WO2018124460A1

WO2018124460A1 - Hifu treatment head and hifu device comprising same

Info

Publication number: WO2018124460A1
Application number: PCT/KR2017/012696
Authority: WO
Inventors: 김대승; 김명덕; 최걸; 손건호
Original assignee: 알피니언메디칼시스템 주식회사
Priority date: 2016-12-30
Filing date: 2017-11-09
Publication date: 2018-07-05
Also published as: KR101772200B1

Abstract

A HIFU treatment head and a HIFU device comprising same are disclosed. The HIFU treatment head according to an embodiment comprises: a body the outer shape of which has a rod shape, which is inserted into a body, and which performs translational and rotational motion; and a transducer unit which is provided at the front end of the body, wobbles and rotates according to the motion of the body, and transmits an ultrasonic signal for three-dimensional image scanning and three-dimensional focusing with respect to an object.

Description

Haifu treatment head and hifu device comprising the same

The present invention relates to a diagnosis and treatment technique using ultrasound, and more particularly, to an image scanning and treatment technique using a high-intensity focused ultrasound (HIFU) device for treatment. It's about.

The present invention was supported by the national research and development project, task unique number: 2015M3D5A1065935, Department: Ministry of Science, ICT and Future Planning, Research and Management Agency: Korea Research Foundation, Project name: New market creation next generation medical device development project, research title: Non-invasive Development of precision proximity ultrasound fusion therapy device, contribution rate: 1/1, Host organization: Alpinion Medical System Co., Ltd., Research period: 2016.08.01 ~ 2017.07.31.

Hypo signals may be used to treat biological tissues such as cancer, tumors, lesions, and the like. The treatment method using the hi-fu is a method in which the tissue of the subject is necrotic through heat generated by transmitting a hi-fu signal to the target of the target. Compared with general surgery or chemotherapy, Haifu treatment can lessen the trauma of the patient and realize non-invasive treatment. Applications include Liver cancer, Bone sarcoma, Breast cancer, Pancreas cancer, Kidney cancer, Soft tissue tumors and Pelvic tumors ) And so on.

According to a treatment method using a hifu, an ultrasound image is obtained by irradiating a hifu signal to a subject to be treated and receiving a backscattering signal returned from the subject. When the haipu is irradiated to the subject, cavitation may occur at the focal region of the subject. The cavitation phenomenon means that small bubbles are formed by the action of sound pressure and positive pressure caused by the pressure change in the object as the ultrasonic waves touch the object, and the cells in the object are destroyed as the bubble expands and bursts to the maximum. . Cavitation promotes an increase in the temperature of the subject's focal point, thereby damaging the lesion corresponding to the focal point and thereby treating the disease.

According to an embodiment of the present disclosure, a hi-fu treatment head capable of three-dimensional image scanning and focusing by automatically aligning a hi-fu head in a treatment area on a three-dimensional target with a hi-fu head that can be inserted into a body and a hi-fu apparatus including the same Suggest.

The hi-fu treatment head according to one embodiment has a rod-shaped outer body, which is inserted into the body and translates and rotates, and is provided at the front end of the body and wobbling and rotated by the movement of the body, thereby three-dimensionally treating the object. And a transducer for transmitting an ultrasonic signal for image scanning and three-dimensional focusing.

The body includes a wobbling drive unit for generating a rotational force, a shaft translating by the rotation of the wobbling drive unit, and a connecting unit for wobbling the transducer unit within a set angle range about the wobbling axis by the translational movement of the shaft. It may include a first body and a second body including a rotation drive for generating a rotational force to rotate the transducer body to rotate the entire first body.

The shaft is disposed in a direction perpendicular to the wobbling axis of the transducer part and rotated by a rotational force of the wobble drive, a movable member linearly reciprocating in the longitudinal direction of the screw by rotation of the screw, and a movable member. It may include a linear moving member that moves linearly reciprocating together. The connection part includes a connection hole which is formed in the ultrasonic transducer part so as to wobble the ultrasonic transducer part within a set angle range about the wobbling axis according to the linear reciprocating movement of the linear moving member, and fits one end of the linear moving member. The adjustable angle range of the ultrasonic transducer can be adjusted according to the length of the connection hole.

The transducer unit includes an image transducer for transmitting and receiving an ultrasound image signal for scanning a 3D image of a medium and a treatment area of an object, and a treatment for focusing a hi-fu signal on a treatment area on a 3D image to form a thermal lesion. It may include a transducer for. The transducer unit further includes a water inlet disposed at the front of the transducer to supply water for cooling the therapeutic transducer, a water outlet for recovering water, and a temperature sensor disposed at the front of the transducer to measure the temperature of the water. It may include.

