Control device for ultrasonic irradiation device and control method therefor

Abstract

The invention relates to a control apparatus of an ultrasonic irradiation apparatus and a control method thereof. The present disclosure may be characterized by comprising: a memory; a communication unit that performs communication with the ultrasonic irradiation device; and a processor that controls the ultrasonic irradiation device, in which the processor calculates a movement position based on: a first offset distance value between the ultrasonic probe and a marker stored in the memory; a second offset distance value between the ultrasonic irradiation unit and the camera stored in the memory; and calculating a movement position by the communication unit from a first distance value, a second distance value, or a third distance value between a position of a mark in the image of the irradiated portion acquired by the camera and a center position of the camera.

Description

Technical Field

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

[0002] 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 transmits ultrasound into the human body and various organs, and visualizes the time and intensity of reflection to obtain a cross-sectional image of the human body.

[0003] 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 tumors in the skin, or induces degeneration and regeneration of skin tissue, thereby producing skin beauty or skin plastic surgery effects such as wrinkle improvement.

[0004] However, the conventional ultrasonic irradiation device cannot be accurately moved to the ultrasonic irradiation position, so the accuracy of ultrasonic irradiation is low.

[0005] Furthermore, conventional ultrasonic irradiation devices have limitations in shortening the ultrasonic irradiation preparation time for moving to an ultrasonic irradiation position and irradiating ultrasonic waves, and have limitations in irradiating ultrasonic waves efficiently.

[0006] [Prior art literature]

[0007] [Patent Literature]

[0008] Patent Document 1: Japanese Patent No. 6861624 (published on April 1, 2021) Summary of the invention

[0009] The purpose of the embodiments disclosed in the present disclosure is to provide a control device and a control method for an ultrasonic irradiation device that can accurately move to an ultrasonic irradiation position to improve the accuracy of ultrasonic irradiation.

[0010] Furthermore, an object of the embodiments disclosed in the present disclosure is to provide a control device of an ultrasonic irradiation device and a control method thereof that can shorten the ultrasonic irradiation preparation time.

[0011] Furthermore, an object of the embodiments disclosed in the present disclosure is to provide a control device of an ultrasonic irradiation device capable of effectively irradiating ultrasonic waves and a control method thereof.

[0012] 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.

[0013] A control device for an ultrasonic irradiation device according to an embodiment of the present disclosure, which is used to solve the above-mentioned technical problems, may be characterized in that it includes: a memory; a communication unit, which communicates with the ultrasonic irradiation device; and a processor, which controls the ultrasonic irradiation device, wherein the processor calculates the moving position based on the following values: a first offset distance value between the ultrasonic probe and the mark stored in the memory; a second offset distance value between the ultrasonic irradiation unit and the camera stored in the memory; and a first distance value, a second distance value or a third distance value between the position of the mark in the image of the irradiation part obtained from the camera through the communication unit and the center position of the camera to calculate the moving position.

[0014] Furthermore, it is characterized in that the processor can make the position information of the mark consistent with the center position information of the camera based on the first distance value, the second distance value or the third distance value.

[0015] Furthermore, it is characterized in that the processor can move by controlling the moving part of the ultrasonic irradiation device through the communication part, or can move by controlling the movement of the bed through the communication part, so that the position information of the mark is consistent with the center position information of the camera.

[0016] Furthermore, it is characterized in that the processor can further calculate the moving position of the ultrasonic irradiation part based on the sensing distance obtained from the sensing part of the ultrasonic irradiation device through the communication part, so that the distance between the ultrasonic irradiation part and the ultrasonic probe or the distance between the ultrasonic irradiation part and the human body is maintained at a predetermined distance.

[0017] Furthermore, it is characterized in that the processor can control the moving part of the ultrasonic irradiation device to move based on the calculated moving position through the communication part, or control the movement of the bed to move through the communication part, so that the ultrasonic irradiation part moves to the calculated moving position.

[0018] Furthermore, it is characterized in that the processor receives the first offset distance value and the second offset distance value by calibrating a user interface (UI: Uesr Interface) and stores them in the memory, and the processor controls the movement of the bed according to the X-axis position movement and Y-axis position movement of the bed associated with the first offset distance value and the second offset distance value, so that the irradiation position of the ultrasonic irradiation part is consistent with the shooting position of the ultrasonic probe.

[0019] Furthermore, it is characterized in that the processor can further control the notification unit of the ultrasonic irradiation device to notify the ultrasonic irradiation device that it is in a state where it can irradiate ultrasonic waves when the irradiation position of the ultrasonic irradiation unit coincides with the photographing position of the ultrasonic probe.

[0020] Furthermore, it is characterized in that the processor can further control the ultrasonic irradiation part of the ultrasonic irradiation device to irradiate the ultrasonic wave of the ultrasonic irradiation device when the irradiation position of the ultrasonic irradiation part is consistent with the shooting position of the ultrasonic probe.

[0021] Furthermore, it is characterized in that the processor can further receive the proximity distance to the human body obtained from the sensing unit of the ultrasonic irradiation device through the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with intensities preset according to the target distance when the proximity distance is a preset target distance.

