KR101751922B1 - HIFU machine for fine adjustment - Google Patents

Abstract

A human-insertable HIFU device that can be finely adjusted for precise measurement of a region to be examined is composed of a base, an X main driving portion disposed on the base and driven in the X axial direction, an X main driving portion disposed on the X main driving portion, And a probe disposed on the driving unit X sub-driver for generating high intensity focused ultrasound (HIFU) on the inspected object, wherein the X sub driver is driven at a relatively smaller scale than the X main driver.

Description

[0001] HIFU machine for fine adjustment [0002]

The present invention relates to a human insertion type HIFU device capable of fine adjustment in order to acquire image information inside a subject using ultrasound.

High-Intensity Focused Ultrasound (HIFU) is a procedure that burns lesions in the body using high-intensity heat of 65 to 100 degrees Celsius, which occurs when focusing high-intensity ultrasound energy in one place. In other words, if the ultrasound strong enough to be about 100,000 times stronger than the ultrasonic intensity used in diagnosis is focused on one spot, heat is generated in the focus region, and the heat can be used to burn out the lesion tissue in the body.

At this time, the HIFU apparatus transmits an ultrasonic signal to a diagnostic region of the subject by a probe, and then receives ultrasonic signals reflected from a tissue boundary in the subject having different acoustic impedances by the probe, And acquires image information of the diagnosis site. Such image information is outputted to the monitor of the ultrasonic diagnostic apparatus, and the diagnosis person can perform the diagnosis on the subject through the image information outputted to the monitor. An ultrasonic transducer is provided inside the probe for transmitting an ultrasonic signal to a subject and receiving an ultrasonic signal reflected from the subject.

On the other hand, the human insertion type HIFU apparatus measures shape information through contact or noncontact contact with an object to be inspected. Of these, the probe is required to move freely in multiple axial directions so as to be aligned with the object.

However, in the case where the probe moves only in the free movement in the direction of the multi-axis in the means for moving the probe, a precise measurement of the object can be restricted.

That is, if the probe is manufactured so as to be impossible to perform ultra-precise movement, it is possible to measure the area separated from the diagnostic region of the subject to be measured, and thus the measurement accuracy is lowered.

A human-insertable HIFU device capable of fine adjustment is provided for precise measurement of a subject's diagnosis area.

Further, there is provided a human insertion type HIFU device capable of ensuring movement of the probe in the direction of multiple axes.

The human-interchangeable HIFU device according to one embodiment of the present invention includes a base, an X main driving unit disposed on the base and driven in the X axis direction, an X sub driving unit X disposed in the X main driving unit and driven in the X axis direction And a probe disposed on the sub-driver for generating high intensity focused ultrasound (HIFU) on the subject, wherein the X sub driver is driven at a relatively smaller scale than the X main driver.

The X main driving part includes a sub guide part arranged in the X axis direction, and the X sub driving part is connected to the guide part and can be driven along the sub guide part.

And a support arm disposed on the X sub-driver and rotatably holding the probe and capable of adjusting the height.

The support arm can be fixed as the fluid enters and the pressure rises.

And a braking unit connected to the X main driving unit or the X sub driving unit to limit the driving of the X main driving unit or the X sub driving unit.

And a main angle adjuster connected to the base for adjusting the angle of the probe.

And a Y-driving unit disposed on the base and driving the probe in the Y-axis direction.

And a Z driver arranged on the base for driving the probe in the Z axis direction.

The reliability of the movement of the probe of the human insertion type HIFU device is increased, and the positional accuracy of the probe is improved, thereby improving the measurement accuracy of the subject to be measured.

