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WO2018026038A1 - Dispositif hifu pour contrôler la position d'un transducteur hifu comprenant un ensemble bras de robot - Google Patents

Dispositif hifu pour contrôler la position d'un transducteur hifu comprenant un ensemble bras de robot Download PDF

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Publication number
WO2018026038A1
WO2018026038A1 PCT/KR2016/008664 KR2016008664W WO2018026038A1 WO 2018026038 A1 WO2018026038 A1 WO 2018026038A1 KR 2016008664 W KR2016008664 W KR 2016008664W WO 2018026038 A1 WO2018026038 A1 WO 2018026038A1
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WIPO (PCT)
Prior art keywords
hifu
robot arm
unit
arm assembly
subject
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Ceased
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PCT/KR2016/008664
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English (en)
Korean (ko)
Inventor
알버트 장우주
한용해
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Priority to PCT/KR2016/008664 priority Critical patent/WO2018026038A1/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • 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
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia

Definitions

  • the present invention relates to medical devices and, more particularly, to medical devices using high intensity focused ultrasound (HIFU).
  • HIFU high intensity focused ultrasound
  • Ultrasound technology is used in various fields.
  • functional ultrasound imaging technology is a technique of imaging a reflection signal of a pulse wave using a difference in acoustic impedance in a tissue. With functional ultrasound imaging, the observer can see the inside of the subject without damage.
  • Functional ultrasound imaging technology is used in the medical field to observe tissues inside a patient's body.
  • Korean Patent Laid-Open No. 2001-0113051 discloses an apparatus for treating tissues ultrasonically and electromagnetically.
  • HIFU High Intensity Focused Ultrasound
  • HIFU transducers for example, about 100,000 times the ultrasound used to obtain ultrasound images. It is a procedure to burn off tissue by using high temperature of 65 ⁇ 100 °C generated from the focus.
  • Ultrasound itself is harmless to the human body and generates heat only at the focal point where the ultrasound is focused, so that it does not damage tissue other than the therapeutic target (tissue located at the focal point of the focused ultrasound).
  • heat generated by the ultrasonic energy is generated only at the focal point (therapeutic target) where the ultrasound is concentrated, thereby damaging only the therapeutic target.
  • Ultrasonic energy is generated from a transducer existing outside the human body and transmitted to the human body, so that the therapeutic target inside the human body can be treated by a non-invasive method.
  • HIFU The HIFU procedure should match the focus of ultrasound energy with the tissues inside the body to be treated.
  • HIFU is generally used in combination with a technique for imaging the inside of the human body in a non-invasive manner (magnetic resonance imaging, ultrasonic sound technology, etc.).
  • the conventional HIFU equipment in view of the above-described information, it is designed to allow the subjects to take a position to align the affected area to the position of the fixed HIFU transducer.
  • the present invention has been made in view of the above, and to provide a medical device having a HIFU transducer movable in correspondence with the position of the treatment target of the subject.
  • the HIFU apparatus may include an image capturing unit that forms a space for accommodating an operator and generates an image of a treatment target of the operator; A patient transfer unit located in the operator and moving the operator to the space; A HIFU (High Intensity Focused Ultrasound) unit connected to the robot arm assembly and including a HIFU transducer for intensively outputting ultrasonic energy to a focus area, and outputting high-intensity ultrasonic energy; A robot arm assembly connected to the HIFU unit and moving the HIFU unit to a position corresponding to the treatment target; And a control unit controlling an operation of the HIFU device including a position movement of at least one of the patient transfer unit and the robot arm assembly. It may include.
  • the position of the HIFU transducer can be adjusted to correspond to the target position through the robot arm assembly.
  • the HIFU device can increase the degree of freedom of the posture that can be taken by the subject during the HIFU procedure, thereby providing an environment in which the subject can be treated in a more comfortable state.
  • FIG. 1A-1B show a block diagram of a HIFU device in accordance with one embodiment of the present invention.
  • FIGS. 2A-2B show a more detailed block diagram of a HIFU device in accordance with one embodiment of the present invention.
  • Figure 3 shows an exemplary view of the robot arm assembly and HIFU unit in accordance with an embodiment of the present invention.
  • FIG. 4A is a flowchart for explaining an operation of the HIFU device according to an embodiment of the present invention.
  • 4B is a diagram for describing a process of controlling a position of a robot arm assembly using image information acquired from an MRI unit according to an embodiment of the present invention.
  • FIG. 5A illustrates a perspective view of a HIFU device and a front view of a robot arm assembly and a HIFU unit mounted inside the HIFU device according to one embodiment of the present invention.
  • Figure 5b shows a front view of the robot arm assembly and the HIFU unit mounted inside the HIFU device according to another embodiment of the present invention.
  • Figure 5c shows a front view of the robot arm assembly and the HIFU unit mounted inside the HIFU device according to another embodiment of the present invention.
  • FIG. 6A illustrates an exemplary diagram of a HIFU device including an upper robotic arm assembly moving rail installed to correspond to an entry direction of a patient transfer unit according to an embodiment of the present invention.
  • FIG. 6B shows an exemplary view of a HIFU device including a lower robotic arm assembly moving rail installed to correspond to the entry and exit direction of a patient transfer unit in accordance with one embodiment of the present invention.
  • FIG. 7 shows an exemplary diagram of a HIFU device according to another embodiment of the present invention.
  • FIG. 8 illustrates an image of treating a treatment target using the HIFU apparatus according to an embodiment of the present invention.
  • an embodiment As used herein, “an embodiment”, “an example”, “aspect”, “an example”, etc., may not be construed as having any aspect or design described being better or advantageous than other aspects or designs.
  • the terms “component”, “module”, “system”, “interface”, etc., used below generally mean a computer-related entity, for example, hardware, a combination of hardware and software, It can mean software.
  • HIFU device for controlling the position of the HIFU transducer, including the robot arm assembly
  • HIFU device may often be interchangeable.
  • magnet and “magnet” as used herein may often be interchangeable.
  • subject can often be used interchangeably.
  • user and “operator” can often be used interchangeably.
  • information and “data” as used herein are often used interchangeably.
  • FIG. 1A-1B show a block diagram of a HIFU device in accordance with one embodiment of the present invention.
  • HIFU device 100 may include an image photographing unit 110, patient transfer unit 120, HIFU unit 130, robot arm assembly 140 and the controller 150.
