APPARATUS FOR CONTROLLING ULTRASONIC IRRADIATION, METHOD FOR CONTROLLING IT - Apparatus for controlling ultrasonic irradiation, method for controlling it

Abstract

A control device (100) of an ultrasonic irradiation device (10) according to one aspect of this description may include: a memory (130); a communication module (110) configured to perform communication with the ultrasonic irradiation device (10);and a processor (120) configured to control the ultrasonic irradiation device (10), the processor (120) is configured to calculate a moving position on the basis of: a first offset distance value (OD1) between an ultrasonic probe (20) and a marker (21) stored in the memory (130), a second offset distance value (OD2) between an ultrasonic irradiation module (14) and a camera (11) stored in the memory (130), and a first distance value (D1), a second distance value (D2), or a third distance value (D3) between a central position of the camera (11) and a position of the marker (21) in an image of an irradiation area (A) obtained from the camera (11) via the communication module (110). Fig. of the abstract: Fig.1;

Description

Title of the invention: Device for controlling ultrasonic irradiation, method for controlling it. Technical field

[0001] The present description relates to a control device for an ultrasonic irradiation device and to a method for controlling it, and more particularly, to a control device for an ultrasonic irradiation device using high-intensity focused ultrasound and to a method for controlling it. Previous technique

[0002] The most representative use of ultrasound in the medical field is an ultrasound imaging device that utilizes the emission and reflection properties of ultrasound. For example, a device visualizes the reflected time and intensity of ultrasound by passing ultrasound waves through the organs of a human body and acquires cross-sectional images inside the human body.

[0003] In addition, a device burns specific subcutaneous tissues such as tumors in the skin using heat generated by high-intensity focused ultrasound (HIFU) or causes degeneration and regeneration of skin tissues, thereby beautifying the skin or achieving skin-molding effects such as wrinkle reduction.

[0004] However, the conventional ultrasonic irradiation device has degraded accuracy ultrasound irradiation was not possible because it was not possible to move precisely to the ultrasound irradiation position.

[0005] In addition, the conventional ultrasound irradiation device has limitations with regard to reducing the preparation time for ultrasound irradiation by moving to the ultrasound irradiation position, and with regard to effective ultrasound irradiation.

[0006] [Prior art literature]

[0007] (Patent Document 1) Japanese Patent Registration No. 6861624 (published on April 1, 2021) DETAILED DESCRIPTION OF THE INVENTION

[0008] TECHNICAL PROBLEM

[0009] To solve the technical problem, the embodiment of the present description is provided to improve the accuracy of ultrasound irradiation by moving precisely to an ultrasound irradiation position.

[0010] In addition, the embodiment of the present description is provided to reduce preparation time for ultrasound irradiation.

[0011] In addition, the embodiment of the present description is provided for irradiating ultrasound efficiently.

[0012] The technical problems of the inventive concept are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by experts in the field from the following description.

[0013] TECHNICAL SOLUTION

[0014] According to one embodiment, a control device for an ultrasonic irradiation device according to one aspect of the present description may include: a memory; a communication module configured to communicate with the ultrasonic irradiation device; and a processor configured to control the ultrasonic irradiation device, the processor being configured to calculate a moving position based on: a first offset distance value between an ultrasonic probe and a marker stored in the memory, a second offset distance value between an ultrasonic irradiation module and a camera stored in the memory, and a first distance value, a second distance value, or a third distance value between a central position of the camera and a position of the marker in an image of an irradiation area obtained from the camera via the communication module.

[0015] In addition, the processor can match marker position information and camera center position information on the basis of the first distance value, the second distance value, or the third distance value.

[0016] In addition, the processor can control and move a moving part of the ultrasonic irradiation device through the communication module or control a movement of a bed through the communication module to match the position information of the marker to the central position information of the camera.

[0017] In addition, the processor can further calculate a mobile position of the ultrasonic irradiation module on the basis of a detection distance obtained from a detection module of the ultrasonic irradiation device through the communication module such that a distance between the ultrasonic irradiation module and the ultrasonic probe or a distance between the ultrasonic irradiation module and a human body is maintained at a predetermined distance.

[0018] In addition, the processor can control and move a moving part of the ultrasonic irradiation device through the communication module or control a movement of a bed through the communication module based on the calculated mobile position such that the ultrasonic irradiation module moves to the calculated mobile position.

[0019] In addition, the processor can receive input of the first offset distance value and the second offset distance value through a correction UI and store the first offset distance value and the second offset distance value in memory, and control a bed movement along 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 to match an irradiation position of the ultrasonic irradiation module to an imaging position of the ultrasonic probe.

[0020] In addition, the processor can further control an alarm module of the ultrasonic irradiation device to notify a situation where it is possible to irradiate ultrasound from the ultrasonic irradiation device on the basis that the irradiation position of the ultrasonic irradiation module coincides with the imaging position of the ultrasonic probe.

[0021] In addition, the processor can further control the ultrasonic irradiation module of the ultrasonic irradiation device to irradiate ultrasound from the ultrasonic irradiation device on the basis that the irradiation position of the ultrasonic irradiation module coincides with the imaging position of the ultrasonic probe.

[0022] In addition, the processor can receive an approach distance of a human body obtained from a detection module of the ultrasonic irradiation device, and command the ultrasonic irradiation module to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target distances, when the approach distance is a predetermined target distance.

[0023] In addition, the processor can receive a tumor position of an internal organ of a human body obtained from a detection module of the ultrasound irradiation device, and command the ultrasound irradiation module to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target positions, when the tumor position is a predetermined target position.

