Ultrasonic generating device and state judging and controlling method thereof

Abstract

The present disclosure may comprise: an ultrasonic wave generation unit; a transfer unit coupled to the ultrasonic wave generating unit and configured to move the ultrasonic wave generating unit in a preset pattern; a sensor for sensing a magnetic force generated when the ultrasonic wave generating unit moves; and a control unit that determines the position of the ultrasonic wave generating unit on the basis of the sensing result information of the sensor, and determines that the ultrasonic wave generating unit is in one of a state in which the ultrasonic wave generating unit is separated from the transfer unit, a state in which the ultrasonic wave generating unit is separated from the transfer unit, and a stopped state if the position of the ultrasonic wave generating unit is not changed during the driving of the transfer unit.

Description

Technical Field

[0001] The present disclosure relates to an ultrasonic wave generating device. More specifically, the present disclosure relates to an ultrasonic wave generating device using high-intensity focused ultrasonic waves, and a state judgment and control method thereof. Background Art

[0002] Ultrasonic waves refer to waves with a frequency of more than 20KHz. They are water-permeable and are therefore widely used in medical fields such as ultrasonic diagnostic devices and ultrasonic therapeutic devices.

[0003] The most representative application of ultrasound in the medical field is an ultrasound imaging device that utilizes the transmission and reflection properties of ultrasound. For example, there is a device that obtains cross-sectional images of the human body by visualizing the time and intensity of reflection of ultrasound when it passes through the human body and passes through various organs.

[0004] In addition, there is a device that uses heat generated by high-intensity focused ultrasound (HIFU) to burn and remove specific subcutaneous tissue such as a tumor in the skin, or induces degeneration and regeneration of skin tissue, thereby producing skin beauty or skin plastic surgery effects such as wrinkle improvement.

[0005] However, in the conventional ultrasonic generating device, when the ultrasonic generating unit is moved, it is difficult to accurately sense the real-time position of the ultrasonic generating unit, and thus it is difficult to effectively irradiate the ultrasonic wave.

[0006] Furthermore, the conventional ultrasonic generating device fastens the handpiece and the sleeve housing by a magnetic coupling method, and therefore, there is a problem of repeated irradiation due to the detachment of the magnet during high-speed ultrasonic irradiation.

[0007] Furthermore, the existing ultrasonic wave generating device has the problem of possibly causing heat injury due to the inaccurate irradiation position of the ultrasonic wave generating part.

[0008] Furthermore, in the conventional ultrasonic generating device, the driving device may be driven in a state where the irradiation position of the ultrasonic generating part is inaccurate, so there is a problem that the driving parts are damaged and additional accidents occur.

[0009] Furthermore, conventional ultrasonic wave generating devices may cause a risk of burns when irradiating high heat and high ultrasonic wave energy to the skin. Summary of the invention

[0010] Technical issues An object of the embodiments disclosed in the present disclosure is to provide a technology capable of effectively irradiating ultrasonic waves by sensing the current position of an ultrasonic wave generating unit in real time.

[0011] Furthermore, the purpose of the embodiments disclosed in the present disclosure is to provide a technology that can prevent repeated irradiation caused by magnet detachment during high-speed ultrasonic irradiation by strengthening the physical fastening method in addition to the magnetic coupling method.

[0012] Furthermore, an object of the embodiments disclosed in the present disclosure is to provide a technology capable of preventing thermal injury by terminating the driving of the transducer.

[0013] Furthermore, an object of the embodiments disclosed in the present disclosure is to provide a technology capable of terminating the driving of a driving device to prevent driving components from being damaged and causing additional accidents.

[0014] Furthermore, the purpose of the embodiments disclosed in the present disclosure is to provide a technology that can terminate the ultrasonic irradiation of the transducer in one of the states of abnormal separation, detachment, and stop of the transducer to prevent indiscriminate ultrasonic irradiation in advance, thereby preventing burns or skin problems.

[0015] Furthermore, an object of the embodiments disclosed in the present disclosure is to provide a technology for preventing dangers caused by burns in advance by adjusting high heat and high ultrasonic energy.

[0016] The technical problems that the present disclosure intends to solve are not limited to the technical problems mentioned above, and those skilled in the art can clearly understand other technical problems not mentioned through the following description.

[0017] Technical Solution An ultrasonic generating device according to an embodiment of the present disclosure for solving the above-mentioned technical problems may include: an ultrasonic generating part; a transferring part, combined with the ultrasonic generating part, to move the ultrasonic generating part in a preset pattern; a sensor, sensing the movement of the ultrasonic generating part; and a control part, judging the position of the ultrasonic generating part based on the sensing result information of the sensor, and if the position of the ultrasonic generating part does not change during the driving process of the transferring part, judging that the ultrasonic generating part is in one of a state of being separated from the transferring part, a state of being disengaged, and a state of being stopped.

[0018] Furthermore, it may be characterized in that two or more sensors are arranged at equal intervals along the moving path of the ultrasonic generating part.

[0019] Furthermore, it may be characterized in that the control unit determines the position of the ultrasonic wave generating unit based on the magnetic force sensing result information of the sensor.

[0020] Furthermore, the pre-set mode may include at least one of a first mode in which the ultrasonic generating unit moves from a first location to a second location and a second mode in which the ultrasonic generating unit moves from the second location to the first location, and the magnetic sensing result information may include a plurality of sensing locations where the intensity of the magnetic force is the highest among the sensed multiple magnetic forces and a plurality of sensing locations where the multiple magnetic forces intersect with each other.

[0021] Furthermore, the control unit may further include: when the ultrasonic generating unit moves in one of the first mode and the second mode, if the magnetic force sensing result information is not a plurality of sensing locations where the magnetic force is high in intensity and a plurality of sensing locations where the plurality of magnetic forces intersect with each other, then the driving of the ultrasonic generating unit is terminated so as not to output the ultrasonic wave of the ultrasonic generating unit. Preferably, when moving in the second mode, if the plurality of magnetic forces are not a plurality of sensing locations where the plurality of magnetic forces intersect with each other, the driving of the ultrasonic generating unit may be further terminated so as not to output the ultrasonic wave of the ultrasonic generating unit. This is because the second mode movement is the direction in which the conveying unit pulls the ultrasonic generating unit, and therefore the ultrasonic generating unit may frequently detach.

[0022] And, it may be characterized in that it also includes: a sleeve shell, which accommodates the ultrasonic generating part and is combined with one side of the handpiece, wherein the handpiece includes a snap-in protrusion formed on the inner surface, and includes a magnetic main drive shaft for combining with the sleeve shell, and the sleeve shell includes an insertion groove formed on the outer surface and a magnetic body equipped to face the main drive shaft, wherein when the sleeve shell is combined with the handpiece, the insertion groove is snapped by the snap-in protrusion, and the magnetic body is combined with the magnetic main drive shaft through magnetic force.

