KR20100121277A - Head for ultrasonic treatment apparatus, ultrasonic treatment apparatus and operation method of ultrasonic treatment apparatus - Google Patents

Abstract

PURPOSE: A head for an ultrasonic treatment apparatus, and an ultrasonic treatment apparatus and an operation method thereof are provided to minimize influence of a medium when an image is obtained to obtain a clearer image for a target area, thereby realizing accurate treatment. CONSTITUTION: A head for an ultrasonic treatment apparatus includes an ultrasonic generating unit and an image obtaining unit(112). The ultrasonic generating unit generates HIFU. The image obtaining unit obtains an image for the internal organs of a patient. The image obtaining unit is separated from the center of the ultrasonic generating unit. The image obtaining unit includes a linear probe.

Description

HEAD FOR ULTRASONIC TREATMENT APPARATUS, ULTRASONIC TREATMENT APPARATUS AND OPERATION METHOD OF ULTRASONIC TREATMENT APPARATUS}

The present invention relates to an ultrasonic therapeutic head, an ultrasonic therapeutic apparatus, and a method of operating the ultrasonic therapeutic apparatus, and to a technique capable of diagnosing and treating abnormal cells in a body.

Diagnosis and treatment of the human body using ultrasound have been actively researched and developed in the medical field in that there is no incision due to the use of a scalpel and subsequent surgical scars, and there is no fear of secondary infection.

Examples of the application of ultrasound to the medical field include diagnostic fields such as fetal diagnosis and cancer tissue diagnosis, and therapeutic fields such as fat removal and cancer tissue (or malignant tumor) destruction, which have already been widely commercialized.

Among them, HIFU (High-Intensity Focused Ultrasound) treatment is a procedure that burns cancer cells by intensively irradiating ultrasound to cancer tissues. It is also expanding its application to non-solid cancers such as brain cancer, uterine fibroids and arrhythmia. In particular, high-intensity focused ultrasound therapy has shown excellent results in the treatment of liver cancer and pancreatic cancer, which cannot be surgically operated. The present invention relates to such high intensity focused ultrasound therapy.

Regarding the high-intensity ultrasound therapy device related to the present invention, Korean Patent Application No. 10-2007-7015736 filed by Chen Wenge et al. And filed by the generic name Haifu Technology Co., Ltd. Apparatus and method, hereinafter referred to as `` Prior Art 1 '' and `` Hession Water '', etc., and Korean Patent Application No. 10-2004-7006737 filed by Beijing Yude Biomedical Project Company Limited (name of invention: There is a technique proposed above through a structure for receiving a conductive medium for a source of an external high intensity integrated ultrasonic material, hereinafter referred to as 'prior art 2'.

For high-intensity ultrasound treatment, the target area to be treated must be accurately diagnosed and found, and then ultrasound is emitted to the target area. Therefore, the head of the high-intensity ultrasound therapy device (hereinafter abbreviated as' head ') is defined as an image acquisition unit for diagnosis (prior art 1 is defined as an' image acquisition device ', and in the prior art 2' B-mode ultrasonoscope probe head It is provided with an ultrasonic generator (defined as 'ultrasound converter' in the prior art 1, and defined as 'ultrasound source' in the prior art 2) for generating a therapeutic ultrasound.

In general, the image acquisition unit and the ultrasonic generator, as shown in the prior art 1 and 2, is configured in an integrated manner to position the image acquisition unit in the center of the ultrasonic generator. The reason for this is to determine whether the treatment is properly performed by acquiring an image of the treatment region in real time during the treatment by the ultrasonic generator.

However, Korean Patent Application No. 10-2004-7006882 filed by He, Shenwoo and filed by Beijing Yuande Biomedical Project Company Limited (Invention: In Vitro High-Intensity Ultrasound Therapy Apparatus, `` Prior Art 3 '' As can be seen, the conventional ultrasonic therapy device has a problem in that the sharpness of the image obtained by the image acquisition unit is inferior since the medium for transmitting the ultrasound is located between the ultrasonic source and the body.