According to another embodiment of the present invention, a hi-pu device has a rod-shaped outer body which is inserted into the body and translates and rotates, and a three-dimensional image of an object while wobbling and rotating by the movement of the body. It includes a treatment head including a transducer for transmitting an ultrasonic signal for scanning and three-dimensional focusing, and a control unit for controlling the movement of the treatment head.

The control unit applies a control signal to the treatment head to translate and rotate the body to move the transducer around the treatment area in the body, and to move the treatment head around the treatment area through the first mechanical adjustment part. The second mechanical adjustment unit for applying a control signal to the treatment head in the state, wobbling and rotating the transducer unit toward the target of the object, and then aligning the three-dimensional image of the object or focusing the hi-fu signal on the treatment area. It may include.

The second mechanical adjuster calculates a target position in the treatment area, calculates a rotation matrix for aligning the transducer part with the calculated target position, and applies a control signal to the treatment head using the calculated rotation matrix to wobble the transducer part. And rotate to align toward the target of the object.

The control unit may further include an electronic adjustment unit that adjusts the position of the transducer electronically according to the calculated distance by calculating the distance between the transducer unit and the target.

The hi-pu device may further comprise a mechanical arm that supports and moves the treatment head and is operable by the user.

According to an embodiment of the present disclosure, an image can be scanned in three dimensions and volume treatment may be performed by using an insertable hi-fu head. At this time, the mechanical adjustment including the wobbling and rotation of the transducer of the hi-fu head automatically increases the resolution of the image for the treatment site and can accurately treat the treatment site. Furthermore, the hi-fu head can be automatically aligned to the target, eliminating the need to change the cartridge with the transducer appropriate for each treatment environment and various body conditions.

1 is an external view of a hi-fu device according to an embodiment of the present invention,

2 is a reference view showing a wobbling operation of a transducer unit according to an embodiment of the present invention;

3 is a reference view showing the wobbling and rotation operation of the transducer unit according to an embodiment of the present invention;

4 is a reference diagram showing an operation by electronic adjustment of a transducer unit according to an embodiment of the present invention;

5 is a detailed configuration diagram of a control unit according to an embodiment of the present invention;

6 is an external view of a hi-fu apparatus for explaining the operation of the treatment head through mechanical adjustment according to an embodiment of the present invention,

7 and 8 are internal structural views of the treatment head for explaining the wobbling and rotation mechanism of the transducer unit according to an embodiment of the present invention,

9 to 11 is a plan view showing a detailed configuration of the treatment head and its working example according to an embodiment of the present invention,

12 is a detailed configuration diagram of the transducer unit according to an embodiment of the present invention;

13 is an external view of a hi-fu device showing an example of operation for mechanical operation and an example of mechanical adjustment through the operation according to an embodiment of the present invention,

14 is an external view of a hi-fu device showing an example of operation for the electronic operation and an example of electronic adjustment through the operation according to an embodiment of the present invention,

15 is a reference diagram sequentially illustrating an example of forming a thermal lesion by focusing on three dimensions through a wobbling operation of a transducer according to an embodiment of the present invention;

FIG. 16 is a reference diagram sequentially illustrating an example of forming a thermal lesion by focusing on three dimensions by wobbling and rotating operations of another transducer according to an embodiment of the present disclosure.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the embodiments of the present invention make the disclosure of the present invention complete and the general knowledge in the technical field to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, embodiments of the present invention illustrated in the following may be modified in many different forms, the scope of the present invention is not limited to the embodiments described in the following. Embodiments of the present invention are provided to more fully explain the present invention to those skilled in the art. In describing the embodiments of the present disclosure, when it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present disclosure, the detailed description thereof will be omitted, and the following terms are used in the embodiments of the present disclosure. Terms are defined in consideration of the function of the may vary depending on the user or operator's intention or custom. Therefore, the definition should be made based on the contents throughout the specification.

1 is an external view of a hi-fu device according to an embodiment of the present invention.

Referring to FIG. 1, the hi-pu device comprises a treatment head 1, a mechanical arm 2 and a support 3. The treatment head 1 includes a body 10 and a transducer portion 12.

