinate system is converted into the moving, rotating, and velocity vectors of each joint axis.

Regarding the translation speed, as shown in FIG. 7, Σ4
Velocity vector given in coordinate system (Vxp, Vyp, Vzp)
Should be converted to the Σ1 coordinate system. Therefore,

[Equation 2] Becomes

Next, regarding the rotational speed of each joint, the sum of the rotational speed vectors of each joint should be equal to the rotational speed vector in the Σ4 coordinate system. Therefore,

[Equation 3] Becomes

However, the rotational speeds (ω _αp , ω _βp , ω
_.gamma.p) ^T is not a focal point around the rotation since it is Σ4 coordinate system. The translation axis is moved in order to make this rotation around the focal point.

[0010]

[Equation 4] Therefore, in order to move along the probe screen, a total of 6 axes of 3 axes in translation and 3 axes in rotation are to be controlled.

For example, when rotating along the same plane as the probe screen Q, Vxp = Vyp = Vzp = ω _αp = ω _γp = 0

[Equation 5] It is necessary to control the speed of a total of 6 axes.

For this reason, the shock wave oscillating section 1 becomes large and the apparatus becomes large as a whole, which gives a patient as a subject an intimidating feeling.

[0013]

When the shock wave oscillator 1 is moved along the same plane as the probe screen Q as described above, 6-axis speed control is required.

Therefore, an object of the present invention is to provide a shock wave treatment apparatus capable of changing the shock wave irradiation direction of the shock wave oscillator along the same plane as the probe screen by reducing the size of the axis for speed control. To do.

[0015]

According to the present invention, a shock wave oscillator having a built-in probe for obtaining a cross-sectional image of a subject and a shock wave oscillator having at least three translational axes and two rotational axes are moved. A cross-sectional image obtained by a probe for the shock wave oscillating unit by issuing a position command for each axis in the translational direction to the moving mechanism And a movement control means for moving the same along the same plane direction, which is intended to achieve the above object.

[0016]

By providing such means, the shock wave oscillating section incorporating the probe for obtaining the cross-sectional image of the object is provided for each command issued from the movement control means to the moving mechanism, that is, for each axis in the translational direction. It moves along the same plane direction as the cross-sectional image obtained by the probe by the position command, the speed command for two axes of the rotation direction, and the position command.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The same parts as those in FIG. 6 are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 1 is a block diagram of a shock wave treatment device. The movement control device 20 inputs the rotation speed signal from the joystick 21, and receives the respective speed commands ω _α , ω _β for the α axis and β axis,
Each position command Δα, Δβ and each position command Δx on the XYZ axes,
It has a function of sending Δy and Δz to the moving mechanism 2. The joystick 21 outputs rotational speed signals in two directions a and b, and these directions a and b are on the same plane as the probe screen Q.

Next, the calculation of the speed commands ω _α , ω _β , the position commands Δα, Δβ and the position commands Δx, Δy, Δz will be described. The displacement of each moving rotary axis at an arbitrary time t = t0 is X = X0, Y = Y0, Z = Z0, α = α0, β = β0,
Let γ = γ0. At this time, when it is attempted to rotate at the angular velocity ω _βp along the cross section on the same plane as the probe screen Q, the α axis and the β axis are respectively rotated.

[Equation 6] Rotate with.

At this time, by not rotating the γ-axis, when t = t 0 + Δt after a short time, an error in the γ-axis direction,

[Equation 7] Occurs.

This error is eliminated by the α axis and the β axis.

When the time t = t0, the normal vector of the probe screen Q is represented by the Σ4 coordinate system (probe coordinate system),

[Equation 8] Becomes Converting this to the Σ1 coordinate system,

[Equation 9] Becomes

Therefore, in order not to change the normal vector U at the time t = t0 + Δt, it is sufficient to rotate the α-axis and the β-axis by the minute amounts Δα and Δβ, and the following three expressions are simultaneously established.

[0024]

[Equation 10] On the other hand, when the correction in the translational direction is described, time t = t
When the focus position P is 0, the absolute coordinate system is displayed as Xf = X0-fsinβ0 Yf = Y0 + fsinβ0.cosβ0 Zf = Z0-fcosα0.cosβ0.

By correcting the normal vector, time t = t0 +
At Δt, the α axis and the β axis are α = α 0 + Δα β = β 0 + Δβ, respectively. At this time, in order that the focal position P does not move, the translation axes may be moved by ΔX, ΔY, and ΔZ, respectively, and the following three expressions may be simultaneously established.

[0026]

[Equation 11] With this configuration, when the rotation speed signal ω _β is input to the control device 20 from the joystick, the control device 20
Are the position commands Δα and Δβ shown in the equations (19) to (20).
Also, the position commands Δx, Δy, Δz on the XYZ axes shown in the expressions (22) to (24) are sent to the moving mechanism 2. As a result, as shown in FIG. 2, the α-axis and β-axis motors of the moving mechanism 2 are driven according to the position commands Δα and Δβ, respectively, and at the same time, the XYZ-axis motors are driven according to the position commands Δx, Δy and Δz, respectively. To do. As a result, the shock wave oscillator 1 changes the irradiation direction of the shock wave along the same plane as the probe screen.

As described above, in the above-described embodiment, the shock wave oscillating unit incorporating the probe for obtaining the cross-sectional image of the subject is controlled by the control device 20 with respect to the moving mechanism 2 by the speed commands ω _α , ω. Position commands Δα, Δβ for each axis in the translation direction that corrects the fact that the _β and γ axes are not moved.
Since Δx, Δy, and Δz are emitted, the shock wave oscillator 1 can be moved along the same plane direction as the cross-sectional image obtained by the probe. Accordingly, the position commands Δα and Δβ and the speed commands ω _α and ω _β for the rotation direction may be biaxial, and actuators or the like for the γ axis can be eliminated. Therefore, the weight of the shock wave oscillating unit 1 can be reduced and the apparatus can be downsized, and the downsizing can eliminate the intimidating feeling to the patient.

It should be noted that the present invention is not limited to the above-mentioned one embodiment and may be modified within the scope of the invention.

[0029]

As described above in detail, according to the present invention, the axis for controlling the speed of the probe is reduced to miniaturize the entire apparatus, and the shock wave irradiating direction of the shock wave oscillating unit is aligned along the same plane as the probe screen. A shock wave therapy device that can be changed can be provided.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a shock wave treatment device according to the present invention.

FIG. 2 is a diagram showing each command of the apparatus.

FIG. 3 is an external view of a shock wave treatment device.

FIG. 4 is a sectional view of the ultrasonic diagnostic probe.

FIG. 5 is a sectional view of the ultrasonic diagnostic probe.

FIG. 6 is a diagram showing a coordinate system of a moving mechanism in the shock wave therapy device.

FIG. 7 is a view showing a probe coordinate system of the moving mechanism.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Probe, 2 ... Movement mechanism, 3 ... Support stand, 4 ... Vertical movement axis, 5 ... Arm, 6 ... L-arm, 20 ... Movement control device, 21 ... Joystick.

Claims (1)

[Claims] 1. A shock wave oscillator having a built-in probe for obtaining a cross-sectional image of a subject, a moving mechanism having at least three axes in a translation direction and two axes in a rotation direction, and a moving mechanism for moving the shock wave oscillator. A cross section obtained by issuing a position command for each axis of the translation direction to the mechanism and a speed command and a position command for two axes of the rotation direction to obtain the shock wave irradiation direction of the shock wave oscillator by the probe. A shock wave treatment device comprising: a movement control means for moving the image along the same plane direction.