Further, as shown in the prior art 3, the head is generally made tiltable while being able to move by a mechanical driving force in the vertical direction. However, when the head is in close contact with the lesion by applying a mechanical driving force through an operation unit such as a keyboard, the mechanical driving force is difficult to be controlled exactly as the operator requires, and the head is moved by moving the patient due to the limitation of the tilting range. There are inconveniences and difficulties that must be properly positioned at the site.

On the other hand, in the prior art has adopted a method of positioning the head in the lower part of the patient, since this method has the problems as presented in the background art on the patent specification introducing the prior art 3, through the patent specification introducing the prior art 3 As with the newly introduced invention, a technique has been proposed in which the head is placed on top of the patient. However, depending on the treatment site, it may be more preferable that the head is located at the lower part of the patient, so that the heads may be provided in pairs at the upper and lower parts of the patient as referred to in Patent Publication 4, in which the prior art 3 is introduced. Some techniques have also been proposed. However, the technology that can be equipped with a pair of heads on the upper and lower parts of the patient increases the cost of production in that it must be equipped with one more head.

It is a first object of the present invention to provide a technique of separating an image acquisition unit from an ultrasonic generator and further applying a separate monitoring method for checking the state of the treatment site.

It is a second object of the present invention to provide a technique for manipulating the head by the manpower of the operator and further controlling the position of the head to be fixed at the time when the application of the manpower is finished.

It is a third object of the present invention to provide a technique that allows one head to be selectively positioned on top or bottom of a patient.

Ultrasonic therapy head according to the present invention for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); And an image acquisition unit provided separately from the ultrasonic wave generation unit, and configured to acquire an image of the internal tissue of the patient. It includes.

The image acquisition unit is spaced apart from the center of the ultrasonic generator, and has a linear probe.

The head further preferably includes a display unit for displaying an image acquired by the image acquisition unit, and a monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is executed.

More specifically, the head further includes a driving unit for moving the image acquisition unit, the image acquisition unit obtains an image of the internal tissue of the patient while moving by the operation of the drive unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, the ultrasonic treatment head according to the present invention as seen from another viewpoint for achieving the above objects, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); And an image acquisition unit provided to be spaced apart from the center of the ultrasonic generator and to acquire an image of the internal tissue of the patient. It includes.

The image acquisition unit has a linear probe.

The head further includes a display unit for displaying an image acquired by the image acquisition unit, and a monitoring unit for monitoring the treatment area when the treatment by the ultrasonic generator is executed.

The head further includes a driving unit for moving the image acquisition unit, and the image acquisition unit acquires an image of the internal tissue of the patient while moving by the operation of the driving unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, the ultrasonic treatment head according to the present invention as seen from another viewpoint for achieving the above objects, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); And a linear probe, the image acquisition unit for acquiring an image of the internal tissue of the patient; It includes.

The head may include a display unit for displaying an image acquired by the image acquisition unit, and a monitoring unit for monitoring a treatment site when treatment by the ultrasound generator is executed; It further includes.

The head further includes a driving unit for moving the image acquisition unit, and the image acquisition unit acquires an image of the internal tissue of the patient while moving by the operation of the driving unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, an ultrasonic therapeutic head according to another aspect of the present invention for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And a display unit which displays an image acquired by the image acquisition unit. It includes.

The head further includes a housing accommodating the ultrasonic generator and the image acquisition unit therein, and the display unit is provided on an outer surface of the housing.

The head further includes a monitoring unit for monitoring the treatment site when the treatment by the ultrasonic generator is executed.

The head further includes a drive unit for moving the image acquisition unit, wherein the image acquisition unit acquires an image of the internal tissue of the patient while moving by the operation of the drive unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, an ultrasonic therapeutic head according to another aspect of the present invention for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And a monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is executed. It includes.

The monitoring unit monitors the temperature change of the treatment site when the treatment by the ultrasonic generator is executed.

