WO2010128772A2 - Head for an ultrasonic therapeutic apparatus, ultrasonic therapeutic apparatus, and method for operating an ultrasonic therapeutic apparatus - Google Patents

Head for an ultrasonic therapeutic apparatus, ultrasonic therapeutic apparatus, and method for operating an ultrasonic therapeutic apparatus Download PDF

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Publication number
WO2010128772A2
WO2010128772A2 PCT/KR2010/002690 KR2010002690W WO2010128772A2 WO 2010128772 A2 WO2010128772 A2 WO 2010128772A2 KR 2010002690 W KR2010002690 W KR 2010002690W WO 2010128772 A2 WO2010128772 A2 WO 2010128772A2
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WO
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Prior art keywords
head
image acquisition
image
hifu
acquisition unit
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PCT/KR2010/002690
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French (fr)
Korean (ko)
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WO2010128772A9 (en
WO2010128772A3 (en
Inventor
이창화
정원철
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바이메드시스템(주)
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Publication of WO2010128772A2 publication Critical patent/WO2010128772A2/en
Publication of WO2010128772A9 publication Critical patent/WO2010128772A9/en
Publication of WO2010128772A3 publication Critical patent/WO2010128772A3/en

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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

The present invention relates to a head for an ultrasonic therapeutic apparatus, to an ultrasonic therapeutic apparatus, and to a method for operating the ultrasonic therapeutic apparatus. The present invention discloses a technique wherein the head for an ultrasonic therapeutic apparatus comprises an ultrasonic wave generating unit and an image acquiring unit which are arranged separately from one another to achieve improved accuracy in diagnosis and treatment.

Description

초음파 치료기용 헤드, 초음파 치료기 및 초음파 치료기의 동작 방법Ultrasonic Therapy Head, Ultrasonic Therapy and Ultrasonic Therapy Method
본 발명은, 초음파 치료기용 헤드, 초음파 치료기 및 초음파 치료기의 동작 방법에 관한 것으로, 신체 내의 이상 세포를 진단하고 이를 치료할 수 있는 기술에 관한 것이다.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.
초음파를 이용한 인체의 진단 및 치료는 메스(Scapel)의 사용으로 인한 절개와 그에 따른 외과적 흉터의 발생이 없고, 2차 감염의 우려도 없다는 점에서 의료 분야에서 활발히 연구 및 개발되고 있다.Diagnosis and treatment of the human body using ultrasound have been actively researched and developed in the medical field in that there is no incision due to the use of a scalpel and subsequent surgical scars, and there is no fear of secondary infection.
초음파를 의료 분야에 응용한 예로서는 태아 진단이나 암 조직 진단과 같은 진단 분야와, 지방 제거나 암 조직(또는 악성 종양) 파괴와 같은 치료 분야 등이 있으며, 이미 널리 상용화되기에 이르렀다.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.
그 중 고강도 집속형 초음파(HIFU : High-Intensity Focused Ultrasound) 치료는, 초음파를 암 조직에 집중적으로 조사해서 암세포를 태우는 시술이며, 전립선암 치료를 위해 개발되었지만 점차 간암과 유방암, 췌장암 등의 고형암을 포함해 뇌암, 자궁근종, 부정맥과 같은 비고형암으로 응용범위를 넓혀 가고 있다. 특히, 고강도 집속형 초음파 치료는 간암 치료와 외과적 수술이 불가한 췌장암 치료에 뛰어난 결과를 나타내고 있다. 본 발명은 그러한 고강도 집속형 초음파 치료에 관한 것이다.Among them, HIFU (High-Intensity Focused Ultrasound) treatment is a procedure that burns cancer cells by intensively irradiating ultrasound to cancer tissues. It is also expanding its application to non-solid cancers such as brain cancer, uterine fibroids and arrhythmia. In particular, high-intensity focused ultrasound therapy has shown excellent results in the treatment of liver cancer and pancreatic cancer, which cannot be surgically operated. The present invention relates to such high intensity focused ultrasound therapy.
본 발명과 관련된 고강도 초음파 치료기에 관하여서는 '첸 웬지' 등이 발명하고 '총칭 하이푸 테크놀로지 코 엘티디'에 의해 출원된 대한민국 특허출원 10-2007-7015736호(발명의 명칭 : 고강도 집속형 초음파 치료 장치 및 방법, 이하 '종래기술1'이라 함)와 '헤 션수' 등이 발명하고 ‘베이징 유안데 바이오메디칼 프로젝트 컴퍼니 리미티드’에 의해 출원된 대한민국 특허출원 10-2004-7006737호(발명의 명칭 : 외부 고강도 집적 초음파 치료의 소스를 위한 전도성 매질을 수용하는 구조, 이하 '종래기술2'라 함) 등을 통해 앞서 제안된 기술이 있다.Regarding the high-intensity ultrasound therapy device related to the present invention, 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 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'.
고강도 초음파 치료를 위해서는 치료될 목표 영역을 정확히 진단하고 찾아낸 후 해당 목표 영역에 초음파를 방출하여야 한다. 따라서 고강도 초음파 치료기의 헤드(이하 '헤드'라 약칭함)는 진단을 위한 이미지획득부(종래기술1에서는 ‘이미지획득장치’로 정의되고, 종래기술2에서는 ‘B-모드 울트라소노스코프의 프로브 헤드’로 정의됨)와 치료용 초음파를 발생시키는 초음파발생부(종래기술1에서는 ‘초음파변환기’로 정의되고, 종래기술2에서는 ‘초음파원’으로 정의됨)를 구비한다.For high-intensity ultrasound treatment, the target area to be treated must be accurately diagnosed and found, and then ultrasound is emitted to the target area. Therefore, the head of the high intensity ultrasound therapy device (hereinafter abbreviated as' head ') is defined as an image acquisition unit for diagnosis (prior art 1 is defined as an' image acquisition device ', and in the prior art 2' B-mode ultrasonoscope probe head It is provided with an ultrasonic generator (defined as 'ultrasound converter' in the prior art 1, and defined as 'ultrasound source' in the prior art 2) for generating a therapeutic ultrasound.
일반적으로 이미지획득부와 초음파발생부는, 종래기술1 및 2에 제시된 바와 같이, 초음파발생부의 중심에 이미지획득부가 위치되도록 하는 일체형 방식으로 구성된다. 이러한 이유는 초음파발생부에 의한 치료가 이루어지는 동안에 치료부위의 이미지를 실시간으로 획득하여 치료가 적절히 이루어지고 있는지를 파악하기 위함이다.In general, the image acquisition unit and the ultrasonic generator, as shown in the prior art 1 and 2, is configured in an integrated manner 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.
그런데, ‘헤 션슈’등에 의해 발명되고 ‘베이징 유안데 바이오메디칼 프로젝트 컴퍼니 리미티드’에 의해 출원된 대한민국 특허출원 10-2004-7006882호(발명의 명칭 : 체외 고강도 초음파 치료 장치, 이하 ‘종래기술3’이라 함)를 통해 알 수 있는 바와 같이, 종래의 초음파 치료기는 초음파의 전달용 매질이 초음파 소스와 신체 사이에 위치되기 때문에, 이미지획득부에 의해 획득된 이미지의 선명도가 떨어지는 문제점이 있게 마련이다.However, Korean Patent Application No. 10-2004-7006882 filed by Heshun Shu et al. And filed by Beijing Yuande Biomedical Project Company Limited As can be seen, 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.