[0024] In addition, the processor can further receive a tumor size of an internal organ of a human body obtained from a detection module of the ultrasound irradiation device, and command the ultrasound irradiation module to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target sizes, when the tumor size is a predetermined target size.

[0025] In addition, a method of controlling an ultrasonic irradiation device carried out by a control device according to another aspect of this description may include receiving an input of a first offset distance value between an ultrasonic probe and a marker, and receiving an input of a second offset distance value between an ultrasonic irradiation module and a camera; receiving a first distance value, a second distance value, or a third distance value between a central position of a camera and a position of the marker in an image of an irradiation area obtained from the camera; and calculating a moving position based on the first offset distance value, the second offset distance value, the first distance value, and the second distance value.

[0026] Furthermore, a method for controlling an ultrasonic irradiation device carried out by a control device according to yet another aspect of the present description may include receiving an input of a first offset distance value between an ultrasonic probe and a marker, and receiving an input of a second offset distance value between an ultrasonic irradiation module and a camera; receiving a first distance value, a second distance value, or a third distance value between a central position of a camera and a position of the marker in an image of an irradiation area obtained from the camera; matching the marker position information with the camera's central position information on the basis of the first distance value, the second distance value, or the third distance value;and the calculation of a moving position based on the first offset distance value and the second offset distance value.

[0027] ADVANTAGEOUS EFFECTS OF THE INVENTION

[0028] According to the technical solution to solve the problem according to the present description, there is an effect of improving the accuracy of ultrasonic irradiation by moving to an ultrasonic irradiation position with accuracy.

[0029] Furthermore, according to the technical solution to solve the problem according to the present description, there is an effect of reducing the preparation time for ultrasound irradiation.

[0030] Furthermore, according to the technical solution for solving the problem according to the present description, there is an effective ultrasound irradiation effect.

[0031] The advantages of this description are not limited to the aforementioned advantages, and other advantages, which are not specifically mentioned here, will be clearly understood by experts in the field from the following description. DESCRIPTION OF THE DRAWINGS

[0032] Fig. 1 is a diagram illustrating a configuration of a control device for an ultrasonic irradiation device according to the present description.

[0033] Figs. 2 to 7 are flowcharts illustrating a method of controlling an ultrasonic irradiation device according to the present description.

[0034] Figs. 8 to 14 are diagrams illustrating examples of control processes of an ultrasonic irradiation device through the control device shown in Fig. 1.

[0035] BEST MODE

[0036] In the drawings, the same reference number designates the same element. This description does not describe all the elements of embodiments, and general content within the technical field to which this description belongs, or repeated content from embodiments, will be omitted. Terms such as "unit, module, element, and block" may be realized as hardware or software, and a plurality of "units, modules, elements, and blocks" may be implemented as a single element, or "a unit, module, element, or block" may comprise a plurality of elements.

[0037] Throughout this description, when a part is referred to as being "connected" to another part, this includes a direct connection and an indirect connection, and the indirect connection may include a connection via a wireless communication network.

[0038] Furthermore, when a certain part "includes" a certain element, other elements are not excluded, unless explicitly stated otherwise, and other elements may be included.

[0039] Throughout the specification of this description, when any element is located "on" another element, this includes a case in which another element is present between the two elements as well as a case in which one element is in contact with another element.

[0040] It will be understood that terms such as "first" and "second" may be used in the specification to distinguish one element from another element, and the elements are not limited by the above terms.

[0041] A singular expression includes a plural expression, unless the context provides a clear exception.

[0042] An identification code in each of the operating steps is used to facilitate description and not to describe the order of the operating steps, and the operating steps may be implemented differently from the order described, unless a specific order is explicitly described in the context.

[0043] Subsequently, the operating principle and embodiments of this description will be described with reference to the attached drawings.

[0044] High-intensity focused ultrasound (HIFU) technology is a technique that burns specific subcutaneous tissue, such as a skin tumor, using the heat generated when high-intensity ultrasound waves are focused onto a point on the skin. This principle is similar to that of gathering sunlight with a magnifying glass and creating a fire. Because ultrasound waves easily pass through body tissues, the HIFU irradiation procedure is performed completely non-invasively without a blade or even a needle. In other words, when the irradiated area of ​​the skin is in close contact with the ultrasound surface, specific subcutaneous tissue, such as a tumor, is burned. Furthermore, the current HIFU irradiation procedure is used for uterine fibroids, bone metastases, prostate cancer, breast cancer, pancreatic cancer, liver cancer, and kidney cancer.

[0045] Such a HIFU irradiation process can be implemented with an ultrasonic irradiation device.

[0046] In the specification of this description, the control device for an ultrasonic irradiation may include various types of devices capable of performing an operational process and providing a result to a user. For example, the control device for an ultrasonic irradiation according to this description may include all or one of a computer, a server device, and a portable terminal.

[0047] Here, the computer may include, for example, an electronic notepad, a desktop computer, a laptop, a touch tablet, a slate computer, or others, equipped with a web browser.

[0048] The server device is a server for carrying out communication with an external device and for processing information and may include an application server, a computer server, a database server, a file server, a mail server, a proxy server, a web server, or others.

[0049] The portable terminal is a wireless communication device that secures portability and mobility and may include all types of portable wireless communication devices such as a Personal Communication System (PCS), Global System for Mobile Communications (GSM), Personal Cellular Digital (PDC), Personal Handset System (PHS), Personal Digital Assistant (PDA), International Mobile Telecommunications (IMT)-2000, Code Division Multiple Access (CDMA)-2000, Code Division Multiple Access W (Broadband CDMA), and Wireless Broadband Internet (Wi-Bro), or a smartphone, and a wearable device such as a watch, ring, bracelet, a ankle bracelet, a necklace, glasses, a contact lens, or a head-mounted device (HMD).