The head further includes a drive unit for moving the image acquisition unit, wherein the image acquisition unit acquires an image of the internal tissue of the patient while moving by the operation of the drive unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, an ultrasonic therapeutic head according to another aspect of the present invention for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And a driving unit to move the image acquisition unit. Includes, wherein the image acquisition unit obtains an image of the internal tissue of the patient while moving by the operation of the drive unit.

The driving unit may include a guider for guiding movement of the image acquisition unit; And a driver for moving the image acquisition unit along the guider. Includes, and moves the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator.

In addition, the ultrasound therapy device according to the present invention for achieving the above object, the head; And a support for supporting the head; It includes.

The head is detachably coupled to the support, and the horizontal line on the ground is rotated by the axis of rotation so that the front face of the head (the front face of the head is discharged HIFU) can be selectively directed upward or downward. Is rotatably coupled to the support.

The support includes at least two robotic arms connected by joints to each other, the head having a front face (where HIFU is emitted from the front of the head), optionally facing upwards or downwards. You can also face.

In addition, an ultrasound therapy apparatus according to the present invention for achieving the above object, a head for generating a high intensity focused ultrasound (HIFU); And a support for supporting the head; It includes, the head is detachably coupled to the support.

The head is rotatably coupled to the support with a horizontal axis as the axis of rotation so that the front face of the head (HIFU is emitted to the front face of the head) can be selectively directed upward or downward. do.

The support includes at least two robotic arms connected by joints to each other, the head having a front face (where HIFU is emitted from the front of the head), optionally facing upwards or downwards. You can also face.

In addition, an ultrasound therapy apparatus according to the present invention for achieving the above object, a head for generating a high intensity focused ultrasound (HIFU); And a support for supporting the head; The head may be rotatable with a horizontal line on the ground as the axis of rotation so that the front surface of the head (HIFU is emitted from the front of the head) may be selectively directed upward or downward. Is bonded to the support.

The support comprises at least two robot arms which are connected by joints to each other.

In addition, an ultrasound therapy apparatus according to the present invention for achieving the above object, a head for generating a high intensity focused ultrasound (HIFU); And a support for supporting the head; The support body includes at least two robot arms connected to each other by joints, and the head has a front face (HIFU is discharged to the front of the head). May face or face downward.

Operation method of the ultrasonic therapy device according to the present invention for achieving the above object, A step of sensing a physical force applied to the head by the user; And a step B of analyzing the physical force sensed by the step A and fixing the position of the head at the time when the application of the physical force ends. It includes.

The operation method of the ultrasound therapy device, further comprising the step C of obtaining an image for the image acquisition site; And D, which emits high intensity focused ultrasound (HIFU);-HIFU is released to a site identified as abnormal tissue based on the image obtained in step C.

In addition, the operation method of the ultrasound therapy device further includes step E of real-time monitoring of tissue changed by HIFU released in step B, wherein monitoring in step E is tissue changed by HIFU. By sensing the temperature of

In step C, an image of an image acquisition portion is acquired while the image acquisition unit is moved, and the image acquisition is performed by a linear probe.

In addition, the operation method of the ultrasound therapy device according to the present invention for achieving the above object, A step of obtaining an image for the image acquisition area while moving the image acquisition unit; And B, which emits high intensity focused ultrasound (HIFU);-HIFU is released to a site identified as abnormal tissue based on the image obtained in step A.

The operation method of the ultrasound therapy device further includes step C for real-time monitoring of tissue changed by HIFU emitted in step B.

Monitoring in step C is accomplished by sensing the temperature of the tissue that is changed by HIFU.

Acquiring the image in step A is performed by a linear probe.

According to the present invention has the following effects.

First, it is possible to obtain a clearer image of the target area by minimizing the influence of the medium during image acquisition, and accurate diagnosis is possible, and furthermore, it is possible to know the exact treatment situation by monitoring the treatment area in real time through temperature sensing. do.

Second, since the position of the head is fixed at the time when the application of manpower is terminated while manipulating the head by manpower, the movement of the patient can be minimized. Furthermore, an image of the target area displayed by the operator through the display unit provided in the head And while operating while confirming the pressure applied to the head, it is possible to quickly and easily position the head in the appropriate position.

