HIFU irradiation device and focus adjustment method

Abstract

The purpose of the present invention is to facilitate the operation of aligning the focal position of therapeutic ultrasonic waves of an HIFU irradiation device to a treatment site. The vibrator control unit (18) controls a plurality of ultrasonic vibrators (32) disposed along the concave surface (30). The probe drive unit (14) rotates the ultrasonic probe (12) disposed on the central axis (40) of the concave surface (30) about the central axis (40). A data acquisition unit (16) acquires B-type image data using an ultrasonic probe (12). The controller (22) controls the vibrator control unit (18), the probe drive unit (14), and the data acquisition unit (16). The controller 22 executes a process of searching for a focus F of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 on a B-type image indicated by B-type image data while changing the rotational angular position of the ultrasonic probe 12 about the central axis 40 when the plurality of ultrasonic vibrators 32 are caused to transmit the ultrasonic waves.

Description

Technical Field

[0001] The present invention relates to a HIFU irradiation device and a method for adjusting its focal point, and more particularly to the adjustment of the focal point position using a B-mode (mold) image. Background Art

[0002] Treatment devices using High Intensity Focused Ultrasound are increasingly widely used. This treatment device is called a HIFU irradiation device or a HIFU irradiation system, and causes necrosis of biological tissue by irradiating focused ultrasound to the treatment site.

[0003] Generally, a HIFU irradiation device includes a plurality of ultrasonic vibrators for treatment arranged along a concave surface. The plurality of ultrasonic vibrators are arranged such that the ultrasonic waves emitted by each irradiate at one point to form a focal point. During treatment, the position of the focal point is aligned with the treatment site and ultrasound is irradiated. In the confirmation of the irradiation position, an ultrasonic diagnostic device that displays the focal point on an ultrasonic image is used.

[0004] In Patent Document 1 below, an ultrasonic treatment device that observes the focal point position using an ultrasonic diagnostic device that displays a B-mode image (tomographic image) is described. In this device, low-level ultrasonic waves that have no effect on the tissue are emitted from the ultrasonic vibrators for treatment, and a tomographic image is displayed by receiving / sending ultrasonic waves using an ultrasonic imaging probe. Since the acoustic characteristics of the patient's tissue change according to the tissue temperature change, in the tomographic image, the position of the focal point is presented by the intensity of the brightness. In addition, as shown in Non-Patent Document 1, since the patient's tissue is displaced by the irradiation of ultrasonic waves, in the tomographic image, the position of the focal point is presented by the change in brightness. Prior Art Documents Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open No. 8-71069 Non-Patent Documents

[0006] Non-Patent Document 1: Internet for tissue hardness measurement using ARFI <https: / / www.innervision.co.jp / sp / ad / suite / siemens / technical_notes / 140368> Summary of the Invention Problems to be Solved by the Invention

[0007] In the treatment using high-intensity focused ultrasound, if there is a region in the patient's tissue with different acoustic properties from the surrounding area, then, compared with the case where the acoustic properties are the same, sometimes the position of the focus deviates due to the refraction of the ultrasound waves emitted from the therapeutic ultrasound vibrator. As a result, sometimes the focus of the ultrasound waves does not appear on the B-mode image, making it difficult to perform the operation of aligning the focus position of the therapeutic ultrasound waves with the treatment site.

[0008] An object of the present invention is to make it easy to perform the operation of aligning the focus position of the therapeutic ultrasound waves with the treatment site for a HIFU irradiation device. Means for solving the problem

[0009] The HIFU irradiation device according to the present invention is characterized by comprising: a vibrator control unit that controls a plurality of ultrasound vibrators arranged along a concave surface; a probe drive unit that rotates an ultrasound probe arranged on the central axis of the concave surface around the central axis; a data acquisition unit that acquires B-mode image data through the ultrasound probe; and a controller that controls the vibrator control unit, the probe drive unit, and the data acquisition unit, and the controller performs the following processing: when causing the plurality of ultrasound vibrators to transmit ultrasound waves, while changing the rotational angular position of the ultrasound probe around the central axis, searching for the focus of the ultrasound waves emitted from the plurality of ultrasound vibrators based on the B-mode image data, the focus being presented by the intensity of brightness in the B-mode image shown by the B-mode image data; and causing the ultrasound probe to stop at the rotational angular position when the focus is detected.

[0010] Preferably, in a state where the controller causes the ultrasound probe to stop at the rotational angular position when the focus is detected, the controller adjusts the delay time of the ultrasound waves respectively emitted from the plurality of ultrasound vibrators to make the focus approach the central axis or make the focus located on the central axis.

[0011] In addition, the HIFU irradiation device according to the present invention is characterized by comprising: a vibrator control unit that controls a plurality of ultrasonic vibrators arranged along a concave surface; an ultrasonic vibrator driving unit that rotates the plurality of ultrasonic vibrators around the central axis of the concave surface; a data acquisition unit that acquires B-mode image data through an ultrasonic probe arranged on the central axis of the concave surface; and a controller that controls the vibrator control unit, the ultrasonic vibrator driving unit, and the data acquisition unit. The controller performs the following processes: when causing the plurality of ultrasonic vibrators to transmit ultrasonic waves, while changing the rotational angular position of the plurality of ultrasonic vibrators around the central axis, searching for the focal point of the ultrasonic waves emitted from the plurality of ultrasonic vibrators based on the B-mode image data, the focal point being presented by the intensity of brightness in the B-mode image shown by the B-mode image data; and causing the plurality of ultrasonic vibrators to stop at the rotational angular position when the focal point is detected.