또한, 종래기술3에서 제시된 바와 같이, 일반적으로 헤드는 상하 방향으로 기계적인 구동력에 의해 이동할 수 있으면서 틸팅(tilting)가능하게 되어 있다. 그런데 키보드 등과 같은 조작부를 통해 기계적인 구동력을 가하도록 하여 헤드를 병변부위에 밀착시킬 때, 조작자가 요구하는 만큼 기계적인 구동력이 정확히 제어되기가 어렵고, 틸팅 범위의 한계로 인하여 환자를 움직여 헤드가 병변부위에 적절히 위치되도록 하여야 하는 불편함과 곤란함이 있다.Further, as shown in the prior art 3, the head is generally made tiltable while being able to move by a mechanical driving force in the vertical direction. However, when the head is in close contact with the lesion by applying a mechanical driving force through an operation unit such as a keyboard, the mechanical driving force is difficult to be controlled exactly as the operator requires, and the head is moved by moving the patient due to the limitation of the tilting range. There are inconveniences and difficulties that must be properly positioned at the site.
한편, 종래에는 헤드를 환자의 하부에 위치시키는 방식을 채택하였으며, 이러한 방식은 종래기술3을 소개하는 특허명세서상의 배경기술에서 제시된 바와 같은 문제점이 있기 때문에, 종래기술3을 소개하는 특허명세서를 통해 새로이 소개된 발명과 같이, 헤드가 환자의 상부에 위치되는 기술이 제안되어 졌었다. 그러나 치료 부위에 따라서는 헤드가 환자의 하부에 위치되는 경우가 더 바람직할 수 있으므로 종래기술3이 소개된 특허공보 도면4에서 참조되는 바와 같이 헤드를 환자의 상부와 하부에 쌍으로 구비시킬 수 있는 기술도 함께 제안됐다. 그러나 헤드를 환자의 상부와 하부에 쌍으로 구비시킬 수 있는 기술은 헤드를 하나 더 구비시킬 수 있도록 해야 한다는 점에서 그만큼 생산단가를 상승시킨다는 점이 있다.On the other hand, in the prior art has adopted a method of positioning the head in the lower part of the patient, since this method has the problem as described in the background art on the patent specification introducing the prior art 3, through the patent specification introducing the prior art 3 As with the newly introduced invention, a technique has been proposed in which the head is placed on top of the patient. However, depending on the treatment site, it may be more preferable that the head is located at the lower part of the patient. The technology was also proposed. However, the technology that can be provided with a pair of heads on the upper and lower parts of the patient increases the cost of production in that it must be equipped with one more head.
본 발명의 제1목적은 이미지획득부를 초음파발생부와 분리시키고, 더 나아가 치료부위의 상태를 확인하기 위한 별도의 모니터링 방식을 적용하는 기술을 제공하는 데 있다.It is a first object of the present invention to provide a technique of separating an image acquisition unit from an ultrasonic generator and further applying a separate monitoring method for checking the state of the treatment site.
본 발명의 제2목적은 조작자의 인력에 의해 헤드를 조작시키고, 더 나아가 인력의 인가가 종료되는 시점에서 헤드의 위치가 고정될 수 있도록 제어하는 기술을 제공하는 데 있다.It is a second object of the present invention to provide a technique for manipulating the head by the manpower of the operator and further controlling the position of the head to be fixed at the time when the application of the manpower is finished.
본 발명의 제3목적은 하나의 헤드가 환자의 상부 또는 하부에 선택적으로 위치될 수 있도록 하는 기술을 제공하는 데 있다.It is a third object of the present invention to provide a technique that allows one head to be selectively positioned on top or bottom of a patient.
상기와 같은 목적들을 달성하기 위한 본 발명에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부와, 상기 초음파발생부와 분리되게 구비되며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부를 포함한다.Ultrasonic head according to the present invention for achieving the above object, 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.
상기 이미지획득부는 상기 초음파발생부의 중심과 이격되어 있으며, 리니어 프로브(linear probe)를 가지고 있다.The image acquisition unit is spaced apart from the center of the ultrasonic generator, and has a linear probe.
상기 헤드는, 더 바람직하게는, 상기 이미지획득부에서 획득한 이미지를 디스플레이시키는 디스플레이부와, 상기 초음파발생부에 의한 치료가 실행될 때 치료부위를 모니터링하기 위한 모니터링부를 더 포함한다.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.
더 구체적으로, 상기 헤드는 상기 이미지획득부를 이동시키는 구동부를 더 포함하고, 상기 이미지획득부는 상기 구동부의 작동에 의해 이동하면서 환자의 내부 조직에 대한 이미지를 획득한다.More specifically, the head further includes a driving unit for moving the image acquisition unit, the image acquisition unit obtains an image of the internal tissue of the patient while moving by the operation of the drive unit.
상기 구동부는, 상기 이미지획득부의 이동을 안내하는 가이더(guider)와, 상기 이미지획득부를 상기 가이더를 따라 이동시키는 구동기를 포함하며, 상기 이미지획득부를 상기 초음파발생부에 상대적으로 접근 및 이반이 가능한 방향으로 이동시킨다.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.
또한, 상기한 목적들을 달성하기 위한 다른 관점에서 바라본 본 발명에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부와, 상기 초음파발생부의 중심과 이격되게 구비되며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부를 포함한다.In addition, the head for the ultrasound therapy apparatus according to the present invention 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.
또한, 상기한 목적들을 달성하기 위한 다른 관점에서 바라본 본 발명에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부와, 리니어 프로브(linear probe)를 가지며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부를 포함한다.In addition, the ultrasonic treatment head according to the present invention 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.
또한, 상기한 목적들을 달성하기 위한 본 발명의 다른 태양에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및 상기 이미지획득부에서 획득한 이미지를 디스플레이시키는 디스플레이부를 포함한다.In addition, an ultrasound therapy head according to another aspect of the present invention for achieving the above object, the ultrasonic generator for generating a high intensity focused ultrasound (HIFU), 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.
상기 헤드는, 상기 초음파발생부와 이미지획득부를 내부에 수용하는 하우징을 더 포함하고, 상기 디스플레이부는 상기 하우징의 외면에 구비된다.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.
또한, 상기한 목적들을 달성하기 위한 본 발명의 또 다른 태양에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및 상기 초음파발생부에 의한 치료가 실행될 때 치료부위를 모니터링하기 위한 모니터링부를 포함한다.In addition, the ultrasonic treatment head according to another aspect of the present invention 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.
상기 모니터링부는 상기 초음파발생부에 의한 치료가 실행될 때 치료부위의 온도 변화를 모니터링한다.The monitoring unit monitors the temperature change of the treatment site when the treatment by the ultrasonic generator is executed.
또한, 상기한 목적들을 달성하기 위한 본 발명의 또 다른 태양에 따른 초음파 치료기용 헤드는, HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및 상기 이미지획득부를 이동시키는 구동부를 포함하고, 상기 이미지획득부는 상기 구동부의 작동에 의해 이동하면서 환자의 내부 조직에 대한 이미지를 획득한다.In addition, the ultrasonic treatment head according to another aspect of the present invention 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.