[0022] Furthermore, it is characterized in that the processor can further receive the tumor position of the internal organ of the human body obtained from the sensing unit of the ultrasonic irradiation device through the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with intensities pre-set according to the target position when the tumor position is a pre-set target position.

[0023] Furthermore, it is characterized in that the processor can further receive the tumor size of the internal organ of the human body obtained from the sensing unit of the ultrasonic irradiation device through the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with intensities preset according to the target size when the tumor size is a preset target size.

[0024] Furthermore, according to another aspect of the present disclosure, a control method for an ultrasonic irradiation device executed by a control device is characterized in that it may include the following steps: receiving a first offset distance value between the ultrasonic probe and the marker, and receiving a second offset distance value between the ultrasonic irradiation part and the camera; receiving a first distance value, a second distance value or a third distance value between the position of the marker in the image of the irradiation part obtained from the camera and the center position of the camera; and calculating the moving position based on the first offset distance value, the second offset distance value, the first distance value and the second distance value.

[0025] Furthermore, according to another aspect of the present disclosure, a control method for an ultrasonic irradiation device executed by a control device is characterized in that it may include the following steps: receiving a first offset distance value between the ultrasonic probe and the marker, and receiving a second offset distance value between the ultrasonic irradiation part and the camera; receiving a first distance value and a second distance value between the position of the marker in the image of the irradiated part obtained from the camera and the center position of the camera; making the position information of the marker consistent with the center position information of the camera based on the first distance value, the second distance value or the third distance value between the position of the marker in the image of the irradiated part and the center position of the camera; and calculating the moving position based on the first offset distance value and the second offset distance value.

[0026] According to the technical solution of the present disclosure, there is provided an effect of being able to accurately move to the ultrasonic irradiation position to improve the accuracy of ultrasonic irradiation.

[0027] In addition, according to the above-mentioned technical solution of the present disclosure, an effect of shortening the ultrasonic irradiation preparation time is provided.

[0028] Furthermore, according to the above-mentioned technical solution of the present disclosure, an effect of effectively irradiating ultrasonic waves is provided.

[0029] 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

[0030] Figure 1 It is a diagram showing the configuration of a control device of the ultrasonic irradiation device according to the present disclosure.

[0031] Figures 2 to 7 : is a flowchart showing a control method of the control device of the ultrasonic irradiation device according to the present disclosure.

[0032] Figures 8 to 14 It is shown by Figure 1 A diagram showing an example of a process in which the control device is used to control the ultrasonic irradiation device.

[0033] Description of Reference Numerals

[0034] 100: control device 110: communication unit

[0035] 120: processor 130: memory DETAILED DESCRIPTION

[0036] Throughout the entire disclosure, the same reference numerals refer to the same structural 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. 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.

[0037] Throughout the specification, when a certain part is “connected” to another part, it includes not only a case where the part is directly connected to the other part, but also a case where the part is indirectly connected to the other part. The indirect connection includes a case where the part is connected via a wireless communication network.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] Unless the context clearly dictates otherwise, an expression in the singular includes an expression in the plural.

[0042] 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.

[0043] Hereinafter, the working principle and embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0044] First, 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 can easily pass through body tissues, the HIFU irradiation method is implemented in a perfectly non-invasive manner without a knife or even a needle. In other words, the HIFU irradiation method is a method of irradiating specific subcutaneous tissues such as tumors by burning them as long as the irradiated part of the skin is close to the ultrasound generating surface. In addition, the existing HIFU irradiation method is also used for uterine fibroids, bone metastasis, prostate cancer, breast cancer, pancreatic cancer, liver cancer, kidney cancer, etc.

[0045] This high-intensity focused ultrasound technology can be achieved through an ultrasound irradiation device.

[0046] In this specification, the control device of the ultrasonic irradiation device according to the present disclosure includes all kinds of devices that can perform calculation processing and provide results to the user. For example, the control device 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.

[0047] 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.

[0048] 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.

[0049] For example, a portable terminal, as a wireless communication device that ensures portability and mobility, may include all types 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).

[0050] According to the control device of the ultrasonic irradiation device disclosed in the present invention, the moving position can be calculated based on the first offset distance value between the ultrasonic probe and the marker stored in the memory, the second offset distance value between the ultrasonic irradiation part of the ultrasonic irradiation device and the camera, and the first distance value, the second distance value or the third distance value between the position of the marker in the image of the irradiation part obtained from the camera through the communication part and the center position of the camera.

[0051] The control device of such an ultrasonic irradiation device can accurately move to the ultrasonic irradiation position, thereby improving the accuracy of ultrasonic irradiation, shortening the ultrasonic irradiation preparation time, and effectively irradiating the ultrasonic wave.

[0052] Hereinafter, the control device of the ultrasonic irradiation device will be described in detail.

[0053] Figure 1 It is a diagram showing the configuration of a control device of the ultrasonic irradiation device according to the present disclosure.

[0054] Reference Figure 1The control device 100 of the ultrasonic irradiation device 10 may include a communication unit 110 , a memory 130 , and a processor 120 .

[0055] The communication part 110 may perform communication with the ultrasonic wave irradiation device 10. At this time, the communication part 110 may include at least one of a wired communication module and a wireless communication module.