[0023] Furthermore, according to another aspect of the present disclosure, a method for determining the state of an ultrasonic medical device and controlling the state of an ultrasonic generating device may include the following steps: moving an ultrasonic generating unit in a predetermined pattern; sensing the movement of the ultrasonic generating unit; and determining the position of the ultrasonic generating unit based on the sensing result information of the sensor. When the position of the ultrasonic generating unit does not change during the driving process of the conveying unit, it is determined that the ultrasonic generating unit is in one of a state separated from the conveying unit, a state disengaged from the conveying unit, and a state of stopping.

[0024] The feature of the method is that the position of the ultrasonic wave generating unit is determined based on the magnetic force sensing result information of the sensor.

[0025] Furthermore, the pre-set mode may include at least one of a first mode in which the ultrasonic generating unit moves from a first location to a second location and a second mode in which the ultrasonic generating unit moves from the second location to the first location, and the magnetic sensing result information may include a plurality of sensing locations where the intensity of the magnetic force is the highest among the sensed multiple magnetic forces and a plurality of sensing locations where the multiple magnetic forces intersect with each other.

[0026] Furthermore, when the ultrasonic generating unit moves in one of the first mode and the second mode, if the magnetic force sensing result information is not a plurality of sensing locations where the magnetic force intensity is high and a plurality of sensing locations where the plurality of magnetic forces intersect each other, the driving of the ultrasonic generating unit can be terminated so as not to output the ultrasonic wave of the ultrasonic generating unit.

[0027] Beneficial Effects According to the above-mentioned technical problem solution of the present disclosure, the following effect can be provided: ultrasonic waves can be effectively irradiated by sensing the current position of the ultrasonic wave generating unit in real time.

[0028] Furthermore, according to the above-mentioned technical problem solution of the present disclosure, the following effect can be provided: in addition to the coupling method by magnetic force, the physical fastening method is also strengthened, thereby preventing repeated irradiation caused by the detachment of the magnet generated during high-speed ultrasonic irradiation.

[0029] Furthermore, according to the above-mentioned technical problem solution of the present disclosure, the following effect can be provided: thermal injury can be prevented by terminating the driving of the transducer.

[0030] Furthermore, according to the above-mentioned technical problem solution of the present disclosure, the following effect can be provided: the driving of the driving device can be terminated to prevent the driving components from being damaged and to prevent additional accidents.

[0031] Furthermore, according to the above-mentioned technical problem solution disclosed in the present invention, the following effect can be provided: the ultrasonic irradiation of the transducer can be terminated in one of the states of abnormal separation, detachment, and stop of the transducer, so as to prevent indiscriminate ultrasonic irradiation in advance, thereby preventing burns or skin problems in advance.

[0032] Furthermore, according to the above-mentioned technical problem solution of the present disclosure, the following effect can be provided: the danger caused by burns can be prevented in advance by adjusting high heat and high ultrasonic energy.

[0033] The effects of the present disclosure are not limited to the effects mentioned above, and those skilled in the art can clearly understand other effects not mentioned through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1is a perspective view showing an ultrasonic wave generating device according to the present disclosure.

[0035] Figure 2 It is an exploded perspective view showing the ultrasonic generating sleeve.

[0036] Figure 3 It is shown Figure 1 A cross-sectional view of a sleeve for generating ultrasonic waves.

[0037] Figure 4 It is shown Figure 1 A cross-sectional view of the process of combining the sleeve shell and the handpiece.

[0038] Figure 5 2 is a diagram showing the configuration of an ultrasonic wave generating device according to the present disclosure.

[0039] Figure 6 It is shown Figure 5 A diagram showing an example of a process in which an ultrasonic generating unit moves.

[0040] Figure 7 It is shown Figure 6 A diagram showing an example of a pattern in which an ultrasonic wave generating unit moves.

[0041] Figure 8 is a flow chart showing a state judgment and control method of an ultrasound generating device according to the present disclosure.

[0042] Figures 9 to 11 It shows that Figure 6 A diagram of an example of a process of providing two or more sensors to respectively sense magnetic forces of a magnet generated when a transducer moves.

[0043] Fig.12 It is shown based on Figure 8 A diagram showing an example of a method for determining whether to drive the ultrasonic generating unit and the driving device and irradiate ultrasonic energy based on the state of the ultrasonic generating unit.

[0044] Fig.13 It shows that Figure 7 FIG. 1 is a diagram showing an example of a process of outputting magnetic force sensing result information through a processor when an ultrasonic generating unit moves forward in a first mode.

[0045] Fig.14 It shows that Figure 7 FIG. 1 is a diagram showing an example of a process of outputting magnetic force sensing result information through a processor when an ultrasonic wave generating unit returns and moves in a second mode.

[0046] Fig.15 It shows that Figure 7FIG. 1 is a diagram showing an example of a process in which a processor outputs magnetic force sensing result information when an ultrasonic generating unit of the present invention reciprocates between a first mode and a second mode. DETAILED DESCRIPTION

[0047] Throughout the entire disclosure, the same reference numerals refer to the same constituent elements. The present disclosure does not describe all the elements of the embodiments, and will omit the general content in the technical field to which the present disclosure belongs or the content repeated between the embodiments. The terms "part, module, component, block" used in the specification can be implemented by software or hardware, and according to the embodiment, multiple "parts, modules, components, blocks" can be implemented by one constituent element, or one "part, module, component, block" can also include multiple constituent elements.

[0048] Throughout the specification, when a certain part is “connected” to another part, it includes not only the case where the part is directly connected to the other part, but also the case where the part is indirectly connected to the other part, including the case where the indirect connection is via a wireless communication network.

[0049] Furthermore, when a certain part “includes” a certain constituent element, unless there is any special description to the contrary, it means that other constituent elements may also be included, rather than excluding other constituent elements.

[0050] Throughout the specification, when a certain component is located “on” another component, this includes not only a case where the certain component is in contact with the other component but also a case where another component exists between the two components.

[0051] The terms "first" and "second" are used to distinguish one constituent element from another constituent element, and the constituent elements are not limited by the above terms.

[0052] Unless the context clearly dictates otherwise, an expression in the singular includes an expression in the plural.

[0053] In each step, identification symbols are used for ease of explanation, and are not used to explain the order of the steps. Unless a specific order is clearly stated in the context, the steps may be implemented in an order different from that stated above.

[0054] Hereinafter, the working principle and embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0055] First of all, the high-intensity focused ultrasound (HIFU) technology is a technology that uses the heat generated when high-intensity ultrasound is concentrated on a point in the skin to burn specific subcutaneous tissues such as tumors in the skin. This is similar to the principle of using a magnifying glass to gather warm sunlight to make a fire. Since ultrasound waves easily pass through body tissues, HIFU treatment is performed in a perfectly non-invasive manner without a knife or even a needle. In other words, it is a method of treating by burning specific subcutaneous tissues such as tumors as long as the patient's treatment area is close to the ultrasound generating surface. In addition, HIFU treatment is currently used to treat uterine fibroids, bone metastasis, prostate cancer, breast cancer, pancreatic cancer, liver cancer, kidney cancer, etc.

