WO2018093190A1

WO2018093190A1 - Treatment device and method for controlling same

Info

Publication number: WO2018093190A1
Application number: PCT/KR2017/013075
Authority: WO
Inventors: 고광천
Original assignee: 주식회사 루트로닉
Priority date: 2016-11-17
Filing date: 2017-11-17
Publication date: 2018-05-24
Also published as: KR20180055389A; KR101918221B1

Abstract

The present invention relates to a treatment device and a method for controlling the same, the treatment device comprising: an insertion unit formed to be insertable into a tissue by penetrating the surface of the tissue; a displacement measurement unit for measuring a displacement of the tissue surface, which is generated with the insertion of the insertion unit; and a control unit for controlling the insertion operation of the insertion unit on the basis of the displacement measured by the displacement measurement unit. The present invention has the advantage of improving a therapeutic effect because a treatment can proceed under the condition where the insertion unit has been inserted up to a precise target position, In addition, the problems that adjacent tissues are damaged with the proceeding of a treatment in a state of insufficient insertion up to a target position can be prevented.

Description

Treatment device and control method thereof

The present invention relates to a therapeutic apparatus and a control method thereof, and more particularly, to a therapeutic apparatus and a control method thereof, which is inserted into a tissue of a human body and undergoes treatment in an invasive manner.

Treatment of the tissue may be divided into a method of treating the tissue from the outside of the tissue, and an invasive treatment method that proceeds by inserting a part or all of the treatment device into the tissue. Among these, the invasive treatment method mainly uses a treatment device having an insert of a needle or catheter, etc., and a narrow neck. The treatment device is inserted into a target position in the tissue and then treated.

Such invasive treatment methods include various therapeutic actions such as delivering a therapeutic substance inside a tissue, operating mechanically in the vicinity of a specific tissue within the tissue, performing surgical treatment, or delivering energy to a target location within the tissue. do. Such a treatment method is disclosed in Korean Patent Laid-Open Publication No. 10-2011-0000790 and the like, and is applied in various ways.

In general, invasive treatment is a displacement occurs while the surface of the tissue is pressed in the process of inserting the insert into the tissue, thereby preventing the insertion portion to be inserted to the desired target position. In this case, such as skin treatment, when the treatment is sensitive to the depth to which the treatment proceeds, problems such as poor treatment effect or damage to other tissues may occur.

The present invention is to provide a treatment apparatus and a control method for inserting the insertion portion to the target position despite the displacement on the surface of the tissue in the process of inserting the insertion portion inside the tissue.

In order to achieve the above object, the present invention is inserted into the tissue penetrating the surface of the tissue is inserted into the tissue, the displacement measuring unit for measuring the displacement of the surface of the tissue generated by the insertion of the insertion portion and the displacement measurement It provides a treatment apparatus including a control unit for controlling the insertion operation of the insert based on the displacement measured in the part.

The control unit controls the insertion unit to be additionally inserted by a depth corresponding to the displacement generated in the surface of the tissue so that the end portion of the insertion portion reaches a target position inside the tissue. Specifically, the controller may control to insert the insertion part by a first length based on a target position, and control to insert the insertion part by a second length to compensate for a depth in which the insertion part is not inserted due to the displacement of the tissue surface. Can be.

Here, the second length may be the same size as the displacement measured by the displacement measuring unit. Alternatively, the second length may be a value calculated by using the magnitude of the displacement measured by the displacement measuring unit as a variable.

The displacement measuring unit measures the displacement of the tissue surface before the insert presses the tissue surface and after the insert is inserted through the tissue surface.

The displacement measuring unit may use a sensor using light.

Alternatively, the displacement measuring unit may use a movable member that moves as a displacement occurs on the surface of the tissue and a sensing member that measures a movement amount of the movable member. Specifically, the movable member may be configured to include a magnetic material, and the sensing member may be configured to detect the amount of movement of the movable member based on a change in the magnetic field generated by the movement of the movable member.

As an example, the insertion part may be provided in a tip module detachably installed in the handpiece or the main body, and the movable member may be provided to penetrate the tip module to be movable in the direction of travel of the insertion part. In addition, the sensing member may be disposed adjacent to a portion of the hand piece or the main body where the tip module is installed.

Here, the insertion part may be composed of a plurality of microneedles.

As an example, the insertion part may be configured as an energy delivery member for transmitting energy to a target position in a state of being inserted into the tissue.

As another example, the insertion part may be configured as a mass transfer member that delivers a therapeutic substance to a target position while inserted into the tissue.

On the other hand, the present invention, the handpiece, is formed so as to be protruded to one side of the handpiece, the energy delivery unit for transmitting energy to the target position is inserted into the tissue, the surface of the tissue generated by the insertion of the energy delivery unit It can provide a treatment apparatus including a displacement measuring unit for measuring the displacement and a control unit for controlling the insertion operation of the energy transfer unit based on the displacement measured in the displacement measuring unit.