[0050] The ultrasonic irradiation control device according to the present description can calculate a moving position on the basis of a first value of offset distance between an ultrasonic probe and a marker stored in a memory, a second value of offset distance between an ultrasonic irradiation module of the ultrasonic irradiation device and a camera, and a first distance value, a second distance value, or a third distance value between a central position of the camera and a position of a marker in an image of an irradiation area obtained from the camera via a communication module.

[0051] The ultrasonic irradiation control device can improve the accuracy of ultrasonic irradiation by moving to an ultrasound irradiation position with precision, reduce the preparation time for ultrasonic irradiation, and irradiate ultrasound efficiently.

[0052] The ultrasonic irradiation control device will be described in detail below.

[0053] Fig. 1 is a diagram illustrating a configuration of an ultrasonic irradiation control device according to the present description.

[0054] With reference to [Fig.1], a control unit 100 of an ultrasonic irradiation device 10 may include a communication module 110, a memory 130 and a processor 120.

[0055] The communication module 110 can communicate with the ultrasonic irradiation device 10. In this case, the communication module 110 can include at least one of a wired communication module or a wireless communication module.

[0056] The wired communication module may include various cable communication modules such as the Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), Digital Visual Interface (DVI), Recommended Standard 232 (RS-232), Power Line Communication and good old telephone lines (POTS) as well as various wired communication modules such as a Local Area Network (LAN) module, a Wide Area Network (WAN) module, and a Value-Added Network (VAN) module.

[0057] The wireless communication module may include a wireless communication module that supports various wireless communication schemes such as the Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Broadband Code Division Multiple Access (Broadband CDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), Evolution Technology long term (LTE), 4G, 5G, 6G, and others, as well as a Wi-Fi module and a wireless broadband module.

[0058] A control device can be implemented with memory 130 storing an algorithm for controlling the operations of the elements in the device and data for a program that reproduces the algorithm, and at least one processor 120 performing the operation described above using the data stored in memory 130. Here, memory 130 and processor 120 can be implemented in separate chips, respectively. Alternatively, memory 130 and processor 120 can be implemented in a single chip.

[0059] The memory 130 can store data that supports various functions of the device, operating programs for the control device, input / output data, a plurality of application programs (or applications) executed in the device, and data and commands for operating the device. At least some of the application programs can be downloaded from an external server via wireless communication.

[0060] The memory 130 may include at least one type of storage medium such as flash memory, hard disk drive, solid-state drive (SSD), silicon disk drive (SSD), micro-media card, card-type memory (e.g., SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk. Furthermore, the memory 130 may be separate from the device but may be a database connected either by wire or wirelessly.

[0061] The memory 130 can store data relating to a control of the ultrasonic irradiation device 10. The processor 120 can perform an operation relating to the control of the ultrasonic irradiation device 10.

[0062] The processor 120 can receive an input of a first offset distance value GDI between an ultrasonic probe 20 and a marker 21 stored in memory 130. Furthermore, the processor 120 can receive an input of a second offset distance value OD2 between an ultrasonic irradiation module 14 and a camera 11 stored in memory 130. In addition, the processor 120 can receive a first distance value, a second distance value, or a third distance value between a center position of the camera 11 and a position of the marker 21 in an image of an irradiation area obtained from the camera 11 via the communication module 110. In this case, the processor 120 can calculate a moving position based on the first distance value. of offset, of the second offset distance value, of the first distance value, of the second distance value, or of the third distance value.

[0063] In this case, the processor 120 can match the position information of the marker 21 with the center position information of the camera 11 by moving a bed 30 in the X-axis and Y-axis directions based on the first and second distance values. Here, the processor 120 can control and move a movable part 12 of the ultrasonic irradiation device 10 via the communication module 110, or control the movement of the bed 30 via the communication module 110, to match the position information of the marker 21 with the center position information of the camera 11.In this case, the processor 120 can calculate a moving position based on the position in which the first offset distance value OD1, the second offset distance value OD2, the position information of marker 21, and the center position information of camera 11 are matched.

[0064] Furthermore, the processor 120 can match the position information of marker 21 and the center position information of camera 11 by moving bed 30 in the X-axis and Y-axis directions based on the third distance value. Here, the processor 120 can control and move the moving part 12 of the ultrasonic irradiation device 10 via the communication module 110, or control a movement of the bed 30 via the communication module 110, to match the position information of marker 21 with the center position information of camera 11. In this case, the processor 120 can calculate a moving position based on the position in which the first offset distance value OD1, the second offset distance value OD2, the position information of marker 21, and the center position information of camera 11 are matched.

[0065] The processor 120 can further calculate a mobile position of the ultrasonic irradiation module 14 on the basis of a detection distance obtained from a detection module 15 of the ultrasonic irradiation device 10 through the communication module 110 to maintain a distance between the ultrasonic irradiation module 14 and the ultrasonic probe 20 or a distance between the ultrasonic irradiation module 14 and a human body S.

[0066] The processor 120 can control and move the moving part 12 of the ultrasonic irradiation device 10 through the communication module 110 or control a movement of the bed 30 through the communication module 110 on the basis of the calculated moving position so that the ultrasonic irradiation module 14 moves to the calculated moving position.

[0067] In this case, the processor 120 can receive an input of the first offset distance value and the second offset distance value via a correction UI and store the first offset distance value and the second offset distance value in memory 130, and control a movement of the bed 30 along the X-axis position movement and the Y-axis position movement of the bed 30 associated with the first offset distance value and the second offset distance value to match an irradiation position of the ultrasonic irradiation module 14 to an imaging position of the ultrasonic probe 20.