[0056] This high-intensity focused ultrasound technology can be achieved through an ultrasound generating sleeve that can irradiate ultrasound energy onto the patient's skin surface.

[0057] In this specification, the control unit of the ultrasonic irradiation device according to the present disclosure includes all kinds of devices that can perform calculation processing to provide results to the user. For example, the control unit of the ultrasonic irradiation device according to the present disclosure may include all of a computer, a server device, and a portable terminal, or may be any one of them.

[0058] Here, for example, the computer may include a notebook computer equipped with a web browser, a desktop computer, a laptop computer, a tablet computer, a touch-screen tablet computer, etc.

[0059] The server device is a server that communicates with external devices to process information, and may include an application server, a computing server, a database server, a file server, a mail server, a proxy server, and a network server.

[0060] For example, a portable terminal, as a wireless communication device that ensures portability and mobility, may include all kinds of handheld wireless communication devices such as personal communication system (PCS), global system for mobile communications (GSM), personal digital cellular (PDC), personal handyphone system (PHS), personal digital assistant (PDA), international mobile telecommunication (IMT)-2000, code division multiple access (CDMA)-2000, wideband code division multiple access (W-CDMA), wireless broadband Internet (WiBro) terminals, smart phones, etc., and wearable devices such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses or head-mounted devices (HMD).

[0061] Figure 1 is a perspective view showing an ultrasonic wave generating device according to the present disclosure. Figure 2 It is an exploded perspective view showing the ultrasonic generating sleeve.

[0062] Figure 3 It is shown Figure 1 A cross-sectional view of a sleeve for generating ultrasonic waves.

[0063] like Figures 1 to 3 As shown, the ultrasonic generating device may include a handpiece 100 , a driving device 200 and a sleeve housing 300 .

[0064] The handpiece 100 is a basic body and may be used as a handle for a user to grasp. A sleeve housing 300 accommodating an ultrasonic wave generating unit 400 may be detachably coupled to one side of the handpiece 100 .

[0065] When the user grasps the handpiece 100 and moves the handpiece 100 so that the sleeve housing 300 is in close contact with the skin surface, the high-intensity focused ultrasonic wave generated by the ultrasonic wave generating unit 400 can be irradiated to a specific depth deep in the skin.

[0066] A cable connected to an RF board for applying RF current to the driving device 200 and the ultrasonic generator 400 may be provided inside the handpiece 100. The RF board may be accommodated in the sleeve housing 300 and may intermittently or continuously apply RF current to the driving device 200 and the ultrasonic generator 400.

[0067] The driving device 200 can play a role in providing power for moving the ultrasonic generating unit 400. Such a driving device 200 can move the ultrasonic generating unit 400 through the main driving shaft 210 that is connected to the mounter 450 of the ultrasonic generating unit 400. For example, the driving device 200 can use an actuator or a motor that moves the main driving shaft 210 back and forth. In addition, the direction in which the driving device 200 moves the main driving shaft 210 can be the length direction of the handpiece 100 or the length direction of the sleeve housing 300. In addition, the driving device 200 can be provided on the handpiece 100 or the sleeve housing 300.

[0068] The sleeve housing 300 is a housing that accommodates the ultrasonic generator 400 and is detachably coupled to one side of the handpiece 100. A medium of high-intensity focused ultrasonic waves generated by the ultrasonic generator 400 may be accommodated inside the sleeve housing 300. For example, the medium may be distilled water, degassed liquid, silicone resin, etc., but the present invention is not particularly limited thereto.

[0069] The ultrasonic wave generator 400 is provided on the sleeve housing 300 so as to be reciprocally movable and generates high-intensity focused ultrasonic waves. The ultrasonic wave generator 400 may include a frame 410, a magnet 420, a transducer 430, a sliding member 440, a mounter 450, a bushing 460, and the like.

[0070] Here, the frame 410 , the magnet 420 , the transducer 430 , the slider 440 , the mounter 450 , and the bushing 460 of the ultrasonic generator 400 may be integrated into one body and move together.

[0071] Also, the movement of the ultrasonic generating part 400 may be performed by the driving device 200 that moves the main driving shaft 210 coupled to the mounter 450 of the ultrasonic generating part 400 .

[0072] The frame 410 is a basic body and may be connected as a whole with the magnet 420, the slider 440, and the mounter 450. The magnet 420 may be connected to the upper side of the frame 410, and the transducer 430 may be detachably combined to the lower side of the frame 410. Also, in the frame 410, the mounter 450 and the slider 440 may be through-combined between the magnet 420 and the transducer 430, and in the frame 410, the mounter 450 may be arranged between the magnet 420 and the slider 440. Also, the central axis of the magnet 420 and the central axis of the transducer 430 may be arranged to be aligned with the central axis of the frame 410.

[0073] The sensing unit 500 may include sensors 521a, 521b, 521c, 521d, 521e, and 521f, which are arranged to face the magnet 420 and are arranged at equal intervals along the moving path of the ultrasonic generating unit 400. The two or more sensors 521a, 521b, 521c, 521d, 521e, and 521f can respectively sense the magnetic force of the magnet 420 generated when the ultrasonic generating unit 400 moves. For example, the two or more sensors 521a, 521b, 521c, 521d, 521e, and 521f can be magnetic Hall sensors. The magnetic Hall sensor can linearly sense the position of the current transducer 430 based on the strength of the magnetic force measured according to the positional relationship with the magnet 420. This magnetic Hall sensor can sense all numerical values ​​of changes in the intensity of the magnetic force in real time, and can sense the overlapping parts of the magnetic force intensity between sensors. Therefore, during the ultrasonic irradiation process, it can sense at least one of the separated state, detached state, and stopped state of the transducer 430.

[0074] The guide plate 310 may cover the upper portion of the sleeve housing 300, and a slot 311 for guiding the movement of the magnet 420 may be formed at the center of the guide plate 310. Here, the slot 311 may be formed along the moving direction of the magnet 420.

[0075] The transducer 430 may receive RF current from the RF board of the handpiece 100 to generate high-intensity focused ultrasound waves.

[0076] The mounter 450 may be disposed between the magnet 420 and the transducer 430, and may be detachably coupled to or integrally coupled to the end of the main drive shaft 210. Therefore, when the driving device 200 moves the main drive shaft 210, the mounter 450 may also move together.

[0077] For example, both sides of the mounter 450 may be supported by a pair of bellows 320. The pair of bellows 320 is arranged across the mounter 450. For example, one end of the bellows 320 may be detachably coupled to one side of the moving direction of the mounter 450, and the other end of the bellows 320 may contact the inner surface of the sleeve housing 300.