In another aspect, the present invention, positioning the insertion portion to the tissue surface, pressing the insertion portion through the tissue surface to insert the insert into the tissue, the displacement of the tissue surface caused by the insertion of the insert portion It may provide a control method of the treatment apparatus comprising the step of measuring and controlling the insertion operation of the insert based on the measured displacement.

Inserting an insert into the tissue may include inserting the insert by a first length based on a depth of a target location, and controlling inserting of the insert may include removing the insert based on a magnitude of displacement of the tissue surface. It can be configured to additionally insert by two lengths.

Controlling the inserting operation of the insert may include calculating a compensation depth in consideration of the displacement of the tissue surface and additionally inserting the insert by the calculated compensation depth.

According to the present invention, since it is possible to proceed with treatment in a state where the insertion portion is inserted to the correct target position, there is an advantage of improving the treatment effect. In addition, it is possible to prevent problems such as damage to adjacent tissues that occur as the treatment proceeds in a state where the target position is not sufficiently inserted.

1 is a block diagram showing the configuration of a treatment apparatus according to a first embodiment of the present invention;

2a to 2d is a schematic diagram showing an example of the treatment step by the treatment device of Figure 1,

3 is a graph showing the displacement characteristics of some tissues according to the pressing force,

4 is a flow chart showing a control method of the treatment device of FIG.

5 is a perspective view showing a treatment apparatus according to another embodiment of the present invention;

Figure 6 is a perspective view of the handpiece of the treatment device of Figure 5,

7 is a cross-sectional view of the end of the handpiece of FIG.

8 is a cross-sectional view illustrating a cross section of one of the plurality of needles of FIG. 7;

9 is a cross-sectional view showing a state just before the needle insertion during the treatment process using the handpiece of FIG.

10 is a cross-sectional view showing a state in which a needle is inserted during the treatment process using the handpiece of FIG.

11 is a cross-sectional view showing a modified embodiment of the handpiece of FIG.

12 is a cross-sectional view showing a cross section of the insertion operation of the handpiece according to another embodiment.

Hereinafter, a treatment apparatus according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the positional relationship of each component is described based on the drawings in principle. In addition, the drawings may be displayed by simplifying the structure of the invention or by exaggerating if necessary for the convenience of description. Therefore, the present invention is not limited thereto, and various other devices may be added, modified or omitted.

Hereinafter, the 'treatment device' includes all the devices for treating mammals, including humans. The therapeutic device may include various therapeutic devices used for the purpose of improving the condition of the lesion or tissue. Examples include devices for delivering therapeutic substances such as drugs, anesthetics, stem cells, surgical devices for surgically treating specific tissues, and various therapeutic devices for delivering energy such as RF, laser, and ultrasound.

Hereinafter, the term "tissue" refers to a collection of cells constituting various body organs of an animal including a human, and includes various tissues constituting various organs in the body, including skin tissue.

Hereinafter, 'insertion unit' means a configuration that is inserted into the tissue of the treatment device. It includes a variety of structures, such as needles, microneedles, catheter that is composed of a pointed, elongated structure that penetrates the surface of the tissue and into the tissue.

Hereinafter, a treatment apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.

Figure 1 is a block diagram showing the configuration of a treatment device according to a first embodiment of the present invention. As shown in Figure 1, the treatment device according to the present embodiment is inserted into the insertion portion 10 is formed in the tissue 10 ), A driving unit 20 for moving the insertion unit, a treatment operation unit 30 for proceeding treatment within the tissue through the insertion unit, a sensing unit 40 for detecting displacement of the tissue surface, and the driving unit and treatment unit It is configured to include a control unit 50 for controlling the operation of the various configurations.

As described above, the inserting portion 10 is inserted into the tissue through the surface of the tissue, and the inserting portion 10 is formed of a long structure having a pointed end and a small diameter so as to be easily inserted into the tissue. do. Insertion portion 10 in the present embodiment is composed of a plurality of needles, in addition to this may be of a variety of structures, such as a single needle structure, catheter. Insertion portion 10, according to the treatment method of the treatment device, further includes a configuration necessary for the progress of treatment. For example, in the case of a therapeutic device that treats the therapeutic material in a manner that delivers the therapeutic material, the insert may include a channel for injecting the therapeutic material therein. Alternatively, in the case of a treatment device that treats RF energy inside a tissue, the insertion part may include an electrode for delivering RF energy. The insertion part 10 is installed in the handpiece, and may be configured to be inserted into the tissue by protruding to one end of the handpiece.

The drive unit 20 is configured to linearly move the insert 10 so that the insert can be advanced and retracted. Insertion unit 10 is inserted into the tissue by the drive of the drive unit 20, or performs an operation to exit from the tissue. As an example, the driving unit 20 may be configured using an actuator, and in addition to this, may be configured using various driving members.

