Ultrasonic generator, its state determination and control method

Abstract

The present disclosure can include an ultrasonic generating unit, a transfer unit coupled to the ultrasonic generating unit to move the ultrasonic generating unit in a preset pattern, a sensor that senses a magnetic force generated when the ultrasonic generating unit moves, and a control unit that determines the position of the ultrasonic generating unit based on the magnetic force sensing result information by the sensor, and determines that the ultrasonic generating unit is in any one of a state of being separated from the transfer unit, a state of being detached, or a stopped state when the position of the ultrasonic generating unit is not changed during driving of the transfer unit.

Description

Technical Field

[0001] The present disclosure relates to an ultrasonic generating device. More specifically, the present disclosure relates to High-density focus type an ultrasonic generating device using ultrasonic waves, and a method for determining and controlling its state.

Background Art

[0002] Ultrasonic waves mean waves having a frequency of 20 kHz or higher, have the property of transmitting through water, and are widely used in the medical field such as ultrasonic diagnostic devices and ultrasonic therapeutic devices.

[0003] Among the applications of ultrasonic waves in the medical field, an ultrasonic imaging device using the transmission and reflection properties of ultrasonic waves is the most representative. For example, there is a device that visualizes the time and intensity of reflection while ultrasonic waves penetrate the human body and each organ, and obtains a cross-sectional image of the human body.

[0004] Also, High-density focus type using the heat generated by ultrasonic waves (HIFU, High Intensity Focused Ultrasound) to burn and remove specific subcutaneous tissues such as tumors in the skin, or skin inducing denaturation and regeneration of skin tissue to produce effects of skin beauty or plastic surgery such as improvement of wrinkles.

[0005] However, in the case of moving the ultrasonic generating unit of a conventional ultrasonic generating device, it is difficult to accurately sense the real-time position of the ultrasonic generating unit, so it is difficult to efficiently irradiate ultrasonic waves.

[0006] In addition, since a conventional ultrasonic generating device fastens a handpiece and a cartridge housing by a magnetic coupling method, there is a problem of performing repeated irradiation due to detachment of a magnet during irradiation of high-speed ultrasonic waves.

[0007] Furthermore, since the irradiation position of the ultrasonic generating unit of a conventional ultrasonic generating device is not accurate, there is a problem that there is a risk of suffering from burns.

[0008] In addition, in a conventional ultrasonic generator, since the driving device can be driven in a state where the irradiation position of the ultrasonic generating unit is not accurate, driving components are damaged. As it is done There was a problem of additional accidents occurring.

[0009] Furthermore, in a conventional ultrasonic generator, when irradiating the skin with high heat and high ultrasonic energy, there was a risk of burns.

Summary of the Invention

Problems to be Solved by the Invention

[0010] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a device capable of efficiently irradiating ultrasonic waves by sensing the current position of the ultrasonic generating unit in real time.

[0011] Another object of the present disclosure is to reinforce the physical fastening method of in addition to the magnetic coupling method By doing and provide a device capable of preventing repeated irradiation due to detachment of a magnet during irradiation of high-speed ultrasonic waves.

[0012] Furthermore, another object of the present disclosure is to provide a device capable of preventing heat damage by stopping the driving of a transducer. By doing so,

[0013] Still another object of the present disclosure is to provide a device capable of preventing damage to driving components and additional accidents by stopping the driving of a driving device. By doing While doing

[0014] Another object of the present disclosure is to prevent the occurrence of burns and skin troubles by stopping the ultrasonic irradiation of a transducer in any one of the states where the transducer is abnormally separated, detached, or stopped, thereby preventing indiscriminate ultrasonic irradiation in advance. Done Or

[0015] Furthermore, another object of the present disclosure is to provide an apparatus that can adjust high heat and high ultrasonic energy By doing to prevent the occurrence of the risk of burns.

[0016] The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned are According to the description to be described later readily understood by an ordinary technician.

Means for Solving the Problems

[0017] An ultrasonic generator according to one aspect of the present disclosure for achieving the above-described technical problems includes an ultrasonic generation unit, a transfer unit coupled to the ultrasonic generation unit to move the ultrasonic generation unit in a preset pattern, a sensor that senses the movement of the ultrasonic generation unit, and a control unit that determines the position of the ultrasonic generation unit based on the sensing result information from the sensor and determines that the ultrasonic generation unit is in any one of a state of being separated from the transfer unit, a state of being detached, or a stopped state when the position of the ultrasonic generation unit does not change during driving of the transfer unit.