  • image photographing unit 110 may include an image photographing unit 110, patient transfer unit 120, HIFU unit 130, robot arm assembly 140 and the controller 150.
  • controller 150 may include an image photographing unit 110, patient transfer unit 120, HIFU unit 130, robot arm assembly 140 and the controller 150.
  • the above described components are merely exemplary and the present invention is not limited thereto.
  • the image capturing unit 110 may visualize an image inside the human body of the subject in a non-invasive manner.
  • the image capturing unit 110 may capture an image of the inside of the human body by using magnetic resonance imaging (MRI) technology, ultrasound imaging, CT, and other non-invasive imaging techniques.
  • MRI magnetic resonance imaging
  • CT CT
  • other non-invasive imaging techniques various techniques for photographing the inside of the human body in a non-invasive or at least partially invasive method may be utilized.
  • the image capturing unit 110 captures an image by using magnetic resonance imaging (MRI) technology
  • MRI magnetic resonance imaging
  • the image capturing unit 110 and the MRI unit 110 may be used interchangeably for explanation.
  • this does not mean that the image capturing unit 110 photographs the inside of the human body using only magnetic resonance imaging techniques, and it is apparent to those skilled in the art that the various techniques described above or various imaging techniques apparent to those skilled in the art may be utilized. something to do.
  • the MR image herein may include not only an image photographed using a magnetic resonance imaging technique, but also any image photographed by the various image capturing techniques described above.
  • the MRI unit 110 may collectively refer to an apparatus for photographing an operator located in the patient transfer unit 120 by using a magnetic field generated from a magnet.
  • the MRI unit 110 may photograph the subject and process the received magnetic resonance signal to visually reconstruct the inside of the subject's human body.
  • the MRI unit 110 may emit radio waves to the operator in the strong magnetic field generated by the magnet. Such radio waves can be absorbed by hydrogen atoms in the body of the subject. When the MRI unit 110 stops emitting radio waves, an electromagnetic wave signal may be generated while emitting radio waves absorbed by hydrogen atoms. The MRI unit 110 may visually reconstruct image information by collecting the electromagnetic wave signals.
  • MRI unit 110 can form a space that can accommodate the operator.
  • the MRI unit 110 may generate an MR image of the treatment target of the subject by measuring the electromagnetic wave reflected by transferring the radio wave in the magnetic field.
  • the MRI unit 110 may further include a display unit (not shown) for displaying visually reconstructed image information.
  • the means for generating the magnetic field of the MRI unit 110 may include, but is not limited to, a superconduction magnet and a permanent magnet.
  • a coolant may be used.
  • the refrigerant may include, but is not limited to, liquid helium, liquid nitrogen, and the like.
  • the magnet may be cooled by using a conductive cooling method with respect to the superconducting magnet.
  • the MRI unit 110 may be separated from an operating room in which an operator who controls the operation of the MRI unit 110 is located.
  • the MRI unit 110 may be located in a shield room in which an external RF signal is shielded.
  • Patient transfer unit 120 may form a space for receiving the operator.
  • the operator may take a posture to receive the procedure on the patient transfer unit 120.
  • the patient may move to the space in which the magnetic field formed by the MRI unit 110 exists through the patient transfer unit 120.
  • the patient transporter 120 may be transported to correspond to the treatment target of the subject in the magnetic flux center having the highest homogeneity in the magnetic field formed by the MRI unit 110.
  • the magnetic flux center may be formed at the center point of the solenoid.
  • the patient transfer unit 120 may be moved such that the position of the treatment target of the subject is located at the center of the solenoid constituting the magnet of the MRI unit 110.
  • the patient transfer unit 120 may be automatically or manually controlled.
  • the patient transfer unit 120 may additionally adjust a horizontal position and / or a vertical position within the MRI unit 110.
  • the MRI unit 110 and / or the patient transfer unit 120 may further include additional components for adjusting the position of the patient transfer unit 120.
  • the patient transfer unit 120 has a patient transfer unit moving rail (not shown) that can be rotated by being guided by the patient transfer unit 120 on the inner circumferential surface of the solenoid. It may be further configured.
  • a fixing means (not shown) for fixing the subject to the patient transfer unit 120 may be further provided. Location information of the patient transfer unit 120 as described above may be generated by the controller 150.
  • the patient transfer part 120 may be provided in at least one of a bed type and a chair type.
  • 1B illustrates an embodiment in which the patient transfer unit 120 is implemented in a bed type, but the present invention is not limited thereto. This will be described later with reference to FIGS. 6 and 7.
  • HIFU procedure can burn the tissue by using high temperature of 65 ⁇ 100 °C generated from focus when high intensity focused ultrasound energy is collected in one place. For example, when one ultrasonic wave is about 100,000 times stronger than the ultrasound intensity used for diagnosis, thermal ablation or cavitation occurs at the focal region.
  • Ultrasound itself is harmless to the human body and generates heat only at the focal point where the ultrasound is focused, so that it does not damage tissue other than the therapeutic target (tissue located at the focal point of the focused ultrasound).
  • heat due to ultrasonic energy is generated only at the focus (therapeutic target) where the ultrasound is concentrated, thereby damaging the therapeutic target.
  • Ultrasonic energy is generated from a transducer existing outside the human body and transmitted to the human body, so that the therapeutic target inside the human body can be treated by a non-invasive method.
  • the HIFU unit 130 may include a HIFU transducer 131 (see FIG. 2) for intensively outputting ultrasonic energy to a focus area.
  • the HIFU transducer 131 (see FIG. 2) can output high intensity ultrasonic energy.
  • the HIFU unit 130 may be connected to the robot arm assembly 140.
  • the HIFU transducer 131 may be configured to concentrate ultrasound energy in a focus area.
  • Ultrasound energy generated by the HIFU transducer 131 is a low level that does not affect other tissues other than the focal point, but a high density of energy that may affect the treatment target is concentrated in the focal region.
  • the treatment target of the subject should be located at the magnetic flux center point of the magnetic field generated by the MRI unit 110.
  • the subject in order to position the treatment target of the subject at the magnetic flux center point of the MRI unit 110, the subject placed his treatment area in accordance with the fixed HIFU transducer. Specifically, in the case of the HIFU device in which the HIFU transducer is positioned below the center point of the MRI unit 110, the subject proceeds to the procedure by bringing his treatment site to the fixed HIFU transducer position in a prone position (down state). did.