[0068] The processor 120 can further control an alarm module 13 of the ultrasonic irradiation device 10 to notify a situation of the ultrasonic irradiation device 10 being able to irradiate ultrasound based on the fact that the irradiation position of the ultrasonic irradiation module 14 coincides with the imaging position of the ultrasonic probe 20. In this case, a user can move the ultrasonic irradiation module 14 of the ultrasonic irradiation device 10 in a direction of the Z-axis and irradiate ultrasound on the irradiation area of ​​the human body using the ultrasonic irradiation module 14.

[0069] The processor 120 can further control the ultrasonic irradiation module 14 of the ultrasonic irradiation device 10 to irradiate ultrasound from the ultrasonic irradiation device 10 on the basis that the irradiation position of the ultrasonic irradiation module 14 coincides with the imaging position of the ultrasonic probe 20. In this case, the processor 120 can control the movable part 12 to move the ultrasonic irradiation module 14 in the direction of the Z axis, and control the ultrasonic irradiation module 14 to irradiate ultrasound on the irradiation area of ​​the human body.

[0070] The communication module 110 can further receive an approach distance to the human body obtained from the detection module 15 of the ultrasonic irradiation device 10. In this case, when the approach distance is a predefined target distance, the processor 120 can further command the ultrasonic irradiation module 14 to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target distances.

[0071] The communication module 110 can further receive a tumor position on an internal organ of the human body obtained from the detection module 15 of the ultrasound irradiation device 10. In this case, when the tumor position is a predefined target position, the processor 120 can further command the ultrasound irradiation module 14 to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target positions. The communication module 110 can further receive a tumor size on an internal organ of the human body obtained from the detection module 15 of the ultrasonic irradiation device 10. In this case, when the size of the tumor is a predefined target size, the processor 120 can further command the ultrasonic irradiation module 14 to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target sizes.

[0072] Figures 2 to 7 are flowcharts illustrating a method for controlling an ultrasonic irradiation device according to this description. Figures 8 to 14 are diagrams illustrating examples of control processes for an ultrasonic irradiation device through the control device shown in Figure 1.

[0073] With reference to [Fig.2] and 3, the control method may include an input operation S210, a reception operation S220, a matching operation S221, a calculation operation S231, and a control operation S232.

[0074] The input operation S210 may include receiving an input of the first offset distance value between the ultrasonic probe 20 and the marker 21 stored in memory 130, and receiving an input of the second offset distance value between the ultrasonic irradiation module 14 and the camera 11 stored in memory 130.

[0075] Here, as illustrated in [Fig. 8], the first offset distance value OD1 can be a predefined design offset value between the ultrasonic probe 20 and the marker 21. Here, the marker 21 can be formed on one side of the ultrasonic probe 20. In this case, the ultrasonic probe 20 can scan an irradiation area A by transmitting and receiving ultrasound. In other words, a user can scan the irradiation area A to identify the irradiation area A using the ultrasonic probe 20.

[0076] Furthermore, as shown in [Fig.9], the second offset distance value OD2 can be a predefined offset design value between the ultrasonic irradiation module 14 and the camera 11. In this case, the camera 11 can be arranged outside the ultrasonic irradiation module 14.

[0077] For example, the camera 11 can be provided as a video camera that uses an image detection module. The video camera can be arranged in a stereo-type structure to obtain a left and a right image in order to implement a three-dimensional stereoscopic image. In another example, the camera 11 can be provided as an AI camera. The AI ​​camera can precisely adjust the image recognized by a wide-angle detection module created to mimic the human retina using a brain neural network algorithm. The AI ​​camera can adjust a shutter speed, light exposure, saturation, a color concentration, dynamic range, contrast, and more. Furthermore, the AI ​​camera can render the captured image as a high-quality picture.

[0078] The S220 reception operation may include the reception of the first distance value, the second distance value, or the third distance value between a central position of the camera 11 and a position of the marker 21 in an image of an irradiation area obtained from the camera 11 via the communication module 110.

[0079] In this case, as shown in [Fig. 9], the processor 120 can receive position information PI from marker 21 in the image of the irradiated area A obtained from camera 11 and central position information P2 from camera 11. Here, the position information PI from marker 21 can be a first position coordinate value (xl, yl), and the central position information P2 from camera 11 can be a second position coordinate value (x2, y2). In this case, the processor 120 can receive a first distance value D1, a second distance value D2, or a third distance value D3 based on the first position coordinate value (xl, yl) and the second position coordinate value (x2, y2).

[0080] In the S231 calculation operation, a moving position can be calculated by the processor 120 on the basis of 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] Furthermore, as shown in [Fig. 3], in the S221 matching operation, the position information PI of the marker 21 and the center position information P2 of the camera 11 can be matched by the processor 120 by moving the bed 30 along the X and Y axes based on the first position coordinate value (x1, y1) and the second position coordinate value (x2, y2). Here, to match the position information PI of the marker 21 and the center position information P2 of the camera 11, the processor 120 can control the moving part 12 of the ultrasonic irradiation device 10 through the communication module 110, or control the movement of the bed 30 through the communication module 110.In this case, in the S231 calculation operation, a moving position can be calculated by the processor 120 on the basis of the position where the first offset distance value OD1, the second offset distance value OD2, the position information PI of the marker 21 and the center position information P2 of the camera 11 coincide.