Third, since one head can be selectively positioned on the upper or lower part of the patient according to the treatment site, there is convenience in use and production cost can be reduced.

Fourth, since the head is detachably coupled to the support, only the head may be replaced, and the replacement may also be easily performed.

Hereinafter, with reference to the accompanying drawings with respect to a preferred embodiment of the present invention in more detail, for the sake of brevity of description will be omitted.

<About device configuration Example >

FIG. 1 is a schematic diagram of an appearance of an ultrasound therapy apparatus 100 according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of the ultrasound therapy apparatus 100 of FIG. 1.

As described with reference to FIGS. 1 and 2, the ultrasound therapy apparatus 100 according to the present embodiment includes a head 110, a support 120, a controller 130, and the like.

As shown in FIGS. 1 and 2, the head 110 includes an ultrasonic wave generator 111, an image acquisition unit 112, a driver 113, a monitoring unit 114, a housing 115, and a display unit ( 116, the handle 117, and the pressure sensing unit 118.

The ultrasound generating unit 111 generates high intensity focused ultrasound (HIFU) and releases the target tumor to necrosis the malignant tumor present in the target region.

The image acquisition unit 112 is provided to be separated from the center (C) of the ultrasound generating unit 111, as shown in Figure 3 showing the internal structure of the head 110 in a plan view, the interior of the patient Obtain an image of the organization. The image acquisition unit 112 is provided with a linear probe of a bar shape (elongated shape).

The drive unit 113 includes a guider 113a and a driver 113b, as referred to in the reference diagram of FIG.

The guider 113a is provided for guiding the movement of the image acquisition unit 112 and may be provided with a rail-shaped LM guide. The image acquisition unit 112 is movably coupled to the guider 113a.

The driver 113b is provided with a motor 113b-1, paired pulleys 113b-2a and 113b-2b and a belt 113b-3, as shown in the schematic perspective view of FIG.

The motor 113b-1 is provided with a servo motor capable of forward and reverse rotation and control, and the belt 113b-3 has the motor 113b-1 with pulleys 113b-2a and 113b-2b on both sides as direction turning points. Rotate in conjunction with the rotation of the. The image acquisition unit 112 is fixedly coupled to the belt 113b-3.

Therefore, when the motor 113b-1 is operated, the belt 113b-3 rotates in conjunction with each other, and the image acquisition unit 112 fixedly coupled to the belt 113b-3 is also guided by the guider 113a. The ultrasonic generator 111 is relatively approached (when the forward rotation of the motor) and half (when the reverse rotation of the motor). Of course, the image acquisition unit 112 acquires an image of the target area when the motor 113b-1 moves according to the operation. An example of the image acquisition of the target area by the image acquisition unit 112 is a method of focusing ultrasonic waves on the target area to generate transverse acoustic waves, and then obtaining and imaging a distortion signal from the target area (image acquisition method using transverse elastic waves). And, any other known image acquisition method can be applied.

As illustrated in FIG. 3, the monitoring unit 114 is positioned at the center C of the ultrasonic wave generating unit 111 and is provided to sense a temperature of the target area. In general, cancer cells are necrotic by heat above a certain temperature (about 60 degrees in the case of liver cancer cells), and by measuring the temperature according to the heat generated by ultrasound at the treatment site (target area), the cancer cells in the area are destroyed. You will know if it exists. Such a method has an advantage of more accurately identifying a procedure state than a method of confirming a procedure state by image acquisition using ultrasound, which is a conventional method. This is because the conventional method was inaccurate to confirm the treatment state because the image of the target area could not be obtained clearly due to the influence of the medium. However, since the monitoring method applied in this embodiment is performed by simply sensing the temperature, the cancer cells in the target area are detected. Necrosis is easy to grasp and allows for accurate conditions.

The housing 115 accommodates the ultrasonic wave generator 111, the image acquisition unit 112, the driving unit 113, and the monitoring unit 114 therein, and has a window W for discharging HIFU toward the target area. . And its interior is filled with medium.