[0056] Wired communication modules can include not only a variety of wired communication modules such as local area network (LAN) modules, wide area network (WAN) modules or value-added network (VAN) modules, but also a variety of cable communication modules such as universal serial bus (USB), high-definition multimedia interface (HDMI), digital video interface (DVI), recommended standard 232 (RS-232: recommended standard 232), power line communication or plain old telephone service (POTS: plain old telephone service).

[0057] In addition to the wireless fidelity (Wi-Fi) module and the wireless broadband module, the wireless communication module can also include wireless communication modules that support various wireless communication methods such as global System for Mobile Communication (GSM), code division multiple access (CDM), wideband code division multiple access (WCDMA), universal mobile telecommunications system (UMTS), time division multiple access (TDMA), long term evolution (LTE), 4G, 5G and 6G.

[0058] The control unit can be implemented using a memory 130 and at least one processor 120. The memory 130 stores data of an algorithm or a program for reproducing an algorithm for controlling the operation of the components in the device, and the at least one processor 120 performs the above operation using the data stored in the memory 130. Here, the memory 130 and the processor 120 can be implemented using separate chips, respectively. In addition, the memory 130 and the processor 120 can also be implemented using separate chips.

[0059] The memory 130 may store data for supporting various functions of the device and programs for controlling the operation of the control unit, may store input / output data, may store multiple application programs (application programs or applications) driven in the device, and may store data and instructions for operating the device. At least a portion of these application programs may be downloaded from an external server via wireless communication.

[0060] The memory 130 may be 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. The memory 130 may be separated from the device, but may also be a database connected by wire or wirelessly.

[0061] The memory 130 may store data related to the control of the ultrasonic wave irradiation device 10. The processor 120 may perform operations related to the control of the ultrasonic wave irradiation device 10.

[0062] The processor 120 may receive a first offset distance value between the ultrasonic probe 20 and the marker 21 stored in the memory 130. Also, the processor 120 may receive a second offset distance value between the ultrasonic irradiation unit 14 and the camera 11 stored in the memory 130. Also, the processor 120 may receive a first distance value, a second distance value, or a third distance value between the position of the marker 21 in the image of the irradiated part obtained from the camera 11 and the center position of the camera 11 through the communication unit 110. At this time, the processor 120 may also calculate the moving position based on the first offset distance value, the second offset distance value, the first distance value, the second distance value, or the third distance value.

[0063] At this time, the processor 120 may move the bed 30 on the X-axis and the Y-axis based on the first distance value and the second distance value so that the position information of the marker 21 is consistent with the center position information of the camera 11. Here, the processor 120 may control the moving part 12 of the ultrasonic irradiation device 10 through the communication part 110 to move, or control the movement of the bed 30 through the communication part 110 to move so that the position information of the marker 21 is consistent with the center position information of the camera 11. At this time, the processor 120 may calculate the moving position based on the first offset distance value OD1, the second offset distance value OD2, and the position that makes the position information of the marker 21 consistent with the center position information of the camera 11.

[0064] Furthermore, the processor 120 may move the bed 30 on the X-axis and the Y-axis based on the third distance value so that the position information of the marker 21 is consistent with the center position information of the camera 11. Here, the processor 120 may control the moving unit 12 of the ultrasonic irradiation device 10 through the communication unit 110 to move, or control the movement of the bed 30 through the communication unit 110 to move so that the position information of the marker 21 is consistent with the center position information of the camera 11. At this time, the processor 120 may calculate the moving position based on the first offset distance value OD1, the second offset distance value OD2, and the position where the position information of the marker 21 is consistent with the center position information of the camera 11.

[0065] The processor 120 can also further calculate the moving position of the ultrasonic irradiation unit 14 based on the sensing distance obtained from the sensing unit 15 of the ultrasonic irradiation device 10 through the communication unit 110, so that the distance between the ultrasonic irradiation unit 14 and the ultrasonic probe 20 or the distance between the ultrasonic irradiation unit 14 and the human body S is maintained at a predetermined distance.

[0066] Based on the calculated moving position, the processor 120 may control the moving unit 12 of the ultrasonic irradiation device 10 to move through the communication unit 110 , or control the movement of the bed 30 to move through the communication unit 110 , so that the ultrasonic irradiation unit 14 moves to the calculated moving position.

[0067] At this time, the processor 120 can receive the first offset distance value and the second offset distance value through the correction UI and store them in the memory 130, and control the movement of the bed 30 according to the X-axis position movement and Y-axis position movement of the bed 30 associated with the first offset distance value and the second offset distance value, so that the irradiation position information of the ultrasonic irradiation part 14 is consistent with the shooting position information of the ultrasonic probe 20.

[0068] The processor 120 may further control the notification unit 13 of the ultrasonic irradiation device 10 to notify the ultrasonic irradiation device that it is in a state where ultrasonic waves can be irradiated when the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the shooting position information of the ultrasonic probe 20. At this time, the user may move the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 along the Z-axis direction and use the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part of the human body.

[0069] The processor 120 may further control the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 to irradiate the ultrasonic wave of the ultrasonic irradiation device 10 when the irradiation position of the ultrasonic irradiation unit 14 is consistent with the shooting position of the ultrasonic probe 20. At this time, the processor 120 may control the moving unit 12 to move the ultrasonic irradiation unit 14 along the Z-axis direction, and may control the ultrasonic irradiation unit 14 to irradiate the ultrasonic wave to the irradiation part of the human body.