The treatment operation unit 30 is configured to operate for treatment progress. The actual treatment is performed at the end of the insert 10 located inside the tissue, and the treatment operation 30 performs an operation for the treatment to proceed at the insert end. As an example, the therapeutic operation can be comprised of a pump or valve for delivering the therapeutic material from the therapeutic material receptacle (not shown) to the insertion end. As another example, the treatment operation unit may be an RF generator supplying RF energy to the insertion end. In addition to this, the treatment operation unit may be configured in various configurations according to the treatment method of the treatment device.

The controller 50 controls the operation of various components of the treatment apparatus, including the driving unit 20 and the treatment operation unit 30. The controller 50 may perform treatment by operating the component based on a user's control or a preset mode. The controller may further include a separate database or processor. Therefore, when various information required for control is transmitted to the control unit, a suitable control signal can be derived by using or pre-stored data based on the information.

The sensing unit 40 is configured to sense main parameters during operation of the treatment apparatus. The sensing unit 40 of the present embodiment measures the displacement of the tissue surface generated by inserting the insertion unit 10 into the tissue. In addition, the value measured by the sensing unit 40 is transmitted to the control unit 50, and the control unit 50 additionally controls the insertion depth of the insertion unit 10.

Hereinafter, with reference to Figures 2a to 2d, it will be described in more detail with respect to the displacement generated during insertion. 2A to 2D are schematic diagrams showing an example of a treatment step by the treatment apparatus of FIG. 1, illustrating a process of inserting an insertion part into a target position located at a depth D inside a tissue to perform treatment.

2A shows the handpiece H positioned on the surface of the tissue T. In FIG. In this step, the driving unit may not be driven at all, or the driving unit may start driving, but the end of the insertion unit may not be in contact with the tissue surface. As such, in FIG. 2A, since the inserting portion 10 does not press the tissue surface A, no displacement occurs on the tissue surface, and no target displacement occurs.

2B is a state in which the driving unit 20 is operated so that the end portion of the insertion unit 10 presses the surface of the tissue. In the initial stage of the inserting operation of the inserting portion 10, the surface of the tissue is pressed without being penetrated by the inserting portion. As a result, the surface A of the tissue is displaced in the inward direction of the tissue by a1. Since the tissue is structured to be densely organized into cells or the like, as the displacement occurs at the surface A of the tissue, the target position B is also displaced inward of the tissue by b1.

2C is a state in which the insertion portion 10 is advanced by a first length and inserted into the tissue. Here, the first length may be a length corresponding to D (depth relative to the surface before the tissue surface is pressed by the insert) which is the depth of the target position before the insert presses the tissue.

As shown in FIG. 2C, in this state, the surface of the tissue is displaced in the inward direction of the tissue by a2, and the target position is also displaced in the inward direction of the tissue by b2. This is because the force acts in the direction in which the displacement is further generated by the friction force while the insertion portion 10 is inserted, and the displacement is also restored by the elasticity of the tissue. Therefore, the tissue remains pressed even when the insert is inserted, and the surface of the tissue and the target position may also be maintained in a displacement state.

As such, even if the inserting portion 10 is controlled to be advanced by the first length corresponding to the target position B, the inserting portion 10 does not reach the target position B because the inserting portion 10 is not inserted by the first length inside the tissue. (In this case, the insertion depth of the insert may be D − a2). Therefore, the present embodiment measures the displacement of the tissue surface in the sensing unit 40 so as to compensate for this, and the control unit 50 controls the operation of the inserting unit so that the end of the inserting unit 10 reaches the target position based thereon. Can be additionally controlled.

FIG. 2D is a state in which the insertion unit is additionally inserted by a second length in FIG. 2C. Here, the second length corresponds to the depth of compensation by tissue displacement. As shown in FIG. 2D, by additionally inserting the insert 10 by a second length, the end of the insert can reach the target position and proceed with treatment.

Again, with reference to FIG. 1, the sensing unit 40 is configured to measure the displacement generated at the surface of the tissue during insertion of the insertion unit. The sensing unit 40 may be configured using various sensor devices capable of measuring displacement.

As an example, it may be composed of an optical sensor disposed adjacent the contact surface of the handpiece (H) in contact with the surface of the tissue. In the case of the optical sensor, after irradiating light to the surface of the tissue, it is possible to receive the light reflected from the surface to measure the displacement of the surface. Alternatively, the sensing unit may be configured by using an ultrasonic sensor disposed adjacent to the contact surface of the handpiece. The ultrasonic sensor detects that the ultrasonic wave generated by the emitter is reflected from the surface, and may measure the surface displacement of the tissue by analyzing the time difference, the wavelength, and the like of the reflected ultrasonic wave. As another example, it is also possible to configure the sensing unit by using the movable member which is installed to be movable according to the displacement of the tissue surface and the sensing member that measures the movement amount of the movable member. Specifically, the movable member is disposed so as to be supported on the surface of the tissue in a state in which the vertical movement is free, and when the movable member moves by the amount of displacement generated when the tissue displacement occurs, the sensing member measures the displacement of the movable surface by measuring the amount of movement of the movable member. can do.