The display unit 116 displays the image image or temperature acquired by the image acquisition unit 112 and the monitoring unit 114 and the pressure sensed by the pressure detection unit 118 which will be described later. The operator can quickly and easily position the head 110 in the correct position quickly and easily while checking the image image and the pressure applied to the head 110 through the display unit 116, and also senses the temperature value of the target area sensed in real time. Check it will be able to know whether the procedure is preferably made.

The handle 117 is provided to facilitate an operator (user) to manipulate the position of the head 110, and is provided on the outer surface of the housing 115.

The pressure sensing unit 118 detects the pressure applied to the head 110 of the patient's body while the front surface of the head 110 is in contact with the body of the patient. In general, the optimum pressure value applied from the body to the head 110 is experimentally dataed according to which part of the body the target area (procedure site) is. Here, the optimum pressure value is a pressure value applied from the body to the head 110 when the head is correctly positioned at the treatment site. Accordingly, the pressure sensed through the pressure sensing unit 118 is displayed together with the image image through the display unit 116, and the operator can quickly and easily position the head 110 at an appropriate position while checking the pressure value together with the image image. It will be possible.

As shown in FIG. 1, the support 120 includes a base 121, a first joint 122, a first robot arm 123, a second joint 124, a second robot arm 125, and a first joint. 3 joints 126, etc. are comprised.

The base 121 has a wheel 121a at the bottom thereof to facilitate movement.

The first joint 122 rotatably couples the first robot arm 123 to the base 121. Accordingly, as shown in FIG. 5, the first robot arm 123 is rotatable using the line Z perpendicular to the ground as the rotation axis, and is rotatable using the line X horizontal to the ground as the rotation axis. . In addition, the first joint 122 has an actuator 122a and a first robot arm 123 for controlling the rotation of the first robot arm 123 by rotating the line Z perpendicular to the ground. It has an actuator 122b for controlling rotation of the horizontal line X to a rotation axis.

The second joint 124 rotatably couples the second robot arm 125 to the first robot arm 123. Therefore, as shown in Fig. 6, the second robot arm 125 is rotatable with a line X 'horizontal to the ground as the rotation axis. In addition, the second joint 124 has an actuator 124a for controlling the second robot arm 123 to rotate with the line X 'horizontal to the ground as the rotation axis.

The third joint 126 rotatably couples the head 110 to the second robot arm 125. Therefore, as shown in FIG. 7, the head 110 is rotatable with a line X ″ horizontal to the ground as the rotation axis, and is connected to the line X ″ and the ultrasonic radiation axis E horizontal to the ground. It is possible to rotate with the vertical line Y as the rotation axis. And similarly, the third joint 126 has respective actuators 126a and 126b for controlling the rotation of the head 110 in two directions.

In addition, as shown in FIG. 1, the head 110 is detachably coupled to the third joint 126 in the A portion.

Finally, the controller 130 controls the above components. In particular, the controller 130 controls the actuators 122a and b, 124a, 126a and b provided in the first to third joints 122, 124, and 126 to thereby control the head 110, the first and the first. 2 Allows the robot arms 123 and 125 to rotate or be fixed.

 For reference, the computer COM separately located above the base 121 is provided for the operator to input a setting value (such as ultrasonic frequency) or the like into the controller 130.

In addition, the handle 117 has actuators 122a, b, and 124a as the controller 110 such that the head 110 or the first and second robot arms 123 and 125 can be freely rotated by the operator's manpower. , Switch 117a is preferably provided for inputting a command to release the stop state of 126a and b).

Subsequently, the operation of the ultrasound therapy apparatus 100 having the above-described configuration will be described with reference to the flowchart of FIG. 8 and the reference drawings of FIG. 9.

<How to Operate Ultrasound Therapy Example >

1-1. Positioning of the head 110

The operator grasps the handle 117 and turns on the switch 117a to release the stop states of the actuators 122a and b, 124a, 126a and b, and then applies a physical force to the head 110 to thereby apply the head 110. ) Position.