[0078] Therefore, when the mounter 450 moves, one of the pair of bellows 320 is compressed and the other expands, so that the pair of bellows 320 can support the mounter 450 .

[0079] In addition, a protruding insertion protrusion 321 may be formed in one of the corrugated tube 320 and the mounter 450, and a groove 451 to which the insertion protrusion 321 is detachably coupled may be formed in the other of the corrugated tube 320 and the mounter 450. Figure 3 An insertion protrusion 321 is formed at one end of the bellows 320 and a groove 451 is formed on the outer circumferential surface of the mounter 450, so that the insertion protrusion 321 of the bellows 320 can be detachably coupled to the groove 451 of the mounter 450. In more detail, the insertion protrusion 321 of the bellows 320 and the groove 451 of the mounter 450 can be formed in a ring shape.

[0080] The sliding member 440 may be provided between the magnet 420 and the transducer 430. Such sliding member 440 may slide along the guide shaft 330 arranged on the sleeve housing 300 in parallel with the moving direction of the magnet 420. Here, both ends of the guide shaft 330 are fixed to both surfaces of the sleeve housing 300, and the guide shaft 330 may be penetrated by the sliding member 440 to guide the sliding of the sliding member 440.

[0081] The bushing 460 is provided on the inner circumferential surface of the slider 440 and can play a role in reducing the wear of the slider 440 when the slider 440 slides along the guide shaft 330. The bushing 460 may have a shape protruding to both sides of the slider 440.

[0082] The ultrasonic generating device according to the present disclosure can be provided so that when the sleeve housing 300 is combined with the handpiece 100, the transducer 430 can be prevented from being separated, and the fastening force can be further improved while being combined by magnetic force.

[0083] Figure 4 It is shown Figure 1 A cross-sectional view of the process of combining the sleeve shell and the handpiece.

[0084] like Figure 4As shown, the sleeve housing 300 can be combined with one side of the handpiece 100. The handpiece 100 may include a snap-on protrusion 101a formed on the inner surface, and may include a main driving shaft 210 having magnetism for combining with the sleeve housing 300. For example, the snap-on protrusion 101a may be a hook in a cantilevered form.

[0085] The sleeve housing 300 may include an insertion groove 301a formed on the outer surface and a magnetic body 302 disposed to face the main drive shaft 210. When such a sleeve housing 300 is combined with the handpiece 100, the insertion groove 301a may be engaged by the engaging protrusion 101a, and may be magnetically engaged with the magnetic main drive shaft 210 by the magnetic body 302. For example, the magnetic body 302 may be disposed at the front end of the sleeve housing 300, and may be magnetically engaged with the end of the magnetic main drive shaft 210 by magnetic force.

[0086] According to the present disclosure, the ultrasonic generating device can be provided so that when the ultrasonic generating unit 400 moves, the real-time position of the ultrasonic generating unit 400 and at least one of whether the ultrasonic generating unit 400 is separated from the conveying part, detached, or stopped can be determined based on the magnetic sensing result information of more than two sensors 521a, 521b, 521c, 521d, 521e, and 521f.

[0087] Hereinafter, a process of judging the state of the ultrasonic wave generating device and controlling the operation of the ultrasonic wave generating device will be described in detail.

[0088] Figure 5 2 is a diagram showing the configuration of an ultrasonic wave generating device according to the present disclosure. Figure 6 It is shown Figure 5 A diagram showing an example of a process in which an ultrasonic generating unit moves.

[0089] like Figure 5 and Figure 6 As shown, the ultrasonic wave generating device 600 may include a driving device 200 , a transfer unit 610 , an ultrasonic wave generating unit 400 , a sensor 521 and a control unit 620 .

[0090] The transfer part 610 is used to move the ultrasonic generating part 400 to the left or right, and can be configured to support the ultrasonic generating part 400. Here, for the convenience of explanation, the transfer part 610 is shown as the main driving shaft for explanation. The transfer part 610 can move the ultrasonic generating part 400 to the left or right according to the drive of the driving device 200. The ultrasonic generating part 400 having the transducer 430 can move to the left or right in the horizontal direction while maintaining the ultrasonic focal depth by moving the transfer part 610. The transfer part 610 is combined with the ultrasonic generating part 400, so that the ultrasonic generating part 400 can move in a pre-set mode.

[0091] Figure 7 It is shown Figure 6 A diagram showing an example of a pattern in which an ultrasonic wave generating unit moves.

[0092] Reference Figure 7 The transfer unit 610 can move the ultrasonic wave generating unit 400 in a preset mode. The preset mode may include: Figure 7 The ultrasonic wave generating unit 400 shown in (a) moves from the first location A to the second location B in the first mode. The preset modes may include: Figure 7 The ultrasonic wave generating unit 400 moves from the second location B to the first location A in the second mode shown in (b). The preset modes may include: Figure 7 (c) shows a first mode and a second mode of reciprocating movement between a first location A and a second location B. Information about the first mode and information about the second mode may be stored in the memory 621 .

[0093] The control unit 620 can be implemented using a memory 621 and at least one processor 622. The memory 621 can store an algorithm for controlling the operation of the components in the device or program data for implementing the algorithm. The at least one processor 622 can use the data stored in the memory 621 to perform the above operations. Here, the memory 621 and the processor 622 can be implemented using separate chips respectively. In addition, the memory 621 and the processor 622 can also be implemented using a single chip.

[0094] The memory 621 can store data for supporting various functions of the device and programs for controlling the operation of the device, can store input / output data, can store multiple application programs (application programs or applications) driven in the device, data and instructions for the operation of the device. At least part of these applications can be downloaded from an external server through wireless communication.

[0095] Such a memory 621 may include at least one type of storage medium selected from the group consisting of a flash memory type, a hard disk type, a solid state disk type (SSD), a silicon disk drive type (SDD), a multimedia card micro type, a card-type memory (e.g., a secure digital (SD) or an extreme digital (XD) memory), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. Furthermore, the memory 621 is separated from the present device, but may also be a database connected in a wired or wireless manner.

[0096] like Figure 6 As shown, the sensing unit 500 can sense the magnetic force generated when the ultrasonic generating unit 400 moves. The sensing unit 500 may include at least one sensor 521 arranged along the moving path of the ultrasonic generating unit 400. As an example, the sensing unit 500 may include two or more sensors 521a, 521b, 521c, 521d, 521e, 521f arranged at equal intervals along the moving path of the ultrasonic generating unit 400. The two or more sensors 521a, 521b, 521c, 521d, 521e, 521f may respectively sense the magnetic force of the magnet 420 generated when the transducer 430 of the ultrasonic generating unit 400 moves.