The controller 50 may determine a value of the second length corresponding to the depth of compensation based on the displacement of the tissue surface measured by the sensing unit 40. In this case, the value of the second length may be a displacement value of the expected target position based on the displacement of the tissue surface. Here, the characteristics of the tissue are different according to the treatment site, race, age, etc., and the second length may be determined in various ways in consideration of the characteristics of the tissue.

For example, when the tissue corresponding to the treatment position has low elasticity, or when the insertion is performed while the tissue is already pressed, the displacement of the surface of the tissue and the displacement within the tissue have a similar size. In this case, the controller 50 may determine the value of the second length to be the same value as the displacement of the tissue surface.

On the other hand, when the tissue has high elasticity, the displacement of the tissue surface may be different from the displacement inside the tissue. As an example, Figure 3 is a graph showing the displacement characteristics of some tissues according to the pressing force. As shown in FIG. 3, in the pressed state with the same force, relatively large displacement occurs in the tissue surface as compared with relatively large displacement in the tissue surface. As such, in the case of tissues in which displacements occur differently depending on the depth, the controller 50 determines a value of the second length through a separate calculation process using the measured displacement value of the surface as a variable, or the displacement value and The second length value may be determined by referring to a previously stored database.

As such, when the second length value is determined, the controller 50 controls the driving unit 20 so that the insertion unit 10 may be additionally inserted by the second length, thereby compensating for insufficient insertion depth. As a result, when the insertion unit 10 end reaches the target position, the controller 50 drives the treatment operation unit 30 to proceed with the treatment at the target position.

4 is a flowchart illustrating a method of controlling the treatment device of FIG. 1. Hereinafter, with reference to FIG. 4, the control method of the treatment apparatus of the present embodiment will be described.

First, the insertion unit 10 of the treatment device is positioned at the treatment position of the tissue (S10). Specifically, one end of the handpiece into which the insert 10 advances is positioned adjacent to or in contact with the surface of the tissue corresponding to the treatment position.

Then, the step of setting the first length is performed (S20). Here, the first length is set to have a size corresponding to the depth of the target position located inside the tissue. For example, the first length may be set to a distance value from the surface of the unpressed tissue to the target position. Or a distance value from the contact surface of the handpiece in contact with the surface of the tissue at the time of treatment to the target position. However, when the initial position of the insertion portion is spaced apart from the surface of the tissue, the first length may be the sum of the distance from the initial position to the tissue surface and the distance from the nonwoven surface to the target position.

Thereafter, a step of inserting the insertion part as the first step is performed (S30). The controller 50 operates the driving unit 20 so that the insertion unit 10 penetrates the surface of the tissue and is inserted into the tissue as the first length advances. In this process, since tissue displacement occurs while the tissue is pressed, the insertion portion 10 may not reach the target position.

Then, the sensing unit 40 measures the displacement generated on the surface of the tissue during the first insertion step or immediately after the first insertion step (S40). In this case, the measured displacement may be a displacement based on the tissue surface immediately before the insert presses the tissue surface. In this step, the insertion part 10 may measure the displacement of the tissue surface in the state where the primary insertion step is completed. However, if it is determined that the difference in the value is minute according to the characteristics of the tissue, the surface displacement value at the time when the insertion part penetrates the tissue surface or the surface displacement during the first insertion step for continuous execution of the subsequent steps. It is also possible to use a value by measuring it. The sensing unit 40 measures the displacement using the various sensing methods described above, and the measured displacement value is transmitted to the controller 50.

The controller 50 sets a second length corresponding to the compensation depth based on the measured displacement value (S50). The value of the second length may be determined in various ways as described above. For example, it may be set equal to the displacement value of the surface of the tissue sensed by the sensing unit. Alternatively, the second length value may be obtained through a separate calculation process using the displacement value of the tissue surface as a variable, or may be determined by referring to the displacement value of the tissue surface and a preset database.

When the second length is set, the controller 50 additionally controls the insertion operation of the insertion unit 10 (S60). This step is a secondary insertion step, in which the driving unit 20 is operated to insert the insertion unit additionally by the second length. Thereby, the end part of the insertion part 10 can reach the target target position.

When the end portion of the insertion portion 10 reaches the target position, the controller 50 drives the treatment operation unit 30 to perform a treatment step (S70). This step may be performed in various forms depending on the treatment mode of the treatment device. As an example, the therapeutic material may be delivered from the therapeutic operator to inject the therapeutic material through the insert end to the target location. Alternatively, RF treatment may be generated at the treatment operation unit to deliver electrical energy to the target position through the electrode at the end of the insertion unit.

When the treatment is finished through the above-described process, the controller 50 ends the operation of the treatment operation unit 30 and controls the driving unit 20 to retreat the insertion unit 10 (S80). By inserting the insert 10 inserted into the tissue by the step from the outside of the tissue surface by this step can complete the treatment of the treatment position.