[0070] The communication unit 110 may also receive the proximity distance to the human body obtained from the sensing unit 15 of the ultrasonic irradiation device 10. At this time, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities preset according to the target distance when the proximity distance is the preset target distance.

[0071] The communication unit 110 may also receive the tumor position of the human internal organ obtained from the sensing unit 15 of the ultrasonic irradiation device 10. At this time, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities pre-set in association with the target position when the tumor position is a pre-set target position. The communication unit 110 may also receive the tumor size of the human internal organ obtained from the sensing unit 15 of the ultrasonic irradiation device 10. At this time, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities pre-set in association with the target size when the tumor size is a pre-set target size.

[0072] Figures 2 to 7 : is a flowchart showing a control method of the control device of the ultrasonic irradiation device according to the present disclosure. Figures 8 to 14 It is shown by Figure 1A diagram showing an example of a process in which a control device is used to control an ultrasonic irradiation device.

[0073] Reference Figure 3 The control method may include an input step (S210), a receiving step (S220), a unification step (S221), a calculation step (S231), and a control step (S232).

[0074] In the input step ( S210 ), a first offset distance value between the ultrasonic probe 20 and the marker 21 stored in the memory 130 may be received, and a second offset distance value between the ultrasonic irradiation section 14 and the camera 11 stored in the memory 130 may be received.

[0075] Here, if Figure 8 As shown, the first offset distance value OD1 may be a preset offset design value between the ultrasonic probe 20 and the mark 21. Here, the mark 21 may be formed on one side of the ultrasonic probe 20. At this time, the ultrasonic probe 20 may scan the irradiation site A by transmitting and receiving ultrasonic waves. That is, the user may scan the irradiation site A using the ultrasonic probe 20 to confirm the irradiation site A.

[0076] And, if Fig. 9 As shown, the second offset distance value OD2 may be a preset offset design value between the ultrasonic irradiation part 14 and the camera 11. At this time, the camera 11 may be disposed outside the ultrasonic irradiation part 14.

[0077] For example, the camera 11 may be provided as an image camera using an image sensor. The image camera may be arranged in a stereoscopic structure to obtain a left image and a right image for realizing a three-dimensional stereoscopic image. For another example, the camera 11 may be provided using an artificial intelligence (AI) camera. The AI ​​camera may finely adjust the recognized image using a brain neural network algorithm using a wide-angle sensor made to imitate the human retina. The AI ​​camera may adjust shutter speed, light exposure, saturation, color concentration, dynamic range, contrast, etc. Furthermore, the AI ​​camera may output the captured image as a high-quality image.

[0078] In the receiving step ( S220 ), the first distance value, the second distance value, or the third distance value between the position of the marker 21 in the image of the irradiated part acquired from the camera 11 and the center position of the camera 11 may be received through the communication unit 110 .

[0079] At this time, if Fig. 9As shown, the processor 120 may receive the position information P1 of the marker 21 in the image of the irradiated part A obtained from the camera 11 and the center position information P2 of the camera 11. Here, the position information P1 of the marker 21 may be a first position coordinate value (x1, y1), and the center position information P2 of the camera 11 may be a second position coordinate value (x2, y2). At this time, the processor 120 may receive the first distance value D1, the second distance value D2, or the third distance value D3 based on the first position coordinate value (x1, y1) and the second position coordinate value (x2, y2).

[0080] In the calculation step ( S231 ), the movement position may be calculated by the processor 120 based on the first offset distance value OD1 , the second offset distance value OD2 , the first distance value D1 , and the second distance value D2 or the third distance value D3 .

[0081] And, if Figure 3 As shown, in the unification step (S221), the bed 30 can be moved along the X-axis and the Y-axis based on the first position coordinate value (x1, y1) and the second position coordinate value (x2, y2) by the processor 120, so that the position information P1 of the marker 21 is consistent with the center position information P2 of the camera 11. Here, the processor 120 can move by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication part 110, or can move by controlling the movement of the bed 30 through the communication part 110, so that the position information P1 of the marker 21 is consistent with the center position information P2 of the camera 11. At this time, the calculation step (S231) can calculate the moving position based on the first offset distance value OD1, the second offset distance value OD2, and the position where the position information P1 of the marker 21 is consistent with the center position information P2 of the camera 11 by the processor 120.

[0082] Here, the processor 120 may also calculate the moving position of the ultrasonic irradiation unit 14 based on the sensing distance obtained from the sensing unit 15 of the ultrasonic irradiation device 10 through the communication unit 110, so that the distance between the ultrasonic irradiation unit 14 and the ultrasonic probe 20 or the distance between the ultrasonic irradiation unit 14 and the human body S maintains a predetermined distance. At this time, when the sensing distance obtained from the sensing unit 15 reaches the target distance for maintaining the predetermined distance, the processor 120 may calculate the moving position of the ultrasonic irradiation unit 14 corresponding to the target distance. For example, the sensing unit 15 may be a distance sensor.