[0097] The processor 622 may determine the position of the ultrasonic wave generating part based on the magnetic sensing result information of the sensor 521 .

[0098] The processor 622 may determine at least one of the current position of the transducer 430 , the movement stop phenomenon of the transducer 430 , and whether the transducer 430 is separated from the transfer unit 610 based on the magnetic sensing result information.

[0099] During the driving process of the driving device 200 driving the ultrasonic generating unit 400, if the position of the ultrasonic generating unit 400 does not change, the processor 622 can determine that the ultrasonic generating unit 400 is in one of a state of being separated from the transfer unit 610, a state of being disengaged, and a state of being stopped.

[0100] For example, the processor 622 can determine the current position of the transducer 430 based on the magnetic sensing result information of more than two sensors 521a, 521b, 521c, 521d, 521e, and 521f. During the driving process of the transfer unit 610, if the position of the transducer 430 changes normally, the processor 622 can drive the transducer 430 and irradiate ultrasonic waves to the skin S on the moving path of the transfer unit 610 through the transducer 430.

[0101] On the contrary, during the driving process of the transfer unit 610, when there is no change in the position of the transducer 430, the processor 622 may determine that the movement of the transducer 430 has stopped, or that the transducer 430 has been abnormally separated from the transfer unit 610 (detachment phenomenon). When there is no change in the position of the transducer 430, the processor 622 may terminate the driving of the transducer 430 to prevent thermal injury. Furthermore, when there is no change in the position of the transducer 430, the processor 622 may terminate the driving of the transducer 430 while terminating the driving of the driving device 200, thereby preventing damage to the driving components and preventing additional accidents. At this time, the processor 622 may terminate the driving of the transducer 430 during the separation of the transducer 430 so as not to irradiate the ultrasonic wave.

[0102] Figure 8 is a flow chart showing a state judgment and control method of an ultrasound generating device according to the present disclosure.

[0103] Reference Figure 8 The state judgment and control method of the ultrasonic generating device may include an ultrasonic generating unit moving step (S810), a magnetic force sensing step (S820), and an ultrasonic generating unit state judgment step (S830).

[0104] The ultrasonic wave generating unit moving step may move the ultrasonic wave generating unit 400 in a preset mode by the transfer unit 610 (S810). The preset mode may include: Figure 7 The ultrasonic wave generating unit 400 shown in (a) moves from the first location A to the second location B in the first mode. The preset modes may include: Figure 7 The ultrasonic wave generating unit 400 moves from the second location B to the first location A in the second mode shown in (b). The preset modes may include: Figure 7(c) shows a first mode and a second mode of reciprocating movement between a first location A and a second location B. Information about the first mode and information about the second mode may be stored in the memory 621 .

[0105] The magnetic force sensing step may sense the magnetic force generated when the ultrasonic generating unit 400 moves by the sensing unit 500 (S820). The sensing unit 500 may include at least one sensor 521 disposed along the moving path of the ultrasonic generating unit 400. As an example, in the magnetic force sensing step, the magnetic force of the magnet 420 generated when the ultrasonic generating unit 400 moves may be sensed by two or more sensors 521a, 521b, 521c, 521d, 521e, 521f disposed at equal intervals along the moving path of the ultrasonic generating unit 400. For example, the two or more sensors 521a, 521b, 521c, 521d, 521e, 521f may be magnetic Hall sensors.

[0106] Figures 9 to 11 It is shown that by setting Figure 6 A diagram of an example of a process in which two or more sensors are used to respectively sense the magnetic force of a magnet generated when a transducer moves.

[0107] First, the transducer 430 according to the present disclosure can be used as follows Figure 7 The first mode of movement shown in (a) of the embodiment is to move from the first location A to the second location B, so as to Figure 7 The second mode of movement from the second location B to the first location A as shown in (b) of FIG. Figure 7 The first mode and the second mode of reciprocating movement between the first point A and the second point B shown in (c) are shown.

[0108] For convenience of description, the following description will be given of a first mode in which the transducer 430 moves from the first location A to the second location B.

[0109] Reference Fig. 9 In (a) and (b), in the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the first sensor 521a, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the first sensor 521a. In the magnetic force sensing step, if the position of the transducer 430 is changed to a position between the first sensor 521a and the second sensor 521b, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the first sensor 521a and the second sensor 521b.

[0110] Reference Fig. 9In (c) and (d), in the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the second sensor 521b, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the second sensor 521b. In the magnetic force sensing step, if the position of the transducer 430 is changed to a position between the second sensor 521b and the third sensor 521c, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the second sensor 521b and the third sensor 521c.

[0111] Reference Fig.10 In (e) and (f), in the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the third sensor 521c, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the third sensor 521c. In the magnetic force sensing step, if the position of the transducer 430 is changed to a position between the third sensor 521c and the fourth sensor 521d, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the third sensor 521c and the fourth sensor 521d.

[0112] Reference Fig.10 In (g) and (h), in the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the fourth sensor 521d, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the fourth sensor 521d. In the magnetic force sensing step, if the position of the transducer 430 is changed to a position between the fourth sensor 521d and the fifth sensor 521e, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the fourth sensor 521d and the fifth sensor 521e.

[0113] Reference Fig.11 (i), (j) and (k), in the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the fifth sensor 521e, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the fifth sensor 521e. In the magnetic force sensing step, if the position of the transducer 430 is changed to a position between the fifth sensor 521e and the sixth sensor 521f, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the fifth sensor 521e and the sixth sensor 521f. In the magnetic force sensing step, if the position of the transducer 430 is changed to the position of the sixth sensor 521f, the magnetic force of the magnet 420 generated when the transducer 430 moves can be sensed by the sixth sensor 521f.

[0114] like Figures 9 to 11As shown, two or more sensors 521a, 521b, 521c, 521d, 521e, 521f can linearly sense the position of the current transducer 430 based on the strength of the magnetic force measured according to the positional relationship with the magnet 420. Such two or more sensors 521a, 521b, 521c, 521d, 521e, 521f can sense all values ​​of the change in the strength of the magnetic force in real time, so that the overlapping parts of the magnetic strength between the sensors can be sensed, and therefore at least one of the separated state, the detached state and the stopped state of the transducer 430 can be sensed during the ultrasonic irradiation process. Here, for the sake of convenience, it is shown that the two or more sensors 521f are equipped with six, but according to the ultrasonic irradiation conditions and the internal space, etc., less than six or more than six can be equipped.

[0115] In the state determination step of the ultrasonic wave generator, the processor 622 may determine the position of the ultrasonic wave generator 400 based on the magnetic sensing result information of the sensor 521. As an example, the processor 622 may determine the position of the ultrasonic wave generator 400 based on the magnetic sensing result information of two or more sensors 521a, 521b, 521c, 521d, 521e, and 521f.