The controller 130 detects the physical force applied to the head 110 by the operator for such positioning, and analyzes the detected physical force. That is, the controller 110 detects and analyzes the operation displacements of the respective actuators 122a and b, 124a, 126a and b by the physical force applied by the operator.

At this time, since the head 110, the first robot arm 123, and the second robot arm 125 are free to rotate, the head 110 is positioned at the upper side of the patient as shown in FIG. The front of the head, i.e. the window of the head, may face downwards), or the head 110 may be positioned below the patient (the window of the head, facing upwards), as referenced in FIG. have.

If the position of the head 110 is properly set by the operator, the operator turns off the switch 117a, and the control unit 130 accordingly controls the current state of the actuators 122a and b, 124a, 126a and b. By stopping the log operation, the position of the head 110 is fixed (S803). That is, the operator sets the position of the head 110 by applying a physical force and terminates the application of the physical force and at the same time turns off the switch 117a. In response thereto, the controller 130 controls the actuators 122a, b, and 124a. , The position of the head 110 is fixed by stopping the free operation of 126a and b). Therefore, even if an external physical force is applied to the head 110 in the state in which the switch 117a is turned off, the position of the head 110 remains fixed.

1-2. HIFU  Release

When the operator checks the target area to be treated through the image acquisition, the operator inputs a command to the control unit 130 to release the HIFU to the target area, and the ultrasonic emitter 111 operates according to the command to ultrasonic the target area. Emit <S804>. That is, HIFU emitted by the ultrasonic emitter 111 may be emitted to a site that is identified as abnormal tissue (malignant tumor such as cancer) based on the acquired image image.

1-3. monitoring

Subsequently, the monitoring unit 114 continuously monitors and monitors the temperature of the target area changed by the HIFU emission (S805), and the controller 130 displays the sensed value through the display unit 116. . Therefore, the operator can check whether the proper procedure is performed by checking the temperature of the target area displayed on the display unit 116.

2-1. Image Acquisition and Pressure Sensing

On the other hand, step S811 is executed in parallel with steps S801 to S803.

The operator instructs the controller 130 to perform image acquisition through the computer COM, and accordingly, the image acquisition unit 112 acquires an image of the target area. Such image acquisition is sequentially performed from one end of the target area to the other end while the image acquisition unit 112 moves by a predetermined section L by the operation of the motor 113b-1, as shown in FIG. 11. Will be made. In addition, the controller 130 displays the obtained image through the display 116.

Of course, according to the implementation, when the operator applies the physical force to the head 110 may be implemented so that the image acquisition can be automatically and repeatedly repeatedly and continuously without a separate command of the operator.

Such an image acquisition and the display of the acquired image through the display unit 116 provided in the head 110 may be performed while an operator applies a physical force to the head 110 to set the position of the head 110. By repeatedly acquiring an image and continuously displaying the changed image image through the display unit 116, the operator may have an advantage of quickly and easily finding a target area through the display unit 116.

On the other hand, in step S811 is also made pressure sensing through the pressure sensing unit 118. As described above, the pressure value detected by the pressure sensing unit 118 is displayed through the display unit 116 in real time, and the operator checks the pressure value together with the image image and makes the head 110 faster and easier. ) Can be positioned accurately.

As described above, the detailed description of the present invention has been made by the embodiments with reference to the accompanying drawings. However, since the above-described embodiments have only been described with reference to the preferred examples of the present invention, the present invention is limited to the above embodiments. It should not be understood to be limited, and the scope of the present invention should be understood as the following claims and equivalent concepts.

1 is a schematic diagram of an ultrasonic therapy device according to an embodiment of the present invention.

FIG. 2 is a block diagram of the ultrasound therapy device of FIG. 1.

3 and 4 are reference views for explaining in detail the head of the ultrasound therapy device of FIG.

5 to 7 are reference views for explaining in detail the support of the ultrasound therapy device of FIG.

8 is a flowchart illustrating a method of operating the ultrasound therapy device of FIG. 1.