[0083] In the control step (S232), the processor 120 can control the moving part 12 of the ultrasonic irradiation device 10 to move through the communication part 110 based on the calculated moving position, or control the movement of the bed 30 to move through the communication part 110, so that the ultrasonic irradiation part 14 moves to the calculated moving position.

[0084] Here, if Fig.10 As shown, the processor 120 receives the first offset distance value OD1 and the second offset distance value OD2 by correcting the UI and stores them in the memory 130. The movement of the bed 30 is controlled according to the X-axis position movement and the Y-axis position movement of the bed 30 associated with the first offset distance value OD1 and the second offset distance value OD2, so that the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the shooting position information of the ultrasonic probe 20. At this time, the movement distance d1 can be controlled according to the X-axis position movement and the Y-axis position movement of the bed 30.

[0085] Here, even if the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the photographing position information of the ultrasonic probe 20, the processor 120 can perform a correction for the distance difference between the marker 21 and the image of the irradiated part A. Furthermore, the processor 120 can perform a correction between the ultrasonic irradiation unit 14 and the camera 11.

[0086] At this time, the user can use the correction UI based on the GUI program of the control device 100 to input correction values ​​to control the movement of the bed 30, so that the processor 120 can move the X-axis position and Y-axis position of the bed 30 where the patient lies based on the input correction value and the position information P1 of the marker 21.

[0087] Such a processor 120 can accurately match the irradiation position information of the ultrasonic irradiation unit 14 with the imaging position information of the ultrasonic probe 20 , thereby improving the accuracy of ultrasonic irradiation.

[0088] In addition, the processor 120 can automatically position the ultrasound probe 20 at a position pre-scanned by the camera 11, thereby providing convenience for the user.

[0089] For example, the setting UI based on the GUI program may include: a first UI for displaying an image acquired by the camera 11; a second UI for setting the image capturing position of the camera 11; a third UI for setting the offset design value between the camera 11 and the ultrasonic irradiation part 14; a fourth UI for setting the offset design value between the ultrasonic probe 20 and the mark 21; and a fifth UI for inputting a communication setting value with an ultrasonic sensor for measuring the body thickness of a patient.

[0090] Here, the second UI can allow the user to store the corresponding position by pressing the setting button after viewing the image of the camera 11 and moving to the position to be photographed. The third UI can manually input the offset design value between the camera 11 and the ultrasonic irradiation part 14. At this time, the third UI can display the design value as the default value (Default). The fourth UI can manually input the offset design value between the ultrasonic probe 20 and the mark 21. At this time, the fourth UI can display the design value as the default value (Default). After the fifth UI inputs the communication setting value with the ultrasonic sensor used to measure the patient's body thickness, press the measurement button to confirm whether the measurement is proceeding normally. Thereafter, the user can position the patient in the area of ​​the irradiation site A of the camera 11 by utilizing the correction UI based on the GUI program, and then the fibroids or cancers present in the internal organs of the human body such as the uterus, ovaries, heart, kidneys, breasts, etc. in the human body S can be confirmed through the ultrasonic probe 20, and the final position can be selected.

[0091] After that, after finally confirming the fibroid or cancer using the correction UI based on the GUI program, the user can press the alignment move button on the operation panel of the control device 100 to move the ultrasonic irradiation unit 14 to the shooting position of the camera 11. At this time, the user can also use the operation panel to move the camera 11 along the X-axis, Y-axis, and Z-axis corresponding to the pre-set shooting position of the camera 11. In addition, the user can use the operation panel to measure the body thickness of the patient, and can move the camera 11 by correcting the Z-axis position of the camera 11 to focus the image of the camera 11.

[0092] After that, the user can use the calibration UI based on the GUI program to confirm the coordinates of the marker 21 acquired by the camera 11 and confirm the corresponding results. Here, the user can confirm whether the position of the marker 21 can be detected. At this time, the distance conversion of the marker 21 can be automatically calculated as a mm conversion value with the pixel of the image as the unit.

[0093] Thereafter, the user can use the calibration UI based on the GUI program to find the position of the marker 21, and after removing the ultrasonic probe 20 from the patient's abdomen, press the Alignment Move button on the operation panel to locate the ultrasonic probe 20 in the converter to the fibroid or cancer. At this time, the processor 120 can add or subtract the first offset distance value OD1 between the ultrasonic probe 20 and the marker 21 and the second offset distance value OD2 between the camera 11 and the ultrasonic irradiation unit 14, and control the X-axis position movement and Y-axis position movement of the bed 30 by adding or subtracting the first offset distance value OD1 and the second offset distance value OD2, so that the irradiation position of the ultrasonic irradiation unit 14 is opposite to the shooting position of the ultrasonic probe 20. Thereafter, after the user completes the movement of the bed 30, he can use the operation panel to move the ultrasonic irradiation unit 14 along the Z axis to make it close to the patient's abdomen, and then confirm whether the position of the fibroid or cancer irradiated by the ultrasonic wave is correct.

[0094] Reference Figure 4 , the control method may further include a notification step (S240).

[0095] In the case where the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the shooting position information of the ultrasonic probe 20, the notification step (S240) can control the notification unit 13 of the ultrasonic irradiation device 10 through the processor 120 to notify the ultrasonic irradiation device 10 that it is in a state where ultrasonic waves can be irradiated. For example, the notification unit 13 can be provided as at least one of a display module and a light emitting diode for visual notification, or can be provided as a speaker for auditory notification, etc. Here, as Fig.10 As shown, the user can move the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 in the Z-axis direction, and can irradiate the irradiation site A of the human body S with ultrasonic waves using the ultrasonic irradiation unit 14 .

