WO2010128772A9 - Tête d'appareil de traitement à ultrasons, appareil de traitement à ultrasons, et procédé de fonctionnement de l'appareil de traitement à ultrasons - Google Patents

Tête d'appareil de traitement à ultrasons, appareil de traitement à ultrasons, et procédé de fonctionnement de l'appareil de traitement à ultrasons Download PDF

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Publication number
WO2010128772A9
WO2010128772A9 PCT/KR2010/002690 KR2010002690W WO2010128772A9 WO 2010128772 A9 WO2010128772 A9 WO 2010128772A9 KR 2010002690 W KR2010002690 W KR 2010002690W WO 2010128772 A9 WO2010128772 A9 WO 2010128772A9
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WO
WIPO (PCT)
Prior art keywords
head
image acquisition
image
hifu
acquisition unit
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PCT/KR2010/002690
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English (en)
Korean (ko)
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WO2010128772A2 (fr
WO2010128772A3 (fr
Inventor
이창화
정원철
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바이메드시스템(주)
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Publication of WO2010128772A2 publication Critical patent/WO2010128772A2/fr
Publication of WO2010128772A9 publication Critical patent/WO2010128772A9/fr
Publication of WO2010128772A3 publication Critical patent/WO2010128772A3/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Definitions

  • 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.
  • Examples of applications of ultrasound in 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.
  • HIFU High-Intensity Focused Ultrasound
  • HIFU High-Intensity Focused Ultrasound
  • non-solid cancers such as brain cancer, uterine fibroids and arrhythmia.
  • 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.
  • Korean Patent Application No. 10-2007-7015736 filed by Chen Wenji et al. And filed by the generic name Haifu Technology Co., Ltd.
  • Apparatus and method hereinafter referred to as ⁇ Prior Art 1 '' and ⁇ Heshensu '' and the like, and are filed by ⁇ Beijing Yuande Biomedical Project Company Limited '' filed with Korean Patent Application No. 10-2004-7006737
  • 'prior art 2' There is a technique proposed above through a structure for receiving a conductive medium for a source of external high intensity integrated ultrasound therapy, hereinafter referred to as 'prior art 2'.
  • 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.
  • an ultrasonic generator defined as 'ultrasound converter' in the prior art 1, and defined as 'ultrasound source' in the prior art 2
  • the image acquisition unit and the ultrasonic generator as shown in the prior art 1 and 2, is configured in an integrated manner such that the image acquisition unit is located 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.
  • the conventional ultrasonic therapy device has a problem that the sharpness of the image obtained by the image acquisition unit is inferior because the medium for transmitting the ultrasound is located between the ultrasonic source and the body.
  • the head is generally made tiltable while being able to move by a mechanical driving force in the vertical direction.
  • 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.
  • the ultrasonic generator for generating a high intensity focused ultrasound (HIFU), and is provided separately from the ultrasonic generator and the image of the internal tissue of the patient It includes an image acquisition unit for obtaining.
  • HIFU high intensity focused ultrasound
  • 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.
  • 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 includes a guider for guiding the movement of the image acquisition unit and a driver for moving the image acquisition unit along the guider, and a direction in which the image acquisition unit is relatively accessible to and separated from the ultrasonic generator. Move to.
  • the head for the ultrasound therapy apparatus viewed from another point of view for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU), and is provided spaced apart from the center of the ultrasonic generator of the patient It includes an image acquisition unit for obtaining an image for the internal tissue.
  • HIFU high intensity focused ultrasound
  • the ultrasonic treatment head from another viewpoint to achieve the above objects, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU), and a linear probe (linear probe) having a patient's internal tissue It includes an image acquisition unit for obtaining an image for.
  • HIFU high intensity focused ultrasound
  • linear probe linear probe
  • an ultrasound therapy head for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU), the image acquisition unit for obtaining an image of the internal tissue of the patient And a display unit for displaying the image acquired by the image acquisition unit.
  • HIFU high intensity focused ultrasound
  • 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 ultrasonic treatment head for achieving the above object, the ultrasound generating unit for generating a high intensity focused ultrasound (HIFU), the image acquisition for obtaining an image of the internal tissue of the patient And a monitoring unit for monitoring the treatment site when the treatment by the ultrasonic generator is performed.
  • HIFU high intensity focused ultrasound
  • the monitoring unit monitors the temperature change of the treatment site when the treatment by the ultrasonic generator is executed.
  • the ultrasonic treatment head for achieving the above object, the ultrasound generating unit for generating a high intensity focused ultrasound (HIFU), the image acquisition for obtaining an image of the internal tissue of the patient And a driving 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 driving unit.
  • HIFU high intensity focused ultrasound
  • the ultrasound therapy apparatus for achieving the above object, includes a head for generating a high intensity focused ultrasound (HIFU), and a support for supporting the head, the head is detachably coupled to the support do.