[0012] Preferably, in a state where the controller causes the plurality of ultrasonic vibrators to stop at the rotational angular position when the focal point is detected, the controller adjusts the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators to make the focal point approach the central axis or make the focal point located on the central axis.

[0013] In addition, the present invention relates to a focal point adjustment method, which is a focal point adjustment method of a HIFU irradiation device. The HIFU irradiation device comprises: a plurality of ultrasonic vibrators arranged along a concave surface; an ultrasonic probe arranged on the central axis in a manner rotatable around the central axis of the concave surface; and a data acquisition unit that acquires B-mode image data through the ultrasonic probe. The focal point adjustment method is characterized in that the HIFU irradiation device further comprises: a vibrator control unit that controls the plurality of ultrasonic vibrators; and a probe driving unit that rotates the ultrasonic probe around the central axis. The controller that controls the vibrator control unit, the probe driving unit, and the data acquisition unit performs the following steps: when causing the plurality of ultrasonic vibrators to transmit ultrasonic waves, while changing the rotational angular position of the ultrasonic probe around the central axis, searching for the focal point of the ultrasonic waves emitted from the plurality of ultrasonic vibrators based on the B-mode image data, the focal point being presented by the intensity of brightness in the B-mode image shown by the B-mode image data; and causing the ultrasonic probe to stop at the rotational angular position when the focal point is detected.

[0014] Preferably, the method includes the following steps: in a state where the ultrasonic probe is caused to stop at the rotational angular position when the focal point is detected, adjusting the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators to make the focal point approach the central axis or make the focal point located on the central axis.

[0015] In addition, the present invention relates to a focus adjustment method, which is a focus adjustment method for a HIFU irradiation device. The HIFU irradiation device includes: a plurality of ultrasonic vibrators arranged along a concave surface and arranged so as to be rotatable around the central axis of the concave surface; an ultrasonic probe arranged on the central axis of the concave surface; and a data acquisition unit that acquires B-mode image data through the ultrasonic probe. The focus adjustment method is characterized in that the HIFU irradiation device further includes: a vibrator control unit that controls the plurality of ultrasonic vibrators; and a probe drive unit that rotates the ultrasonic probe around the central axis. A controller that controls the vibrator control unit, the probe drive unit, and the data acquisition unit performs the following steps: when the plurality of ultrasonic vibrators emit ultrasonic waves, while changing the rotational angular position of the plurality of ultrasonic vibrators around the central axis, searching for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators according to the B-mode image data, and the focus is presented by the intensity of brightness in the B-mode image shown in the B-mode image data; and causing the plurality of ultrasonic vibrators to stop at the rotational angular position when the focus is detected.

[0016] Preferably, it includes the following steps: in a state where the plurality of ultrasonic vibrators stop at the rotational angular position when the focus is detected, adjusting the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators to make the focus approach the central axis or make the focus located on the central axis.

[0017] In addition, the HIFU irradiation device according to the present invention is characterized in that it includes: a vibrator control unit that controls a plurality of ultrasonic vibrators arranged along a concave surface; a data acquisition unit that acquires B-mode image data through an ultrasonic probe arranged on the central axis of the concave surface; and a controller that controls the vibrator control unit and the data acquisition unit. The controller performs the following processing: when the plurality of ultrasonic vibrators emit ultrasonic waves, while adjusting the delay time of the ultrasonic waves emitted from the plurality of ultrasonic vibrators respectively, searching for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators according to the B-mode image data, and the focus is presented by the intensity of brightness in the B-mode image shown in the B-mode image data. The controller can perform the following processing: when the plurality of ultrasonic vibrators emit ultrasonic waves, while adjusting the delay time of the ultrasonic waves emitted from the plurality of ultrasonic vibrators respectively, searching for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data.

[0018] Preferably, starting from the state where ultrasonic waves are respectively generated from the plurality of ultrasonic vibrators at the delay time when the focus is detected, the delay times of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators are further adjusted so that the focus approaches the central axis or the focus is located on the central axis.

[0019] In addition, the present invention relates to a focus adjustment method, which is a focus adjustment method for a HIFU irradiation device. The HIFU irradiation device includes: a plurality of ultrasonic vibrators arranged along a concave surface; and a data acquisition unit that acquires B-mode image data through an ultrasonic probe arranged on the central axis of the concave surface. The focus adjustment method is characterized in that the HIFU irradiation device further includes a vibrator control unit that controls the plurality of ultrasonic vibrators, and a controller that controls the vibrator control unit and the data acquisition unit performs the following steps: when causing the plurality of ultrasonic vibrators to transmit ultrasonic waves, while adjusting the delay times of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators, based on the B-mode image data, on the B-mode image shown in the B-mode image data, search for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators, and the focus is presented by the intensity of brightness in the B-mode image shown in the B-mode image data. The focus adjustment method may include the following steps: when causing the plurality of ultrasonic vibrators to transmit ultrasonic waves, while adjusting the delay times of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators, search for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data.