The hi-fu device has a treatment head (also called a 'diagnosis head') 1 inserted into the body for a procedure using a hi-fu. For insertion into the body, the treatment head 1 may be in the form of a rod as shown in FIG. 1. The treatment head 1 can be inserted into a woman's uterus or large intestine. In particular, it can be inserted into the vagina and used to treat gynecological diseases. Gynecological diseases can be broadly classified into tumors, neoplastic diseases, inflammatory diseases, menstrual disorders, sexually transmitted diseases, and sexual dysfunction. Representative tumors include cervical cancer and ovarian cancer, and tumor diseases include uterine myoma.

As an example of a hysterectomy procedure using Haifu, hifu is concentrated on the tumor site, and only the tumor to be removed is removed without damaging the peripheral device and surrounding tissue. For this procedure, it is necessary to accurately determine the vaginal position and the intravaginal treatment site, and to improve the effect of ultrasound irradiation on the treated area. In order to increase the accuracy of diagnosis and treatment, the present invention proposes a technique for diagnosing the location of different tissues and treatment sites in tissues in three dimensions and treating a treatment area on three dimensions.

The treatment head 1 is inserted into the body and applies an ultrasound signal to the subject tissue. In this case, the treatment head 1 includes a body 10 and a transducer part 12 connected to one end of the body 10. The body 10 may include a shaft and a connection part connecting the transducer part 12 and the shaft. In the body 10, a cooling fluid such as water may circulate to cool the heat of the transducer part 12. The transducer unit 12 includes an imaging transducer and a therapeutic transducer. The imaging transducer transmits an imaging ultrasound signal to the subject and receives an ultrasound signal reflected from the subject, thereby scanning the image of the subject, and the therapeutic transducer causes the Haifu signal to converge at a single focal point in the treatment area. Focus to form thermal lesions.

According to an embodiment of the present invention, image scanning and focusing is possible on three-dimensional images of the object tissue. For this purpose, mechanical steering of the treatment head 1 is possible, which may include wobbling and rotation. Furthermore, it may include electrical steering of the treatment head 1.

The external design of the treatment head 1 is preferably ergonomic, since the user may hold it in one hand while moving the treatment head 1. Since the treatment head 1 will be supported by mechanical means, the ergonomic design should be adapted to holding and guiding, not supporting weight. The treatment head 1 may be provided in a hand-held form to be separated from the apparatus body and to improve the convenience of user operation. For example, the handle may be provided. At this time, it may include a connection cable for electrically and physically connecting the equipment main body.

The hi-pu device according to one embodiment comprises means for suspending the treatment head 1 in space, such as a mechanical arm 2. Suspending means support most of the weight of the treatment head 1 and allow the user to manually adjust the position of the treatment head 1 in space or to automatically move the treatment head 1 via a robot controller.

The support 3 comprises a control unit 32, either as an independent device or as part of a large computer 30. The control unit 32 controls the operation of the mechanical arm 2 and the treatment head 1 to support the weight of the treatment head 1. The control unit 32 may be part of the computer 30, which is a separate information device, and may be used as a robot controller to automate the procedure. The control unit 32 monitors the position and energy transfer of the treatment head 1 while providing the user with guidance as to where to move the treatment head 1 in the patient's body.

2 is a reference diagram illustrating a wobbling operation of a transducer unit according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the transducer unit 12 of the treatment head may be wobbling about a wobbling axis to scan the treatment region of the object in three dimensions and focus the hi-fu signal on the treatment region in three dimensions to form a thermal lesion. Can be. For example, as shown in FIG. 2, the transducer unit 12 may transmit a high-fu signal to the

targets

200a, 200b, 200c, and 200d in the treatment area of the object along a movement trajectory (clockwise or counterclockwise). Focus to form a thermal lesion.

3 is a reference diagram illustrating a wobbling and rotating operation of a transducer unit according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the transducer part 12 of the treatment head is rotatable about the wobbling axis while being rotatable at the same time. For example, as shown in FIG. 3, the

targets

300a, 300b, 300c in the treatment area of the object along the movement trajectory (clockwise or counterclockwise) while the transducer unit 12 rotates at intervals of 90 degrees. And focus on 300d) to form a thermal lesion.

4 is a reference diagram illustrating an operation by electronic adjustment of a transducer unit according to an exemplary embodiment.

Referring to FIG. 4, the treatment head may electronically adjust the transducer portion 12. For example, the distance between the transducer unit 12 and the

targets

400a, 400b, and 400c is calculated to electronically adjust the position of the transducer unit 12 to focus the hi-fu signal on the target of the calculated distance.