FIG. 1 is a perspective view illustrating a state in which a human-readable HIFU device capable of being finely adjustable according to an embodiment is inserted into a subject.
FIG. 2 is a perspective view of the human-interchangeable HIFU device of FIG. 1; FIG.
FIG. 3 is a perspective view showing an inside of the finely adjustable human-body-insertable HIFU device of FIG. 1 and an enlarged view of the inside thereof.
FIG. 4 is a perspective view showing a finely adjustable human body insertion type HIFU apparatus having a support arm according to another embodiment. FIG.
5 is a side view showing a human-readable HIFU device with a fine adjustment that further includes an angle adjusting portion.
6 is a perspective view showing a human-interchangeable HIFU device capable of fine adjustment according to another embodiment.

The details of other embodiments are included in the detailed description and drawings. The advantages and features of the described techniques, and how to achieve them, will become apparent with reference to the embodiments described in detail below with reference to the drawings. Like reference numerals refer to like elements throughout the specification.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another. The singular expressions include plural expressions unless the context clearly dictates otherwise. Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise. Also, the terms "part," " module, "and the like described in the specification mean units for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software .

The human-readable HIFU device 10 with fine adjustability is an apparatus for treating a subject P and is a device for treating the probe 150 with a relatively small scale after the primary drive for driving the probe 150 at a relatively large scale, ) Can be driven in a secondary direction to improve the accuracy of the alignment of the probes 150. [

FIG. 1 is a perspective view showing a state in which a human-readable HIFU device capable of fine adjustment according to an embodiment is inserted into a subject, FIG. 2 is a perspective view of a human- 1 is a perspective view showing the inside of the human-interchangeable HIFU device capable of being finely adjusted and an enlarged view of the interior of the HIFU device.

The Y axis shown in the drawings of the present invention is oriented in a direction orthogonal to the illustrated X axis, and the Z axis is defined as being oriented in a direction orthogonal to the X axis and the Y axis.

The finely adjustable human implantable HIFU device 10 shown in FIGS. 1 to 3 is merely illustrative of the present invention, and the human adjustable HIFU device 10 with fine adjustability can be modified to other forms.

1 to 3, the human-interchangeable HIFU device 10 having a fine adjustability includes a base 110, an X main driving unit 120, an X sub driving unit 130, a supporting arm 140, and a probe 150 .

The base 110 may be disposed on the base 110 and may include a main guide 111 for guiding the driving of the X main driver 120.

The main guide unit 111 may be coupled with the X main drive unit 120 to guide the movement of the X main drive unit 120. The main guide part 111 may include a guide rail, for example.

The base 110 according to the embodiment has the opening formed in the central region and the main guide 111 is formed in the opening, but the present invention is not limited thereto.

The X main driving unit 120 is disposed on the base 110 and is driven in the X axis direction. Accordingly, the X main drive unit 120 moves the probe 150 in the X-axis direction to move the probe 150 in the X-axis direction or backward, thereby determining the approximate position of the probe 150.

The X main driving unit 120 according to one embodiment may include an X main driving support 121 and a main slider 123. [

The X main drive support 121 is coupled to the main guide 111 and supports the X sub driver 130 and is driven in the X axis direction.

The main slider 123 includes a main main slider 123 disposed on the bottom surface of the main slider 123. The main slider 123 is coupled to the main guide portion 111 and slides in the X- .

However, the X main drive support 121 is not limited to the structure of sliding along the guide, but includes all structures that can be driven in the X-axis.

The X main driving unit 120 may further include a sub guide unit 127 disposed on the X main driving unit 120.

The sub guide portion 127 is disposed along the X axis direction and is coupled with the X sub driver 130 to guide the movement of the X sub driver 130.

The sub guide portion 127 may include a guide rail, for example.

The X main driver 120 according to an aspect can be manually driven. For example, the X main drive unit 120 may be moved forward or backward along the X axis direction by operating the adjustment knob of the user.

The X main driver 120 according to another aspect can be automatically driven. In this case, the X main driving unit 120 is connected to the driving motor so that the X main driving unit 120 can be moved forward or backward in the X axis direction by the driving motor. In addition, the driving of the X main driving unit 120 may be connected to a button, and may be driven according to a button operation of the user, or may be connected to the control unit 170 and driven according to a command of the control unit 170. [

The X main driving unit 120 may further include a main fixing knob 125 for fixing the position of the X main driving unit 120.