[0020] Preferably, it includes the following steps: starting from the state where ultrasonic waves are respectively generated from the plurality of ultrasonic vibrators at the delay time when the focus is detected, the delay times of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators are further adjusted so that the focus approaches the central axis or the focus is located on the central axis. Advantages of the Invention

[0021] According to the present invention, it is possible to easily perform the operation of aligning the focus position of the therapeutic ultrasonic wave with the treatment site. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a diagram showing the configuration of the HIFU irradiation device according to the first embodiment. Figure 2 It is a diagram for explaining the focus adjustment process. Figure 3 It is a diagram for explaining the focus adjustment process. Figure 4 It is a diagram for explaining the focus adjustment process. Figure 5It is a diagram showing the configuration of a HIFU irradiation device according to a second embodiment. DETAILED DESCRIPTION

[0023] Embodiments of the present invention will be described with reference to the accompanying drawings. The same components shown in a plurality of drawings are denoted by the same reference numerals and their descriptions are simplified. Figure 1 2 shows a configuration of a HIFU irradiation device 100 according to a first embodiment of the present invention. The HIFU irradiation device 100 includes a HIFU transducer unit 10, an ultrasonic probe 12, a coupling bag 24, a probe driving unit 14, a data acquisition unit 16, a transducer control unit 18, a display unit 20, and a controller 22.

[0024] Figure 1 , a cross section of the HIFU vibrator unit 10 is shown in FIG. The HIFU vibrator unit 10 includes: a vibrator housing 26 having a concave surface 30 with an opening facing downward; and a plurality of ultrasonic vibrators 32 arranged along the concave surface 30 of the vibrator housing 26 and fixed to the vibrator housing 26. The HIFU vibrator unit 10 does not necessarily have a physical concave surface 30. In this case, the plurality of ultrasonic vibrators 32 may be fixed to the vibrator housing 26 in a manner arranged along an imaginary concave surface.

[0025] The concave surface 30 of the vibrator housing 26 may have the same shape as the side surface of a cone. Here, a cone refers to a three-dimensional shape formed by a collection of straight lines extending from a point in space to the bottom surface. In addition, the concave surface 30 of the vibrator housing 26 may also have a shape that bulges upward in a dome shape. Each ultrasonic vibrator 32 is fixed to the vibrator housing 26 in such a way that the intensity of the ultrasonic wave is enhanced at the treatment reference point P below the vibrator housing 26 when each ultrasonic vibrator 32 emits an ultrasonic wave.

[0026] The controller 22 may be a personal computer, a tablet computer, etc. The controller 22 may realize various functions by executing a program. The controller 22 is connected to an operating device (not shown) for a user to operate the HIFU irradiation device 100. The operating device may include a mouse, a touch panel integrated with the display unit 20, a switch, a keyboard, etc.

[0027] The vibrator control unit 18 may be composed of a processor that controls each ultrasonic vibrator 32 by executing a program. The vibrator control unit 18 causes each ultrasonic vibrator 32 to generate an ultrasonic wave in accordance with the control of the controller 22. In addition, the vibrator control unit 18 adjusts at least one of the intensity and delay time of the ultrasonic wave generated by each ultrasonic vibrator 32 in accordance with the control of the controller 22.

[0028] The ultrasonic probe 12 extending in the vertical direction is mounted on the vibrator housing 26 in such a manner that it receives and transmits ultrasonic waves at a position below the vibrator housing 26 and above the treatment reference point P. In the present embodiment, the ultrasonic probe 12 penetrates the apex portion of the concave surface 30 of the vibrator housing 26 in the vertical direction, and the transceiver unit 28 for receiving and transmitting ultrasonic waves faces downward.

[0029] A coupling bag 24 is provided below the HIFU vibrator unit 10. The coupling bag 24 matches the acoustic impedance between each ultrasonic vibrator 32 and the patient, and between the ultrasonic probe 12 and the patient. The coupling bag 24 may be a bag filled with a liquid such as water. The ultrasonic probe 12 penetrates from above the coupling bag 24 into the interior, and the transceiver unit 28 is located inside the coupling bag 24.

[0030] As the data acquisition unit 16, an ultrasonic diagnostic apparatus can be used. The data acquisition unit 16 performs the following processing in accordance with the control of the controller 22. That is, the data acquisition unit 16 causes the ultrasonic probe 12 to transmit ultrasonic waves and scans the beam (ultrasonic beam) based on the transmitted ultrasonic waves.

[0031] For the transceiver unit 28 of the ultrasonic probe 12, a major axis direction and a minor axis direction are set, and the ultrasonic beam is scanned on an observation surface 44 that extends in a direction away from the transceiver unit 28 in the major axis direction. The ultrasonic probe 12 is mounted on the HIFU vibrator unit 10 in such a manner that the observation surface 44 includes the central axis 40, and the central axis 40 penetrates the apex portion of the concave surface 30 of the vibrator housing 26 in the vertical direction.

[0032] The data acquisition unit 16 causes the ultrasonic probe 12 to receive reflected ultrasonic waves from the direction toward which the ultrasonic beam is directed, and acquires a reception signal based on the reflected ultrasonic waves received from each direction toward which the ultrasonic beam is directed. The data acquisition unit 16 generates ultrasonic data based on the reception signal obtained on the observation surface 44 and outputs it to the controller 22. The ultrasonic data may be, for example, data representing a B-mode image (tomographic image) acquired with respect to the observation surface 44.