In the above, each step of the control method of the treatment apparatus according to the present embodiment has been described. In FIG. 4, the steps are shown to be sequentially performed, but are not limited thereto. It is also possible to proceed by changing the order of each step, and it is also possible that a plurality of steps proceed simultaneously. As an example, the first length setting step may proceed prior to placing the insert in the treatment position. In addition, the first insertion step and the displacement measuring step may be performed simultaneously, or the displacement measurement may be performed before the first insertion step is completed. In addition, although the first insertion step and the second insertion step are illustrated as being distinct steps, it is also possible to proceed two steps in succession.

According to the embodiment described above, even when the target position is moved by the insertion of the insertion portion in the progress of the invasive treatment, it is possible to proceed with the treatment at the correct position by compensating the insertion depth.

Hereinafter, another Example which actualized the Example mentioned above is demonstrated. That is, the embodiments to be described below apply the technical details of the above-described embodiments to the treatment apparatus for skin, and the components of the following embodiments corresponding to the components of the above-described embodiments may implement the technical details of the above-described embodiments. Should be interpreted as However, in order to avoid duplication of description, detailed description of corresponding contents will be omitted in the following embodiments.

5 is a perspective view showing a treatment device 1 according to another embodiment of the present invention, Figure 6 is a perspective view showing a handpiece of the treatment device of FIG. The treatment apparatus 1 according to the present embodiment is an apparatus for transmitting energy into the skin tissue by inserting an insert into the skin tissue of the human body. The insert of the present embodiment includes a plurality of needles, and may transfer energy into the skin tissue through the ends of the needles. 5 and 6, the treatment apparatus according to the present embodiment includes a body 100, a handpiece 200 that a user can hold and proceed with treatment, and a connection part 400 connecting the body and the handpiece. It is configured by.

An RF generator (not shown) may be provided inside the main body 100. The RF generator is a configuration corresponding to the treatment operation unit (see 30 in FIG. 1) of the above-described embodiment, and generates the RF energy used for the treatment. The RF energy generated from the RF generator may be adjusted in frequency according to the constitution of the patient, the purpose of treatment, the treatment site, and the like. For example, the RF energy used to treat the skin can be adjusted in the range of 0.1 to 0.8 MHz.

On the outer surface of the main body 100, the on / off switch 110 of the power supply, a frequency control lever 120 for adjusting the frequency of the RF energy generated from the RF generator, and various information including the operation details of the treatment apparatus A display may allow a user to input a command and install a touch screen 130 for displaying treatment information.

On the other hand, the handpiece 200 is connected to the main body by the connection portion 400. The connection part 400 transmits the RF energy generated from the RF generating part of the main body to the plurality of needles 320 corresponding to the inserting part of the above-described embodiment, and supplies power required for driving various components on the handpiece side from the main body. I can deliver it. The connection unit 400 is configured in the form of a cable, it is possible to use a cable including a plurality of conductors wrapped with a metal wire in an insulating coating.

The driving unit 210 is installed inside the handpiece 200. The driving unit 210 is configured to linearly move the output end 211 provided at one end of the driving unit in the longitudinal direction. As the output terminal 211 moves linearly, the plurality of needles 320 disposed at the end of the output terminal may be projected to the outside of the contact surface of the handpiece. Accordingly, the plurality of needles 320 may be inserted into or withdrawn from the tissue of the patient by driving of the driving unit 210. In addition to this, the driving unit 210 may be configured in various structures such as a motor, a solenoid, a hydraulic / pneumatic cylinder, a linear actuator, and the like.

An outer surface of the handpiece 200 may be provided with a handpiece manipulation unit 230 and a handpiece display unit 220. The handpiece manipulation unit 230 is configured to manipulate the on / off of the handpiece, adjust the insertion depth of the insert, or adjust the magnitude of energy transmitted through the insert. The handpiece display unit 220 may display various information necessary for the setting mode or the treatment to the user. Therefore, the user can easily manipulate the treatment contents during the treatment through the handpiece manipulation unit 230 while holding the handpiece in hand, and can easily grasp the treatment contents through the handpiece display unit 220.

The tip module 300 is provided at the end of the handpiece. The tip module includes a plurality of needles, and may be detachably installed on the handpiece body 201. Specifically, the base 301 forms the bottom surface of the tip module, and the detachable protrusion 307 protruding outward is formed on the outer wall of the base. The recess 240 to which the tip module is coupled to the handpiece side has a guide groove 241 for guiding the detachment protrusion and a detachment protrusion 307 for preventing the guide protrusion 307 guided along the guide groove 241. Prevention grooves 242 are formed. And, the detachable protrusion 307 of the tip module is guided along the guide groove 241 is installed in the handpiece in a manner that is fastened to the departure prevention groove 242. However, it is an example that the tip module is detachably installed on the handpiece as in the present embodiment, and the tip module may be integrally formed on the handpiece.