  • HIFU high intensity focused ultrasound
  • 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 that are connected by joints to each other, wherein the head has a front face (HIFU is emitted to the front of the head) that is selectively directed upwards or downwards. May face.
  • HIFU is emitted to the front of the head
  • the ultrasound therapy apparatus for achieving the above objects, includes a head for generating a high intensity focused ultrasound (HIFU), and a support for supporting the head, the head is the front of the head (head HIFU is emitted to the front surface of the front surface of the cover, and is optionally rotatably coupled to the support with a horizontal line as the axis of rotation so as to face upward or downward.
  • HIFU high intensity focused ultrasound
  • the ultrasound therapy apparatus for achieving the above object, includes a head for generating a high intensity focused ultrasound (HIFU) and a support for supporting the head, the support is connected to each other by a joint At least two robot arms are included, wherein the head may have a front face (HIFU is emitted to the front of the head) that may optionally face upward or downward.
  • HIFU high intensity focused ultrasound
  • Operation method of the ultrasonic therapy device for achieving the above object, A step of sensing a physical force applied to the head by the user; And after analyzing the physical force sensed by the step A, and comprises a step B for fixing the position of the head at the time when the application of the physical force is finished.
  • the operation method of the ultrasound therapy device further includes the step C of acquiring an image of the image acquisition site; And a step D for emitting high intensity focused ultrasound (HIFU), wherein the HIFU is released to a site identified as abnormal tissue based on the image obtained in step C.
  • HIFU high intensity focused ultrasound
  • 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.
  • 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.
  • the operation method of the ultrasound therapy device for achieving the above object, A step of obtaining an image for the image acquisition area while moving the image acquisition unit; And a step B of releasing high intensity focused ultrasound (HIFU), wherein the HIFU is released to a site identified as abnormal tissue based on the image obtained in step A.
  • HIFU high intensity focused ultrasound
  • the position of the head is fixed at the time when the application of the manpower is terminated while manipulating the head by the manpower, the movement of the patient can be minimized. Furthermore, the 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.
  • the head since the head is detachably coupled to the support, only the head may be replaced, and the replacement may also be easily performed.
  • FIG. 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.
  • 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.
  • FIG. 1 is a schematic diagram of an appearance of an ultrasound therapy apparatus 100 according to an embodiment of the present invention
  • FIG. 2 is a configuration diagram of the ultrasound therapy apparatus 100 of FIG. 1.
  • the ultrasound therapy apparatus 100 includes a head 110, a support 120, a controller 130, and the like.
  • 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.
  • HIFU high intensity focused ultrasound
  • 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 pulleys 113b-2a and 113b-2b on both sides of the motor 113b-1. Rotate in conjunction with rotation.
  • the image acquisition unit 112 is fixedly coupled to the belt 113b-3.
  • 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).
  • 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.
  • 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.
  • cancer cells are necrotic due to heat above a certain temperature (about 60 degrees in the case of liver cancer cells) .However, by measuring the temperature according to the heat generated by ultrasound in the treatment area (target area), whether cancer cells in the area are being destroyed. You will know.
  • 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.
  • 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 to 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • the head 110 is detachably coupled to the third joint 126 in the A portion.
  • controller 130 controls the above components.
  • 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.
  • 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.
  • a setting value such as ultrasonic frequency
  • the handle 117 has actuators 122a, b, and 124a as the controller 110 so 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).
  • 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.
  • the head 110 is located on the upper side of the patient as shown in FIG.
  • the head 110 may be positioned below the patient (the window of the head may face upward), as referred to in FIG. 10. .
  • the control unit 130 controls the current state of the actuators 122a and b, 124a, 126a and b.
  • 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.
  • 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.
  • the operator 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.
  • abnormal tissue malignant tumor such as cancer
  • 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.
  • 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.
  • 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.
  • the controller 130 displays the obtained image through the display 116.
  • 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.
  • the operator may have an advantage of quickly and easily finding a target area through the display unit 116.
  • step S811 is also made pressure sensing through the pressure sensing unit 118.
  • 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.