[0082] Here, the processor 120 can further calculate the moving position of the ultrasonic irradiation module 14 based on the detection distance obtained from the detection module 15 of the ultrasonic irradiation device 10 through the The communication module 110 maintains the distance between the ultrasonic irradiation module 14 and the ultrasonic probe 20, or between the ultrasonic irradiation module 14 and the human body S, at a predetermined distance. In this case, if the detection distance obtained from the detection module 15 reaches a target distance, the processor 120 can calculate the moving position of the ultrasonic irradiation module 14 corresponding to the target distance. For example, the detection module 15 can be a distance sensor.

[0083] In the S232 control operation, the processor 120 can control the moving part 12 of the ultrasonic irradiation device 10 through the communication module 110 or control the movement of the bed 30 through the communication module 110 on the basis of the calculated moving position so that the ultrasonic irradiation module 14 is moved to the calculated moving position.

[0084] Here, as illustrated in [Fig. 10], the processor 120 can receive the first offset distance value OD1 and the second offset distance value OD2 via the correction UI, store the first offset distance value OD1 and the second offset distance value OD2 in memory 130, and control the movement of the bed 30 so that the irradiation position of the ultrasound probe 14 and the imaging position of the ultrasound probe 20 coincide with each other according to the positional movement of the X-axis and the positional movement of the Y-axis of the bed 30 associated with the first offset distance value OD1 and the second offset distance value OD2. In this case, a displacement distance dl can be controlled according to the positional movement of the X-axis and the positional movement of the Y-axis of the bed 30.

[0085] Here, even in the case where the irradiation position of the ultrasonic irradiation module 14 and the imaging position of the ultrasonic probe 20 correspond, the processor 120 can perform the correction since there is a difference in distance between the marker 21 and the image of the irradiation area A. In addition, the processor 120 can also correct the distance between the ultrasonic irradiation module 14 and the camera 11.

[0086] In this case, the user can enter a correction value using the correction UI based on a GUI program, and the processor 120 can control the movement of the bed 30 to move the X-axis position and the Y-axis position of the bed 30 where a patient is located based on the correction value entered and the PI position information of the marker 21.

[0087] According to the processor 120, the irradiation position of the ultrasonic irradiation module and the imaging position of the ultrasonic probe 20 coincide exactly, so that the accuracy of ultrasonic irradiation can be improved.

[0088] At the same time, the processor 120 can automatically position the ultrasonic probe 20 at a pre-scanned position through the camera 11 in order to make the task easier for the user.

[0089] For example, a configuration UI based on the GUI program may include a first UI to display an image acquired by the camera 11, a second UI to set an image capture position of the camera 11, a third UI to set a design offset value between the camera 11 and the ultrasound irradiation module 14, a fourth UI to set a design offset value between the ultrasound probe 20 and the marker 21, and a fifth UI to enter a setting value for communication with the ultrasound sensor in order to measure a patient's body thickness.

[0090] Here, through the second UI, the user can move to a position where they can capture an image while viewing the image from camera 11, and then store the corresponding position by pressing a setting button. Through the third UI, the user can manually enter a design offset value between camera 11 and the ultrasound irradiation module 14. In this case, the third UI can display the default design value. Through the fourth UI, the user can manually enter a design offset value between the ultrasound probe 20 and the marker 21. In this case, the fourth UI can display the default design value. Through the fifth UI, the user can determine if the measurement is normal by entering a setting value for communication with the ultrasound sensor to measure a patient's body thickness and then pressing a measurement button.Next, the user can place the patient in the irradiation zone A of camera 11 using the correction interface based on the GUI program, and then check the myoma or cancer present in internal organs of the human body S such as uterus, ovary, heart, kidney, breast, and others through the ultrasound probe 20, and select the final position.

[0091] Next, the user can finally check the myoma or cancer using the correction UI based on the GUI program, and then move the ultrasound irradiation module 14 to the imaging position of the camera 11 by pressing an alignment adjustment button on a control panel of the control unit 100. In this case, the user can move the camera 11 along the X, Y, and Z axes corresponding to the predefined imaging position of the camera 11 using the control panel. Furthermore, the user can measure a patient's body thickness using the control panel and correct and move the Z axis of the camera 11 so that the image of the camera 11 is in focus.

[0092] Later, the user can verify the coordinate detection of marker 21 obtained by camera 11 and the corresponding result using the correction interface based on the GUI program. Here, the user can check if the position of marker 21 is detected. In this case, the distance conversion of marker 21 can be automatically calculated as a millimeter conversion value per pixel of the image.

[0093] Next, the user can find a position of the marker 21 at 1' using the correction UI based on the GUI program, remove the ultrasound probe 20 from the patient's abdomen, and press the alignment move button on the manipulation panel to locate the ultrasound probe 20 of the transducer in the myoma or cancer.In this case, the processor 120 can add the first offset distance value GDI between the ultrasonic probe 20 and the marker 21 and the second offset distance value OD2 between the camera 11 and the ultrasonic irradiation module 14, 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 module, and control the X-axis position movement and the Y-axis position movement of the bed 30 so that the irradiation position of the ultrasonic probe 20 and the imaging position of the ultrasonic probe 20 face each other by adding or subtracting the first offset distance value OD1 and the second offset distance value OD2.Next, after the bed 30 has finished moving, the user can move the ultrasound irradiation module 14 along the Z-axis using the control panel to bring it into close contact with the patient's abdomen, and then check if the position of the myoma or cancer to be irradiated with ultrasound is correct.

[0094] With reference to [Fig.4], the control method may further include an alarm operation S240.