[0096] Reference Figures 4 to 7 The control method may further include an ultrasonic irradiation step (S250). The ultrasonic irradiation step (250) may further control the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 through the processor 120 to irradiate the ultrasonic wave from the ultrasonic irradiation device 10 when the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the shooting position information of the ultrasonic probe 20. Fig.10 As shown, the processor 120 can control the moving part 12 to move the ultrasonic irradiation part 14 along the Z-axis direction, and the processor 120 can control the ultrasonic irradiation part 14 to irradiate the irradiation part A of the human body S with ultrasonic waves.

[0097] Reference Figure 5 The ultrasonic irradiation step (S250) may also include a first receiving step (S251), a first judging step (S252), and a first controlling step (S253).

[0098] In the first receiving step (S251), the proximity distance d2 to the human body S obtained from the sensing unit 15 of the ultrasonic irradiation device 10 can be received by the communication unit 110. Here, the sensing unit 15 can be a distance sensor, and the communication unit 110 can receive the proximity distance d2 to the human body S obtained by the distance sensor. In other words, the sensing unit 15 can sense in such a way that the distance from the boundary surface of the human body S to the ultrasonic irradiation unit 14 becomes a predetermined distance. For example, the predetermined distance can be 200 mm to 250 mm, and preferably, the predetermined distance can be 230 mm. At this time, the sensing unit 15 can be provided on the outside of the camera 11.

[0099] In the first determination step (S252), the processor 120 can determine whether the approach distance d2 is a preset target distance. In the first control step (S253), the processor 120 can control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves with pre-set intensities associated with the target distance when the approach distance d2 is a preset target distance.

[0100] For example, Fig.11 and Fig.12 As shown, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation site A of the human body S at a high level of intensity preset in association with the first target distance d21 when the approach distance d2 is a preset first target distance d21. For another example, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation site A of the human body S at a medium level of intensity preset in association with the second target distance d22 when the approach distance d2 is a preset second target distance d22. For another example, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation site A of the human body S at a low level of intensity preset in association with the third target distance d23 when the approach distance d2 is a preset third target distance d23.

[0101] In addition, for the sake of ease of explanation, the present disclosure has shown and explained the situation where ultrasonic waves are irradiated to the irradiation part A of the human body S at three levels of intensity, but the processor 120 can control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves to the irradiation part A of the human body S at two levels or more than four levels of intensity.

[0102] Reference Figure 6The ultrasonic irradiation step (S250) may also include a second receiving step (S254), a second judging step (S255), and a second controlling step (S256).

[0103] In the second receiving step (S254), the tumor position of the internal organ of the human body obtained from the sensing unit 15 of the ultrasonic irradiation device 10 can be received by the communication unit 110. Here, the sensing unit 15 can be a gamma camera or an ultrasonic probe. At this time, the gamma camera or the ultrasonic probe can accurately measure the fibroids or cancer in the human organs such as the uterus, ovary, heart, kidney and breast in the human body. Here, the communication unit 110 can receive the tumor position obtained by the gamma camera or the ultrasonic probe. At this time, the sensing unit 15 can be arranged on the outside of the camera 11.

[0104] In the second determination step (S255), whether the tumor position is a preset target position can be determined by the processor 120. In the second control step (S256), the processor 120 can control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities preset according to the target position when the tumor position is a preset target position.

[0105] For example, Fig.13 As shown, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part A of the human body S at a high level of intensity pre-set in association with the first target distance d21 when the tumor position is a pre-set first target position M1, and to irradiate ultrasonic waves to the breast tumor at a customized intensity pre-set in association with the first target position M1 and corresponding to the breast tumor position.

[0106] For another example, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part A of the human body S at a high level of intensity pre-set in association with the first target distance d21 when the tumor position is a pre-set second target position M2, and to irradiate ultrasonic waves to the tumor in the heart at a customized intensity pre-set in association with the second target position M2 and corresponding to the tumor position of the heart.

[0107] For another example, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part A of the human body S at a high level of intensity pre-set in association with the first target distance d21 when the tumor position is a pre-set third target position M3, and to irradiate ultrasonic waves to the kidney tumor at a customized intensity pre-set in association with the third target position M3 and corresponding to the tumor position of the kidney.

[0108] For another example, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part A of the human body S at a high level of intensity pre-set in association with the first target distance d21 when the tumor position is a pre-set fourth target position M4, and to irradiate ultrasonic waves to the uterine tumor at a customized intensity pre-set in association with the fourth target position M4 and corresponding to the tumor position of the uterus.

[0109] For another example, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the irradiation part A of the human body S at a high level of intensity pre-set in association with the first target distance d21 when the tumor position is a pre-set fifth target position M5, and to irradiate ultrasonic waves to the ovarian tumor at a customized intensity pre-set in association with the fifth target position M5 and corresponding to the tumor position of the ovary.