  • HIFU device through the robot arm assembly 140 to be described later can move the HIFU transducer to the optimal position for treating the treatment target of the subject.
  • the degree of freedom in the posture and position that the operator can take during the procedure can be increased.
  • the position of at least one of the robot arm assembly 140, the HIFU unit 130, and the patient transfer unit 120 is positioned. Can be controlled.
  • the robot arm assembly 140 may be formed to be guided along the entrance direction of the patient transfer unit 120 in the internal space of the MRI unit 110.
  • the HIFU transducer 131 (see Fig. 2) can be as close as possible to the position corresponding to the treatment target of the subject.
  • the robotic arm assembly 140 may be further positioned such that the HIFU transducer 131 (see FIG. 2) is as close as possible to the subject's treatment target (preferably, in close contact with the subject's body).
  • the patient transfer unit 120 may move in and out of the solenoid constituting the MRI unit 110 such that the treatment target of the subject moves to the magnetic flux center point of the MRI unit 110.
  • the HIFU unit 130 connected to the robot arm assembly 140 is along the robot arm assembly moving rail 111 (see FIG. 6) formed along the inner circumferential surface of the solenoid to the HIFU transducer 131 toward the closest to the treatment target of the subject. (See FIG. 2).
  • the robot arm assembly 140 moves the HIFU transducer 131 (see FIG. 2) in the direction of the inner center of the MRI unit 110, thereby allowing the HIFU transducer 131 (FIG. 2).
  • the HIFU transducer 131 may be in close contact with the human body of the subject so that the target position is as close as possible.
  • the foregoing is only one example of the driving mechanism of the HIFU device 100 according to the present invention, and any mechanism that allows the HIFU transducer 131 (see FIG. 2) of the HIFU unit 130 to be in close contact with the treatment target of the subject. Can be utilized. Only some of the mechanisms described above may be utilized, and additional components may be used.
  • the drive mechanism of the above-described components is not fixed, and the mechanisms of the components may be mutually compatible, or one component may perform two or more drive mechanisms.
  • the HIFU 130 does not circularly move along the inner circumferential surface of the solenoid, but the patient transfer unit 120 may rotate along the inner circumferential surface of the solenoid.
  • the patient transfer unit 120 may be additionally configured to move the patient transfer unit rail (not shown) which can be rotated.
  • a fixing means (not shown) for fixing the subject to the patient transfer unit 120 may be further provided.
  • the mechanism of the robot arm assembly 140 is not limited to linear movement in the radial direction from the solenoid outer circumferential surface toward the solenoid center point, but to allow movement in the circumferential direction (or the vertical direction in the radial direction). Can be configured.
  • the robot arm assembly 140 may further include a component for enabling additional movement.
  • the position to be taken by the operator during the HIFU procedure is not limited to the front position, and the procedure may be performed in various positions according to the convenience of the operator.
  • the subject works on the procedure in the upright position, and the HIFU transducer (see FIG. 2) of the HIFU unit 130 is moved through the above-described mechanism so that the subject can be positioned closest to the subject's treatment target. It may be in close contact.
  • the posture that can be taken by the operator may vary.
  • the effect of the HIFU device 100 as described above is only an example according to an embodiment of the present invention, the effect of the present invention is not limited thereto.
  • the robot arm assembly 140 may be connected to the MRI unit 110 and / or the HIFU unit 130. Through the robotic arm assembly 140, the HIFU unit 130 may be moved to a position corresponding to the treatment target. This may enable effective imaging and / or treatment of the subject's therapeutic target.
  • the robot arm assembly 140 is connected to the HIFU unit 130 and may move the HIFU transducer 131 (see FIG. 2) of the HIFU unit 130 to a position corresponding to a treatment target to be treated. .
  • the robot arm assembly 140 may be coupled with the patient transfer unit 120.
  • the operation of the HIFU apparatus 100 as described above may be controlled through the controller 150.
  • the controller 150 may generate location information corresponding to the treatment target based on the MR image generated by the MRI unit 110.
  • the controller 150 may be configured as a separate processor from the controller that visualizes an internal image of the human body photographed by the MRI unit 110.
  • the controller 150 may control the positional movement of the patient transfer unit 120 and / or the robot arm assembly 140.
  • the controller 150 may generate the movement position information of the HIFU unit 130 with reference to the MR image generated through the MRI unit 110. Such position information may be transmitted to the robot arm assembly 140.
  • controller 150 may monitor the temperature of the human body based on the MR image, and control the ultrasonic energy concentration of the HIFU unit 130 based on the temperature of the human body. This will be described in more detail with reference to FIG. 2.
  • HIFU device will be described in more detail with reference to FIGS. 2A to 2B.
  • FIGS. 2A-2B show a more detailed block diagram of a HIFU device in accordance with one embodiment of the present invention.
  • the MRI unit 110 may include a robot arm assembly moving rail 111 and a robot arm assembly connecting member 113.
  • the above described components are merely exemplary and the present invention is not limited thereto.
  • the robot arm assembly moving rail 111 may be located in a predetermined area inside the MRI unit 110 for the movement of the robot arm assembly 140.
  • the robot arm assembly moving rail 111 may be predetermined to be positioned on the upper surface of the magnet inner side of the MRI unit 110 (that is, the upper side of the subject when the subject lays flat on the patient transfer unit 120). Can be.
  • the robot arm assembly moving rail 111 may be provided in a material and / or shape that can help smooth movement of the robot arm assembly 140.
  • the robot arm assembly moving rail 111 may be configured in a ring gear shape that can be coupled to the MRI unit 110.
  • the robot arm assembly moving rail 111 may guide the robot arm assembly 140 to linearly move in and out of the patient transfer part 120.
  • the robot arm assembly moving rail 111 may be formed along an inner circumferential surface of an inner space formed by a magnet constituting the MRI unit 110.
  • the robot arm assembly moving rail 111 may be formed on at least a portion of the circumference forming the inner circumferential surface of the MRI unit 110.
  • the robot arm assembly 140 may be guided to circumferentially move around the center point of the magnet. Through this, the robot arm assembly 140 may approach the body of the subject located on the patient transfer unit 120 at any angle.
  • the robot arm assembly moving rail 111 may be fixedly positioned along a central portion of the magnet of the MRI unit 110.