9 to 11 are reference diagrams for explaining the flowchart of FIG. 8.

* Description of the code for the main parts of the drawings *

100: Ultrasound Therapy

110: head

111: ultrasonic emission unit

112: image acquisition unit

113: drive unit

113a: guider 113b: driver

114: monitoring unit

115: housing

116: display unit

117: handle

117a: switch

118: pressure detection unit

120: support

130: control unit

Claims (55)

An ultrasonic generator for generating high intensity focused ultrasound (HIFU); And An image acquisition unit provided separately from the ultrasonic wave generation unit and configured to acquire an image of an internal tissue of a patient; Characterized in that it comprises Head for ultrasound therapy. The method of claim 1, The image acquisition unit is spaced apart from the center of the ultrasonic generating unit Head for ultrasound therapy. The method of claim 1, The image acquisition unit has a linear probe, characterized in that Head for ultrasound therapy. The method of claim 1, And a display unit for displaying the image acquired by the image acquisition unit. Head for ultrasound therapy. The method of claim 1, A monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is performed; Characterized in that it further comprises Head for ultrasound therapy. 6. The method according to any one of claims 1 to 5, A driving unit to move the image acquisition unit; More, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. The method of claim 6, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. The method of claim 6, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. An ultrasonic generator for generating high intensity focused ultrasound (HIFU); And An image acquisition unit provided to be spaced apart from the center of the ultrasound generation unit to acquire an image of an internal tissue of the patient; Characterized in that it comprises Head for ultrasound therapy. 10. The method of claim 9, The image acquisition unit has a linear probe, characterized in that Head for ultrasound therapy. 10. The method of claim 9, And a display unit for displaying the image acquired by the image acquisition unit. Head for ultrasound therapy. 10. The method of claim 9, A monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is performed; Characterized in that it further comprises Head for ultrasound therapy. The method according to any one of claims 9 to 12, A driving unit to move the image acquisition unit; More, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. The method of claim 13, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. The method of claim 13, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. An ultrasonic generator for generating high intensity focused ultrasound (HIFU); And An image acquisition unit having a linear probe and acquiring an image of an internal tissue of a patient; Characterized in that it comprises Head for ultrasound therapy. The method of claim 16, And a display unit for displaying the image acquired by the image acquisition unit. Head for ultrasound therapy. The method of claim 16, A monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is performed; Characterized in that it further comprises Head for ultrasound therapy. The method according to any one of claims 16 to 18, A driving unit to move the image acquisition unit; More, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. The method of claim 19, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. The method of claim 19, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. An ultrasonic generator for generating high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And A display unit which displays an image acquired by the image acquisition unit; Characterized in that it comprises Head for ultrasound therapy. 24. The method of claim 23, A housing accommodating the ultrasonic generator and the image acquisition unit therein; More, The display unit is provided on the outer surface of the housing Head for ultrasound therapy. 24. The method of claim 23, A monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is performed; Characterized in that it further comprises Head for ultrasound therapy. The method according to any one of claims 22 to 24, A driving unit to move the image acquisition unit; More, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. The method of claim 25, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. The method of claim 25, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. An ultrasonic generator for generating high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And A monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is performed; Characterized in that it comprises Head for ultrasound therapy. The method of claim 28, The monitoring unit is characterized in that for monitoring the temperature change of the treatment site when the treatment by the ultrasonic generator is executed. Head for Ultrasonic Feeder. The method of claim 28 or 29, A driving unit to move the image acquisition unit; More, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. 31. The method of claim 30, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. 31. The method of claim 30, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. An ultrasonic generator for generating high intensity focused ultrasound (HIFU); An image acquisition unit for acquiring an image of the internal tissue of the patient; And A driving unit to move the image acquisition unit; Including, The image acquisition unit may move by the operation of the drive unit to obtain an image of the internal tissue of the patient Head for ultrasound therapy. 