[0095] In the S240 alarm operation, if the irradiation position of the ultrasonic irradiation module 14 and the imaging position of the ultrasonic probe 20 coincide, the processor 120 can command the alarm module 13 of the ultrasonic irradiation device 10 to warn of a situation in which ultrasound from the ultrasonic irradiation device 10 may be irradiated. For example, the alarm module 13 can be provided with at least one of a display module or an LED for visual notification, or a loudspeaker for audible notification. Here, as shown in [Fig. 10], the user can move the ultrasonic irradiation module 14 of the ultrasonic irradiation device 10 along the direction of the Z-axis, and irradiate ultrasound on the irradiation area A of the human body S using the ultrasonic irradiation module 14.

[0096] With reference to [Fig.4] to [Fig.7], the control method may further include an S25 ultrasonic irradiation operation.

[0097] In the S250 ultrasound irradiation operation, if the irradiation position of the ultrasound irradiation module 14 and the imaging position of the ultrasound probe 20 coincide, the processor 120 can further control the ultrasound irradiation module 14 of the ultrasound irradiation device 10 to irradiate ultrasound from the ultrasound irradiation device 10. Here, as shown in [Fig. 10], the processor 120 can control the movable part 12 to move the ultrasound irradiation module 14 along the Z-axis direction, and the processor 120 can control the ultrasound irradiation module 14 to irradiate ultrasound on the irradiation area A of the human body S.

[0098] With reference to [Fig.5], the ultrasound irradiation operation S250 may further include a first reception operation S251, a first determination operation 252 and a first control operation S253.

[0099] In the first reception operation S251, an approach distance d2 of the human body S, obtained from the detection section 15 of the ultrasonic irradiation device 10, can be received via the communication module 110. Here, the detection module 15 can be a distance sensor, and the communication module 110 can receive the approach distance d2 of the human body S obtained by the distance sensor. In other words, the detection module 15 can detect a predetermined distance from the boundary surface of the human body S relative to the ultrasonic irradiation module 14. For example, the predetermined distance can be between 200 mm and 250 mm, preferably 230 mm. In this case, the detection module 15 can be located outside the camera 11.

[0100] In the first determination operation 252, the processor 120 can determine whether the approach distance d2 is a predefined target distance. In the first command operation 253, if the approach distance d2 is the predefined target distance, the processor 120 can command the ultrasonic irradiation module 14 to irradiate ultrasound differently with a predefined intensity related to each target distance.

[0101] For example, as shown in [Fig. 11] and [Fig. 12], where the approach distance d2 is a predefined first target distance d21, the processor 120 can control the ultrasonic irradiation module 14 to irradiate the irradiation zone A of the human body S with a predefined high intensity level in relation to the first target distance d21. As another example, where the approach distance d2 is a predefined second target distance d22, the processor 120 can control the ultrasonic irradiation module to irradiate the irradiation zone A of the human body S with a predefined intermediate intensity level in relation to the second target distance d22. In another example, in the case where the approach distance d2 is a predefined third target distance d23, the processor 120 can command the ultrasonic irradiation module 14 to irradiate the irradiation zone A of the human body S with a predefined low intensity level in relation to the third target distance d23.

[0102] At the same time, to facilitate description, the present description is illustrated and describes the irradiation on the irradiation zone A of the human body S at three intensity levels, the processor 120 can control the ultrasonic irradiation module 14 to irradiate the irradiation zone A of the human body S with two or four or more intensity levels.

[0103] With reference to [Fig.6], the ultrasound irradiation operation S250 may further include a second reception operation S254, a second determination operation 255, and a second control operation S256.

[0104] In the second reception operation S254, a tumor position of an internal organ of the human body obtained from the detection module 15 of the ultrasound irradiation device 10 can be received via the communication module 110. Here, the detection module 15 can be a gamma camera or an ultrasound probe. In this case, the gamma camera or the ultrasound probe can precisely measure the myoma or cancer present in human organs such as the uterus, ovaries, heart, kidney, breast, and others in the human body. Here, the communication module 110 can receive the tumor position acquired by the gamma camera or the ultrasound probe. In this case, the detection module 15 can be provided externally to the camera 11.

[0105] In the second determination operation S255, the processor 120 can determine whether the tumor position is a predefined target position. In the second command operation S256, if the tumor position is the predefined target position, the processor 120 can command the ultrasound irradiation module 14 to irradiate ultrasound at a different predefined intensity depending on each target position.

[0106] For example, as shown in [Fig. 13], in the case where the position of the tumor is a predefined first target position Ml, the processor 120 can command the ultrasound irradiation module to irradiate the breast tumor with ultrasound at a customized intensity corresponding to the predefined position of the breast tumor in relation to the first target position Ml.

[0107] In another example, in the case where the tumor position is a second predefined target position M2, the processor 120 can command the ultrasound irradiation module 14 to irradiate the heart tumor with ultrasound at a personalized intensity corresponding to the predefined position of the heart tumor in relation to the second target position M2.

[0108] In another example, in the case where the position of the tumor is a predefined third target position M3, the processor 120 can command the ultrasound irradiation module 14 to irradiate the kidney tumor with ultrasound at a customized intensity corresponding to the predefined position of the kidney tumor in relation to the third target position M3.

[0109] In another example, in the case where the tumor position is a fourth target position M4, the processor 120 can command the ultrasound irradiation module 14 to irradiate the uterine tumor with ultrasound at a customized intensity corresponding to the predefined position of the uterine tumor in relation to the fourth target position M4.

[0110] In another example, in the case where the position of the tumor is a predefined fifth target position M5, the processor 120 can command the ultrasound irradiation module 14 to irradiate the ovarian tumor with ultrasound at a customized intensity corresponding to the predefined position of the ovarian tumor in relation to the fifth target position M5.