The X sub-driver 130 is disposed on the X main driver 120 and driven in the X-axis direction. The X sub driver 130 moves at a smaller scale than the X main driver 120. [ For example, the X main driver 120 may be driven in units of cm or mm, and the X sub driver 130 may be driven in units of 탆 or nm. In another example, the X main driver 120 may be driven in units of cm, and the X sub driver 130 may be driven in units of mm or less. That is, it is preferable that the X main driver 120 and the X sub driver 130 have a scale difference of at least 10 times or more. In this case, the position of the probe 150 is roughly aligned with the subject P through the movement of the X main driving unit 120, and then the probe (not shown) is finely moved through the fine movement of the X sub- 150) can be precisely aligned with the subject (P).

However, the driving scales of the X sub driver 130 and the X main driver 120 are not limited thereto.

The X sub-driver 130 according to one embodiment is connected to the sub-guide unit 127 of the X main driver 120 and is finely moved in the X-axis direction.

The X sub-driver 130 may include a sub-slider 131 on the bottom surface thereof. The sub-slider 131 is coupled to the sub-guide 127 and slides in the X-axis direction, .

However, the X sub-driving support 141 is not limited to the structure of sliding along the sub-guide 127, but includes all the structures that can be finely driven in the X-axis.

The X sub-driver 130 according to an aspect can be driven manually. For example, the X sub-driver 130 may be advanced or retracted along the X-axis direction by manipulation of the sub-adjustment knob 133 of the user.

The X sub-driver 130 according to another aspect can be automatically driven. In this case, the X sub driver 130 is connected to the driving motor so that the X sub driver 130 can be advanced or retracted in the X axis direction by the driving motor. The driving of the X sub-driver 130 may be connected to a button and may be driven according to a user's operation of the button, or may be connected to the controller 170 to be driven according to a command of the controller 170. [

In addition, the X sub-driver 130 may further include a sub-fixing knob 135 that can fix the position of the X sub-driver 130. [

The support arm 140 is disposed on the X sub-driver 130 and grips the probe 150 so that the probe 150 can be rotated and height-adjusted. Accordingly, the support arm 140 can adjust the height in the Y-axis direction as needed, and the probe 150 can be rotated about the grip portion 145 to form an angle of the probe 150 have.

Also, the support arm 140 may grip the probe 150 from the side, or may grip the probe 150 from the top and bottom.

The support arm 140 according to one embodiment includes a support 141 disposed on the X sub driver 130, a height adjustment unit 143 connected to the support 141 to adjust the height of the probe 150, And a grasping portion 145 connected to the adjusting unit 143 to grasp the probe 150 in a rotatable manner.

The height adjustment unit 143 can adjust the height of the probe 150 to set the insertion height with respect to the inspected object P so that accurate insertion and treatment of the inspected object P becomes possible.

For example, the height adjusting unit 143 may include a height adjusting knob, and the height of the probe 150 may be fixed by pressing the outer circumferential surface of the supporting table 141 according to the degree of rotation of the height adjusting knob . That is, when the height adjusting unit 143 is rotated forward, the degree of pressing of the height adjusting unit 143 with respect to the supporting table 141 is reduced, and the frictional force is removed so that the height adjusting unit 143 rotates the supporting table 141 So that it can be lifted up and down freely.

When the height adjusting unit 143 is reversely rotated, the degree of pressing of the height adjusting unit 143 against the support 141 is increased to increase the frictional force, So that the probe 150 can be stably gripped.

As another example, the height adjusting unit 143 may be arranged to be rotatable, and the height adjusting unit 143 may be moved up and down by rotating the height adjusting knob to adjust the height of the probe 150.