[0018] Further, the sensor can be characterized in that two or more sensors are provided at equal intervals along the movement path of the ultrasonic generation unit.

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

[0020] Also, the preset pattern includes at least one of a first pattern in which the ultrasonic generation unit moves from a first point to a second point and a second pattern in which the ultrasonic generation unit moves from the second point to the first point, and the magnetic force sensing result information can include a plurality of sensing points where the intensity of the magnetic force is the highest among the plurality of sensed magnetic forces and a plurality of sensing points where the plurality of magnetic forces intersect each other.

[0021] Furthermore, when the ultrasonic generating unit moves in either the first pattern or the second pattern, the control unit may further include stopping the driving of the ultrasonic generating unit so that the ultrasonic waves of the ultrasonic generating unit are not output unless the magnetic force sensing result information indicates a plurality of sensing points where the intensity of the medium magnetic force is high and a plurality of sensing points where the plurality of magnetic forces intersect each other. Preferably, when moving in the second pattern, the driving of the ultrasonic generating unit can be further stopped so that the ultrasonic waves of the ultrasonic generating unit are not output unless the plurality of sensing points where the plurality of magnetic forces intersect each other. This is because during the movement in the second pattern, since the transfer unit pulls the ultrasonic generating unit, the detachment of the ultrasonic generating unit can occur frequently.

[0022] The ultrasonic medical device further includes a cartridge housing that houses the ultrasonic generating unit and is coupled to one side of the handpiece. The handpiece includes locking protrusions formed on the inner surface and a main drive shaft having magnetism for coupling with the cartridge housing. The cartridge housing includes an insertion groove formed on the outer surface and a magnetic body provided to face the main drive shaft. When the cartridge housing is coupled to the handpiece, the insertion groove engages with the locking protrusions while the magnetic body magnetically couples the main drive shaft having magnetism.

[0023] Furthermore, a method for determining and controlling the state of an ultrasonic medical device according to another aspect of the present disclosure includes, in a method for determining and controlling the state of an ultrasonic generating device, moving the ultrasonic generating unit in a preset pattern, sensing the movement of the ultrasonic generating unit, determining the position of the ultrasonic generating unit based on the sensing result information by the sensor, and during the driving of the transfer unit, determining that the ultrasonic generating unit is in any one of a separated state, a detached state, and a stopped state when the position of the ultrasonic generating unit is not changed.

[0024] The position of the ultrasonic generating unit can be determined based on the magnetic force sensing result information by the sensor.

[0025] In addition, the already set pattern includes at least one of a first pattern in which the ultrasonic generating unit moves from a first point to a second point and a second pattern in which the ultrasonic generating unit moves from the second point to the first point, and the magnetic force sensing result information can include a plurality of sensing points where the intensity of the magnetic force is the highest among the plurality of sensed magnetic forces and a plurality of sensing points where the plurality of magnetic forces intersect each other.

[0026] Furthermore, when the ultrasonic generating unit moves in either the first pattern or the second pattern, if the magnetic force sensing result information does not include a plurality of sensing points where the intensity of the magnetic force is high and a plurality of sensing points where the plurality of magnetic forces intersect each other, a step of stopping the driving of the ultrasonic generating unit so that the ultrasonic wave of the ultrasonic generating unit is not output can be further included.

Advantages of the Invention

[0027] According to the solution means for the above-described problems of the present disclosure, an effect of being able to efficiently irradiate ultrasonic waves by sensing the current position of the ultrasonic generating unit in real time is provided.

[0028] Also, according to the solution means for the above-described problems of the present disclosure, in addition to the coupling method by magnetic force, a physical fastening method is reinforced By doing to provide an effect of being able to prevent repeated irradiation due to detachment of the magnet generated during irradiation of high-speed ultrasonic waves.

[0029] Furthermore, according to the solution means for the above-described problems of the present disclosure, driving of the transducer is stopped By doing to provide an effect of being able to prevent being burned.

[0030] Also, according to the solution means for the above-described problems of the present disclosure, driving of the driving device is stopped By doing to provide an effect of preventing damage to driving components and preventing additional accidents.