[0033] The ultrasonic probe 12 is rotatable about the central axis 40 by a probe driving unit 14. The probe driving unit 14 causes the ultrasonic probe 12 to rotate about the central axis 40 with respect to the HIFU vibrator unit 10. That is, the probe driving unit 14 causes the ultrasonic probe 12 to rotate about the central axis 40 in accordance with the control of the controller 22, and causes the observation surface 44 of the ultrasonic probe 12 to rotate about the central axis 40.

[0034] During treatment, the coupling bag 24, the ultrasonic probe 12, and the HIFU vibrator unit 10 are arranged such that the lower side of the coupling bag 24 is in close contact with the patient. Before the treatment ultrasonic waves are irradiated from the HIFU vibrator unit 10 to the patient, the following positioning process is performed.

[0035] The vibrator control unit 18 causes each ultrasonic vibrator 32 included in the HIFU vibrator unit 10 to transmit ultrasonic waves with an intensity smaller than that during treatment. The probe drive unit 14 sets the rotational angle position (the position represented by the rotation angle) of the ultrasonic probe 12 by scanning the ultrasonic beam with the observation surface 44 that expands in a specified direction.

[0036] The data acquisition unit 16 causes the ultrasonic probe 12 to scan the ultrasonic beam with the observation surface 44 specified by the rotational angle position of the ultrasonic probe 12, acquires ultrasonic data, and outputs the ultrasonic data to the controller 22. The controller 22 overlays and displays the B-mode image indicated by the ultrasonic data and the image presenting the treatment reference point P on the display unit 20. The user, who is the operator of the surgery, confirms the difference between the position of the focus F where the ultrasonic waves transmitted from the HIFU vibrator unit 10 are enhanced and the position of the treatment reference point P with reference to the image displayed on the display unit 20.

[0037] When the difference between the position of the focus F and the position of the treatment reference point P is not within the allowable range, the user changes the position or posture of the coupling bag 24, the ultrasonic probe 12, and the HIFU vibrator unit 10. Alternatively, the user changes the contact state between the coupling bag 24 and the patient 34. After the user confirms that the position of the focus F coincides with the position of the treatment reference point P, or the difference between the position of the focus F and the position of the treatment reference point P is within the allowable range, the user performs an operation for treatment on the controller 22. The controller 22 controls the vibrator control unit 18 in accordance with the operation performed by the user. The vibrator control unit 18 causes each ultrasonic vibrator 32 to transmit therapeutic ultrasonic waves with the intensity required for treatment in accordance with the control performed by the controller 22. Thereby, the biological tissue at the focus F is cauterized, and the treatment is implemented.

[0038] In the treatment using high-intensity focused ultrasound, if there is a region in the patient tissue with different acoustic properties from the surroundings, the position of the focus F may deviate due to the refraction of the ultrasonic waves emitted from the ultrasonic vibrator 32 compared to the case where the acoustic properties are the same. As a result, sometimes the focus F of the ultrasonic waves does not appear on the B-mode image, making it difficult to perform the positioning process.

[0039] Therefore, in the HIFU irradiation device 100 according to the present embodiment, before performing the positioning process, the focus adjustment process described below can be performed. Through the focus adjustment process, the focus F moves onto the observation surface 44 of the ultrasonic probe 12. Furthermore, the focus F can also approach the central axis 40 or be set on the central axis 40.

[0040] The controller 22 controls the data acquisition unit 16 to cause the data acquisition unit 16 to acquire B-mode image data as ultrasonic data. The data acquisition unit 16 causes the ultrasonic probe 12 to transmit ultrasonic waves and scans the ultrasonic beam with the observation plane 44. The data acquisition unit 16 causes the ultrasonic probe 12 to receive the reflected ultrasonic waves from the direction toward which the ultrasonic beam is directed, and acquires the reception signals obtained from the reflected ultrasonic waves received from each direction toward which the ultrasonic beam is directed. The data acquisition unit 16 generates ultrasonic data based on the reception signals obtained with the observation plane 44 and outputs the ultrasonic data to the controller 22.

[0041] In addition, the controller 22 controls the vibrator control unit 18 to cause each ultrasonic vibrator 32 included in the HIFU vibrator unit 10 to transmit ultrasonic waves having an intensity smaller than that during treatment.

[0042] Figures 2 to 4 It is a diagram for explaining the focus adjustment process. On the left side of Figure 2 the state where the short-axis direction of the transceiver unit 28 faces left and right is shown. On the right side of Figure 2 the state where the long-axis direction of the transceiver unit 28 faces left and right is shown. In Figure 3 the state where the long-axis direction of the transceiver unit 28 faces left and right is shown, and in Figure 4 the state where the short-axis direction of the transceiver unit 28 faces left and right is shown.