[0111] Furthermore, to facilitate description, the present description has been illustrated and described for irradiating tumors of five internal organs of the human body with ultrasound at customized intensities corresponding to the tumor positions on the five internal organs of the human body. However, the processor 120 can control the ultrasound irradiation module 14 to irradiate tumors of internal organs with ultrasound at customized intensities corresponding to the tumor positions on six or more other internal organs of the human body. In this case, the customized intensity can be the same for each tumor position on each internal organ of the human body, or it can be different intensities.

[0112] With reference to [Fig.7], the ultrasonic irradiation operation S250 may further include a third reception operation S257, a third determination operation S258, and a third control operation S25.

[0113] In the third reception operation S257, a tumor size of an internal organ of the human body obtained from the detection module 15 of the ultrasound irradiation device 10 can be received via the communication module 110. Here, the detection module 15 can be the gamma camera or the ultrasound probe. In this case, the gamma camera or the ultrasound probe can accurately measure the myoma or cancer present in human organs such as the uterus, ovaries, heart, kidney, breast, and others in the human body. Here, the communication module 110 can receive the tumor size acquired by the gamma camera or the ultrasonic probe. In this case, the detection module 15 can be provided outside the camera 11.

[0114] In the third determination operation S258, the processor 120 can determine whether the tumor size is a predefined target size. In the third command operation S259, if the tumor size is the predefined target size, the processor 120 can command the ultrasound irradiation module 14 to irradiate ultrasound at a different predefined intensity related to each target size.

[0115] For example, as shown in [Fig. 14], in the case where the tumor size is a first predefined target size NI, the processor 120 can command the ultrasound irradiation module 14 to irradiate the breast tumor with ultrasound at a customized intensity corresponding to the predefined size of the breast tumor in relation to the first target size NI.

[0116] For another example, in the case where the tumor size is a second predefined target size N2, the processor 120 can command the ultrasound irradiation module 14 to irradiate the heart tumor with ultrasound at a customized intensity corresponding to the predefined size of the heart tumor in relation to the second target size N2.

[0117] In another example, in the case where the tumor size is a predefined third target size N3, the processor 120 can command the ultrasound irradiation module 14 to irradiate the kidney tumor with ultrasound at a customized intensity corresponding to the predefined size of the kidney tumor in relation to the third target size N3.

[0118] In another example, in the case where the tumor size is a fourth target size N4, the processor 120 can command the ultrasound irradiation module 14 to irradiate the uterine tumor with ultrasound at a customized intensity corresponding to the predefined size of the uterine tumor in relation to the fourth target size N4.

[0119] In another example, in the case where the tumor size is a fifth predefined target size N5, the processor 120 can command the ultrasound irradiation module 14 to irradiate the ovarian tumor with ultrasound at a customized intensity corresponding to the predefined size of the ovarian tumor in relation to the fifth target size N5.

[0120] Furthermore, to facilitate description, the present description has been illustrated and described for irradiating tumors of five internal organs of the human body with ultrasound at customized intensities corresponding to the tumor sizes on the five internal organs of the human body, but the processor 120 can control the ultrasound irradiation module 14 to irradiate tumors of internal organs using ultrasound at customized intensities corresponding to the tumor sizes in six or more other internal organs of the human body. In this case, the customized intensity can be the same for each tumor size in each internal organ, or it can be different intensities.

[0121] The present description can control the ultrasonic irradiation device 10 so that ultrasound is irradiated differently by at least one of an ultrasonic focusing depth, an ultrasonic irradiation position, an ultrasonic intensity, or a predefined ultrasonic irradiation time for each depth of the human organ depending on the irradiation conditions.

[0122] Here, the ultrasonic focusing depth can be at least one of a predefined deep depth, medium depth, or shallow depth for each depth of the human organ, depending on the irradiation conditions. Furthermore, the ultrasonic irradiation position can be a predefined full or partial position for each depth of the human organ, depending on the irradiation conditions. In addition, the ultrasonic intensity can be at least one of a predefined high intensity, intermediate intensity, or low intensity for each depth of the human organ, depending on the irradiation conditions. Moreover, the ultrasonic irradiation time can be at least one of a predefined rapid irradiation time, medium irradiation time, or late irradiation time for each depth of the human organ, depending on the irradiation conditions.In this case, the present description can increase the irradiation effect by controlling the ultrasonic irradiation time at rapid intervals and by increasing the temperature again before the temperature decreases.

[0123] Furthermore, since the depth of the human organ can vary from person to person within an area, at least one of the ultrasonic focusing depth, the ultrasonic irradiation location, the ultrasonic intensity or the ultrasonic irradiation time can be set to be precisely adjusted within the area.

[0124] Furthermore, the present description may control at least 1' one among an angle or direction of irradiation of the ultrasonic irradiation device 10 so that the ultrasound is irradiated accurately to the human organ in the area with at least 1' one among the depth or intensity corresponding to the irradiation conditions based on at least 1' one among angle information or direction of irradiation information.

[0125] At least one element can be added or removed in response to the performance of the elements shown in [Fig. 1], [Fig. 8] to [Fig. 14]. Furthermore, it will be readily understood by experts in the field that the relative positions of the elements can be changed in response to the performance or structure of the system.

[0126] Figures [Fig.2] to [Fig.7] illustrate that several operations are carried out sequentially, but this is only one example of the description of the technical concept of this embodiment, and the subject matter experts to whom this embodiment belongs may change the order described in Figures [Fig.2] to [Fig.7] or this order may be modified variably to carry out one or more multiple operations in parallel in the field of application without deviating from the essential characteristics of this embodiment.