FIG. 7 is a cross-sectional view of the end of the handpiece of FIG. 6. Referring to FIG. 7, an end portion of the handpiece 200 is a part where the treatment is performed by contacting skin tissue. Inside the tip module, a support plate 310 on which a plurality of needles 320 are installed is provided. The plurality of needles 320 are fixed to the support plate 310 in a matrix form, and RF energy is transmitted through a circuit formed on the support plate 310. The front surface S of the tip module may form a portion adjacent to or in contact with the skin of the patient during treatment, and a plurality of through holes 302 are formed in which a plurality of needles are exposed.

The lower side of the tip module is provided with at least one hole 303 through which the output end 211 can pass. The output end 211 presses the support plate 310 while linearly moving along the hole 303 during the operation of the driving unit 210. The rear surface of the support plate 310 is seated on the support 304 inside the tip module, and the front surface is pressed by the elastic member 330 installed inside the tip module. When the output end 211 moves and presses the support plate 310, the support plate 310 moves forward while being separated from the support 304, and the plurality of needles 320 protrude forward of the through hole 302 and are inserted into the skin tissue. do. When the output end 211 is retracted by the driving unit 210, the support plate 310 is retracted by the restoring force of the elastic member 330, and the plurality of needles 320 also return to the inside of the tip module. Although not shown separately in the drawings, it is also possible to further include a separate guide member for guiding the path that the above-described support plate moves.

Although not specifically illustrated in the drawings, the circuit of the support plate 310 may be configured to be electrically connected to the RF generator of the main body when the tip module is installed in the handpiece. Alternatively, the circuit of the support plate may be configured to be electrically connected to the RF generator selectively when pressed by the output end 211 (for example, an electrode is formed at the end of the output end, so that it is electrically connected to the support plate when pressed). ).

FIG. 8 is a cross-sectional view illustrating a cross section of one of the plurality of needles of FIG. 7. Each needle 320 may be composed of micro needles having a diameter of about 5 to 500㎛. Needle 320 is made of a conductive material to deliver RF energy. A portion of the surface of each needle except the tip portion is formed of an insulating material 321 and is configured to not transmit RF energy to the tissue. Thereby, a portion of the tip of each needle serves as the electrode 322 and is configured to deliver RF energy through the tip to the tissue. Thus, RF energy can be selectively delivered to the portion where the end of the needle is located during treatment.

Referring back to FIG. 7, the sensing unit 360 is provided at the end of the handpiece 200. The sensing unit 360 measures the displacement of the skin surface during treatment. As an example, the sensing unit 360 includes a movable member 340 installed to be movable in the insertion direction of the needle 320 and a sensing member 350 that detects a movement amount of the movable member.

As shown in FIG. 7, the movable member 340 may be provided in the tip module. A movable member hole 305 is formed at both ends of the tip module, and the movable member 340 is disposed in a shape penetrating the tip module along the movable member hole 305. A stopper 341 having a larger diameter than the movable member hole may be formed in the body of the movable member 340. Therefore, the movable member 340 can freely move without restriction in the vertical direction, that is, in the direction of movement of the needle, within the range where the movement is not limited by the stopper 341. At this time, the front end of the movable member 340 in contact with the surface of the skin tissue during treatment may be exposed to the front of the tip module in the state of maximum advance, and may be configured to be accommodated inside the tip module in the state of maximum retraction. In addition, the rear end of the movable member 340 may be configured to protrude to the rear end of the tip module in both the maximum advanced state and the maximum retracted state.

The sensing member 350 is configured to be disposed inside the main body 100 of the handpiece separately from the tip module (see FIG. 7), and detects a movement amount of the movable member 340. For example, the sensing member 350 is configured to detect a change in the magnetic field. Then, the change in the magnetic field according to the movement of the magnetic body 342 provided at the rear end of the movable member can be detected, and the movement amount of the movable member 340 can be measured based on this.

FIG. 9 is a cross-sectional view illustrating a state immediately before needle insertion during the treatment process using the handpiece of FIG. 7, and FIG. 10 is a cross-sectional view illustrating a state where a needle is inserted during the treatment process using the handpiece of FIG. 7.

As shown in FIG. 9, the end of the handpiece (the end with the needle) is disposed to face the skin tissue T in the downward direction during treatment. At this time, the movable member 340 moves downward by gravity to maintain a state supported by the skin surface in contact with the skin surface. As shown in FIG. 10, when downward displacement occurs on the skin surface by the needle 320, the movable member 340 also moves downward by the displacement of the skin surface. At this time, the sensing member can measure the displacement of the skin surface by measuring the movement amount of the movable member 340.

FIG. 11 is a cross-sectional view of a modified embodiment of the handpiece of FIG. 6. In FIG. 7, the movable member of the sensing unit is provided in the tip module, and the sensing member is configured to be provided in the handpiece main body. However, as shown in FIG. 11, both the movable member and the sensing member are configured in the handpiece main body. It is also possible.