[0043] In Figure 2 the state where the focus F is located at a position away from the observation plane 44 is shown on the left side. However, in this drawing, the illustration of the coupling bag 24 is omitted for clarity. Regarding Figure 3 and Figure 4 described later, the illustration of the coupling bag 24 is also omitted. The controller 22 controls the probe drive unit 14 to search for the focus F on the B-mode image shown in the ultrasonic data output from the data acquisition unit 16 while rotating the ultrasonic probe 12 around the central axis 40. The probe drive unit 14 rotates the ultrasonic probe 12 around the central axis 40 within a range of at least 90°. The controller 22 controls the probe drive unit 14 to cause the ultrasonic probe 12 to stop at the rotational angle position when the focus F is detected on the B-mode image. On the right side of Figure 2 and on the left side of Figure 3 the ultrasonic beam scanning area 42 and the focus F when the focus F is detected on the B-mode image are schematically shown. Here, the ultrasonic beam scanning area 42 is an area where the ultrasonic beam is scanned, and B-mode image data is generated for this area.

[0044] The controller 22 controls the vibrator control unit 18 to adjust the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within the observation plane 44. That is, in response to the control of the controller 22, the vibrator control unit 18 adjusts the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within the observation plane 44, moves the focal point F closer to the central axis 40, or positions the focal point F on the central axis. In Figure 3 On the right side, the ultrasonic beam scanning region 42 and the focal point F when the focal point F is positioned on the central axis 40 are schematically shown.

[0045] In the HIFU irradiation device 100, as shown on the left side of Figure 3 , even if the focal point F is not on the central axis 40, the positioning process can be performed in a state where the focal point F is on the B-mode image. As shown on the right side of Figure 3 , the positioning process can be performed in a state where the focal point F is on the central axis 40.

[0046] It is also possible not to rotate the ultrasonic probe 12, but to perform the focal point adjustment process by adjusting the delay times of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 respectively. On the left side of Figure 4 , a state where the focal point F is located at a position away from the observation plane 44 is shown. The controller 22 controls the vibrator control unit 18 to adjust the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within a plane intersecting the observation plane 44, for example, within a plane perpendicular to the observation plane 44. That is, in response to the control of the controller 22, the vibrator control unit 18 adjusts the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within a plane intersecting the observation plane 44, and positions the focal point F on the observation plane 44. On the right side of Figure 4 , the ultrasonic beam scanning region 42 and the focal point F when the focal point F is positioned on the observation plane 44 are schematically shown.

[0047] Figure 4 The state shown on the right side of Figure 3 is the same as the state shown on the left side of Figure 3 . The controller 22 controls the vibrator control unit 18 to adjust the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within the observation plane 44. That is, in response to the control of the controller 22, the vibrator control unit 18 adjusts the delay times of the ultrasonic waves generated by the plurality of ultrasonic vibrators 32 respectively, so that the focal point F moves within the observation plane 44, moves the focal point F closer to the central axis 40, or positions the focal point F on the central axis 40. On the right side of

[0048] For the case where the ultrasonic probe 12 does not rotate, in the HIFU irradiation apparatus 100, as shown on the left side of Figure 3 , even if the focus F is not located on the central axis 40, the positioning process is performed in a state where the focus F is located on the B-mode image. Additionally, as shown on the right side of Figure 3 , the positioning process can be performed in a state where the focus F is located on the central axis 40.

[0049] In this way, in the HIFU irradiation apparatus 100, the focus adjustment process is performed by a focus adjustment method including the following steps (i) to (iii). (i) When causing the plurality of ultrasonic vibrators 32 to transmit ultrasonic waves, while changing the rotational angular position of the ultrasonic probe 12 around the central axis 40, search for the focus F of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 on the B-mode image shown in the B-mode image data (ii) Stop the ultrasonic probe 12 at the rotational angular position when the focus F is detected (iii) In a state where the ultrasonic probe 12 is stopped at the rotational angular position when the focus F is detected, adjust the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators 32 to move the focus closer to the central axis 40 or to locate the focus F on the central axis 40

[0050] In the focus adjustment method, the step (iii) above does not have to be performed. The focus adjustment method can be a method that performs the steps (i) and (ii) above.

[0051] Additionally, in the HIFU irradiation apparatus 100, the focus adjustment process can also be performed by a focus adjustment method including the following steps (a) and (b). (a) When causing the plurality of ultrasonic vibrators 32 to transmit ultrasonic waves, while adjusting the delay time of the ultrasonic waves emitted from each of the plurality of ultrasonic vibrators 32, search for the focus F of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 on the B-mode image shown in the B-mode image data (b) Starting from the state where ultrasonic waves are generated from the plurality of ultrasonic vibrators 32 with the delay time when the focus F is detected, further adjust the delay time of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 to move the focus closer to the central axis 40 or to locate the focus F on the central axis 40

[0052] In the focus adjustment method, the step (b) above does not have to be performed. The focus adjustment method can be a method that performs the step (a) above.

[0053] Figure 5The configuration of the HIFU irradiation device 102 according to the second embodiment of the present invention is shown. The HIFU irradiation device 102 is provided with a vibrator unit drive unit 90 in addition to the HIFU irradiation device 100. The vibrator unit drive unit 90 rotates the HIFU vibrator unit 10 about the central axis 40 with respect to a reference coordinate system fixed to a bed or the like on which the patient 34 can lie, according to the control of the controller 22. That is, the vibrator unit drive unit 90 functions as an ultrasonic vibrator drive unit that rotates a plurality of ultrasonic vibrators 32 arranged along the concave surface 30 about the central axis 40.