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Abstract

La présente invention concerne une tête d'appareil de traitement à ultrasons, un appareil de traitement à ultrasons, et un procédé de fonctionnement de l'appareil de traitement à ultrasons. La présente invention concerne une technique selon laquelle la tête d'un appareil de traitement à ultrasons comprend une unité générant une onde ultrasonore et une unité d'acquisition d'image qui sont disposées séparément l'une de l'autre pour obtenir une meilleure précision de diagnostic et de traitement.
PCT/KR2010/002690 2009-05-08 2010-04-28 Tête d'appareil de traitement à ultrasons, appareil de traitement à ultrasons, et procédé de fonctionnement de l'appareil de traitement à ultrasons WO2010128772A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0040351 2009-05-08
KR1020090040351A KR101093734B1 (ko) 2009-05-08 2009-05-08 초음파 치료기용 헤드, 초음파 치료기 및 초음파 치료기의 동작 방법

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WO2010128772A9 true WO2010128772A9 (fr) 2011-01-20
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KR101239127B1 (ko) * 2011-01-11 2013-04-01 알피니언메디칼시스템 주식회사 주파수 변화를 이용한 고강도 집속 초음파 제어 방법과 그를 위한 고강도 집속 초음파 치료 장치
KR101340967B1 (ko) * 2011-02-10 2013-12-13 이선기 초음파 열 응고에 의한 주름살 성형 장치
US20150011880A1 (en) * 2011-12-29 2015-01-08 Alpinion Medical Systems Co., Ltd. Method using transmitted and received signals for forming ultrasonic images for ultrasonic diagnosis, and high-intensity focused ultrasonic therapeutic device performing the same
KR101861842B1 (ko) * 2012-07-16 2018-05-29 알피니언메디칼시스템 주식회사 복수의 주파수를 이용한 고강도 집속 초음파 제어방법과 그를 위한 고강도 집속 초음파 치료 장치
WO2014077439A1 (fr) * 2012-11-19 2014-05-22 알피니언메디칼시스템 주식회사 Dispositif à bras articulé et dispositif médical à ultrasons le comprenant
KR102343395B1 (ko) * 2019-10-04 2021-12-27 한국기계연구원 생체 자극 및 치료용 정위 장치 및 이를 이용한 정위 방법
WO2021225368A1 (fr) * 2020-05-08 2021-11-11 (주)아이엠지티 Tête de traitement ultrasonore et procédé d'imagerie et de traitement ultrasonore l'utilisant
KR102538149B1 (ko) * 2020-05-08 2023-05-31 (주)아이엠지티 초음파 치료 헤드 및 이를 이용한 초음파 이미징 및 치료 방법
CN111973895B (zh) * 2020-09-01 2022-08-26 陈琛 一种妇产科临床超声波治疗仪
KR102637479B1 (ko) * 2020-11-18 2024-02-16 주식회사 뉴로소나 저강도 집속 초음파 치료 장치
KR102547896B1 (ko) * 2023-01-27 2023-06-27 (주)아이엠지티 초음파 헤드용 포지셔닝 암 장치

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US7993289B2 (en) * 2003-12-30 2011-08-09 Medicis Technologies Corporation Systems and methods for the destruction of adipose tissue

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WO2010128772A3 (fr) 2011-03-10
KR101093734B1 (ko) 2011-12-19

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