또한, 상기한 목적들을 달성하기 위한 본 발명에 따른 초음파 치료기는, HIFU(high intensity focused ultrasound)를 발생시키는 헤드와, 상기 헤드를 지지하는 지지체를 포함하고, 상기 헤드는 상기 지지체에 탈착 가능하게 결합된다.In addition, the ultrasound therapy apparatus according to the present invention 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.
상기 헤드는, 상기 헤드의 전면(헤드의 전면으로는 HIFU가 방출된다)이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있도록, 지면에 수평한 선을 회전축으로 하여 회전 가능하게 상기 지지체에 결합된다.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.
상기 지지체는, 서로 관절에 의해 연결되어 있는 적어도 2개의 로봇 암(robot arm)을 포함하고 있으며, 상기 헤드는, 전면(헤드의 전면으로는 HIFU가 방출된다)이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수도 있다.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.
또한, 상기한 목적들을 달성하기 위한 본 발명에 따른 초음파 치료기는, HIFU(high intensity focused ultrasound)를 발생시키는 헤드와, 상기 헤드를 지지하는 지지체를 포함하고, 상기 헤드는, 상기 헤드의 전면(헤드의 전면으로는 HIFU가 방출된다)이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있도록, 지면에 수평한 선을 회전축으로 하여 회전 가능하게 상기 지지체에 결합된다.In addition, the ultrasound therapy apparatus according to the present invention 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.
또한, 상기한 목적을 달성하기 위한 본 발명에 따른 초음파 치료기는, HIFU(high intensity focused ultrasound)를 발생시키는 헤드와, 상기 헤드를 지지하는 지지체를 포함하고, 상기 지지체는 서로 관절에 의해 연결되어 있는 적어도 2개의 로봇 암(robot arm)을 포함하고 있으며, 상기 헤드는 전면(헤드의 전면으로는 HIFU가 방출된다)이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있다.In addition, the ultrasound therapy apparatus according to the present invention 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.
상기한 목적을 달성하기 위한 본 발명에 따른 초음파 치료기의 동작 방법은, 사용자에 의해 헤드로 가해지는 물리력을 감지하는 A단계; 및 상기 A단계에 의해 감지된 물리력을 분석한 후, 물리력 인가가 종료되는 시점에서 헤드의 위치를 고정시키는 B단계를 포함한다.Operation method of the ultrasonic therapy device according to the present invention for achieving the above object, A step of sensing a physical force applied to the head by the user; And 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.
상기 초음파 치료기의 동작 방법은, 더 나아가, 이미지 획득 부위에 대한 이미지를 획득하는 C단계; 및 HIFU(high intensity focused ultrasound)를 방출시키는 D단계-HIFU는 상기 C단계에서 획득된 이미지를 기반으로 이상조직으로 판명된 부위로 방출시킨다-를 더 포함한다.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.
또, 상기 초음파 치료기의 동작 방법은, 더욱 더 나아가, 상기 B단계에서 방출되는 HIFU에 의해 변화되는 조직을 실시간 모니터링하는 E단계를 더 포함하며, 상기 E단계에서의 모니터링은 HIFU에 의해 변화되는 조직의 온도를 센싱함으로써 이루어진다.In addition, the operation method of the ultrasound therapy device further includes step E of real-time monitoring of tissue changed by HIFU released in step B, wherein monitoring in step E is tissue changed by HIFU. By sensing the temperature of
상기 C단계는 이미지획득부를 이동시키면서 이미지 획득 부위에 대한 이미지를 획득하는데, 이렇게 이미지를 획득하는 것은 리니어 프로브(linear probe)에 의해 이루어진다.In step C, an image of an image acquisition portion is acquired while the image acquisition unit is moved, and the image acquisition is performed by a linear probe.
또한, 상기한 목적을 달성하기 위한 본 발명에 따른 초음파 치료기의 동작 방법은, 이미지획득부를 이동시키면서 이미지 획득 부위에 대한 이미지를 획득하는 A단계; 및 HIFU(high intensity focused ultrasound)를 방출시키는 B단계-HIFU는 상기 A단계에서 획득된 이미지를 기반으로 이상조직으로 판명된 부위로 방출시킨다-를 포함한다.In addition, the operation method of the ultrasound therapy device according to the present invention for achieving the above object, A step of obtaining an image for the image acquisition area while moving the image acquisition unit; And 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.
본 발명에 따르면 다음과 같은 효과가 있다.According to the present invention has the following effects.
첫째, 이미지 획득 시에 매질의 영향을 최소화시켜 목표 영역에 대한 보다 선명한 이미지를 획득할 수 있어서 정확한 진단이 가능하며, 더 나아가 온도 감지를 통해 치료부위를 실시간 모니터링하기 때문에 정확한 치료 상황을 알 수 있게 된다.First, it is possible to obtain a clearer image of the target area by minimizing the influence of the medium during image acquisition, and accurate diagnosis is possible, and furthermore, it is possible to know the exact treatment situation by monitoring the treatment area in real time through temperature sensing. do.
둘째, 인력에 의해 헤드를 조작시키면서도 인력의 인가가 종료되는 시점에서 헤드의 위치가 고정되기 때문에 환자의 움직임을 최소화시킬 수 있으며, 더 나아가 조작자가 헤드에 구비된 디스플레이부를 통해 디스플레이되는 목표 영역의 이미지 및 헤드에 가해지는 압력을 확인하면서 조작하기 때문에 헤드를 적절한 위치에 빠르고 쉽게 위치시킬 수 있다.Second, since 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.
셋째, 치료부위에 따라 하나의 헤드를 환자의 상부 또는 하부에 선택적으로 위치시킬 수 있기 때문에 사용상의 편리함이 있고, 생산단가를 절감할 수 있다.Third, since one head can be selectively positioned on the upper or lower part of the patient according to the treatment site, there is convenience in use and production cost can be reduced.
넷째, 헤드가 지지체에 탈착 가능하게 결합되기 때문에 헤드만을 교체할 수도 있으며, 그 교체 또한 수월하게 이루어질 수 있다.Fourth, since the head is detachably coupled to the support, only the head may be replaced, and the replacement may also be easily performed.
도1은 본 발명의 실시예에 따른 초음파 치료기에 대한 개략도이다.1 is a schematic diagram of an ultrasonic therapy device according to an embodiment of the present invention.
도2는 도1의 초음파 치료기에 대한 구성도이다.FIG. 2 is a block diagram of the ultrasound therapy device of FIG. 1.
도3 및 도4는 도1의 초음파 치료기의 헤드를 구체적으로 설명하기 위한 참조도이다.3 and 4 are reference views for explaining in detail the head of the ultrasound therapy device of FIG.
도5 내지 도7은 도1의 초음파 치료기의 지지체를 구체적으로 설명하기 위한 참조도이다.5 to 7 are reference views for explaining in detail the support of the ultrasound therapy device of FIG.
도8은 도1의 초음파 치료기의 작동 방법에 대한 흐름도이다.8 is a flowchart illustrating a method of operating the ultrasound therapy device of FIG. 1.
도9 내지 도11은 도8의 흐름도를 설명하기 위한 참조도이다.9 to 11 are reference diagrams for explaining the flowchart of FIG. 8.