As shown in FIG. 11, the tip module 300 may include a channel 306 through which the movable member can pass. In addition, the movable member 340 is installed inside the handpiece main body 201 so that the movable member 340 can freely move in the direction of insertion of the needle within a range not limited by the stopper 341. In this case, the front end of the movable member 340 may be configured to protrude in front of the tip module in the state of maximum advance, and may be configured to be received inside the channel 306 of the tip module in the state of maximum retraction. In addition, the sensing member 350 may be disposed adjacent to the rear end of the movable member 340 to detect a change in the magnetic field caused by the magnetic body 342 installed in the movable member to measure the amount of movement of the movable member 340. .

As described above, although the configuration of the various sensing units is illustrated in FIGS. 7 and 11, the present invention may be modified in other forms.

The treatment apparatus of the present embodiment controls the operations of the driving unit 210 and the RF generator (a configuration corresponding to the treatment operation unit of FIG. 3) similarly to the above-described embodiment, and based on this, the insertion unit (see 10 of FIG. 3). A plurality of needles corresponding to the 320 is inserted into the inside of the skin tissue to allow the treatment to proceed in a manner that delivers RF energy to the target location. At this time, the control unit determines the first length in consideration of the depth of the target position inside the skin tissue, and determines the second length corresponding to the compensation depth by the displacement generated when the needle is inserted. In this case, the sensing unit 360 may measure the displacement of the skin surface generated when the needle is inserted during the treatment, and the controller (see 50 of FIG. 3) may determine the second length based on the measured displacement value. The controller performs the first insertion operation and the second insertion operation based on the determined first length and the second length. Then, when the end portion of the needle reaches the target position, the RF energy delivery unit may be driven to deliver the RF energy to the target position, thereby allowing the treatment to proceed. Thereby, by transferring RF energy to the dermal layer corresponding to the target position and heating, collagen contraction can be caused to form a new collagen structure. When the treatment is completed, the control unit may terminate the treatment by driving the driving unit to pull out the plurality of needles from the tissue.

In the above, each step of the control method of the treatment apparatus according to the present embodiment has been described, the details of each step will be replaced with the description of Figure 4 of the above-described embodiment.

However, in the above-described step, the step of setting the first length may be performed differently according to the shape and insertion method of the handpiece. Hereinafter, for convenience of description, each code is defined as follows.

L1: first length

Ld: distance from the tissue surface to the target position at steady state

Ld ': distance from the tissue surface to the target position in the pressed state

L0: The distance from the initial position of the insert until the end of the insert reaches the tissue surface

First, as shown in FIGS. 2A to 2D, when the tissue surface is not separately pressed before the tissue surface is pressed by the insertion portion, as described above, the first length value L1 may be set to the Ld value.

However, when the contact surface of the handpiece and the end position of the insert portion are separated from each other when the handpiece is positioned, it must be advanced by a predetermined distance until the insert portion reaches the tissue surface. Therefore, in this case, the first length value L1 may be set to the sum of the Ld value and the L0 value.

Furthermore, the tissue surface may already be pressed before the insert presses the tissue surface. This is the case, for example, when the insert is inserted while the tissue surface is pressed through the contact surface of the handpiece in the handpiece position. In this case, depending on the characteristics of the tissue, the distance from the surface of the tissue to the target position may be different from that in which it is not pressed. Therefore, in this case, the first length value L1 may be set to the Ld 'value or the sum of the Ld' value and the L0 value. In this case, the Ld 'value may be obtained by using information stored in the database according to the type of organization.

12 is a cross-sectional view showing a cross section of the insertion operation of the handpiece according to another embodiment. 12 is a configuration that the pressure sensor is further provided at the end of the handpiece, compared with the above-described embodiment. In FIG. 12, the lower end of the case of the handpiece main body is configured to form a contact surface, and the pressure sensor is installed on the contact surface, or the end of the tip is configured as the contact surface, and the pressure sensor may be installed at the end of the tip.

Such a pressure sensor may measure the force pressing the tissue surface by the contact surface before the insertion operation by the insert is made. In this case, the control unit measures the magnitude of the force pressurized from the pressure sensor and reaches the predetermined size so that the insertion unit can be inserted by inserting the insertion unit so that the insertion operation can be performed in a state in which a tension or more is formed on the skin surface. Can be.

As in this embodiment, when the contact surface is provided with a separate pressure sensor, it is possible to accurately grasp the above-described value of Ld 'in real time. Since the pressing force of the contact force can be measured in real time at the time of treatment, the Ld 'value can be accurately determined using the measured information and the information stored in the database (for example, the graph of FIG. 3). Therefore, even when the force pressurized through the contact surface is greatly different or the degree of change in distance to the target position according to the change in the pressurization force is large, an accurate first length value can be set to proceed with the treatment.