  • the patient transfer unit 120 may be adjusted to be positioned at the treatment target of the subject while moving in the ingress direction.
  • the robot arm assembly moving rail 111 may be linearly movable in the direction of movement of the patient transfer unit inside the magnet.
  • a separate moving rail (not shown) may be added to the inner circumferential surface of the magnet to move the robot arm assembly moving rail 111 in the inlet and outward direction of the patient transfer part 120.
  • the robot arm assembly connecting member 113 may connect the robot arm assembly 140 and the robot arm assembly moving rail 111.
  • the robot arm assembly connecting member 113 may be formed of the same or different material as the MRI unit 110 and / or the robot arm assembly 140.
  • the above-described robot arm assembly moving rail 111 and the robot arm assembly connecting member 113 may couple the robot arm assembly 140 to the MRI unit 110 as shown in FIG. 2B.
  • the robot arm assembly 140 may be easily moved. Accordingly, the robotic arm assembly 140 may move to a position corresponding to the treatment target of the subject to efficiently treat the treatment target.
  • Patient transfer unit 120 according to an embodiment of the present invention is as described with reference to FIG.
  • HIFU 130 may include a HIFU transducer 131, a power supply 133 and a power control unit 135, but the present invention is not limited thereto.
  • the HIFU unit 130 may include all or some of the components known to those skilled in the art to generate high intensity focused ultrasound.
  • the power supply unit 133 may supply power to the HIFU transducer 131.
  • the power control unit 135 may transmit an electrical signal to the HIFU transducer 131, and control the power supply of the power supply unit 133.
  • the HIFU transducer 131 may include an ultrasonic sensor 161, an RF coil 163, a water bag 165, and a temperature sensor 167.
  • the ultrasonic sensor 161 may track the location of the treatment target of the subject in real time.
  • the RF coil 163 may be positioned on a portion of an outer circumferential surface of the HIFU transducer 131 and may receive an image signal of the treatment target of the subject centered on the focal region. In other words, the RF coil 163 may be positioned while surrounding the outer circumference of the HIFU transducer 131, and may receive an electrical signal and receive a treatment target image signal of a subject centered on a focal region.
  • HIFU transducer 131 may include a water bag 165 to adjust the human body temperature of the subject increased due to the ultrasonic energy.
  • the temperature sensor 167 may measure the temperature of the skin that the water bag 165 is in contact with.
  • the temperature sensor 167 may be a laser temperature sensor, but the present invention is not limited thereto.
  • the RF coil 163 may receive a human body signal of the focus area.
  • the ultrasound sensor 161 and the temperature sensor 167 may track the position of the treatment target in real time and measure the human body temperature of the subject.
  • the water bag 165 may lower the human body temperature of the examinee whose temperature is increased due to the ultrasonic energy.
  • HIFU transducer 131 may further include additional component (s) in addition to the above-described components.
  • the HIFU transducer 131 may further include an ultrasonic transducer.
  • HIFU transducer 131 is movable in at least one direction of the x-axis (left and right), y-axis (up and down) and z-axis (front and rear) according to the operation of the robot arm assembly 140.
  • the HIFU transducer 131 may be movable back and forth.
  • the HIFU transducer 131 may be rotatable about each of the x and y axes, and may be movable up and down with respect to the z axis. As a result, the HIFU transducer 131 moves more precisely to a position corresponding to the treatment target of the subject, so that an effective HIFU procedure may be performed.
  • the HIFU 130 as described above will be described in more detail later with reference to FIGS. 5 to 6.
  • Robot arm assembly 140 may be composed of one or more robot arms.
  • the robot arm assembly 140 may be composed of a first robot arm 141 and a second robot arm 143.
  • the robot arm assembly 140 may include a robot arm pivot 145.
  • the above described components are merely exemplary and the present invention is not limited thereto.
  • One end surface of the robot arm pivoting unit 145 may be coupled to the MRI unit 110, and the other end surface may be coupled to the first robot arm 141 to rotate the first robot arm 141.
  • the robot arm pivoting part 145 may be connected to one end surface of the first robot arm 141, and the second robot arm 143 may be connected to the other end surface of the first robot arm 141.
  • the second robot arm 143 is coupled to the other end surface of the first robot arm 141, the other end surface may be connected to the HIFU transducer 131. Through this, the second robot arm 143 may rotate the HIFU transducer 131.
  • the controller 150 may further include a monitoring unit 151.
  • the monitoring unit 151 may generate the human body temperature monitoring information of the subject by referring to the MR image generated by the MRI unit 110.
  • controller 150 may control at least one of the intensity, cycle, and time of the ultrasonic energy to be output by the HIFU unit 130 based on the human body temperature monitoring information.
  • the controller 150 may receive and control location information of at least one of the patient transfer unit 120 and the robotic arm assembly 140. In an additional embodiment, the controller 150 may visualize the position of the HIFU unit 130 in consideration of the relative positions of the patient transfer unit 120, the robot arm assembly 140, and the MRI unit 111. The controller 150 may display this through a display unit (not shown).
  • controller 150 may treat the patient's treatment target at the magnetic flux center having the highest homogeneity in the magnetic field, based on the position corresponding to the treatment target of the subject, and the patient transfer unit 120 and the robot arm assembly 140. Move information) can be generated.
  • the components of the HIFU device 100 shown in FIGS. 2A-2B are not essential, and the HIFU device 100 with more or fewer components may be implemented.
  • the HIFU device 100 may further include an acoustic unit (not shown) for smooth communication between the operator and the operator.
  • the HIFU device 100 may further include a table (not shown) for moving and / or supporting the patient transfer unit 120.
  • the HIFU device 100 may further include a memory unit (not shown).
  • the memory unit may store, for example, information input / output for the operation of the HIFU device 100.
  • the memory unit may store a program for the operation of the controller 150 and may temporarily store input / output data.
  • the memory unit may include one or a plurality of memory units (not shown).
  • Such a memory unit may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory, etc.).
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • ROM Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • Magnetic At least one type of storage medium may include a memory, a magnetic disk, and an optical disk.
  • the HIFU apparatus 100 may further include a network unit (not shown) for connecting the HIFU apparatus 100 and / or a predetermined device (not shown) through a wired or wireless communication system.
  • the network unit may include a public switched telephone network (PSTN), x digital subscriber line (xDSL), rate adaptive DSL (RADSL), multi rate DSL (MDSL), and VDSL.