이하에서는 본 발명의 바람직한 실시예에 대하여 첨부된 도면을 참조하여 더 구체적으로 설명하되, 설명의 간결함을 위해 주지되거나 중복되는 설명은 생략한다.Hereinafter, with reference to the accompanying drawings, a preferred embodiment of the present invention will be described in more detail, for the brevity of the description or duplicate description will be omitted.
<장치적 구성에 대한 실시예><Example of device configuration>
도1은 본 발명의 실시예에 따른 초음파 치료기(100)의 외관에 대한 개략도이고, 도2는 도1의 초음파 치료기(100)에 대한 구성도이다.FIG. 1 is a schematic diagram of an appearance of an ultrasound therapy apparatus 100 according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of the ultrasound therapy apparatus 100 of FIG. 1.
본 실시예에 따른 초음파 치료기(100)는, 도1 및 도2에서 참조되는 바와 같이, 헤드(110), 지지체(120) 및 제어부(130) 등을 포함하여 구성된다.As described with reference to FIGS. 1 and 2, the ultrasound therapy apparatus 100 according to the present embodiment includes a head 110, a support 120, a controller 130, and the like.
헤드(110)는, 도1 및 도2에서 참조되는 바와 같이, 초음파발생부(111), 이미지획득부(112), 구동부(113), 모니터링부(114), 하우징(115), 디스플레이부(116), 손잡이(117) 및 압력감지부(118) 등을 포함하여 구성된다.As shown in FIGS. 1 and 2, the head 110 includes an ultrasonic wave generator 111, an image acquisition unit 112, a driver 113, a monitoring unit 114, a housing 115, and a display unit ( 116, the handle 117, and the pressure sensing unit 118.
초음파발생부(111)는, HIFU(high intensity focused ultrasound)를 발생시켜 목표 영역으로 방출시킴으로써, 목표 영역에 존재하는 악성 종양을 괴사시킨다.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.
이미지획득부(112)는, 헤드(110) 내부의 구조를 평면도로 도시한 도3에서 참조되는 바와 같이, 초음파발생부(111)의 중심(C)과 이격되어 분리되게 구비되며, 환자의 내부 조직에 대한 이미지를 획득한다. 이러한 이미지획득부(112)는 바(bar) 형상(길쭉한 형상)의 리니어 프로브(linear probe)로 구비된다.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).
구동부(113)는, 도3의 참조도에서 참조되는 바와 같이, 가이더(113a) 및 구동기(113b)를 포함하여 구성된다.The drive unit 113 includes a guider 113a and a driver 113b, as referred to in the reference diagram of FIG.
가이더(113a)는, 이미지획득부(112)의 이동을 안내하기 위해 마련되며, 레일형상의 LM가이드로 구비되면 족하다. 그리고 상기한 이미지획득부(112)는 가이더(113a)에 이동 가능하게 결합되어 있다.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.
구동기(113b)는, 도4의 개략적인 사시도에 도시된 바와 같이, 모터(113b-1), 쌍을 이루는 풀리(113b-2a, 113b-2b) 및 벨트(113b-3)로 구비된다.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.
모터(113b-1)는 정역회전 및 제어가 가능한 서보모터로 구비되며, 벨트(113b-3)는 양측의 풀리(113b-2a, 113b-2b)를 방향 전환점으로 하여 모터(113b-1)의 회전에 연동하여 회전한다. 그리고 상기한 이미지획득부(112)는 벨트(113b-3)에 고정 결합되어 있다.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.
따라서 모터(113b-1)가 작동하게 되면, 벨트(113b-3)가 연동하여 회전하게 되고, 벨트(113b-3)에 고정 결합된 이미지획득부(112)도 가이더(113a)에 의해 안내되면서 초음파발생부(111)에 상대적으로 접근(모터의 정회전 시) 및 이반(모터의 역회전 시)하게 된다. 물론, 이미지획득부(112)는 모터(113b-1)의 작동에 따른 이동 시에 목표 영역에 대한 이미지를 획득하게 된다. 이미지획득부(112)에 의한 목표 영역의 이미지획득의 예로는 목표 영역에 초음파를 집속하여 횡탄성파를 발생시킨 후 목표 영역으로부터 오는 변형 시그널을 획득하여 이미지화하는 방식(횡탄성파를 이용한 이미지 획득 방식)을 들 수 있으며, 그 외 공지된 어떠한 이미지 획득 방법이라도 적용될 수 있다.Therefore, when the motor 113b-1 is operated, the belt 113b-3 rotates in conjunction with each other, and the image acquisition unit 112 fixedly coupled to the belt 113b-3 is also guided by the guider 113a. The ultrasonic generator 111 is relatively approached (when the forward rotation of the motor) and half (when the reverse rotation of the motor). Of course, the image acquisition unit 112 acquires an image of the target area when the motor 113b-1 moves according to the operation. An example of the image acquisition of the target area by the image acquisition unit 112 is a method of focusing ultrasonic waves on the target area to generate transverse acoustic waves, and then obtaining and imaging a distortion signal from the target area (image acquisition method using transverse elastic waves). And, any other known image acquisition method can be applied.
모니터링부(114)는, 도3에서 참조되는 바와 같이, 초음파발생부(111)의 중심(C)에 위치되며, 목표 영역에 대한 온도를 감지하기 위해 마련된다. 일반적으로 암세포의 경우 일정 온도 이상에서 열에 의해 괴사(간암 세포의 경우 약 60도 정도)되는데, 시술부위(목표 영역)에서 초음파에 의해 발생되는 열에 따른 온도를 측정함으로써 해당 부위의 암세포가 파괴되고 있는지를 알 수 있게 된다. 이러한 방식은 기존 방식인 초음파를 이용한 이미지 획득에 의해 시술 상태를 확인하는 방법보다 더 정확히 시술 상태를 파악할 수 있는 이점이 있다. 왜냐하면, 기존 방식의 경우에는 매질의 영향으로 목표 영역의 이미지를 선명하게 획득할 수 없어 시술 상태 확인이 부정확하였지만, 본 실시예에 적용된 모니터링방법은 단순히 온도만을 센싱함으로써 이루어지기 때문에 목표 영역에 있는 암세포의 괴사가 가능한 상태를 파악하기가 쉬우면서도 정확하게 이루어질 수 있게 한다.As illustrated in FIG. 3, the monitoring unit 114 is positioned at the center C of the ultrasonic wave generating unit 111 and is provided to sense a temperature of the target area. In general, cancer cells are necrotic 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. However, since the monitoring method applied in this embodiment is performed by simply sensing the temperature, the cancer cells in the target area are detected. Necrosis is easy to grasp and allows for accurate conditions.
하우징(115)은 초음파발생부(111), 이미지획득부(112), 구동부(113) 및 모니터링부(114)를 내부에 수용하며, 목표 영역 측으로 HIFU를 방출시키기 위한 창(W)을 가지고 있다. 그리고 그 내부는 매질로 채워져 있다.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.
디스플레이부(116)는 이미지획득부(112) 및 모니터링부(114)에 의해 획득된 이미지 영상이나 온도, 그리고 후술할 압력감지부(118)로부터 감지된 압력을 디스플레이(display)시킨다. 조작자는 이러한 디스플레이부(116)를 통해 이미지 영상과 헤드(110)에 가해지는 압력을 확인하면서 헤드(110)를 정확한 위치에 빠르고 쉽게 위치시킬 수 있으며, 또한, 실시간으로 센싱되는 목표 영역의 온도 값을 확인하여 시술이 바람직하게 이루어지고 있는지를 알 수 있게 된다.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.