[0116] In the state determination step of the ultrasonic generator, if the position of the ultrasonic generator 400 does not change during the driving of the transfer unit 610, the processor 622 may determine that the ultrasonic generator 400 is in one of a state of being separated from the transfer unit 610, a state of being detached from the transfer unit 610, and a state of being stopped (S830). The processor 622 may determine at least one of the real-time position of the transducer 430, the movement stop phenomenon of the transducer 430, and whether the transducer 430 is detached from the transfer unit 610 based on the magnetic sensing result information.

[0117] Fig.12 It is shown based on Figure 8 A diagram showing an example of a method for determining whether to drive the ultrasonic generating unit and the driving device and irradiate ultrasonic energy based on the state of the ultrasonic generating unit.

[0118] Reference Fig.12 In the state determination step of the ultrasonic generating unit, the ultrasonic generating unit 400 is moved by the transfer unit 610 as follows Figure 7 The first mode shown in (a) is as follows: Figure 7 The second mode shown in (b) and Figure 7When the transducer 430 moves in one of the first mode and the second mode shown in (c), the processor 622 can determine whether the position of the transducer 430 is changed to the position of the first sensor 521a to the sixth sensor 521f, or whether it is changed to a position between the first sensor 521a to the sixth sensor 521f (S831).

[0119] Fig.13 It shows that Figure 7 FIG. 1 is a diagram showing an example of a process of outputting magnetic force sensing result information through a processor when an ultrasonic wave generating unit moves forward in a first mode.

[0120] Reference Fig.13 When the ultrasonic wave generating unit 400 moves forward in the first mode, if the position of the transducer 430 is changed to the position of the first sensor 521a to the sixth sensor 521f, the processor 622 can output the magnetic force sensing result information for each linear graph G1, G2, G3, G4, G5, G6 including the plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity. S1, S3, S5, S7, S9, S11 represent the case where the position of the transducer 430 is changed to the position of the first sensor 521a to the sixth sensor 521f in sequence.

[0121] When the ultrasonic wave generating unit 400 moves forward in the first mode, if the position of the transducer 430 is changed to a position between the first sensor 521a to the sixth sensor 521f, the processor 622 can output magnetic force sensing result information for each linear graph G1, G2, G3, G4, G5, G6 of a plurality of sensing locations S2, S4, S6, S8, S10 including a plurality of magnetic forces intersecting each other. S2, S4, S6, S8, S10 represent a situation where the position of the transducer 430 is sequentially changed to a position between the first sensor 521a to the sixth sensor 521f.

[0122] When the ultrasonic wave generating part 400 moves forward in the first mode, the processor 622 may output the magnetic force sensing result information of each line graph G1 to G6 including the plurality of sensing locations S1 to S11 in the order of S1 -> S11 .

[0123] Reference Fig.12In the step of terminating the driving of the ultrasonic wave generating unit, if the processor 622 determines that the magnetic force sensing result information is not the multiple sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and the multiple sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect each other, the driving of the ultrasonic wave generating unit 400 may be terminated so as not to output the ultrasonic wave of the ultrasonic wave generating unit 400 (S832). If the magnetic force sensing result information is not the multiple sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and the multiple sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect each other, and in the driving process of the transfer unit 200, if there is no position change of the transducer 430, the processor 622 may determine that the transducer 430 is in a stopped state, or is in one of a state in which the transducer 430 is separated from the transfer unit 610 or a state in which it is detached. If it is determined that the magnetic sensing result information is not a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic strength and a plurality of sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect with each other, the processor 622 can terminate the driving of the transducer 430 to prevent heat injury.

[0124] Reference Fig.12 In the driving termination step of the driving device, if the processor 622 determines that the magnetic sensing result information is not a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic strength and a plurality of sensing locations S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect with each other, the driving of the driving device 200 can be terminated to prevent damage to the driving components and prevent additional accidents (S833).

[0125] Reference Fig.12 In the ultrasonic wave generating unit driving step, if the processor 622 determines that the magnetic force sensing result information is a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and a plurality of sensing locations S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect each other, the ultrasonic wave generating unit 400 may be driven to output ultrasonic waves of the ultrasonic wave generating unit 400 (S834). The transducer 430 may irradiate ultrasonic waves to the skin S on the moving path of the transporting unit 610. The transducer 430 irradiates ultrasonic waves when moving forward in the first mode, and does not irradiate ultrasonic waves when moving back, so it can be known that the width of the magnetic field of the linear graphs G1 to G6 representing the forward movement is greater than the width of the magnetic field of the linear graph representing the back movement.

[0126] Fig.14 It shows that Figure 7 FIG. 1 is a diagram showing an example of a process of outputting magnetic force sensing result information through a processor when an ultrasonic wave generating unit returns and moves in a second mode.

[0127] Reference Fig.14 When the ultrasonic wave generating unit 400 moves back in the second mode, if the position of the transducer 430 is changed to the position of the sixth sensor 521f to the first sensor 521a, the processor 622 can output the magnetic force sensing result information for each linear graph G6, G5, G4, G3, G2, G1 of the plurality of sensing locations S11, S9, S7, S5, S3, S1 with high magnetic force intensity. S11, S9, S7, S5, S3, S1 represent the case where the position of the transducer 430 is changed to the position of the sixth sensor 521f to the first sensor 521a in sequence.

[0128] When the ultrasonic generating unit 400 moves back in the second mode, if the position of the transducer 430 is changed to a position between the sixth sensor 521f and the first sensor 521a, the processor 622 can output magnetic sensing result information for each linear graph G6, G5, G4, G3, G2, G1 of a plurality of sensing locations S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other. S10, S8, S6, S4, S2 represent a situation where the position of the transducer 430 is sequentially changed to a position between the sixth sensor 521f and the first sensor 521a.

[0129] When the ultrasonic wave generating part 400 moves back in the second mode, the processor 622 may output magnetic force sensing result information including line graphs G6 to G1 of each of the plurality of sensing locations S11 to S1 in the order of S11 -> S1 .

[0130] Reference Fig.12In the step of terminating the driving of the ultrasonic wave generating unit, if the processor 622 determines that the magnetic force sensing result information is not the multiple sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force is high and the multiple sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, the driving of the ultrasonic wave generating unit 400 may be terminated so as not to output the ultrasonic wave of the ultrasonic wave generating unit 400 (S832). If the magnetic force sensing result information is not the multiple sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force is high and the multiple sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, and in the driving process of the transfer unit 610, if there is no position change of the transducer 430, the processor 622 may determine that the transducer 430 is in a stopped state, or is in one of a state in which the transducer 430 is separated from the transfer unit 610 or a state in which the transducer 430 is detached. If it is determined that the magnetic sensing result information is not a plurality of sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force intensity is high and a plurality of sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, the processor 622 may terminate the driving of the transducer 430 to prevent heat injury.