  • PSTN public switched telephone network
  • xDSL digital subscriber line
  • RADSL rate adaptive DSL
  • MDSL multi rate DSL
  • VDSL VDSL
  • Various wired communication systems such as Very High Speed DSL, Universal Asymmetric DSL, High Bit Rate DSL, and Local Area Network (LAN) can be used.
  • the network modules presented here include Code Division Multi Access (CDMA), Time Division Multi Access (TDMA), Frequency Division Multi Access (FDMA), Orthogonal Frequency Division Multi Access (OFDMA), and Single Carrier-FDMA (SC-FDMA). And various wireless communication systems such as other systems.
  • CDMA Code Division Multi Access
  • TDMA Time Division Multi Access
  • FDMA Frequency Division Multi Access
  • OFDMA Orthogonal Frequency Division Multi Access
  • SC-FDMA Single Carrier-FDMA
  • various wireless communication systems such as other systems.
  • a computer readable storage medium may be included in the HIFU device 100.
  • Such storage media may include any type of storage media on which programs and data are stored such that they can be read by a computer system.
  • such a medium may be a ROM (Read Only Memory), a RAM (Random Access Memory), a CD (Compact Disk) -ROM, a DVD (Digital Video Disk) -ROM, a Magnetic Tape, a Floppy Disk, Optical Data Storage, and the like, and may also include those implemented in the form of a carrier wave (eg, transmission over the Internet). Additionally, such media may be distributed over systems coupled with network modules to store computer readable codes and / or instructions in a distributed fashion.
  • Various embodiments described herein may be implemented in a recording medium readable by a computer or similar device using, for example, software, hardware or a combination thereof.
  • the embodiments described herein may include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs). It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. In some cases, the embodiments described herein may be implemented by a controller (not shown) itself.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • embodiments such as the procedures and functions described herein may be implemented as separate software modules.
  • Each of the software modules may perform one or more functions and operations described herein.
  • Software code may be implemented in software applications written in a suitable programming language. The software code may be stored in a memory unit (not shown) and executed by a controller (not shown).
  • Figure 3 shows an exemplary view of the robot arm assembly and HIFU unit in accordance with an embodiment of the present invention.
  • the robot arm assembly 140 may include a robot arm pivot 145, a first robot arm 141, and a second robot arm 143.
  • the robot arm pivoting part 145 has one end coupled with the MRI unit 110 (see FIG. 1) and the other end coupled with the first robot arm 141 to allow the first robot arm 141. ) Can be rotated.
  • a second robot arm 143 may be connected to the other end surface of the first robot arm 141. That is, the second robot arm 143 may be coupled to the other end surface of the first robot arm 141, and the other end surface of the second robot arm 143 may be connected to the HIFU transducer 131.
  • HIFU transducer 131 is coupled to the second robot arm 143 may be controlled the position of the HIFU transducer 131 according to the operation of the second robot arm 143. have.
  • the HIFU transducer 131 is attached to one side end of the second robot arm 143, and the HIFU transducer 131 may be moved according to the rotation of the second robot arm 143.
  • first robot arm 141 may move up and down by the robot arm pivoting unit 145, and the second robot arm 143 connected to the first robot arm 141 may move left and right. This allows the HIFU transducer 131 to move to the optimal position for the treatment target of the subject. (See Figure 5c)
  • HIFU transducer 131 at least through the first robot arm 141 moving up and down and the second robot arm 143 moving from side to side in a different plane with respect to the axis of rotation of the first robot arm in accordance with one embodiment of the present invention. Since at least three axes, such as front and rear, up and down, left and right, can be controlled, the operator can be positioned as close as possible to the optimum position for the treatment target.
  • the HIFU unit 130 may include at least one of a HIFU transducer 131, a power supply unit 133 (see FIG. 2A), and a power control unit 135 (see FIG. 2A).
  • the power supply unit 133 (see FIG. 2A) and the power control unit 135 (see FIG. 2A) have been described above with reference to FIG. 2A.
  • the HIFU unit 130 may include at least one of the RF coil 163 and the waterbag 165.
  • the HIFU unit 130 may further include an ultrasonic sensor and a temperature sensor (161, 163).
  • the ultrasound sensor 161 may track the location of the treatment target of the subject in real time.
  • the RF coil 163 may be positioned on a portion of an outer circumferential surface of the HIFU transducer 131 and may receive an image signal of the treatment target of the subject centered on the focal region. In other words, the RF coil 163 may be located while surrounding the outer circumference of the HIFU transducer 131 and may receive an electrical signal.
  • the RF coil 163 may receive a treatment target image signal of a subject focused on a focal region.
  • the human body temperature of the subject increased due to the ultrasonic energy may be controlled by the waterbag 165.
  • the contents described with reference to FIG. 3 are exemplary descriptions of the HIFU apparatus according to an embodiment of the present invention, and the present invention is not limited thereto.
  • FIG. 4A is a flowchart for explaining an operation of the HIFU device according to an embodiment of the present invention.
  • each step of the flowchart shown in FIG. 4A is not essential, and some steps may be omitted or added as necessary.
  • FIG. 4A will be briefly described.
  • the patient may move to the space in which the magnetic field formed by the MRI unit 110 (see FIG. 1) is present by the patient transfer unit 120 (S310).
  • the subject may be moved to the magnet center of the MRI unit 110 (see FIG. 1) by the patient transfer unit 120 (see FIG. 1).
  • the controller 150 may determine the movement position of the subject and move the subject to the determined position.
  • the position within the MRI portion 110 of the subject can be manually controlled.
  • the user of the HIFU device 110 may control the position in the MRI unit 110 of the subject through a manual operation. This may be performed remotely through the controller 150 or by a method in which the user manually moves the patient transfer unit 120.
  • the display unit (not shown) may additionally provide related information (eg, an MR image of the subject).
  • the subject may be moved by the patient transfer unit 120 (see FIG. 1) to take a suitable posture for image acquisition and / or HIFU procedures for the subject's treatment target.
  • the patient transfer unit 120 may move the subject through pivot movement.
  • subject as used herein may collectively refer to "body part of the subject”.
  • body part of the subject For example, “operator” may mean “operator's wrist.”
  • operator may mean “ankle of the operator”.
  • an MR image of the treatment target of the subject may be generated (S320).
  • an MR image of the treatment target of the subject may be generated (S320).