[0127] Although the inventive concept has been described with reference to embodiments, it will be evident to experts in the field that various changes and modifications can be made without departing from the spirit and scope of the inventive concept. It should therefore be understood that the above embodiments are not limiting, but illustrative.

Claims

Claims

1. A control apparatus (100) of an ultrasonic irradiation device (10), comprising: a memory (130); a communication module (110) configured to carry out communication with the ultrasonic irradiation device (10);and a processor (120) configured to control the ultrasonic irradiation device (10), wherein the processor (120) is configured to calculate a moving position based on: a first offset distance value (OD1) between an ultrasonic probe (20) and a marker (21) stored in the memory (130), a second offset distance value (OD2) between an ultrasonic irradiation module (14) and a camera (11) stored in the memory (130), and a first distance value (D1), a second distance value (D2), or a third distance value (D3) between a center position of the camera (11) and a position of the marker (21) in an image of an irradiation area (A) obtained from the camera (11) through the communication module (110).;

2. The apparatus (100) of claim 1, wherein the processor (120) is configured to match position information of the marker (21) and center position information of the camera (11) based on the first distance value (D1), the second distance value (D2), or the third distance value (D3).

3. The apparatus (100) of claim 2, wherein the processor (120) is configured to control and move a movable part (12) of the ultrasonic irradiation device (10) through the communication module (110) or control and move a bed (30) through the communication module (110) to match the position information of the marker (21) to the center position information of the camera (11).

4. The apparatus (100) of claim 1, wherein the processor (120) is further configured to calculate a moving position of the ultrasonic irradiation module (14) based on a detection distance obtained from a detection module (15) of the device ultrasonic irradiation module (10) through the communication module (110) such that a distance between the ultrasonic irradiation module (14) and the ultrasonic probe (20) or a distance between the ultrasonic irradiation module (14) and a human body (S) is maintained at a predetermined distance.

5. The apparatus (100) of claim 1, wherein the processor (120) is configured to control and move a movable portion (12) of the ultrasonic irradiation device (10) through the communication module (110) or control a movement of a bed (30) through the communication module (110) based on the calculated movable position such that the ultrasonic irradiation module (14) moves to the calculated movable position.

6. The apparatus (100) of claim 5, wherein the processor (120) is configured to: receive an input of the first offset distance value (OD1) and the second offset distance value (OD2) through a correction UI and store the first offset distance value (OD1) and the second offset distance value (OD2) in the memory (130), and control a movement of the bed (30) along 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) to match an irradiation position of the ultrasound irradiation module (14) to an imaging position of the ultrasound probe (20).

7. The apparatus (100) of claim 1, wherein the processor (120) is further configured to control an alarm module (13) of the ultrasonic irradiation device (10) to notify a situation where it is possible to irradiate ultrasound from the ultrasonic irradiation device (10) based on the irradiation position of the ultrasonic irradiation module (14) coinciding with the imaging position of the ultrasonic probe (20).

8. The apparatus (100) of claim 7, wherein the processor (120) is further configured to control the ultrasonic irradiation module (14) of the ultrasonic irradiation device (10) to irradiate ultrasound from the ultrasonic irradiation device (10) based on whether the irradiation position of the irradiation module ultrasound (14) coincides with the imaging position of the ultrasound probe (20).

9. The apparatus (100) of claim 8, wherein the processor (120) is further configured to: receive an approach distance of a human body (S) obtained from a detection module (15) of the ultrasonic irradiation device (10), and control the ultrasonic irradiation module (14) to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target distances, when the approach distance is a predetermined target distance.

10. The apparatus (100) of claim 8, wherein the processor (120) is further configured to: receive a tumor position of an internal organ of a human body (S) obtained from a detection module (15) of the ultrasound irradiation device (10), and control the ultrasound irradiation module (14) to irradiate ultrasound differently with a predetermined intensity, which is associated with each of the target positions, when the tumor position is a predetermined target position.

11. The apparatus (100) of claim 8, wherein the processor (120) is further configured to: receive a tumor size of an internal organ of a human body (S) obtained from a detection module (15) of the ultrasound irradiation device (10), and control the ultrasound irradiation module (14) to irradiate ultrasound differently with a predetermined intensity, which is associated with each of target sizes, when the tumor size is a predetermined target size.

12. A method for controlling an ultrasonic irradiation device (10), the method, performed by a control apparatus (100) according to claims 1 to 11, comprising: receiving (S210) an input of a first offset distance value (OD1) between an ultrasonic probe (20) and a marker (21), and receiving (S210) an input of a second offset distance value (OD2) between an ultrasonic irradiation module (14) and a camera (11);

13. receiving (S220) a first distance value (D1), a second distance value (D2), or a third distance value (D3) between a central position of a camera (11) and a position of the marker (21) in an image of an irradiation area (A) obtained from the camera (11); and calculating (S231) a moving position 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). A method of controlling an ultrasonic irradiation device (10), the method, performed by a control apparatus (100) according to claims 1 to 11, comprising: receiving (S210) an input of a first offset distance value (OD1) between an ultrasonic probe (20) and a marker (21), and receiving (S210) an input of a second offset distance value (OD2) between an ultrasonic irradiation module (14) and a camera (11); receiving (S220) a first distance value (D1), a second distance value (D2), or a third distance value (D3) between a central position of a camera (11) and a position of the marker (21) in an image of an irradiation area (A) obtained from the camera (11); matching (S221) the position information of the marker (21) with center position information of the camera (11) based on the first distance value (D1), the second distance value (D2), or the third distance value (D3); and calculating (S231) a moving position based on the first offset distance value (OD1) and the second offset distance value (OD2).

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