[0131] Reference Fig.12 In the driving termination step of the driving device, if the processor 622 determines that the magnetic force sensing result information is not a plurality of sensing locations S11, S9, S7, S5, S3, S1 with high magnetic strength and a plurality of sensing locations S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect with each other, the driving of the driving device 200 can be terminated to prevent damage to the driving components and prevent additional accidents (S833).

[0132] Reference Fig.12 In the ultrasonic wave generating unit driving step, if the processor 622 determines that the magnetic force sensing result information is a plurality of sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force is high and a plurality of sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect each other, the ultrasonic wave generating unit 400 may be driven to output the ultrasonic wave of the ultrasonic wave generating unit 400 (S834). The transducer 430 may irradiate the ultrasonic wave to the skin S on the moving path of the transporting unit 610. The transducer 430 irradiates the ultrasonic wave when returning in the second mode, but does not irradiate the ultrasonic wave energy when advancing, so it can be known that the width of the magnetic field of the linear graph G6 to G1 representing the returning movement is greater than the width of the magnetic field of the linear graph representing the advancing movement.

[0133] Fig.15 It shows that Figure 7 FIG. 1 is a diagram showing an example of a process in which a processor outputs magnetic force sensing result information when an ultrasonic generating unit reciprocates in a first mode and a second mode.

[0134] Reference Fig.15 When the ultrasonic wave generating unit 400 moves forward in the first mode, if the position of the transducer 430 is changed to the position of the first sensor 521a to the sixth sensor 521f, the processor 622 can output the magnetic force sensing result information for each linear graph G1, G2, G3, G4, G5, G6 including the plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity. S1, S3, S5, S7, S9, S11 represent the case where the position of the transducer 430 is changed to the position of the first sensor 521a to the sixth sensor 521f in sequence.

[0135] When the ultrasonic wave generating unit 400 moves forward in the first mode, if the position of the transducer 430 is changed to a position between the first sensor 521a to the sixth sensor 521f, the processor 622 can output magnetic force sensing result information for each linear graph G1, G2, G3, G4, G5, G6 of a plurality of sensing locations S2, S4, S6, S8, S10 including a plurality of magnetic forces intersecting each other. S2, S4, S6, S8, S10 represent a situation where the position of the transducer 430 is sequentially changed to a position between the first sensor 521a to the sixth sensor 521f.

[0136] When the ultrasonic wave generating part 400 moves forward in the first mode, the processor 622 may output the magnetic force sensing result information of each line graph G1 to G6 including the plurality of sensing locations S1 to S11 in the order of S1 -> S11 .

[0137] When the ultrasonic wave generating unit 400 moves back in the second mode, if the position of the transducer 430 is changed to the position of the sixth sensor 521f to the first sensor 521a, the processor 622 can output the magnetic force sensing result information for each linear graph G6 to G1 including a plurality of sensing locations S11, S9, S7, S5, S3, S1 with high magnetic force intensity. S11, S9, S7, S5, S3, S1 represent the case where the position of the transducer 430 is sequentially changed to the position of the sixth sensor 521f to the first sensor 521a.

[0138] When the ultrasonic wave generating unit 400 moves back in the second mode, if the position of the transducer 430 is changed to a position between the sixth sensor 521f and the first sensor 521a, the processor 622 can output magnetic force sensing result information for each linear graph G6 to G1 of a plurality of sensing locations S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other. S10, S8, S6, S4, S2 represent a situation where the position of the transducer 430 is sequentially changed to a position between the sixth sensor 521f and the first sensor 521a.

[0139] When the ultrasonic wave generating part 400 moves back in the second mode, the processor 622 may output magnetic force sensing result information including line graphs G6 to G1 of each of the plurality of sensing locations S11 to S1 in the order of S11 -> S1 .

[0140] Reference Fig.12 In the step of terminating the driving of the ultrasonic wave generating unit, if the processor 622 determines that the magnetic force sensing result information is not the multiple sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and the multiple sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect each other, the driving of the ultrasonic wave generating unit 400 may be terminated so as not to output the ultrasonic wave of the ultrasonic wave generating unit 400 (S832). If the magnetic force sensing result information is the multiple sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and the multiple sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect each other, and in the driving process of the transfer unit 610, if there is no position change of the transducer 430, the processor 622 may determine that the transducer 430 is in a stopped state, or is in one of a state in which the transducer 430 is separated from the transfer unit 610 or a state in which it is detached. If it is determined that the magnetic sensing result information is not a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic strength and a plurality of sensing locations S2, S4, S6, S8, S10 where multiple magnetic forces intersect with each other, the processor 622 can terminate the driving of the transducer 430 to prevent heat injury.

[0141] Furthermore, in the step of terminating the driving of the ultrasonic wave generating unit, if the processor 622 determines that the magnetic force sensing result information is not the multiple sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force is high and the multiple sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, the driving of the ultrasonic wave generating unit 400 may be terminated so as not to output the ultrasonic wave of the ultrasonic wave generating unit 400 (S832). If the magnetic force sensing result information is not the multiple sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force is high and the multiple sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, and in the driving process of the transfer unit 610, if there is no position change of the transducer 430, the processor 622 may determine that the transducer 430 is in a stopped state, or is in one of a state in which the transducer 430 is separated from the transfer unit 610 or a state in which the transducer 430 is detached. If it is determined that the magnetic sensing result information is not a plurality of sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force intensity is high and a plurality of sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, the processor 622 may terminate the driving of the transducer 430 to prevent heat injury.

[0142] Reference Fig.12 In the drive stopping step of the drive device, if the processor 622 determines that the magnetic force sensing result information is not a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and a plurality of sensing locations S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect with each other, the drive of the drive device 200 can be stopped to prevent damage to the drive components and prevent additional accidents (S833).

[0143] Furthermore, in the driving termination step of the driving device, if the processor 622 determines that the magnetic force sensing result information is not a plurality of sensing locations S11, S9, S7, S5, S3, S1 where the magnetic force intensity is high and a plurality of sensing locations S10, S8, S6, S4, S2 where the magnetic forces intersect with each other, the driving of the driving device 200 can be terminated to prevent damage to the driving components and prevent additional accidents (S833).

[0144] Reference Fig.12 In the ultrasonic wave generating unit driving step, if the processor 622 determines that the magnetic force sensing result information is a plurality of sensing locations S1, S3, S5, S7, S9, S11 with high magnetic force intensity and a plurality of sensing locations S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect each other, the ultrasonic wave generating unit 400 may be driven to output ultrasonic waves of the ultrasonic wave generating unit 400 (S834). The transducer 430 may irradiate ultrasonic waves to the skin S on the moving path of the transporting unit 610.