5 is a detailed configuration diagram of a control unit according to an embodiment of the present invention.

1 and 5, the controller 32 may include a first mechanical adjuster 320 and a second mechanical adjuster 322, and may further include an electronic adjuster 324.

Control of the treatment head 1 can be made automatically by the control unit 32. When the first mechanical adjustment unit 320 primarily moves the treatment head 1 around the treatment area, the second mechanical adjustment unit 322 precisely and mechanically adjusts the transducer part 12 of the treatment head 1. (Wobble and rotate) to perform treatment through 3D image scanning and focusing on the treatment area. For example, the first mechanical adjuster 320 applies a control signal to the treatment head 1 to translate and rotate the body 10 of the treatment head 1 so that the transducer part 12 moves around the treatment area in the body. Move). Then, the second mechanical adjuster 322 applies a control signal to the treatment head 1 to wobble and rotate the transducer part 12 toward the target of the object to align with the target, and then the 3D image of the object. Scanning the 3D or focusing the hi-fu signal on the treatment area. In the control via the second mechanical adjuster 322, electronic adjust through the electronic adjuster 324 is possible.

For automatic control of the treatment head 1, a target position calculation and mechanical and electronic adjustment algorithms are needed to align the transducer part 12 towards the target position. For example, the second mechanical adjuster 322 calculates a target position, calculates a rotation matrix of the body 10 for the transducer unit 12 to three-dimensional focus on the calculated target position, and uses the calculated rotation matrix. To apply a control signal to the treatment head 1. The calculation method for the mechanical adjustment will be described later with reference to FIG. The electronic adjustment unit 324 electronically adjusts the position of the transducer unit 12 by calculating the distance between the transducer unit 12 and the target. A calculation method for the electronic adjustment will be described later with reference to FIG. 14.

6 is an external view of the hi-fu apparatus for explaining the operation of the treatment head through the mechanical adjustment according to an embodiment of the present invention.

1, 5, and 6, 3D image scanning and 3D focusing of the treatment area may be performed by wobbling of the transducer unit 12. The body 10 may be rotated about the z-axis and translated in the z-axis direction to treat the hi-fu signal by three-dimensional focusing on the focal point. The translational movement in the Y-axis direction and the rotational movement around the X-axis can increase the operational convenience of the treatment head 1.

7 and 8 are internal structural diagrams of the treatment head for explaining the wobbling and rotation mechanism of the transducer unit according to an embodiment of the present invention.

7 and 8, the treatment head includes a first body 16, a second body 18, and a transducer portion 12. The first body 16 may include a wobbling drive unit 160 generating a rotational force for wobbling of the transducer unit 12, a shaft 190 that is translated by the rotation of the wobbler drive unit 160, and a shaft. By the translational movement of 190 includes a connecting portion 192 for wobbling the transducer unit 12 within a set angle range around the wobbling axis. The second body 18 includes a rotation drive unit 180 that rotates the entire first body 16 to rotate the shaft 190 and thereby generates a rotational force for the transducer unit 12 to rotate. As shown in FIG. 7, the shaft 190 translates in accordance with the driving of the wobbler 160, and the transducer part 12 connected thereto moves up and down. As shown in FIG. 8, when the rotation driving unit 180 is driven, the entire first body 16 rotates so that the transducer unit 12 rotates. The wobbling and rotational movement of the transducer unit 12 may be performed simultaneously or separately.

9 to 11 are plan views of the treatment head showing a detailed configuration of the treatment head and its operation example according to an embodiment of the present invention.

9 to 11, the screw 150, the movable member 140, and the linear moving member 130 may be included in the shaft 190 of FIGS. 7 and 8. The connection hole 122 may be included in the connection unit 192 of FIGS. 7 and 8.

The screw 150 is disposed long in a direction perpendicular to the wobbling axis of the transducer unit 12 and rotates by the rotational force of the wobbler driving unit 160. The movable member 140 linearly reciprocates in the longitudinal direction of the screw 150 by the rotation of the screw 150. The linear moving member 130 moves linearly with the movable member 140. The connection hole 122 is formed in the ultrasonic transducer unit 12 to cause the ultrasonic transducer unit 12 to wobble in a set angle range about the wobbling axis according to the linear reciprocating movement of the linear moving member 130. It is a form to fit one end of the linear moving member 130. The setting angle range of the ultrasonic transducer part 12 may be adjusted according to the length of the connection hole 122.