[0054] In the present embodiment, the probe drive unit 14 maintains the ultrasonic probe 12 in a stationary state. Here, the state in which the ultrasonic probe 12 is stationary means the state in which the ultrasonic probe 12 is stationary in the reference coordinate system. The vibrator unit drive unit 90 rotates the HIFU vibrator unit 10 in a rotation direction opposite to the rotation direction of the ultrasonic probe 12 in the focus adjustment process described in the first embodiment. Figures 2 to 4 The probe drive unit 14 rotates the ultrasonic probe 12 about the central axis 40 with respect to the HIFU vibrator unit 10. Therefore, by setting the rotation angle of the ultrasonic probe 12 with respect to the HIFU vibrator unit 10 to the same angle in the opposite direction with respect to the rotation angle of the HIFU vibrator unit 10 in the reference coordinate system, the ultrasonic probe 12 becomes a state of being stationary in the reference coordinate system. Thereby, the position of the focus F on the B-mode image can be adjusted without changing the B-mode image displayed on the display unit 20.

[0055] In the HIFU irradiation device 102, the focus adjustment process is performed by a focus adjustment method including the following steps (α) to (γ).

[0056] (α) While changing the rotation angle position of the HIFU vibrator unit 10 about the central axis 40, that is, the rotation angle position of the plurality of ultrasonic vibrators 32, while the plurality of ultrasonic vibrators 32 are transmitting ultrasonic waves, search for the focus F of the ultrasonic waves emitted from the plurality of ultrasonic vibrators 32 on the B-mode image shown in the B-mode image data. (β) Stop the HIFU vibrator unit 10 at the rotation angle position when the focus F is detected. (γ) In a state where the HIFU vibrator unit 10 is stopped at the rotation angle position when the focus F is detected, adjust the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators 32 so that the focus approaches the central axis 40 or the focus is located on the central axis 40.

[0057] ​In the focus adjustment method, it is not necessary to perform the above step (γ). The focus adjustment method may be a method of performing the above steps (α) and (β).

[0058] According to the focus adjustment process described above, the focus F can be located on the observation surface 44. Therefore, even when the focus F does not appear in the B-mode image due to refraction, the positioning process can be performed by locating the focus F on the observation surface 44. In addition, in the focus adjustment process, the focus F may be brought closer to the central axis 40, or the focus F may be set on the central axis 40. In this case, the focus F is located below the ultrasonic probe 12, and the image of the focus F is located at an easily visible position in the B-mode image. Therefore, the operation of the positioning process is facilitated.