  • the MRI unit 110 measures the electromagnetic waves reflected by transferring radio waves to the human body in the magnetic field.
  • MR images of the treatment target of the subject may be generated. That is, the MR image of the subject may be generated (S320).
  • Treatment target location information may be generated according to an embodiment of the present invention (S330). That is, the treatment target position information may be generated based on the MR image generated through step S320 (S330). Through this, the treatment target position may be identified (S330).
  • the treatment target position information of the subject may be automatically generated by the HIFU device 110 based on the MR image and predetermined logic.
  • the treatment target location information of the subject may be manually determined and then controlled.
  • the operator of the HIFU device 110 may specify the treatment target of the subject by checking related information (eg, MR image of the subject) output on the display unit (not shown).
  • the controller 150 may generate position information on a position of a specific treatment target so that the operator can control at least one of the robot arm assembly 140, the HIFU unit 130, and the patient transfer unit 120.
  • location information of the robotic arm assembly may be generated according to an embodiment of the present invention (S340).
  • the robot arm assembly eg, the HIFU transducer 131
  • the robot arm assembly is moved to a position corresponding to the treatment target.
  • the location information of 140 may be generated.
  • the HIFU transducer 131 may be moved to a position corresponding to the treatment target based on the position information of the robot arm assembly generated through operation S340 (S350).
  • Step S350 is as described above with reference to FIGS.
  • the HIFU transducer 131 When the HIFU transducer 131 (see FIG. 1) moves to a position corresponding to the treatment target through step S350, the HIFU device 100 (see FIG. 1) may output high intensity ultrasonic energy (S360). .
  • position information of the robotic arm assembly may be generated to perform the treatment.
  • the HIFU transducer 131 (see FIG. 2A) may be moved to the treatment target position based on the position information of the robotic arm assembly.
  • the HIFU transducer 131 (see FIG. 1) is moved to the position corresponding to the treatment target of the subject by the robotic arm assembly 140, the HIFU transducer 131 (see FIG. 1) recalls high intensity ultrasonic energy.
  • the treatment target of the subject may be performed by thermal ablation or cavitation.
  • the HIFU transducer 131 further includes an RF coil 163 (see FIG. 2A).
  • the RF coil 163 may receive the emitted electromagnetic wave signal, so that the HIFU device 100 may generate an MR image of a treatment target in which high intensity ultrasound energy is concentrated in real time.
  • the MR image of the treatment target may be output through a display unit (not shown) and monitored by the operator while the subject receives the HIFU procedure.
  • step S355 in which the location information of the patient transfer unit 120 is generated may be further performed.
  • location information of the patient transfer unit 120 may be further generated.
  • position information of the robot arm assembly 140 (see FIG. 1) and position information of the patient transfer unit 120 (see FIG. 1) may be generated.
  • a position corresponding to the treatment target of the subject may exist at an optimal position for the HIFU procedure with respect to the treatment target of the subject.
  • the controller 150 may control at least one position of the robot arm assembly 140 (see FIG. 1) and the patient transfer unit 120 (see FIG. 1). As such, the operator and / or the HIFU unit 130 (see FIG. 1) may be moved to an optimal position for treating the subject's treatment target. In this regard it will be described later with reference to Figures 5a to 5c.
  • the human body temperature of the subject may be monitored (S370).
  • temperature monitoring information of the skin corresponding to the treatment target of the subject may be generated.
  • the human body (eg, the skin corresponding to the treatment target) temperature of the subject may be increased by the high-intensity ultrasonic energy output through step S360.
  • the human body temperature of the subject may be controlled by the waterbag 165 (see FIG. 3).
  • the ultrasonic sensors and the temperature sensors 161 and 167 of the HIFU 130 may track the position of the treatment target in real time and measure the temperature. Based on this, the human body temperature monitoring information may be generated (S370).
  • the HIFU unit 130 may be controlled based on the human body temperature monitoring information of the subject generated through step S370 (S380).
  • At least one of the intensity, cycle, and time of the ultrasonic energy to be output by the HIFU unit 130 may be controlled.
  • treatment of the treatment target may be performed while maintaining the safety of the subject and / or the operator by adjusting the intensity of the ultrasonic energy to be output, the time interval at which the high intensity ultrasonic energy is concentrated, and the output time.
  • the water bag 165 may adjust the human body temperature of the subject increased due to the ultrasonic energy based on the temperature monitoring information generated through step S370.
  • determining whether there is a treatment target to be performed (S390) may be performed.
  • Whether there are more treatment targets to be treated may be automatically determined by the HIFU device 100 (see FIG. 1) based on predetermined logic.
  • whether there are more treatment targets to be treated may be determined by the operator based on MR images of the treatment targets.
  • step S310 to step S390 may be performed again. If it is determined through step S390 that there is no treatment target to be treated further, although not shown, the step of moving the operator to escape from the HIFU apparatus 100 may be further performed.
  • Step (s) of some of the steps shown in FIG. 4A may be omitted in accordance with one embodiment of the present invention.
  • the steps illustrated in FIG. 4A are exemplary and additional steps may also be included within the scope of the present invention.
  • 4B is a diagram for describing a process of controlling a position of a robot arm assembly using image information acquired from an MRI unit according to an embodiment of the present invention.
  • the arrows shown in FIG. 4B are for explaining the signal movement between the components, and do not mean an electrical and / or organic connection between the components.
  • the control unit 150 uses the computer-readable medium in which the computer program for controlling the HIFU device is stored as a console, image information from the MRI unit 110, for example, MR of the treatment target of the subject. An image can be obtained. Treatment target location information may be generated based on the MR image.
  • robot arm assembly position information for moving the robot arm assembly 140 (see FIG. 1) and the HIFU unit 130 (see FIG. 1) to a position corresponding to the treatment target may be generated. Accordingly, the HIFU unit 130 and the robotic arm assembly 140 may be moved to an optimal position for performing the HIFU procedure on the treatment target of the subject.
  • the MR image of the treatment target of the subject may be generated by the MRI unit 110.
  • Location information of the treatment target of the subject may be generated based on the generated MR image.
  • Location information of the treatment target may be generated by the controller 150, for example.
  • the location information of the treatment target may be generated by the MRI unit 110 and transmitted to the controller 150.
  • the controller 150 may generate robot arm assembly position information for controlling the robot arm assembly 140.