Hereinafter, the wobbling operation of the transducer unit 12 under the detailed configuration of the treatment head described above will be described. As shown in FIG. 9, in the state where the transducer part 12 is positioned at the limit angle in the left direction, the movable member 140 is rotated by the screw 150 by the wobbling drive unit 160. Move linearly to approach 12). Then, the linear moving member 130 moves linearly with the movable member 140 in the same direction. At this time, the connecting holes 122 connected to the transducer part 12 are half the transducer part 12 as the translational movement and rotation from the position where the connecting shaft 131 of the linear moving member 130 is seated on the left edge. Wobble in a clockwise direction. When the connecting holes 122 are translated and rotated until the connecting shaft 131 is seated at the right edge, as illustrated in FIG. 10, the transducer part 12 may be wobbling to an intermediate angle. .

Subsequently, when the linear moving member 130 moves linearly in the same direction, the connection holes 122 move the transducer part 12 as the translational movement and rotation from the position where the connecting shaft 131 is seated on the right edge. Wobble in the same direction. When the connecting holes 122 are translated and rotated until the connecting shaft 131 is seated on the left edge, as illustrated in FIG. 11, the transducer part 12 may be positioned at a limit angle in the right direction. have. When the above-described processes are repeated, the transducer unit 12 may be repeatedly wobbled in the set angle range. The wobbling angle range of the transducer unit 12 may be controlled by adjusting the reciprocating movement distance of the linear moving member 130 by the wobble driver 160. Therefore, it is also possible to control the transducer unit 12 to wobble in an angle range smaller than the set angle range, if necessary.

12 is a detailed configuration diagram of the transducer unit according to an embodiment of the present invention.

Referring to FIG. 12, the transducer unit 12 includes a treatment transducer 1200 and an image transducer 1210, a water inlet 1230, The apparatus may further include a water outlet (not shown) and a temperature sensor 1240.

The imaging transducer 1210 transmits and receives an ultrasound image signal for scanning a 3D image of the medium and the treatment area of the object. The therapeutic transducer 1200 focuses the hi-fu signal to focus on a focal point in the treatment area on the 3D to form a thermal lesion. When the hi-fu signal is irradiated to the subject, cavitation may occur at the focal region of the subject. The cavitation phenomenon means that small bubbles are formed by the action of sound pressure and positive pressure caused by the pressure change in the object as the ultrasonic waves touch the object, and the cells in the object are destroyed as the bubble expands and bursts to the maximum. . Cavitation promotes an increase in the temperature of the subject's focal point, thereby damaging the lesion corresponding to the focal point and thereby treating the disease.

The water inlet 1230 supplies water to cool the therapeutic transducer unit 12, and the water outlet recovers water. The temperature sensor 1240 measures the temperature of the water. The water inlet 1230 may be disposed in front of the transducer unit 12 to facilitate bubble removal. The temperature sensor 1240 may be disposed on the front surface of the transducer unit 12 to enable real-time water temperature monitoring to prevent burns.

13 is an external view of a hi-fu device showing an example of operation for mechanical operation and an example of mechanical adjustment through the operation according to an embodiment of the present invention.

1, 5 and 13, for automatic control of the treatment head 1, the control unit 32 performs a target position calculation and an operation for aligning the transducer unit 12 with the calculated target. do.

According to an embodiment, the second mechanical adjuster 322 calculates a target position, calculates a rotation matrix for aligning the transducer unit 12 with the calculated target position, and uses the calculated rotation matrix to treat the treatment head 1. Apply a control signal to the Accordingly, the transducer unit 12 may be aligned by wobbling and rotating the object toward the target of the object. After the alignment, the transducer unit 12 may scan the 3D image of the object or 3D focus the hi-fu signal on the treatment area. Rotation matrices R (x) and R (z) for rotating the body 10 about the x-axis and about the z-axis are shown in

Equations

1 and 2, respectively.

If the target coordinate is (X _T , Y _T , Z _T ), the unit vector of the target is (

,

) At this time, the obtained θ _z of R (x) _x and θ R (z) of the alignment target and a transducer Western 12 between. The equation for obtaining θ _x , θ _z is shown in Equation 3 below.

14 is an external view of a hi-fu device showing an example of operation for an electronic operation and an example of electronic adjustment through the operation according to an embodiment of the present invention.