[0031] Furthermore, according to the solution means for the above-described problems of the present disclosure, when the transducer is in any one of the states of being abnormally separated, detached, or stopped, the ultrasonic irradiation of the transducer is stopped to prevent indiscriminate ultrasonic irradiation in advance, thereby providing the effect of preventing the occurrence of burns. Done Or

[0032] Also, according to the solution means for the above-described problems of the present disclosure, it is possible to adjust high heat and high ultrasonic energy, thereby providing the effect of preventing the occurrence of the risk of burns in advance. By doing

[0033] The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by an ordinary technician. According to the description to be described later

Brief Description of the Drawings

[0034]

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Embodiments for Carrying Out the Invention

[0035] Throughout the present disclosure, the same reference numerals indicate the same components. The present disclosure does not explain all elements of the embodiments, but general content in the technical field to which the present disclosure pertains Or Content that overlaps in the embodiments is omitted. As used in the specification “part”, “module”, “member”, “block” The term "..." can be implemented in software Or hardware, and in the embodiments, a plurality of “part”, “module”, “member”, “block” can be implemented as one component, or one “part”, “module”, “member”, “block” can also include a plurality of components.

[0036] Throughout the specification, when a part is "connected" to another part, this includes not only the case where they are directly connected, but also the case where they are indirectly connected, and the indirect connection includes being connected via a wireless communication network.

[0037] Also, when a part "includes" a certain component, this means that, unless otherwise stated to the contrary, it does not exclude other components, but can further include other components.

[0038] Throughout the specification, when a member is "above" another member, this includes not only the case where a member is in contact with another member, but also the case where there is another member between the two members.

[0039] Terms such as first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

[0040] Singular expressions include plural expressions unless there is an obvious exception in the context.

[0041] Each Step in which the identification code is for the purpose of explanation For convenience and is used, and the identification code does not explain the order of each Step and each Step can be implemented in an order different from the stated order unless a specific order is clearly described in the context.

[0042] Hereinafter, with reference to the accompanying drawings While the working principle and embodiments of the present disclosure will be described.

[0043] First, High-density focus type High Intensity Focused Ultrasound (HIFU) technology is the latest thermal ablation treatment technique that utilizes the heat generated when high-intensity ultrasound is concentrated at a point within the skin to burn specific subcutaneous tissues such as tumors within the skin. ThisThis is a principle similar to collecting warm sunlight through a bug-eye lens and starting a fire. Ultrasonic waves can penetrate Easy the body tissues, so HIFU treatment can be performed in a perfect non-invasive manner without even a Or knife To make dense needle. That is, the skin of the patient's treatment site is placed If on the ultrasonic wave generating surface, and a specific subcutaneous tissue such as a tumor is burned for treatment. This Moreover, the current HIFU treatment is used for the treatment of uterine fibroids, bone metastasis cancer, prostate cancer, breast cancer, pancreatic cancer, liver cancer, kidney cancer, etc.

[0044] Such High-density focus type ultrasonic technology can be embodied by an ultrasonic generating cartridge. The ultrasonic generating cartridge can irradiate ultrasonic energy on the skin surface of the patient.

[0045] This specification In states that the control unit of the ultrasonic generating device according to the present disclosure can perform arithmetic processing and User provide the results to various devices Any included. For example, the control unit of the ultrasonic generating device according to the present disclosure can include a computer, a server device, and a portable terminal Any or Or can take any one form.

[0046] Here, the computer can include, for example, a notebook computer, a desktop, a laptop, a tablet PC, a slate PC, etc. equipped with a web browser.

[0047] The server device is a server that communicates with external devices to process information, and can include an application server, a computing server, a database server, a file server, a mail server, a proxy server, and a web server, etc.

[0048] The portable terminal has, for example, portability and mobility AndA wireless communication device that is guaranteed, including all types such as PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, Smart Phone, etc. Of the ha A wireless communication device based on a handheld (Handheld) and can include wearable devices such as a watch, ring, bracelet, anklet, necklace, glasses, contact lenses, or a head-mounted device (head-mouted-device (HMD)), etc.

[0049] FIG. 1 is a perspective view showing an ultrasonic generator according to the present disclosure. FIG. 2 is an exploded perspective view showing an ultrasonic generation cartridge.

[0050] FIG. 3 is a cross-sectional view showing the ultrasonic generation cartridge of FIG. 1.

[0051] As shown in FIGS. 1 to 3, the ultrasonic generator can include a handpiece 100, a driving device 200, and a cartridge housing 300.