  • the position data (here, the robot arm assembly position information) generated by the controller 150 may be transmitted to the robot arm assembly controller 150a.
  • position data may be converted into a form suitable for the operation of the received component and transmitted.
  • the robot assembly controller 150a may control the robot arm assembly 140 (see FIG. 1) so that the HIFU transducer 131 (see FIG. 2) is in an optimal position to treat the treatment target.
  • the HIFU transducer 131 (see FIG. 2) is moved by the robot arm assembly 140 in at least one of the x-axis (left and right), the y-axis (up and down), and the z-axis (rear). May be moved to a location corresponding to a treatment target. That is, after the robot arm assembly 140 is moved to an optimal position for treating the treatment target, a more precise HIFU procedure may be performed by adjusting the position of the HIFU transducer 131 (see FIG. 2).
  • the controller 150 may control the operation of the robot arm assembly without a separate robot arm assembly controller 150a.
  • FIG. 4B is a view presented to more easily explain the operation of the HIFU apparatus according to an embodiment of the present invention, and the present invention is not limited thereto.
  • FIG. 5A illustrates a perspective view of a HIFU device and a front view of a robot arm assembly and a HIFU unit mounted inside the HIFU device according to one embodiment of the present invention.
  • Figure 5b shows a front view of the robot arm assembly and the HIFU unit mounted inside the HIFU device according to another embodiment of the present invention.
  • Figure 5c shows a front view of the robot arm assembly and the HIFU unit mounted inside the HIFU device according to another embodiment of the present invention.
  • HIFU device 100 shown in Figures 5a to 5c is an exemplary diagram according to an embodiment of the present invention, the present invention is not limited thereto.
  • the HIFU device 100 according to an embodiment of the present invention may be, for example, in the form of at least one of 800a and 800b shown in FIG. 7.
  • FIG. 5A shows the robot arm assembly 140 and the HIFU units 130a and 130b seen from the entrance of the MRI unit 110 into which the patient transfer unit 120 can enter and exit.
  • the HIFU device 100 including the robot arm assembly 140 and the HIFU units 130a and 130b according to an embodiment of the present invention will be described in more detail.
  • the robot arm assembly moving rail 111 may be located in a predetermined region inside the MRI unit 110 for the movement of the robot arm assembly 140.
  • the predetermined area inside the MRI portion 110 so that the robot arm assembly moving rail 111 is located may preferably be the center of the length of the entry direction of the MRI portion 110.
  • the robot arm assembly moving rail 111 is an upper moving rail located above the patient conveying unit 120 and / or a lower moving rail positioned below the center of the patient conveying unit 120. It may include. In this case, as shown in (a), the robot arm assembly 140 and / or the HIFU unit 130 may be included above the patient transfer unit 120. In addition, the HIFU device 100 may include a robot arm assembly 140 and / or HIFU 130 on the lower side relative to the patient transfer unit 120, as shown in Figure 5a (a). .
  • the robot arm assembly 140 positioned on the upper moving rail may move in the left and right directions L along the upper moving rail.
  • the robot arm assembly 140 may be moved in the vertical direction (H) from any region of the upper moving rail. In this regard, reference is made to FIG. 5C.
  • the robot arm assembly moving rail 111 may be formed to be able to move 360 degrees along the MRI unit 110. Through this, the robot arm assembly 140 may be guided to move 360 degrees in the left and right directions.
  • the robot arm assembly moving rail 111 may be installed so as to correspond to the outgoing direction of the patient transfer unit 120. In this regard it will be described later in Figures 6a to 6b.
  • the robot arm assembly moving rail 111 may be coupled to the MRI unit 110 in the form of a rotatable ring gear.
  • the robot arm assembly moving rail 111 in the form of a rotatable ring gear may move in a direction corresponding to the entry and exit direction of the patient transfer unit 120.
  • the position of the HIFU transducer 131 (see FIG. 3) can be adjusted to correspond to the treatment target position through the robot arm assembly 140.
  • the HIFU device according to an embodiment of the present invention described above, by increasing the degree of freedom of the posture that can be taken by the subject during the HIFU procedure, it is possible to provide an environment in which the subject can be treated in a more comfortable state. .
  • the robot arm assembly moving rail 111 as described above may be provided in a material and / or shape capable of guiding the robot arm assembly 140.
  • the robot arm assembly moving rail 111 may be formed of the same or different material as the robot arm assembly 140.
  • the robot arm assembly connecting member 113 may connect the robot arm assembly 140 and the robot arm assembly moving rail 111.
  • the robot arm assembly connecting member 113 may be formed of the same or different material as the MRI unit 110 and / or the robot arm assembly 140.
  • FIG. 6A illustrates an exemplary diagram of a HIFU device including an upper robotic arm assembly moving rail installed to correspond to an entry direction of a patient transfer unit according to an embodiment of the present invention.
  • FIG. 6B shows an exemplary view of a HIFU device including a lower robotic arm assembly moving rail installed to correspond to the entry and exit direction of a patient transfer unit in accordance with one embodiment of the present invention.
  • the robot arm assembly moving rail for guiding the robot arm assembly 140 to move in a direction corresponding to the entry and exit direction of the patient transfer unit 120 inside the MRI unit 110 ( 111).
  • the robot arm assembly moving rail 111 may be located above the patient transfer part 120 (see FIG. 6A).
  • the robot arm assembly moving rail 111 may be located under the patient transfer part 120 (see FIG. 6B).
  • the robot arm assembly moving rail 111 for guiding the robot arm assembly 140 to move in a direction corresponding to the entry and exit direction of the patient transfer unit 120. can do. That is, the robot arm assembly 140 and the HIFU unit 130 may move along the robot arm assembly moving rail 111 installed to correspond to the direction of entry and exit of the patient transfer unit 120 above and / or below. As a result, the robot arm assembly 140 may move in parallel along the robot arm assembly moving rail 111 installed in parallel with the movement path of the patient transfer part 120.
  • the robot arm assembly 140 and the HIFU 130 may rotate and / or move up and down to a position corresponding to the treatment target of the subject.
  • the patient transfer part 120 may also be transversely L (see FIG. 5A) and / or longitudinally H (see FIG. 5A) in order to allow the subject to receive the HIFU procedure at the optimal position. Can be moved to).
  • the patient transfer unit 120a is formed of at least one or more patient transfer unit or may include a groove having any size to treat the treatment target of the subject It may be.