[0059] [Configuration of the present invention] Configuration 1: A HIFU irradiation device, characterized in that it comprises: A vibrator control unit that controls a plurality of ultrasonic vibrators arranged along a concave surface; A probe drive unit that rotates an ultrasonic probe arranged on the central axis of the concave surface around the central axis; A data acquisition unit that acquires B-mode image data through the ultrasonic probe; and A controller that controls the vibrator control unit, the probe drive unit, and the data acquisition unit, The controller performs the following processes: When making the plurality of ultrasonic vibrators emit ultrasonic waves, while changing the rotational angular position of the ultrasonic probe around the central axis, searching for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data; and Making the ultrasonic probe stop at the rotational angular position when the focus is detected. Configuration 2: The HIFU irradiation device according to Configuration 1, characterized in that In a state where the controller makes the ultrasonic probe stop at the rotational angular position when the focus is detected, the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators is adjusted so that the focus is brought closer to the central axis, or the focus is located on the central axis. Configuration 3: A HIFU irradiation device, characterized in that it comprises: A vibrator control unit that controls a plurality of ultrasonic vibrators arranged along a concave surface; An ultrasonic vibrator driving unit that rotates a plurality of the ultrasonic vibrators around the central axis of the concave surface; A data acquisition unit that acquires B-mode image data through an ultrasonic probe disposed on the central axis of the concave surface; and A controller that controls the vibrator control unit, the ultrasonic vibrator driving unit, and the data acquisition unit, The controller performs the following processes: When causing a plurality of the ultrasonic vibrators to transmit ultrasonic waves, while changing the rotational angular position of the plurality of the ultrasonic vibrators around the central axis, searching for the focal points of the ultrasonic waves emitted from the plurality of the ultrasonic vibrators on the B-mode image shown in the B-mode image data; and Causing the plurality of the ultrasonic vibrators to stop at the rotational angular position when the focal points are detected. Configuration 4: The HIFU irradiation device according to Configuration 3, wherein the HIFU irradiation device is characterized in that In a state where the controller causes the plurality of the ultrasonic vibrators to stop at the rotational angular position when the focal points are detected, adjusting the delay times of the ultrasonic waves respectively emitted from the plurality of the ultrasonic vibrators to make the focal points approach the central axis or to make the focal points located on the central axis. Configuration 5: A HIFU irradiation device, characterized by comprising: A vibrator control unit that controls a plurality of ultrasonic vibrators disposed along a concave surface; A data acquisition unit that acquires B-mode image data through an ultrasonic probe disposed on the central axis of the concave surface; and A controller that controls the vibrator control unit and the data acquisition unit, The controller performs the following process: When causing a plurality of the ultrasonic vibrators to transmit ultrasonic waves, while adjusting the delay times of the ultrasonic waves respectively emitted from the plurality of the ultrasonic vibrators, searching for the focal points of the ultrasonic waves emitted from the plurality of the ultrasonic vibrators on the B-mode image shown in the B-mode image data. Configuration 6: The HIFU irradiation device according to Configuration 5, wherein the HIFU irradiation device is characterized in that From a state where ultrasonic waves are respectively generated from the plurality of the ultrasonic vibrators at the delay times when the focal points are detected, further adjusting the delay times of the ultrasonic waves respectively emitted from the plurality of the ultrasonic vibrators to make the focal points approach the central axis or to make the focal points located on the central axis. Configuration 7: A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: A plurality of ultrasonic vibrators arranged along a concave surface; An ultrasonic probe arranged on the central axis rotatably around the central axis of the concave surface; and A data acquisition unit that acquires B-mode image data through the ultrasonic probe, The focus adjustment method is characterized by including the following steps: When making the plurality of ultrasonic vibrators transmit ultrasonic waves, while changing the rotational angle position of the ultrasonic probe around the central axis, search for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data; and Make the ultrasonic probe stationary at the rotational angle position when the focus is detected. Constitution 8: According to the focus adjustment method described in Constitution 7, the focus adjustment method is characterized in that In a state where the ultrasonic probe is stationary at the rotational angle position when the focus is detected, adjust the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators to make the focus approach the central axis or make the focus located on the central axis. Constitution 9: A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: A plurality of ultrasonic vibrators arranged along a concave surface and arranged rotatably around the central axis of the concave surface; An ultrasonic probe arranged on the central axis of the concave surface; and A data acquisition unit that acquires B-mode image data through the ultrasonic probe, The focus adjustment method is characterized by including the following steps: When making the plurality of ultrasonic vibrators transmit ultrasonic waves, while changing the rotational angle position of the plurality of ultrasonic vibrators around the central axis, search for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data; and Make the plurality of ultrasonic vibrators stationary at the rotational angle position when the focus is detected. Constitution 10: According to the focus adjustment method described in Constitution 9, the focus adjustment method is characterized in that The method includes the following steps: while keeping the plurality of ultrasonic vibrators stationary at the rotational angle positions when the focus is detected, adjusting the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators to move the focus closer to the central axis or to position the focus on the central axis. Configuration 11: A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: a plurality of ultrasonic vibrators arranged along a concave surface; and a data acquisition unit that acquires B-mode image data through an ultrasonic probe disposed on the central axis of the concave surface, The focus adjustment method is characterized by including the following steps: When the plurality of ultrasonic vibrators transmit ultrasonic waves, while adjusting the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators, searching for the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators on the B-mode image shown in the B-mode image data. Configuration 12: According to the focus adjustment method described in Configuration 11, the focus adjustment method is characterized in that The method includes the following steps: starting from the state where ultrasonic waves are respectively generated from the plurality of ultrasonic vibrators at the delay time when the focus is detected, further adjusting the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators to move the focus closer to the central axis or to position the focus on the central axis. Explanation of reference numerals

[0060] 10 HIFU vibrator unit; 12 ultrasonic probe; 14 probe drive unit; 16 data acquisition unit; 18 vibrator control unit; 20 display unit; 22 controller; 24 coupling bag; 26 vibrator housing; 28 transceiver unit; 30 concave surface; 32 ultrasonic vibrator; 40 central axis; 42 ultrasonic beam scanning area; 44 observation surface; 90 vibrator unit drive unit; 100, 102 HIFU irradiation device.

Claims

1. A HIFU irradiation device, characterized in that: have: a vibrator control unit that controls a plurality of ultrasonic vibrators arranged along the concave surface; a probe driving unit that causes the ultrasonic probe disposed on the central axis of the concave surface to rotate around the central axis; a data acquisition unit, which acquires B-mode image data through the ultrasonic probe; and a controller that controls the vibrator control unit, the probe driving unit, and the data acquisition unit, The controller performs the following processing: When the plurality of ultrasonic transducers are caused to transmit ultrasonic waves, the rotation angle position of the ultrasonic probe around the central axis is changed, and a focus of the ultrasonic waves emitted from the plurality of ultrasonic transducers is searched for based on the B-mode image data, the focus being represented by brightness in the B-mode image indicated by the B-mode image data; and The ultrasonic probe is made to stand still at the rotation angle position when the focus is detected.

2. The HIFU irradiation device according to claim 1, characterized in that: The controller adjusts delay times of ultrasound waves emitted from the plurality of ultrasound transducers while keeping the ultrasound probe stationary at the rotation angle position when the focus is detected, so that the focus approaches the central axis or is located on the central axis.

3. A HIFU irradiation device, characterized in that: have: a vibrator control unit that controls a plurality of ultrasonic vibrators arranged along the concave surface; an ultrasonic vibrator driving unit that rotates the plurality of ultrasonic vibrators around the central axis of the concave surface; a data acquisition unit that acquires B-mode image data through an ultrasonic probe disposed on the central axis of the concave surface; and a controller that controls the vibrator control unit, the ultrasonic vibrator drive unit, and the data acquisition unit, The controller performs the following processing: When causing the plurality of ultrasonic transducers to transmit ultrasonic waves, while changing the rotation angle positions of the plurality of ultrasonic transducers about the central axis, a focus of the ultrasonic waves emitted from the plurality of ultrasonic transducers is searched for based on the B-mode image data, the focus being represented by brightness in the B-mode image indicated by the B-mode image data; and The plurality of ultrasonic transducers are made to stop at the rotation angle position at which the focus is detected.