손잡이(117)는 조작자(사용자)가 헤드(110)의 위치를 조작하기 쉽게 하기 위하여 구비되는 것으로, 하우징(115)의 외면에 마련된다.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.
압력감지부(118)는 헤드(110)의 전면이 환자의 신체에 접촉된 상태에서 환자의 신체가 헤드(110)에 가해지는 압력을 감지한다. 일반적으로 목표 영역(시술 부위)이 신체의 어느 부위냐에 따라 신체로부터 헤드(110)로 가해지는 최적의 압력 값이 실험적으로 데이터화 되어 있다. 여기서 최적의 압력 값이란 헤드가 시술 부위에 정확히 위치되었을 때 신체로부터 헤드(110)로 가해지는 압력 값이다. 따라서 압력감지부(118)를 통해 감지된 압력은 디스플레이부(116)를 통해 이미지 영상과 함께 디스플레이되고, 조작자는 이미지 영상과 함께 압력 값을 확인하면서 빠르고 쉽게 헤드(110)를 적절한 위치에 위치시킬 수 있게 되는 것이다.The pressure sensing unit 118 detects the pressure applied to the head 110 of the patient's body while the front surface of the head 110 is in contact with the body of the patient. In general, the optimum pressure value applied from the body to the head 110 is experimentally dataed according to which part of the body the target area (procedure site) is. Here, the optimum pressure value is a pressure value applied from the body to the head 110 when the head is correctly positioned at the treatment site. Accordingly, the pressure sensed through the pressure sensing unit 118 is displayed together with the image image through the display unit 116, and the operator can quickly and easily position the head 110 at an appropriate position while checking the pressure value together with the image image. It will be possible.
지지체(120)는, 도1에서 참조되는 바와 같이, 베이스(121), 제1관절(122), 제1로봇암(123), 제2관절(124), 제2로봇암(125), 제3관절(126) 등을 포함하여 구성된다.As shown in FIG. 1, the support 120 includes a base 121, a first joint 122, a first robot arm 123, a second joint 124, a second robot arm 125, and a first joint. 3 joints 126, etc. are comprised.
베이스(121)는 하부에 바퀴(121a)가 달려 있어서 이동을 손쉽게 한다.The base 121 has a wheel 121a at the bottom thereof to facilitate movement.
제1관절(122)은 제1로봇암(123)을 베이스(121)에 회전 가능하게 결합시킨다. 따라서 제1로봇암(123)은, 도5에서 참조되는 바와 같이, 지면에 수직한 선(Z)을 회전축으로 하여 회전가능하면서 지면에 수평한 선(X)을 회전축으로 하여 회전 가능하게 되어 있다. 그리고 제1관절(122)은 제1로봇암(123)이 지면에 수직한 선(Z)을 회전축으로 하여 회전하는 것을 제어하기 위한 액츄에이터(actuator, 122a)와 제1로봇암(123)이 지면에 수평한 선(X)을 회전축으로 회전하는 것을 제어하기 위한 액츄에이터(122b)를 가진다.The first joint 122 rotatably couples the first robot arm 123 to the base 121. Accordingly, as shown in FIG. 5, the first robot arm 123 is rotatable using the line Z perpendicular to the ground as the rotation axis, and is rotatable using the line X horizontal to the ground as the rotation axis. . In addition, the first joint 122 has an actuator 122a and a first robot arm 123 for controlling the rotation of the first robot arm 123 by rotating the line Z perpendicular to the ground. It has an actuator 122b for controlling rotation of the horizontal line X to a rotation axis.
제2관절(124)은 제2로봇암(125)을 제1로봇암(123)에 회전 가능하게 결합시킨다. 따라서 제2로봇암(125)은, 도6에서 참조되는 바와 같이, 지면에 수평한 선(X')을 회전축으로 하여 회전가능하게 되어 있다. 그리고 제2관절(124)은 제2로봇암(123)이 지면에 수평한 선(X')을 회전축으로 하여 회전하는 것을 제어하기 위한 액츄에이터(124a)를 가진다.The second joint 124 rotatably couples the second robot arm 125 to the first robot arm 123. Therefore, as shown in Fig. 6, the second robot arm 125 is rotatable with a line X 'horizontal to the ground as the rotation axis. In addition, the second joint 124 has an actuator 124a for controlling the second robot arm 123 to rotate with the line X 'horizontal to the ground as the rotation axis.
제3관절(126)은 헤드(110)를 제2로봇암(125)에 회전 가능하게 결합시킨다. 따라서 헤드(110)는, 도7에서 참조되는 바와 같이, 지면에 수평한 선(X'')을 회전축으로 하여 회전 가능하며 지면에 수평한 선(X'') 및 초음파 방사 축(E)에 수직한 선(Y)을 회전축으로 하여 회전 가능하게 되어 있다. 그리고 마찬가지로 제3관절(126)은 헤드(110)가 2 방향으로 회전하는 것을 제어하기 위한 각각의 액츄에이터(126a, 126b)를 가진다.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.
또한, 헤드(110)는, 도1에서 참조되는 바와 같이, A부분에서 제3관절(126)에 탈착 가능하게 결합된다.In addition, as shown in FIG. 1, the head 110 is detachably coupled to the third joint 126 in the A portion.
마지막으로 제어부(130)는 상기한 각 구성들을 제어한다. 특히, 제어부(130)는, 제1 내지 제3관절(122, 124, 126)에 구비되는 액츄에이터들(122a 및 b, 124a, 126a 및 b)을 제어함으로써, 헤드(110), 제1 및 제2로봇암(123, 125)이 회전하거나 고정될 수 있게 한다.Finally, the controller 130 controls the above components. In particular, the controller 130 controls the actuators 122a and b, 124a, 126a and b provided in the first to third joints 122, 124, and 126 to thereby control the head 110, the first and the first. 2 Allows the robot arms 123 and 125 to rotate or be fixed.
참고로, 베이스(121)의 상측에 별도로 위치된 컴퓨터(COM)는 조작자가 설정값(초음파의 주파수 등) 등이나 기타 명령사항을 제어부(130)로 입력시키기 위해 마련된다. For reference, the computer COM separately located above the base 121 is provided for the operator to input a setting value (such as ultrasonic frequency) or the like into the controller 130.
그리고 상기한 손잡이(117)에는 조작자의 인력에 의해 헤드(110)나 제1 및 제2로봇암(123, 125)이 자유롭게 회전될 수 있도록, 제어부(110)로 액츄에이터들(122a 및 b, 124a, 126a 및 b)의 정지상태를 해제시키도록 하는 명령을 입력시키기 위한 스위치(117a)가 구비되는 것이 바람직하다.In addition, 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).
계속하여 상기한 구성을 가지는 초음파 치료기(100)의 동작에 대하여 도8의 흐름도 및 도9 이하의 참고도를 참조하여 설명한다.Subsequently, the operation of the ultrasound therapy apparatus 100 having the above-described configuration will be described with reference to the flowchart of FIG. 8 and the reference drawings of FIG. 9.