[0052] The handpiece 100 is a basic body User and can be utilized as a handle for gripping. On one side of the handpiece 100, a cartridge housing 300 in which an ultrasonic generation unit 400 is housed can be detachably coupled.

[0053] UserWhile holding the handpiece 100 and moving the handpiece 100 so that the cartridge housing 300 is in close contact with the skin surface, the ultrasonic generator 400 From generates High-density focus type ultrasonic waves that can be irradiated to a specific depth in the deep part of the skin.

[0054] Inside the handpiece 100, a cable connected to an RF board for applying an RF current to the drive device 200 and the ultrasonic generator 400 can be provided. The RF board can be housed in the cartridge housing 300 and intermittently Or continuously apply an RF current to the drive device 200 and the ultrasonic generator 400.

[0055] The drive device 200 serves to provide power for moving the ultrasonic generator 400. Such a drive device 200 can move the ultrasonic generator 400 via a main drive shaft 210 that is penetratively coupled to a mount 450 of the ultrasonic generator 400. For example, as the drive device 200, an actuator, a motor, or the like that reciprocates the main drive shaft 210 can be used. Also, the direction in which the drive device 200 moves the main drive shaft 210 can be the longitudinal direction of the handpiece 100 or the longitudinal direction of the cartridge housing 300. Further, the drive device 200 can be provided on the handpiece 100 or the cartridge housing 300.

[0056] The cartridge housing 300 is a kind of case that houses the ultrasonic generator 400 and can be detachably coupled to one side of the handpiece 100. Inside the cartridge housing 300, a medium for the ultrasonic waves From generated High-density focus type by the ultrasonic generator 400 can be accommodated. For example, the medium can be distilled water, degassed liquid, silicon, etc., but the present invention is not particularly limited.

[0057] The ultrasonic generator 400 is provided in the cartridge housing 300 so as to be reciprocally movable, High-density focus typeUltrasonic waves are generated. Such an ultrasonic wave generating unit 400 can include a frame 410, a magnet 420, a transducer 430, a slider 440, a mounter 450, a bushing 460, etc.

[0058] Here, the frame 410, the magnet 420, the transducer 430, the slider 440, the mounter 450, and the bushing 460 of the ultrasonic wave generating unit 400 are integrally coupled and can move together.

[0059] Also, the movement of the ultrasonic wave generating unit 400 can be performed by a driving device 200 that moves a main drive shaft 210 coupled to the mounter 450 of the ultrasonic wave generating unit 400.

[0060] The frame 410 is a basic body and can be integrally connected to the magnet 420, the slider 440, and the mounter 450. The magnet 420 can be connected to the upper side of the frame 410, and the transducer 430 can be detachably coupled to the lower side of the frame 410. Also, in the frame 410, between the magnet 420 and the transducer 430, the mounter 450 and the slider 440 And can penetrate and be coupled, and in the frame 410, the mounter 450 can be disposed between the magnet 420 and the slider 440. Further, the central axis of the magnet 420 and the central axis of the transducer 430 can be arranged to be aligned with the central axis of the frame 410.

[0061] The sensing unit 500 is provided to face the magnet 420 and can include sensors 521a to 521f provided at equal intervals along the movement path of the ultrasonic wave generating unit 400. Two or more sensors 521a to 521f are such that the ultrasonic wave generating unit 400 moves When doingIt is possible to respectively detect the magnetic force of the magnet 420 generated therein. For example, two or more sensors 521a to 521f can be magnetic hall sensors. The magnetic hall sensor can linearly detect the current position of the current transducer 430 based on the intensity of the magnetic force measured according to the positional relationship with the magnet 420. Such a magnetic hall sensor can detect all numerical values of the amount of change with respect to the intensity of the magnetic force in real time, up to the overlapping part of the intensity of the magnetic force between sensors. Also perception is Since it can, it is possible to detect at least one of the separated state, the detached state, and the stopped state of the transducer 430 during ultrasonic irradiation. Done

[0062] The guide plate 310 covers the upper part of the cartridge housing 300, and a slot 311 for guiding the movement of the magnet 420 can be formed at the center of the guide plate 310. Here, the slot 311 can be formed along the moving direction of the magnet 420.

[0063] The transducer 430 can receive an RF current application from the RF board of the handpiece 100 and High-density focus type generate ultrasonic waves.