34. The method of claim 33, The driving unit includes: A guider for guiding movement of the image acquisition unit; And A driver for moving the image acquisition unit along the guider; Characterized in that it comprises Head for ultrasound therapy. 34. The method of claim 33, The driving unit may move the image acquisition unit in a direction that can be approached and separated relatively to the ultrasonic generator. Head for ultrasound therapy. Any one of claims 1 to 5, 9 to 12, 16 to 18, 22 to 24, 28, 29 and 33 to 35. Protest head; And A support for supporting the head; Characterized in that it comprises Ultrasound therapy. The method of claim 36, The head is detachably coupled to the support Ultrasound therapy. The method of claim 36, The head is rotatably coupled to the support with a horizontal axis as the axis of rotation so that the front face of the head (HIFU is emitted to the front face of the head) can be selectively directed upward or downward. Characterized in that Ultrasound therapy. The method of claim 36, The support includes at least two robot arms connected to each other by joints, The head is characterized in that the front surface (HIFU is emitted to the front of the head) can optionally be directed upward or downward direction Ultrasound therapy. A head generating high intensity focused ultrasound (HIFU); And A support for supporting the head; Including, The head is detachably coupled to the support Ultrasound therapy. The method of claim 40, The head is rotatably coupled to the support with a horizontal axis as the axis of rotation so that the front face of the head (HIFU is emitted to the front face of the head) can be selectively directed upward or downward. Characterized in that Ultrasound therapy. The method of claim 40, The support includes at least two robot arms connected to each other by joints, The head is characterized in that the front surface (HIFU is emitted to the front of the head) can optionally be directed upward or downward direction Ultrasound therapy. A head generating high intensity focused ultrasound (HIFU); And A support for supporting the head; Including, The head is rotatably coupled to the support with a horizontal axis as the axis of rotation so that the front face of the head (HIFU is emitted to the front face of the head) can be selectively directed upward or downward. Characterized in that Ultrasound therapy. The method of claim 43, The support includes at least two robot arms which are connected by joints to each other. Ultrasound therapy. A head generating high intensity focused ultrasound (HIFU); And A support for supporting the head; Including, The support includes at least two robot arms connected to each other by joints, The head is characterized in that the front surface (HIFU is emitted to the front of the head) can optionally be directed upward or downward direction Ultrasound therapy. A step of detecting a physical force applied to the head by the user; And Analyzing the physical force sensed by the step A, and fixing the position of the head at the time when the application of the physical force is finished; Characterized in that it comprises Method of operation of the ultrasound therapy device. 47. The method of claim 46 wherein Acquiring an image of the image acquisition site; And D step of emitting a high intensity focused ultrasound (HIFU);-HIFU is characterized in that it further emits to the site identified as abnormal tissue based on the image obtained in step C- Method of operation of the ultrasound therapy device. 47. The method of claim 46 wherein Further comprising a step E for real-time monitoring of the tissue changed by the HIFU released in step B Method of operation of the ultrasound therapy device. The method of claim 48, Monitoring in the step E is characterized in that by sensing the temperature of the tissue changes by HIFU Method of operation of the ultrasound therapy device. 49. The method of claim 47, Step C is characterized in that to acquire an image for the image acquisition area while moving the image acquisition unit Method of operation of the ultrasound therapy device. 51. The method of claim 50, Acquiring the image in the step C is characterized by a linear probe (linear probe) Method of operation of the ultrasound therapy device. A step of acquiring an image for the image acquisition area while moving the image acquisition unit; And A step B of releasing a high intensity focused ultrasound (HIFU); wherein the HIFU is released to a site identified as abnormal tissue based on the image obtained in the step A; Method of operation of the ultrasound therapy device. The method of claim 52, wherein Further comprising a step C for real-time monitoring the tissue changed by the HIFU released in step B Method of operation of the ultrasound therapy device. The method of claim 53, Monitoring in the step C is characterized in that by sensing the temperature of the tissue changes by HIFU Method of operation of the ultrasound therapy device. The method of claim 52, wherein Acquiring the image in the step A is characterized in that it is made by a linear probe (linear probe) Method of operation of the ultrasound therapy device.

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