[0145] Furthermore, in the ultrasonic generating unit driving step, if the processor 622 determines that the magnetic force sensing result information is a plurality of sensing locations S11, S9, S7, S5, S3, S1 with high magnetic force intensity and a plurality of sensing locations S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, the ultrasonic generating unit 400 may be driven to output ultrasonic energy of the ultrasonic generating unit 400 (S834). The transducer 430 may irradiate ultrasonic waves to the skin S on the moving path of the transporting unit 610. The transducer 430 irradiates ultrasonic waves when moving forward in the first mode, and irradiates ultrasonic waves when moving back in the second mode. Therefore, it can be known that the width of the magnetic field of the linear graph G1 to G6 representing the forward movement is the same as the width of the magnetic field of the linear graph G6 to G1 representing the back movement. When the forward movement is changed to the back movement, the processor 622 may notify the back state through the notification unit. For example, the notification unit may include a display module for visual notification, etc., and may include a speaker for auditory notification, etc.

[0146] The ultrasonic wave generator driving step according to the present disclosure can also be controlled by the processor 622 to output ultrasonic waves of the same condition or ultrasonic waves of different conditions (S834). At this time, the condition may include at least one of the time of maintaining the irradiation of ultrasonic energy and the intensity of ultrasonic energy.

[0147] This ultrasonic wave generating section driving step can prevent danger due to burns in advance by adjusting high heat and high ultrasonic wave energy.

[0148] That is, Figure 7 As shown, in the ultrasonic generating unit driving step, the processor 622 can further control the ultrasonic generating unit 400 to maintain ultrasonic energy irradiation for a first time t1 when moving in the first mode and a second time t2 when moving in the second mode to output ultrasonic energy differently.

[0149] For example, a first time t1 during which irradiation of ultrasonic energy is maintained when moving forward in the first mode may be earlier or later than a second time t2 during which irradiation of ultrasonic energy is maintained when moving backward in the second mode.

[0150] And, if Figure 7 As shown, in the ultrasonic generator driving step, the processor 622 can further control the ultrasonic generator 400 to output a first intensity E1 of ultrasonic energy when it moves in the first mode and a second intensity E2 of ultrasonic energy when it moves in the second mode differently.

[0151] For example, the first intensity E1 of the ultrasonic energy when moving forward in the first mode may be greater than or less than the second intensity E2 of the ultrasonic energy when moving back in the second mode. Figure 5 The performance of the components shown in the figure may be used to add or delete at least one component. Moreover, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed according to the performance or structure of the system.

[0152] Figure 8 and Fig.12 The case where multiple steps are performed sequentially is recorded, but this is only an exemplary description of the technical concept of this embodiment. Ordinary technicians in the technical field to which this embodiment belongs can modify the steps by changing the steps without departing from the essential characteristics of this embodiment. Figure 8 and Fig.12 Various modifications and variations can be performed and applied by executing one or more of the steps in the order described or in parallel, so Figure 8 and Fig.12 Not limited to time series order.

[0153] The disclosed embodiments are described above with reference to the accompanying drawings. It can be understood by those skilled in the art that the present disclosure can be implemented in other forms different from the disclosed embodiments without changing the technical ideas or essential features of the present disclosure. The described embodiments should be understood as illustrative rather than limiting.

Claims

1. An ultrasonic generating device, comprising: Ultrasonic wave generating unit; A transfer unit, combined with the ultrasonic wave generating unit, to move the ultrasonic wave generating unit in a preset pattern; A sensor for sensing the movement of the ultrasonic wave generating part; as well as The control unit determines the position of the ultrasonic generating unit based on the sensing result information of the sensor, and if the position of the ultrasonic generating unit does not change during the driving process of the conveying unit, it is determined that the ultrasonic generating unit is in one of a state of being separated from the conveying unit, a state of being detached, and a state of being stopped.

2. The ultrasonic generating device according to claim 1, characterized in that: Two or more sensors are arranged at equal intervals along the moving path of the ultrasonic generator.

3. The ultrasonic generating device according to claim 1, characterized in that: The control unit determines the position of the ultrasonic wave generating unit based on the magnetic force sensing result information of the sensor.

4. The ultrasonic generating device according to claim 3, wherein: The preset mode includes at least one of a first mode in which the ultrasonic wave generating unit moves from a first position to a second position and a second mode in which the ultrasonic wave generating unit moves from the second position to the first position. The magnetic force sensing result information includes a plurality of sensing locations where the intensity of the magnetic force is high among the sensed plurality of magnetic forces and a plurality of sensing locations where the plurality of magnetic forces intersect with each other.

5. The ultrasonic generating device according to claim 4, wherein: The control unit also includes: When the ultrasonic generating unit moves in one of the first mode and the second mode, if the magnetic force sensing result information is not a plurality of sensing locations where the magnetic force intensity is high and a plurality of sensing locations where the plurality of magnetic forces intersect each other, the driving of the ultrasonic generating unit is terminated so as not to output the ultrasonic wave of the ultrasonic generating unit.

6. The ultrasonic generating device according to claim 1, characterized in that: Also includes: The sleeve housing accommodates the ultrasonic generating unit and is combined with one side of the handpiece. The handpiece includes a clamping protrusion formed on the inner surface and a main driving shaft having magnetism for coupling with the sleeve housing. The sleeve housing includes an insertion groove formed on an outer surface and a magnetic body disposed to face the main drive shaft. When the sleeve housing is combined with the hand piece, the insertion groove is engaged with the engaging protrusion, and the magnetic body is engaged with the main driving shaft having magnetism through magnetic force.

7. A method for determining and controlling the state of an ultrasonic generating device, comprising the following steps: causing the ultrasonic wave generating unit to move in a preset pattern; sensing movement of the ultrasonic wave generating part; and The position of the ultrasonic generating unit is determined based on the sensing result information of the sensor. When the position of the ultrasonic generating unit does not change during the driving process of the conveying unit, it is determined that the ultrasonic generating unit is in one of a state of being separated from the conveying unit, a state of being detached, and a state of being stopped.

8. The method according to claim 7, characterized in that The position of the ultrasonic wave generating unit is determined based on the magnetic force sensing result information of the sensor.

9. The method according to claim 8, wherein: The preset mode includes at least one of a first mode in which the ultrasonic wave generating unit moves from a first position to a second position and a second mode in which the ultrasonic wave generating unit moves from the second position to the first position. The magnetic force sensing result information includes a plurality of sensing locations where the intensity of the magnetic force is high among the sensed plurality of magnetic forces and a plurality of sensing locations where the plurality of magnetic forces intersect with each other.

10. The method according to claim 9, further comprising the steps of: When the ultrasonic wave generating unit moves in one of the first mode and the second mode, If the magnetic force sensing result information is not a plurality of sensing locations where the magnetic force has high strength and a plurality of sensing locations where the plurality of magnetic forces intersect each other, the driving of the ultrasonic wave generating unit is terminated so as not to output the ultrasonic wave of the ultrasonic wave generating unit.

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