<초음파 치료기의 동작 방법에 대한 실시예><Example of Operation Method of Ultrasound Therapy Device>
1-1. 헤드(110)의 위치 설정1-1. Positioning of the head 110
조작자는 손잡이(117)를 잡고 스위치(117a)를 온(ON)시켜 액츄에이터들(122a 및 b, 124a, 126a 및 b)의 정지 상태를 해제시킨 후, 헤드(110)에 물리력을 가하여 헤드(110)의 위치를 설정한다.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.
그리고 제어부(130)는 그러한 위치설정을 위해 조작자에 의해 헤드(110)로 가해지는 물리력을 감지<S801>하고, 감지된 물리력을 분석<S802>한다. 즉, 제어부(110)는 조작자에 의해 가해지는 물리력에 의해 이루어지는 각각의 액츄에이터들(122a 및 b, 124a, 126a 및 b)의 작동 변위를 감지 및 분석하게 되는 것이다.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.
이때, 헤드(110), 제1로봇암(123) 및 제2로봇암(125)은 그 회전이 자유로워지기 때문에, 도9에서 참조되는 바와 같이 헤드(110)가 환자의 상측에 위치(헤드의 전면, 즉, 헤드의 창이 하측 방향을 향하도록 됨)될 수도 있고, 도10에서 참조되는 바와 같이 헤드(110)가 환자의 하측에 위치(헤드의 창이 상측 방향을 향하도록 됨)될 수도 있다.At this time, since the rotation of the head 110, the first robot arm 123 and the second robot arm 125 is free, 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. .
조작자에 의해 헤드(110)의 위치가 적절히 설정되면, 조작자가 스위치(117a)를 오프(OFF)시키고, 그에 따라 제어부(130)는 액츄에이터들(122a 및 b, 124a, 126a 및 b)의 현재 상태로 그 동작을 정지시킴으로써 헤드(110)의 위치를 고정<S803>시킨다. 즉, 조작자는 물리력을 가하여 헤드(110)의 위치를 설정한 후 물리력의 인가를 종료함과 동시에 스위치(117a)를 OFF시키게 되고, 그에 연동하여 제어부(130)는 액츄에이터들(122a 및 b, 124a, 126a 및 b)의 자유로운 동작을 정지시킴으로써 헤드(110)의 위치를 고정시키게 되는 것이다. 따라서 스위치(117a)가 오프된 상태에서는 외부적인 물리력이 헤드(110)로 가해진다고 하더라도 헤드(110)의 위치는 고정된 상태를 유지한다.If the position of the head 110 is properly set by the operator, the operator turns off the switch 117a, and the control unit 130 accordingly controls the current state of the actuators 122a and b, 124a, 126a and b. By stopping the log operation, the position of the head 110 is fixed (S803). That is, the operator sets the position of the head 110 by applying a physical force and terminates the application of the physical force and at the same time turns off the switch 117a. In response thereto, the controller 130 controls the actuators 122a, b, and 124a. , The position of the head 110 is fixed by stopping the free operation of 126a and b). Therefore, even if an external physical force is applied to the head 110 in the state in which the switch 117a is turned off, the position of the head 110 remains fixed.
1-2. HIFU 방출1-2. HIFU release
조작자는 이미지 획득을 통해 시술 대상인 목표 영역을 확인하면, 해당 목표 영역으로 HIFU를 방출시키는 명령을 제어부(130)로 입력하게 되고, 그러한 명령에 따라 초음파방출부(111)가 동작하여 목표 영역으로 초음파를 방출<S804>시킨다. 즉, 초음파 방출부(111)에 의해 방출되는 HIFU는 획득된 이미지 영상을 기반으로 이상조직(암과 같은 악성 종양)으로 판명된 부위로 방출되게 된다.When the operator checks the target area to be treated through the image acquisition, the operator inputs a command to the control unit 130 to release the HIFU to the target area, and the ultrasonic emitter 111 operates according to the command to ultrasonic the target area. Emit <S804>. That is, HIFU emitted by the ultrasonic emitter 111 may be emitted to a site that is identified as abnormal tissue (malignant tumor such as cancer) based on the acquired image image.
1-3. 모니터링1-3. monitoring
계속하여 모니터링부(114)는 HIFU 방출에 의해 변화되는 목표 영역의 온도를 지속적으로 센싱하면서 모니터링<S805>하고, 제어부(130)는 센싱된 값을 디스플레이부(116)를 통해 디스플레이<806>시킨다. 따라서 조작자는 디스플레이부(116)를 통해 디스플레이되는 목표 영역의 온도를 확인함으로써 적절한 시술이 이루어지고 있는지 알 수 있게 된다. Subsequently, the monitoring unit 114 continuously monitors and monitors the temperature of the target area changed by the HIFU emission (S805), and the controller 130 displays the sensed value through the display unit 116. . Therefore, the operator can check whether the proper procedure is performed by checking the temperature of the target area displayed on the display unit 116.
2-1. 이미지 획득 및 압력 감지2-1. Image Acquisition and Pressure Sensing
한편, 단계 S801 내지 S803과 병행하여 단계 S811이 실행되어 진다.On the other hand, step S811 is executed in parallel with steps S801 to S803.
조작자는 컴퓨터(COM)를 통해 제어부(130)로 이미지 획득을 실행할 것을 명령하고, 이에 따라 이미지획득부(112)는 목표 영역에 대한 이미지를 획득<S811>한다. 이러한 이미지 획득은, 도11에서 참조되는 바와 같이, 모터(113b-1)의 동작에 의해 이미지획득부(112)가 정해진 구간(L)만큼 이동하면서 목표 영역의 일 측 끝에서 타 측 끝으로 순차적으로 이루어지게 된다. 그리고 제어부(130)는 획득된 이미지를 디스플레이부(116)를 통해 디스플레이<S806>시킨다.The operator instructs the controller 130 to perform image acquisition through the computer COM, and accordingly, the image acquisition unit 112 acquires an image of the target area. Such image acquisition is sequentially performed from one end of the target area to the other end while the image acquisition unit 112 moves by a predetermined section L by the operation of the motor 113b-1, as shown in FIG. 11. Will be made. In addition, the controller 130 displays the obtained image through the display 116.
물론, 실시하기에 따라서는 조작자가 헤드(110)에 물리력을 가하면 조작자의 별도의 명령 없이 반복적이면서 지속적으로 이미지 획득이 자동적으로 이루어질 수 있도록 구현될 수도 있다.Of course, according to the implementation, when the operator applies the physical force to the head 110 may be implemented so that the image acquisition can be automatically and repeatedly repeatedly and continuously without a separate command of the operator.
이러한 이미지 획득과 획득된 이미지를 헤드(110)에 구비된 디스플레이부(116)를 통해 디스플레이시키도록 구현하는 것은, 헤드(110)의 위치를 설정하기 위해 조작자가 헤드(110)에 물리력을 가하는 도중에 반복적으로 이미지를 획득하여 변화되는 이미지 영상을 디스플레이부(116)를 통해 계속적으로 디스플레이시킴으로써 조작자가 디스플레이부(116)를 통해 빠르고 쉽게 목표 영역을 찾아낼 수 있게 하는 이점을 가지게 한다.Such an image acquisition and the display of the acquired image through the display unit 116 provided in the head 110 may be performed while an operator applies a physical force to the head 110 to set the position of the head 110. By repeatedly acquiring an image and continuously displaying the changed image image through the display unit 116, the operator may have an advantage of quickly and easily finding a target area through the display unit 116.