4. The HIFU irradiation device according to claim 3, characterized in that: The controller adjusts the delay time of the ultrasonic waves emitted from the plurality of ultrasonic vibrators while keeping the plurality of ultrasonic vibrators stationary at the rotation angle position when the focus is detected, so that the focus approaches the central axis or is located on the central axis.

5. A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: A plurality of ultrasonic vibrators are arranged along the concave surface; an ultrasonic probe disposed on the central axis of the concave surface so as to be rotatable about the central axis; and a data acquisition unit, which acquires B-mode image data through the ultrasonic probe, The focus adjustment method is characterized in that: The HIFU irradiation device further comprises: a vibrator control unit that controls the plurality of ultrasonic vibrators; and a probe driving unit that rotates the ultrasonic probe around the central axis, The controller controlling the vibrator control unit, the probe driving unit and the data acquisition unit performs the following steps: When the plurality of ultrasonic transducers are caused to transmit ultrasonic waves, the rotation angle position of the ultrasonic probe around the central axis is changed, and a focus of the ultrasonic waves emitted from the plurality of ultrasonic transducers is searched for based on the B-mode image data, the focus being represented by brightness in the B-mode image indicated by the B-mode image data; and The ultrasonic probe is made to stand still at the rotation angle position when the focus is detected.

6. The focus adjustment method according to claim 5, characterized in that: The controller performs the following steps: While the ultrasonic probe is stationary at the rotation angle position when the focus is detected, the delay time of each ultrasonic wave emitted from the plurality of ultrasonic transducers is adjusted so that the focus approaches the central axis or is located on the central axis.

7. A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: a plurality of ultrasonic vibrators arranged along the concave surface and arranged to be rotatable around a central axis of the concave surface; and an ultrasonic probe disposed on the central axis of the concave surface; and a data acquisition unit, which acquires B-mode image data through the ultrasonic probe, The focus adjustment method is characterized in that: The HIFU irradiation device further comprises: a vibrator control unit that controls the plurality of ultrasonic vibrators; and a probe driving unit that rotates the ultrasonic probe around the central axis, The controller controlling the vibrator control unit, the probe driving unit and the data acquisition unit performs the following steps: When causing the plurality of ultrasonic transducers to transmit ultrasonic waves, while changing the rotation angle positions of the plurality of ultrasonic transducers about the central axis, a focus of the ultrasonic waves emitted from the plurality of ultrasonic transducers is searched for based on the B-mode image data, the focus being represented by brightness in the B-mode image indicated by the B-mode image data; and The plurality of ultrasonic transducers are made to stop at the rotation angle position at which the focus is detected.

8. The focus adjustment method according to claim 7, characterized in that: The controller performs the following steps: While the plurality of ultrasonic vibrators are stationary at the rotation angle position when the focus is detected, the delay time of each ultrasonic wave emitted from the plurality of ultrasonic vibrators is adjusted so that the focus approaches the central axis or is located on the central axis.

9. A HIFU irradiation device, characterized in that: have: a vibrator control unit that controls a plurality of ultrasonic vibrators arranged along the concave surface; a data acquisition unit that acquires B-mode image data through an ultrasonic probe disposed on the central axis of the concave surface; and a controller that controls the vibrator control unit and the data acquisition unit, The controller performs the following processing: When the plurality of ultrasonic vibrators are caused to transmit ultrasonic waves, the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators is adjusted, and the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators is searched for based on the B-type image data. The focus is presented in the B-type image shown by the brightness intensity in the B-type image shown by the B-type image data.

10. The HIFU irradiation device according to claim 9, characterized in that: Starting from the state in which the plurality of ultrasonic vibrators generate ultrasonic waves respectively at the delay time when the focus is detected, the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators is further adjusted so that the focus approaches the central axis or is located on the central axis.

11. A focus adjustment method, which is a focus adjustment method for a HIFU irradiation device, the HIFU irradiation device comprising: a plurality of ultrasonic vibrators arranged along the concave surface; and a data acquisition unit, which acquires B-mode image data by means of an ultrasonic probe arranged on the central axis of the concave surface, The focus adjustment method is characterized in that: The HIFU irradiation device further includes a vibrator control unit that controls the plurality of ultrasonic vibrators. The controller controls the vibrator control unit and the data acquisition unit to perform the following steps: When the plurality of ultrasonic vibrators are caused to transmit ultrasonic waves, the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators is adjusted, and the focus of the ultrasonic waves emitted from the plurality of ultrasonic vibrators is searched for based on the B-type image data. The focus is presented in the B-type image shown by the brightness intensity in the B-type image shown by the B-type image data.

12. The focus adjustment method according to claim 11, characterized in that: The controller performs the following steps: Starting from the state in which the plurality of ultrasonic vibrators generate ultrasonic waves respectively at the delay time when the focus is detected, the delay time of the ultrasonic waves respectively emitted from the plurality of ultrasonic vibrators is further adjusted so that the focus approaches the central axis or is located on the central axis.

Images