[0110] In addition, for the sake of convenience, the present disclosure illustrates and describes the case where ultrasound waves are irradiated to tumors of five internal organs of the human body at customized intensities corresponding to the tumor locations of the corresponding internal organs, but the processor 120 can control the ultrasound wave irradiation unit 14 to irradiate ultrasound waves to tumors in the corresponding internal organs at customized intensities corresponding to the tumor locations of more than six internal organs that are more subdivided. In this case, the customized intensities can be the same or different for the tumor locations of the various internal organs of the human body.

[0111] Reference Figure 7 The ultrasonic irradiation step (S250) may further include a third receiving step (S257), a third judging step (S258) and a third controlling step (S259).

[0112] In the third receiving step (S257), the tumor size of the internal organs of the human body obtained from the sensing unit 15 of the ultrasonic irradiation device 10 can be received by the communication unit 110. Here, the sensing unit 15 can be a gamma camera or an ultrasonic probe. At this time, the gamma camera or the ultrasonic probe can accurately measure the fibroids or cancers present in the human organs such as the uterus, ovaries, heart, kidneys and breasts in the human body. Here, the communication unit 110 can receive the tumor size obtained by the gamma camera or the ultrasonic probe. At this time, the sensing unit 15 can be arranged on the outside of the camera 11.

[0113] In the third determination step (S258), whether the tumor size is a preset target size can be determined by the processor 120. In the third control step (S259), the processor 120 can control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities preset according to the target size when the tumor size is a preset target size.

[0114] For example, Fig.14 As shown, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate the breast tumor with ultrasonic waves at a customized intensity associated with the first target size N1 and corresponding to the size of the breast tumor when the size of the tumor is a preset first target size N1.

[0115] For another example, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves to the cardiac tumor at a customized intensity associated with the second target size N2 and pre-set corresponding to the size of the cardiac tumor when the tumor size is a pre-set second target size N2.

[0116] For another example, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate the renal tumor with ultrasonic waves at a customized intensity associated with the third target size N3 and pre-set corresponding to the size of the renal tumor when the tumor size is a pre-set third target size N3.

[0117] For another example, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate the uterine tumor with ultrasonic waves at a customized intensity associated with the fourth target size N4 and pre-set corresponding to the size of the uterine tumor when the tumor size is a pre-set fourth target size N4.

[0118] For another example, the processor 120 may further control the ultrasonic irradiation unit 14 to irradiate the ovarian tumor with ultrasonic waves at a customized intensity associated with the fifth target size N5 and pre-set corresponding to the ovarian tumor size when the tumor size is a pre-set fifth target size N5.

[0119] In addition, for the sake of convenience, the present disclosure illustrates and describes the case where ultrasound waves are irradiated to tumors of five human internal organs at customized intensities corresponding to the tumor sizes of the corresponding internal organs, but the processor 120 can control the ultrasound irradiation unit 14 to irradiate ultrasound waves to tumors in the corresponding internal organs at customized intensities corresponding to the tumor positions of more than six internal organs that are more subdivided. In this case, the customized intensities can be the same or different for the tumor sizes of the various human internal organs.

[0120] In the present disclosure, the ultrasonic irradiation device 10 can also be controlled to irradiate ultrasonic waves in the following manner: at least one of the ultrasonic focus depth, ultrasonic irradiation position, ultrasonic intensity, and ultrasonic irradiation time pre-set according to the depth of the human organ is different from each other according to the irradiation conditions.

[0121] Here, the ultrasonic focusing depth may be at least one of a deeper depth, an intermediate depth, and a shallower depth pre-set according to the irradiation conditions and the depth of the human organ. Furthermore, the ultrasonic irradiation position may be all positions or a part of positions pre-set according to the irradiation conditions and the depth of the human organ. The ultrasonic intensity may be at least one of a high intensity, a medium intensity, and a low intensity pre-set according to the irradiation conditions and the depth of the human organ. Furthermore, the ultrasonic irradiation time may be at least one of a fast irradiation time, an average irradiation time, and a slow irradiation time pre-set according to the irradiation conditions and the depth of the human organ. At this time, in the present disclosure, the ultrasonic irradiation time can be controlled to a shorter interval, so that the temperature can be increased again before the temperature drops, thereby improving the irradiation effect.

[0122] In addition, in the present disclosure, since each person may form a different depth of human organs in the corresponding part, it can also be set to finely adjust at least one of the ultrasonic focus depth, ultrasonic irradiation position, ultrasonic intensity, and ultrasonic irradiation time in the corresponding part.

[0123] Furthermore, the present disclosure can control at least one of the angle and irradiation direction of the ultrasonic irradiation device 10 based on at least one of the angle information and the irradiation direction information, so that the ultrasonic wave can accurately irradiate the human organs in the corresponding part with at least one of the depth and intensity corresponding to the corresponding irradiation conditions.

[0124] Can correspond to Figure 1 , Figures 8 to 14 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.

[0125] Figures 2 to 7 The case of performing multiple steps in sequence is recorded, but this is only an example of the technical concept of this embodiment. Ordinary technicians in the technical field to which this embodiment belongs can change the steps without departing from the essential characteristics of this embodiment. Figures 2 to 7 The method of performing one or more of the steps in the order described in the above or performing them in parallel can be applied in various modifications and variations, so Figures 2 to 7 Not limited to chronological order.