[0064] The mounter 450 is provided between the magnet 420 and the transducer 430, and is detachably coupled to the end of the aforementioned For the sake of inward drive shaft 210, or Or can be integrally coupled. Therefore, when the drive device 200 moves the main drive shaft 210, the mounter 450 can also move together.

[0065] As an example, both sides of the mounter 450 can be supported by a pair of bellows 320. Such a pair of bellows 320 can be arranged sandwiching the mounter 450. For example, one end of the bellows 320 can be detachably coupled to one surface in the moving direction of the mounter 450, and the other end of the bellows 320 can contact the inner surface of the cartridge housing 300.​

[0066] Therefore, when the mounter 450 moves, one of the pair of bellows 320 One of the two is compressed, and the other Side One of the bellows 320 can expand to support the mounter 450 .

[0067] On the other hand, of the Bellows 320 and Mounter 450 One of the two The bellows 320 and the mounter 450 are provided with a protruding insertion protrusion 321. Side 3, the insertion protrusion 321 is formed at one end of the bellows 320, and the recessed groove 451 is formed on the outer circumferential surface of the mounter 450, so that the insertion protrusion 321 of the bellows 320 can be detachably coupled to the recessed groove 451 of the mounter 450. More specifically, the insertion protrusion 321 of the bellows 320 and the recessed groove 451 of the mounter 450 can be formed in a ring shape.

[0068] The slider 440 may be provided between the magnet 420 and the transducer 430. The slider 440 may slide along a guide shaft 330 disposed in the cartridge housing 300 in parallel with the moving direction of the magnet 420. Here, both ends of the guide shaft 330 are fixed to both sides of the cartridge housing 300, and the guide shaft 330 may penetrate the slider 440 to guide the sliding of the slider 440.

[0069] The bushing 460 is provided on the inner peripheral surface of the slider 440 and serves to reduce wear of the slider 440 when the slider 440 slides along the guide shaft 330. Block The bushing 460 may have a shape that protrudes from both sides of the slider 440 .

[0070] The ultrasonic generating device according to the present disclosure can be provided to prevent detachment of the transducer 430 and further improve the fastening force together with magnetic coupling when the cartridge housing 300 is coupled to the handpiece 100.

[0071] FIG. 4 is a cross-sectional view showing the process of coupling the cartridge housing and the handpiece of FIG. 1.

[0072] As shown in FIG. 4, the cartridge housing 300 can be coupled to one side of the handpiece 100. The handpiece 100 can include a locking projection 101a formed on the inner surface and a main drive shaft 210 having magnetism for coupling with the cartridge housing 300. For example, the locking projection 101a can be a cantilever beam-shaped hook.

[0073] The cartridge housing 300 can include an insertion groove 301a formed on the outer surface and a magnetic body 302 provided to face the main drive shaft 210. Such a cartridge housing 300 can be coupled to the handpiece 100 When doing so that the insertion groove 301a engages with the locking projection 101a and can be magnetically coupled to the main drive shaft 210 having magnetism by the magnetic body 302. For example, the magnetic body 302 is provided at the tip of the cartridge housing 300 and can be magnetically coupled to the end of the main drive shaft 210 having magnetism.

[0074] The ultrasonic generating device according to the present disclosure can be provided to determine at least one of the real-time position of the ultrasonic generating unit 400, whether the ultrasonic generating unit 400 is separated from the transfer unit, whether it has detached, and whether it has stopped based on the magnetic force sensing result information by two or more sensors 521a to 521f when the ultrasonic generating unit 400 moves.

[0075] Hereinafter, the process for determining the state of the ultrasonic generating device and controlling the operation of the ultrasonic generating device will be examined in detail.

[0076] FIG. 5 is a diagram showing the configuration of an ultrasonic generator according to the present disclosure. FIG. 6 is a diagram showing an example of the process in which the ultrasonic generation unit of FIG. 5 moves.

[0077] As shown in FIGS. 5 and 6, the ultrasonic generator 600 can include a drive device 200, a transfer unit 610, an ultrasonic generation unit 400, a sensor 521, and a control unit 620.