The grip portion 145 is connected to the height adjustment unit 143 so that one end of the grip portion 145 can grip the probe 150. [ The grip portion 145 can provide the rotation of the probe 150 about the grip portion 145. [ Therefore, the insertion angle of the probe 150 with respect to the inspected object P can be set through the pivoting, so that a precise treatment with respect to the inspected object P becomes possible.

FIG. 4 is a perspective view showing a finely adjustable human body insertion type HIFU apparatus having a support arm according to another embodiment. FIG. Referring to FIG. 4, the support arm 140 according to another embodiment may be disposed on the X sub driver 130, and may include a structure in which the fluid is introduced and the pressure is increased to restrict the deformation. That is, the support arm 140 before the fluid is introduced can be freely deformed while holding the probe 150. When the fluid is introduced and the pressure inside the support arm 140 is increased, the entire support arm 140 .

1 to 3, the probe 150 is disposed on the base 110 for radiating a high-intensity focused ultrasonic wave for patient treatment, and is held by the support arm 140. The probe 150 is brought into contact with the inspected object P to generate a high-intensity ultrasonic wave, and radiates the inspected object P to the inspected object P. At this time, the high-intensity ultrasound is focused on the treatment region of the subject P. [

In addition, the probe 150 may be connected to the support arm 140 so that the probe 150 can be tilted. In this case, the probe 150 may be connected to the support arm 140, for example, via a driver module. The driver module may provide at least one rotational degree of freedom to the probe 150.

The human adjustable HIFU device 10 according to one embodiment may further include a braking unit 160.

The braking unit 160 may be connected to the X sub driver 130 to limit the precise movement of the X sub driver 130 and also to the X sub driver 130 after the X sub driver 130 is precisely moved. . Accordingly, since the position of the X sub-driver 130 can be fixed, the probe 150 can proceed to the treatment of the inspected object P without being influenced by an external force even under an external force.

The braking unit 160 according to one embodiment includes a magnetic brake. The magnetic brake includes a rotating body axially extended on a driving shaft, and a stopper disposed on the rotating body so as to be spaced apart from the rotating body and including an electromagnet. Depending on the presence or absence of electricity applied to the electromagnet, the stopper is brought into close contact with or spaced from the rotating body. The magnetic brake fixes or releases the X sub-driver 130.

However, the braking unit 160 is not limited to the magnetic brake, but includes any means capable of restricting the movement of the X sub driver 130 to a certain level or fixing the X sub driver 130.

The human adjustable HIFU device 10 according to one embodiment may further include a control unit 170. [

The control unit 170 may control the driving of the X main driving unit 120, the X sub driving unit 130 and the supporting arm 140. The control unit 170 may include a probe 150, And the probe 150 can be aligned with the inspected object P by moving the X main drive unit 120, the X sub drive unit 130 and the support arm 140 by the measured distance.

The base 110 of the human-insertable HIFU device 10 has a main angle adjuster 113 for adjusting the angle of the probe 150 and a support plate 115 for supporting the main angle adjuster 113 ). ≪ / RTI >

5 is a side view showing a human-readable HIFU device 10 which can be finely adjusted further including a main angle adjuster 113. Fig. 5, the main angle adjuster 113 can adjust the angle of the probe 150 so that the insertion angle of the probe 150 with respect to the inspected object P can be changed.

The main angle adjuster 113 according to an embodiment is disposed between the support plate 115 and the base 110 to adjust the angle of the base 110 as a whole. For example, the main angle adjuster 113 may include a hinge to change the angle around the hinge, but it is not limited thereto and includes all means for adjusting the angle of the probe 150.

In the description of the other embodiments, the description of the HIFU device 10 with the human-interchangeable type that can be finely adjusted according to the embodiment is omitted. The finely adjustable human implantable HIFU device 20 shown in FIG. 6 is merely to illustrate another embodiment of the present invention, and the structure of the humanly adjustable HIFU device 20 with fine adjustability can be modified to other forms have.