1, 5, and 14, the electronic adjustment unit 324 electronically adjusts the position of the transducer unit 12 by calculating the distance between the transducer unit 12 and the target. At this time, the distance Z between the global coordinates (0,0,0) and the target coordinates is obtained, and the distance Za between the transducer part 12 and the global coordinates is subtracted from Z to calculate the distance between the transducer part 12 and the target. If the coordinates of the transducer unit 12 are (X _H , Y _H , Z _H ) and the coordinates of the target are (X _T , Y _T , Z _T ), then the distance between the transducer unit 12 and the target is Equation 4

C ₀ is the sound velocity of the transmission medium.

15 is a reference diagram sequentially illustrating an example of forming a thermal lesion by focusing on three dimensions through a wobbling operation of a transducer according to an embodiment of the present invention.

Referring to FIG. 15, three-dimensional focusing may be performed by wobbling the transducer up and down.

Referring to FIG. 16, the transducer may be rotated together with up and down wobbling to three-dimensional focusing.

So far, the present invention has been described with reference to the embodiments. Those skilled in the art will appreciate that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope will be construed as being included in the present invention.

Claims

A body having a rod shape and inserted into the body to translate and rotate; And

A transducer unit provided at a front end of the body and transmitting an ultrasonic signal for 3D image scanning and 3D focusing on an object while wobbling and rotating by the movement of the body;

Haifu treatment head comprising a.
The method of claim 1, wherein the body is

A wobbling drive unit for generating a rotational force, a shaft for translational movement by the rotation of the wobbler drive unit, and a connecting portion for wobbling the transducer unit within a set angle range around the wobbling axis by the translational movement of the shaft A first body; And

A second body including a rotation drive unit generating a rotational force to rotate the entire first body to rotate the transducer unit;

Haifu treatment head comprising a.
The method of claim 2, wherein the shaft

A screw disposed to be elongated in a direction perpendicular to the wobbling axis of the transducer and rotating by the rotational force of the wobble drive;

A movable member linearly reciprocating in the longitudinal direction of the screw by the rotation of the screw; And

A linear moving member linearly reciprocating with the movable member;

Haifu treatment head comprising a.
The method of claim 3, wherein the connecting portion

And a connection hole formed in the ultrasonic transducer to fit the one end of the linear movable member so as to wobble the ultrasonic transducer within a set angle range around a wobbling axis according to the linear reciprocating movement of the linear movable member. And adjusting the setting angle range of the ultrasonic transducer unit according to the length of the connection hole.
The method of claim 1, wherein the transducer unit

An imaging transducer configured to transmit and receive an ultrasound signal for imaging to scan a 3D image of a medium and a treatment area of the object; And

A therapeutic transducer for focusing the hi-fu signal on a treatment area on a three-dimensional image to form a thermal lesion;

Haifu treatment head comprising a.
The method of claim 5, wherein the transducer unit

A water inlet disposed in front of the transducer and configured to supply water to cool the therapeutic transducer, and a water outlet to recover water; And

A temperature sensor disposed at the front of the transducer and measuring the temperature of the water;

Haifu treatment head further comprising.
Ultrasonic wave for 3D image scanning and 3D focusing on the object while being inserted into the body and having a rod-shaped shape and being translated and rotated, and provided at the front of the body and wobbling and rotating by the movement of the body. A treatment head including a transducer portion for transmitting a signal; And

A controller for controlling movement of the treatment head;

Haifu device comprising a.
The method of claim 7, wherein the control unit

A first mechanical adjuster which applies a control signal to the treatment head to translate and rotate the body to move the transducer around the treatment area in the body; And

After the treatment head is moved around the treatment area through the first mechanical adjuster, a control signal is applied to the treatment head to align the transducer by wobbling and rotating the transducer toward a target of the object, and then scanning a 3D image of the object. Or a second mechanical adjustment unit for three-dimensionally focusing the hi-fu signal on the treatment area;

Haifu device comprising a.
The method of claim 8, wherein the second mechanical adjustment unit

Calculating a target position in the treatment area, calculating a rotation matrix for aligning the transducer unit with the calculated target position, and wobbling and rotating the transducer unit by applying a control signal to the treatment head using the calculated rotation matrix. A hi-fu device, characterized in that aligned to the target of the object.
The method of claim 8, wherein the control unit

An electronic adjustment unit for calculating a distance between the transducer unit and the target and electronically adjusting the position of the transducer unit according to the calculated distance;

A hi-fu device further comprising.
8. The device of claim 7, wherein the hi-pu device is

A mechanical arm that supports and moves the treatment head and is operable by a user;

A hi-fu device further comprising.