한편, 단계 S811에서는 압력감지부(118)를 통한 압력 감지도 함께 이루어진다. 전술한 바와 같이 압력감지부(118)에서 감지된 압력 값은 실시간으로 디스플레이부(116)를 통해 디스플레이<S806>되고, 조작자는 이러한 압력 값을 이미지 영상과 함께 확인하면서 보다 더 빠르고 쉽게 헤드(110)를 정확하게 위치시킬 수 있게 된다. On the other hand, in step S811 is also made pressure sensing through the pressure sensing unit 118. As described above, the pressure value detected by the pressure sensing unit 118 is displayed through the display unit 116 in real time, and the operator checks the pressure value together with the image image and makes the head 110 faster and easier. ) Can be positioned accurately.
이상에서 설명한 바와 같이 본 발명에 대한 구체적인 설명은 첨부된 도면을 참조한 실시예에 의해서 이루어졌지만, 상술한 실시예는 본 발명의 바람직한 예를 들어 설명하였을 뿐이기 때문에, 본 발명이 상기의 실시예에만 국한되는 것으로 이해돼서는 아니 되며, 본 발명의 권리범위는 후술하는 청구범위 및 그 등가개념으로 이해돼야 할 것이다.As described above, the detailed description of the present invention has been made by the embodiments with reference to the accompanying drawings. However, since the above-described embodiments have only been described with reference to the preferred examples of the present invention, the present invention is limited to the above embodiments. It should not be understood to be limited, and the scope of the present invention should be understood by the claims and equivalent concepts described below.
CROSS-REFERENCE TO RELATED APPLICATIONCROSS-REFERENCE TO RELATED APPLICATION
본 특허출원은 2009년 05월 08일 한국에 출원한 특허출원번호 제 10-2009-0040351 호에 대해 미국 특허법 119(a)조(35 U.S.C § 119(a))에 따라 우선권을 주장하면, 그 모든 내용은 참고문헌으로 본 특허출원에 병합된다. 아울러, 본 특허출원은 미국 이외에 국가에 대해서도 위와 동일한 동일한 이유로 우선권을 주장하며 그 모든 내용은 참고문헌으로 본 특허출원에 병합된다.This patent application claims priority pursuant to Article 119 (a) (35 USC § 119 (a)) of the Patent Application No. 10-2009-0040351 filed with Korea on May 08, 2009. All content is incorporated by reference in this patent application. In addition, this patent application claims priority to countries other than the United States for the same reasons as above, all of which are incorporated herein by reference.

Claims (26)

  1. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 및An ultrasonic generator for generating high intensity focused ultrasound (HIFU), and
    상기 초음파발생부와 분리되게 구비되며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부It is provided separately from the ultrasonic generator and the image acquisition unit for obtaining an image of the internal tissue of the patient
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  2. 제1항에 있어서,The method of claim 1,
    상기 이미지획득부는 리니어 프로브(linear probe)를 가지는 것을 특징으로 하는 초음파 치료기용 헤드.And the image acquisition unit has a linear probe.
  3. 제1항에 있어서,The method of claim 1,
    상기 이미지획득부에서 획득한 이미지를 디스플레이시키는 디스플레이부를 더 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.And a display unit for displaying the image acquired by the image acquisition unit.
  4. 제1항에 있어서,The method of claim 1,
    상기 초음파발생부에 의한 치료가 실행될 때 치료부위를 모니터링하기 위한 모니터링부를 더 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.And a monitoring unit for monitoring a treatment site when the treatment by the ultrasonic generator is executed.
  5. 제4항에 있어서,The method of claim 4, wherein
    상기 이미지획득부를 이동시키는 구동부를 더 포함하고,Further comprising a driving unit for moving the image acquisition unit,
    상기 이미지획득부는 상기 구동부의 작동에 의해 이동하면서 환자의 내부 조직에 대한 이미지를 획득하는 것을 특징으로 하는 초음파 치료기용 헤드.The image acquisition unit head for the ultrasound therapy, characterized in that to obtain an image of the internal tissue of the patient while moving by the operation of the drive unit.
  6. 제5항에 있어서,The method of claim 5,
    상기 구동부는,The driving unit,
    상기 이미지획득부의 이동을 안내하는 가이더(guider), 및A guider for guiding movement of the image acquisition unit, and
    상기 이미지획득부를 상기 가이더를 따라 이동시키는 구동기Driver for moving the image acquisition unit along the guider
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  7. 제5항에 있어서,The method of claim 5,
    상기 구동부는 상기 이미지획득부를 상기 초음파발생부에 상대적으로 접근 및 이반이 가능한 방향으로 이동시키는 것을 특징으로 하는 초음파 치료기용 헤드.The driving unit head for the ultrasound therapy device, characterized in that for moving the image acquisition unit in a direction that can be approached and separated relative to the ultrasonic generator.
  8. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 및An ultrasonic generator for generating high intensity focused ultrasound (HIFU), and
    상기 초음파발생부의 중심과 이격되게 구비되며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부The image acquisition unit is provided to be spaced apart from the center of the ultrasonic generator and to obtain an image of the internal tissue of the patient
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  9. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부, 및An ultrasonic generator for generating high intensity focused ultrasound (HIFU), and
    리니어 프로브(linear probe)를 가지며 환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부Image acquisition unit for obtaining images of the patient's internal tissue with a linear probe
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  10. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부,Ultrasonic generator for generating high intensity focused ultrasound (HIFU),
    환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및An image acquisition unit for acquiring an image of the internal tissue of the patient, and
    상기 이미지획득부에서 획득한 이미지를 디스플레이시키는 디스플레이부A display unit for displaying the image obtained by the image acquisition unit
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  11. 제10항에 있어서,The method of claim 10,
    상기 초음파발생부와 상기 이미지획득부를 내부에 수용하는 하우징을 더 포함하고,Further comprising a housing for accommodating the ultrasonic generator and the image acquisition unit therein,
    상기 디스플레이부는 상기 하우징의 외면에 구비되는 것을 특징으로 하는 초음파 치료기용 헤드.The display unit head for the ultrasound therapy, characterized in that provided on the outer surface of the housing.
  12. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부,Ultrasonic generator for generating high intensity focused ultrasound (HIFU),
    환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및An image acquisition unit for acquiring an image of the internal tissue of the patient, and
    상기 초음파발생부에 의한 치료가 실행될 때 치료부위를 모니터링하기 위한 모니터링부Monitoring unit for monitoring the treatment area when the treatment by the ultrasonic generator is executed
    를 포함하는 것을 특징으로 하는 초음파 치료기용 헤드.Ultrasonic therapy head comprising a.
  13. 제12항에 있어서,The method of claim 12,
    상기 모니터링부는 상기 초음파발생부에 의한 치료가 실행될 때 치료부위의 온도 변화를 모니터링하는 것을 특징으로 하는 초음파 지료기용 헤드.The monitoring unit head for the ultrasonic paper cleaner, characterized in that for monitoring the temperature change of the treatment area when the treatment by the ultrasonic generator is executed.