  • the patient transfer unit 120a may be separated and / or combined into at least one or more patient transfer units.
  • the patient transfer unit 120a may include a groove for outputting an ultrasound output from the HIFU unit 130 whose position is adjusted by the robot arm assembly 140 to a position corresponding to the treatment target of the subject. .
  • the patient transfer unit 120a may transmit ultrasound waves output by the HIFU unit 130 whose position is adjusted by the robot arm assembly 140 to treat the subject. It may include a groove that can be output to a position corresponding to.
  • the position of the HIFU transducer 131 (see FIG. 3) can be adjusted to correspond to the treatment target position through the robot arm assembly 140.
  • the HIFU device according to an embodiment of the present invention described above, by increasing the degree of freedom of the posture that can be taken by the subject during the HIFU procedure, it is possible to provide an environment in which the subject can be treated in a more comfortable state. .
  • FIGS. 6A to 6B are merely preferred examples of HIFU devices according to an embodiment of the present invention, and the present invention is not limited thereto.
  • FIG. 7 shows an exemplary diagram of a HIFU device according to another embodiment of the present invention.
  • HIFU device it is possible to employ various types of image capturing unit 110.
  • the image capturing unit 110 may capture an image of the inside of the human body by using magnetic resonance imaging (MRI) technology, ultrasound imaging, CT, and other non-invasive imaging techniques.
  • MRI magnetic resonance imaging
  • CT CT
  • other non-invasive imaging techniques various techniques for photographing the inside of the human body in a non-invasive or at least partially invasive method may be utilized.
  • the shape and / or size of the patient transfer unit 120 may vary according to the shape of the image capturing unit 110.
  • an open MRI type MRI unit may be employed as the image capturing unit 110 of the HIFU device as described above.
  • the patient transfer unit 120 may be configured as a chair (chair) type.
  • the patient transfer unit 120 may control the position and / or operation of the patient transfer unit 120 through the controller 150 (see FIG. 1).
  • the patient transfer part 120 configured as a chair type may adjust an angle between the front and rear direction and / or the back part and the sitting part to treat the treatment target of the subject.
  • the position of the patient transfer unit 120 by controlling the position of the patient transfer unit 120, it may be easy to acquire an MR image of a subject through the image photographing unit 110.
  • the subject may take a comfortable position in treating the treatment target.
  • the HIFU device 100 for controlling the position of the HIFU transducer 131 (see FIG. 2), including the robot arm assembly 140 (see FIG. 1) according to an embodiment of the present invention.
  • the robot arm assembly 140 (see FIG. 1), the HIFU unit 130 (see FIG. 1), and the patient transfer unit 120 (see FIG. 1) are controlled to position the treatment target of the subject. Can be treated more effectively.
  • FIG. 8 illustrates an image of treating a treatment target using the HIFU apparatus according to an embodiment of the present invention.
  • FIG. 8A 900A shows a treatment target MR image of a subject before using a HIFU device according to an embodiment of the present invention.
  • FIG. 8B shows a therapeutic target MR image of a subject 1 month after using the HIFU device according to an embodiment of the present invention.
  • FIG. 8 illustrates a therapeutic target MR image of a subject 3 months after using the HIFU apparatus according to the embodiment of the present invention.
  • the tumor depth of the HIFU device according to an embodiment of the present invention was reduced by 31%, and the tumor volume was reduced by 17%.
  • the tumor size was also reduced from 6.4cm to 4,4cm after using the HIFU device according to an embodiment of the present invention. Furthermore, after 3 months, the necrotic cells can disappear completely.
  • the efficiency of the HIFU procedure can be improved.
  • the posture to be taken by the operator in order to receive the HIFU procedure may also be not limited.
  • the effect of the HIFU device according to an embodiment of the present invention is not limited to the described contents.
  • data, instructions, instructions, information, signals, bits, symbols, and chips may include voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields. Or particles, or any combination thereof.
  • the various embodiments presented herein may be embodied in a method, apparatus, or article of manufacture using standard programming and / or engineering techniques.
  • article of manufacture includes a computer program, carrier, or media accessible from any computer-readable device.
  • computer-readable media may include magnetic storage devices (eg, hard disks, floppy disks, magnetic strips, etc.), optical discs (eg, CDs, DVDs, etc.), smart cards, and flash memory. Devices, such as, but not limited to, EEPROM, cards, sticks, key drives, and the like.
  • various storage media presented herein include one or more devices and / or other machine-readable media for storing information.
  • machine-readable medium includes, but is not limited to, a wireless channel and various other media capable of storing, holding, and / or delivering instruction (s) and / or data.
  • the present invention can be used for medical devices, medical devices and the like.

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Abstract

L'invention concerne un dispositif à ultrasons focalisés de haute intensité (HIFU) selon un mode de réalisation de la présente invention afin de résoudre le problème mentionné ci-dessus. Le dispositif HIFU comprend : une unité de capture d'image qui forme un espace pour recevoir un sujet et génère une image d'une cible de traitement du sujet; une unité de transport de patient dans laquelle un patient est situé et déplace le patient vers l'espace; une unité d'ultrason focalisé de haute intensité (HIFU) pour produire de l'énergie ultrasonore de haute intensité en incluant un transducteur HIFU connecté à un ensemble bras de robot pour fournir de manière intensive une énergie ultrasonore à une région focale; un ensemble bras de robot relié à l'unité HIFU pour déplacer l'unité HIFU vers une position correspondant à la cible de traitement; et une unité de commande pour commander une opération du dispositif HIFU comprenant un mouvement de position d'au moins l'une de l'unité de transport de patient et de l'ensemble bras de robot.
PCT/KR2016/008664 2016-08-05 2016-08-05 Dispositif hifu pour contrôler la position d'un transducteur hifu comprenant un ensemble bras de robot Ceased WO2018026038A1 (fr)

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RU197062U1 (ru) * 2019-12-26 2020-03-26 федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский политехнический университет Петра Великого" (ФГАОУ ВО "СПбПУ") Робот для термической абляции новообразований методом HIFU
CN117838311A (zh) * 2024-03-07 2024-04-09 杭州海沛仪器有限公司 基于光学定位的靶点消融呼吸门控方法及系统
CN117838311B (zh) * 2024-03-07 2024-05-31 杭州海沛仪器有限公司 基于光学定位的靶点消融呼吸门控系统

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