In the above, the description has been mainly focused on a treatment device that delivers RF energy to the skin tissue to proceed with the treatment. However, this is an example and may be applied to a treatment device targeting other tissues than skin tissue. In addition, it can be applied to a variety of treatment devices, such as a treatment device for treating in a manner of delivering a therapeutic material, as well as a treatment device for treating by a method of delivering RF energy. Furthermore, the description has been made with reference to a treatment device composed of a main body and a handpiece, but the present invention is not limited thereto, and it is understood that the treatment device may be applied to a treatment device configured in a single module form.

As mentioned above, although one Example of this invention was described in detail, this invention is not limited to the said Example. It will be apparent to those skilled in the art that the present invention may be modified or modified in various ways without departing from the scope of the technical features of the invention as defined in the appended claims. Put it.

Claims

An insert formed through the surface of the tissue to be inserted into the tissue;

A displacement measuring unit measuring a displacement of the surface of the tissue generated by the insertion of the insertion unit; And

And a control unit controlling an insertion operation of the insertion unit based on the displacement measured by the displacement measuring unit.
The method of claim 1,

The control unit controls to insert the insertion unit additionally by the size corresponding to the displacement generated on the surface of the tissue so that the end portion of the insertion portion can reach the target position inside the tissue.
The method of claim 1,

The control unit controls to insert the insertion unit forward by the first length based on the depth of the target position, and to insert by the second length to compensate for the depth that the insertion unit is not inserted by the displacement of the tissue surface. Treatment device.
The method of claim 3,

The second length is the treatment device, characterized in that the same size as the displacement measured in the displacement measuring unit.
The method of claim 3,

The second length is a treatment device, characterized in that calculated using the magnitude of the displacement measured in the displacement measuring unit as a variable.
The method of claim 1,

And the displacement measuring unit measures the displacement of the tissue surface before the insert presses the tissue surface and after the insert is inserted through the tissue surface.
The method of claim 1,

The displacement measuring unit measures the displacement using a sensor using light.
The method of claim 1,

The displacement measuring unit comprises a movable member moving as the displacement occurs on the surface of the tissue and a sensing member for measuring the amount of movement of the movable member.
The method of claim 8,

The movable member includes a magnetic material, and the sensing member detects the amount of movement of the movable member based on a change in a magnetic field generated by the movement of the movable member.
The method of claim 8,

The insertion unit is provided in the tip module detachably installed in the handpiece or the main body, the movable member is provided to penetrate the tip module is installed to be movable along the direction of the insertion portion.
The method of claim 10,

And the sensing member is disposed adjacent to a portion of the hand piece or the body where the tip module is installed.
The method of claim 1,

The insertion unit is a treatment device, characterized in that composed of a plurality of microneedles.
The method of claim 1,

The insertion unit is a treatment device, characterized in that consisting of an energy transfer member for transmitting energy to a target position in the state inserted into the tissue.
The method of claim 1,

The insertion unit is a treatment device, characterized in that consisting of a material delivery member for delivering a therapeutic material to a target position in the state inserted into the tissue.
Handpiece;

An energy delivery unit which is formed to be protruded to one side of the handpiece and is inserted into the tissue to transfer energy to a target position;

A displacement measuring unit measuring a displacement of the surface of the tissue generated by insertion of the energy transfer unit; And

And a control unit controlling an insertion operation of the energy transfer unit based on the displacement measured by the displacement measuring unit.
Positioning the insert into the tissue surface;

Pressing an insert to penetrate the surface of the tissue to insert the insert into the tissue;

Measuring displacement of the tissue surface caused by insertion of the insert; And

Controlling the insertion operation of the insertion unit based on the measured displacement.
The method of claim 16,

The controlling of the insertion operation of the insertion unit is a control method of the treatment device for additionally inserting the insertion portion, to compensate for the depth of the insertion portion is not inserted due to the displacement of the tissue surface.
The method of claim 16,

The inserting of the insert into the tissue may include inserting the insert forward by a first length based on a depth of a target position.

The controlling of the insertion operation of the insertion unit may further include inserting the insertion unit by a second length based on the magnitude of displacement of the tissue surface.
The method of claim 16,

Controlling the insertion operation of the insertion unit includes the step of calculating the compensation depth in consideration of the displacement of the tissue surface and additionally inserting the insertion portion by the calculated compensation depth.
The method of claim 16,

Measuring the displacement of the tissue surface is a control method of the treatment device for measuring the displacement of the tissue surface using an optical sensor.
The method of claim 16,

Measuring the displacement of the tissue surface is a control method of the treatment apparatus for measuring the displacement of the tissue surface by using a movable member that moves as the displacement of the tissue surface occurs and a sensing member for measuring the amount of movement of the movable member.
The method of claim 21,

The movable member is lowered in the direction of displacement as the displacement occurs on the surface of the tissue in the inserting step,

And the sensing member measures the displacement by measuring the movement amount of the movable member.
The method of claim 16,

And transmitting energy inside the tissue through the insert.
The method of claim 17,

And delivering a therapeutic material to the inside of the tissue through the insert.