  14. HIFU(high intensity focused ultrasound)를 발생시키는 초음파발생부,Ultrasonic generator for generating high intensity focused ultrasound (HIFU),
    환자의 내부 조직에 대한 이미지를 획득하기 위한 이미지획득부, 및An image acquisition unit for acquiring an image of the internal tissue of the patient, and
    상기 이미지획득부를 이동시키는 구동부Driving unit for moving the image acquisition unit
    를 포함하고,Including,
    상기 이미지획득부는 상기 구동부의 작동에 의해 이동하면서 환자의 내부 조직에 대한 이미지를 획득하는 것을 특징으로 하는 초음파 치료기용 헤드.The image acquisition unit head for the ultrasound therapy, characterized in that to obtain an image of the internal tissue of the patient while moving by the operation of the drive unit.
  15. HIFU(high intensity focused ultrasound)를 발생시키는 헤드, 및A head generating high intensity focused ultrasound (HIFU), and
    상기 헤드를 지지하는 지지체Support for supporting the head
    를 포함하고,Including,
    상기 헤드는 상기 지지체에 탈착 가능하게 결합되는 것을 특징으로 하는 초음파 치료기.And the head is detachably coupled to the support.
  16. 제15항에 있어서,The method of claim 15,
    상기 헤드는, 상기 HIFU를 발생시키는 상기 헤드의 전면이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있도록, 지면에 수평한 선을 회전축으로 하여 회전 가능하게 상기 지지체에 결합되는 것을 특징으로 하는 초음파 치료기.The head is ultrasonically characterized in that the front surface of the head for generating the HIFU is selectively rotatably coupled to the support with a horizontal axis as a rotation axis so that the front direction or the lower direction can be directed toward the lower direction. Treatment device.
  17. 제15항에 있어서,The method of claim 15,
    상기 지지체는, 서로 관절에 의해 연결되어 있는 적어도 2개의 로봇 암(robot arm)을 포함하고 있으며,The support includes at least two robot arms connected to each other by joints,
    상기 헤드는, 상기 HIFU를 발생시키는 전면이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있는 것을 특징으로 하는 초음파 치료기.The head, the ultrasonic treatment device, characterized in that the front surface for generating the HIFU can be selectively directed upward or downward.
  18. HIFU(high intensity focused ultrasound)를 발생시키는 헤드, 및A head generating high intensity focused ultrasound (HIFU), and
    상기 헤드를 지지하는 지지체Support for supporting the head
    를 포함하고,Including,
    상기 헤드는, 상기 HIFU를 발생시키는 상기 헤드의 전면이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있도록, 지면에 수평한 선을 회전축으로 하여 회전 가능하게 상기 지지체에 결합되는 것을 특징으로 하는 초음파 치료기.The head is ultrasonically characterized in that the front surface of the head for generating the HIFU is selectively rotatably coupled to the support with a horizontal axis as a rotation axis so that the front direction or the lower direction can be directed toward the lower direction. Treatment device.
  19. HIFU(high intensity focused ultrasound)를 발생시키는 헤드, 및A head generating high intensity focused ultrasound (HIFU), and
    상기 헤드를 지지하는 지지체Support for supporting the head
    를 포함하고,Including,
    상기 지지체는, 서로 관절에 의해 연결되어 있는 적어도 2개의 로봇 암(robot arm)을 포함하고 있으며,The support includes at least two robot arms connected to each other by joints,
    상기 헤드는, 상기 HIFU를 발생시키는 전면이 선택적으로 상측 방향을 향하거나 하측 방향을 향할 수 있는 것을 특징으로 하는 초음파 치료기.The head, the ultrasonic treatment device, characterized in that the front surface for generating the HIFU can be selectively directed upward or downward.
  20. 사용자에 의해 헤드로 가해지는 물리력을 감지하는 A단계; 및A step of detecting a physical force applied to the head by the user; And
    상기 A단계에 의해 감지된 물리력을 분석한 후, 물리력 인가가 종료되는 시점에서 헤드의 위치를 고정시키는 B단계After analyzing the physical force detected by the step A, step B to fix the position of the head at the end of the application of physical force
    를 포함하는 것을 특징으로 하는 초음파 치료기의 동작 방법.Method of operation of the ultrasonic therapy device comprising a.
  21. 제20항에 있어서,The method of claim 20,
    이미지 획득 부위에 대한 이미지를 획득하는 C단계; 및Acquiring an image of the image acquisition site; And
    HIFU(high intensity focused ultrasound)를 방출시키는 D단계-HIFU는 상기 C단계에서 획득된 이미지를 기반으로 이상조직으로 판명된 부위로 방출시킨다-Stage D, which emits high intensity focused ultrasound (HIFU), releases HIFU to a site identified as abnormal tissue based on the image obtained in stage C.
    를 더 포함하는 것을 특징으로 하는 초음파 치료기의 동작 방법.Method of operation of the ultrasonic therapy device further comprising.
  22. 제20항에 있어서,The method of claim 20,
    상기 B단계에서 방출되는 HIFU에 의해 변화되는 조직을 실시간 모니터링하는 E단계를 더 포함하는 것을 특징으로 하는 초음파 치료기의 동작 방법.Operation method of the ultrasound therapy device further comprising the step E of monitoring the tissue changed by the HIFU released in step B in real time.
  23. 제22항에 있어서,The method of claim 22,
    상기 E단계에서의 모니터링은 HIFU에 의해 변화되는 조직의 온도를 센싱함으로써 이루어지는 것을 특징으로 하는 초음파 치료기의 동작 방법.The monitoring in the step E is performed by sensing the temperature of the tissue changes by the HIFU method of operating the ultrasound therapy device.
  24. 제21항에 있어서,The method of claim 21,
    상기 C단계는 이미지획득부를 이동시키면서 이미지 획득 부위에 대한 이미지를 획득하는 것을 특징으로 하는 초음파 치료기의 동작 방법.Step C is an operation method of the ultrasound therapy device, characterized in that to obtain an image for the image acquisition area while moving the image acquisition unit.
  25. 제24항에 있어서,The method of claim 24,
    상기 C단계에서의 이미지를 획득하는 것은 리니어 프로브(linear probe)에 의해 이루어지는 것을 특징으로 하는 초음파 치료기의 동작 방법.Acquiring the image in the step C is performed by a linear probe (linear probe).
  26. 이미지획득부를 이동시키면서 이미지 획득 부위에 대한 이미지를 획득하는 A단계; 및A step of acquiring an image for the image acquisition area while moving the image acquisition unit; And
    HIFU(high intensity focused ultrasound)를 방출시키는 B단계-HIFU는 상기 A단계에서 획득된 이미지를 기반으로 이상조직으로 판명된 부위로 방출시킨다-Stage B which emits high intensity focused ultrasound (HIFU)-HIFU emits to the site identified as abnormal tissue based on the image acquired in step A-
    를 포함하는 것을 특징으로 하는 초음파 치료기의 동작 방법.Method of operation of the ultrasonic therapy device comprising a.
PCT/KR2010/002690 2009-05-08 2010-04-28 Head for an ultrasonic therapeutic apparatus, ultrasonic therapeutic apparatus, and method for operating an ultrasonic therapeutic apparatus WO2010128772A2 (en)

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