[0126] The embodiments of the present invention are described above with reference to the accompanying drawings. It can be understood by those skilled in the art that the present invention can be implemented in other specific forms without changing the technical concept or essential features of the present invention. The embodiments described should be understood as exemplary rather than limiting.

Claims

1. A control device for an ultrasonic irradiation device, characterized in that: include: Memory; a communication unit that communicates with the ultrasonic irradiation device; and A processor controls the ultrasonic irradiation device, The processor calculates the moving position based on the following values: a first offset distance value between the ultrasonic probe and the marker stored in the memory; a second offset distance value between the ultrasonic irradiation portion and the camera stored in the memory; as well as The communication unit calculates the movement position from a first distance value, a second distance value, or a third distance value between a position of a mark in an image of an irradiated part acquired by the camera and a center position of the camera.

2. The control device of the ultrasonic irradiation device according to claim 1, characterized in that: The processor makes the position information of the marker consistent with the center position information of the camera based on the first distance value, the second distance value, or the third distance value.

3. The control device of the ultrasonic irradiation device according to claim 2, characterized in that: The processor controls the moving part of the ultrasonic irradiation device to move through the communication part, or controls the movement of the bed to move through the communication part so that the position information of the marker coincides with the center position information of the camera.

4. The control device of the ultrasonic irradiation device according to claim 1, characterized in that: The processor further calculates the moving position of the ultrasonic irradiation unit based on the sensing distance acquired from the sensing unit of the ultrasonic irradiation device through the communication unit so that the distance between the ultrasonic irradiation unit and the ultrasonic probe or the distance between the ultrasonic irradiation unit and the human body remains at a predetermined distance.

5. The control device for the ultrasonic irradiation device according to claim 1, characterized in that: The processor controls the moving part of the ultrasonic irradiation device to move based on the calculated moving position through the communication part, or controls the movement of the bed to move through the communication part, so that the ultrasonic irradiation part moves to the calculated moving position.

6. The control device for the ultrasonic irradiation device according to claim 5, characterized in that: The processor receives the first offset distance value and the second offset distance value through a calibration user interface and stores them in the memory, The processor controls the movement of the bed according to the X-axis position movement and the Y-axis position movement of the bed associated with the first offset distance value and the second offset distance value, so that the irradiation position of the ultrasound irradiation unit is consistent with the imaging position of the ultrasound probe.

7. The control device of the ultrasonic irradiation device according to claim 1, characterized in that: The processor further controls the notification unit of the ultrasonic irradiation device to notify the ultrasonic irradiation device that the ultrasonic irradiation device is in a state where ultrasonic waves can be irradiated when the irradiation position of the ultrasonic irradiation unit coincides with the imaging position of the ultrasonic probe.

8. The control device for the ultrasonic irradiation device according to claim 7, characterized in that: The processor further controls the ultrasonic irradiation unit of the ultrasonic irradiation device so as to irradiate the ultrasonic wave of the ultrasonic irradiation device when the irradiation position of the ultrasonic irradiation unit coincides with the imaging position of the ultrasonic probe.

9. The control device for the ultrasonic irradiation device according to claim 8, characterized in that: The processor further receives the proximity distance to the human body acquired from the sensing unit of the ultrasonic irradiation device through the communication unit, Furthermore, the processor controls the ultrasonic wave irradiation unit to irradiate different ultrasonic waves at intensities preset in association with target distances when the approach distance is a preset target distance.

10. The control device for the ultrasonic irradiation device according to claim 8, characterized in that: The processor further receives the tumor position of the internal organ of the human body obtained from the sensing part of the ultrasonic irradiation device through the communication part, Furthermore, the processor controls the ultrasonic irradiation unit to irradiate different ultrasonic waves at intensities preset in association with target positions when the tumor position is a preset target position.

11. The control device for the ultrasonic irradiation device according to claim 8, characterized in that: The processor further receives the tumor size of the human internal organ obtained from the sensing part of the ultrasonic irradiation device through the communication part, Furthermore, the processor controls the ultrasonic irradiation unit to irradiate different ultrasonic waves at intensities preset in association with the target size when the size of the tumor is a preset target size.

12. A control method for an ultrasonic irradiation device executed by a control device, comprising the following steps: receiving a first offset distance value between the ultrasonic probe and the marker, and receiving a second offset distance value between the ultrasonic irradiation portion and the camera; receiving a first distance value, a second distance value, or a third distance value between a position of a mark in an image of an irradiation site acquired from a camera and a center position of the camera; and A moving position is calculated based on the first offset distance value, the second offset distance value, the first distance value, and the second distance value.

13. A control method of an ultrasonic irradiation device executed by a control device, comprising the following steps: receiving a first offset distance value between the ultrasonic probe and the marker, and receiving a second offset distance value between the ultrasonic irradiation portion and the camera; receiving a first distance value and a second distance value between a position of a mark in an image of an irradiated part acquired from a camera and a center position of the camera; making the position information of the mark consistent with the center position information of the camera based on the first distance value, the second distance value, or a third distance value between the position of the mark in the image of the irradiated part and the center position of the camera; as well as A moving position is calculated based on the first offset distance value and the second offset distance value.

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