Referring to FIG. 6, the human-interchangeable HIFU device 20 according to another embodiment of the present invention includes a base 210, an X main driving unit 220, an X sub driving unit 230, a support arm 240, A control unit 270, a Y driving unit 280, and a Z driving unit 290, as shown in FIG.

The Y driver 280 moves the probe 250 in the Y axis direction by moving in the Y axis direction, and can determine the position of the probe 250. The Y-driving unit 280 includes all the driving means that can be moved in the Y-axis direction.

The Y driver 280 according to another embodiment includes a slider, and moves the probe 250 in the Y axis direction through sliding motion of the slider.

In addition, the Y driver 280 according to one aspect can be driven manually. For example, the Y driver 280 may be advanced or retracted along the Y axis direction by operation of the user's adjustment knob.

The Y driver 280 according to another aspect can be automatically driven. In this case, the Y-driving unit 280 is connected to the driving motor so that the Y-driving unit 280 can be moved forward or backward in the Y-axis direction by the driving motor. The driving of the Y driving unit 280 may be connected to the button, and may be driven according to a user's operation of the button. The Y driving unit 280 may be connected to the controller 270 and may be driven according to a command of the controller 270.

The Z driver 290 moves the probe 250 forward or backward in the Y axis direction through the movement in the Y axis direction to determine the position of the probe 250. The Z driver 290 includes all the driving means that can be moved in the Y axis direction.

The Z-driving unit 290 according to another embodiment includes a slider, and moves the probe 250 in the Y-axis direction through sliding motion of the slider.

Further, the Z driver 290 according to one aspect can be driven manually. For example, the Z-driver 290 may be advanced or retracted along the Y-axis direction by manipulation of the user's adjustment knob.

The Z driver 290 according to another aspect can be automatically driven. In this case, the Z-driving unit 290 is connected to the driving motor so that the Z-driving unit 290 can be moved forward or backward in the Y-axis direction by the driving motor. Further, the driving of the Z driver 290 may be connected to the button, and may be driven according to a button operation of the user, or may be connected to the controller 270 to be driven according to a command of the controller 270.

10: human-insertable HIFU device with fine adjustability, 110: base
120: X main driving unit, 130: X sub driving unit,
140: support arm, 150: probe
160: Braking section, 170: Control section

Claims (8)

Base;
An X main driving unit arranged on the base and driven in the X axis direction so as to be roughly aligned with the inspected object;
An X sub driver arranged in the X main driver and driven in the X axis direction; And
And a probe disposed on the X sub-driver for generating high intensity focused ultrasound (HIFU) on the subject,
The X sub driver drives the X main driver to primarily align the probe with the inspected object, and then drives the probe at a relatively smaller scale than the X main driver to precisely align the inspected object with the secondarily fine movement Micro-adjustable human-insertable HIFU device.
The method according to claim 1,
Wherein the X main driving unit includes a sub guide unit arranged in the X axis direction,
Wherein the X sub driver is connected to the guide unit and is driven along the sub guide unit.
The method according to claim 1,
A driving circuit which is disposed on the X sub-
Further comprising a height adjustable support arm for rotatably gripping the probe, the HIFU device being adjustable in a human body.
The method of claim 3,
Wherein the support arm is fixed as the pressure of the fluid is increased by the inflow of the fluid.
The method according to claim 1,
And a driving unit connected to the X main driving unit or the X sub driving unit,
Further comprising a braking unit for limiting driving of the X main driving unit or the X sub driving unit.
The method according to claim 1,
A base connected to the base,
Further comprising a main angle adjuster capable of adjusting an angle of the probe.
The method according to claim 1,
A base disposed on the base,
And a Y driver for driving the probe in the Y axis direction.
8. The method of claim 1 or 7,
A base disposed on said base,
And a Z driver for driving the probe in the Z axis direction.

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