[0078] The transfer unit 610 is for moving the ultrasonic generation unit 400 to the left Or or right side, and can be provided to support the ultrasonic generation unit 400. Here, for convenience of explanation, the transfer unit 610 will be described by showing it as a main drive shaft. The transfer unit 610 can move the ultrasonic generation unit 400 to the left or right side by the drive of the drive device 200. The ultrasonic generation unit 400 having the transducer 430 can move horizontally to the left Or or right side while maintaining the focusing depth of the ultrasonic wave by the movement of the transfer unit 610. The transfer unit 610 is coupled to the ultrasonic generation unit 400 and can move the ultrasonic generation unit 400 in a preset pattern.

[0079] FIG. 7 is a diagram showing an example of the pattern in which the ultrasonic generation unit of FIG. 6 moves.

[0080] Referring to FIG. 7, the transfer unit 610 can move the ultrasonic generation unit 400 in a preset pattern. The preset pattern can include a first pattern in which the ultrasonic generation unit 400 moves from the first point A to the second point B, as shown in FIG. 7(a). As shown in The preset pattern can include a second pattern in which the ultrasonic generation unit 400 moves from the second point B to the first point A, as shown in FIG. 7(b). As shown in The preset pattern can include the first pattern and the second pattern in which the ultrasonic generation unit reciprocates between the first point A and the second point B, as shown in FIG. 7(c). Information regarding the first pattern and information regarding the second pattern can be stored in the memory 621. As shown in

[0081] ​ The control unit 620 is an algorithm for controlling the operations of components within the present device. Or It can be implemented by a memory 621 that stores data for a program reproducing the algorithm, and at least one processor 622 that performs the aforementioned operations using the data stored in the memory 621. Here, the memory 621 and the processor 622 can be implemented on separate chips respectively. Also, the memory 621 and the processor 622 can be implemented on a single chip.

[0082] The memory 621 can store data for supporting various functions of the present device, a program for the operation of the control unit, input / output data, and a number of application programs (application) driven by the present device, data for the operation of the present device, and instruction words. At least a part of such application programs can be downloaded from an external server via wireless communication. Or application))

[0083] Such a memory 621 is of the flash memory type, hard disk type, SSD type (Solid State Disk type), SDD type (Silicon Disk Drive type), multimedia card micro type, card type memory (e.g., SD OrIt can include at least one type of storage medium such as XD memory, 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. Also, although the memory 621 is separated from this device, it can be a database connected by wire Or or wirelessly.

[0084] As shown in FIG. 6, the sensing unit 500 can sense the magnetic force generated when the ultrasonic generating unit 400 moves. The sensing unit 500 can include at least one sensor 521 provided along the moving path of the ultrasonic generating unit 400. As an example, the sensing unit 500 can include two or more sensors 521a to 521f provided at equal intervals along the moving path of the ultrasonic generating unit 400. The two or more sensors 521a to 521f can each sense the magnetic force of the magnet 420 generated when the transducer 430 of the ultrasonic generating unit 400 moves.

[0085] The processor 622 can determine the position of the ultrasonic generating unit based on the magnetic force sensing result information from the sensor 521.

[0086] The processor 622 can determine at least one of the current position of the transducer 430, the movement stop phenomenon of the transducer 430, and whether the transducer 430 has detached from the transfer unit 610 based on the magnetic force sensing result information.

[0087] During the driving of the driving device 200 that drives the ultrasonic generating unit 400, if the position of the ultrasonic generating unit 400 is not changed, the processor 622 can determine that it is in any one of the states of being separated from, detached from, or stopped Done from the transfer unit 610.

[0088] For example, the processor 622 can determine the current position of the transducer 430 based on the magnetic force sensing result information from two or more sensors 521a-521f. While the transfer unit 610 is being driven, if the position of the transducer 430 is changed normally, the processor 622 can drive the transducer 430 to irradiate ultrasonic waves onto the skin S on the moving path of the transfer unit 610 through the transducer 430.

[0089] On the contrary, while the transfer unit 610 is being driven, if there is no change in the position of the transducer 430, the processor 622 determines that the transducer 430 has stopped moving. Or, to It can be determined that the lance transducer 430 has been abnormally separated from the transfer unit 610. (Desorption phenomenon) When there is no change in the position of the transducer 430, the processor 622 stops driving the transducer 430. By doing This can prevent burns. Also, when there is no change in the position of the transducer 430, the processor 622 stops driving the transducer 430 and at the same time stops driving the drive device 200. By doing This can prevent damage to the drive components. While doing, Additional accidents can be prevented. At this time, while the transducer 430 is separated, the processor 622 can stop driving the transducer 430 so that ultrasonic waves are not irradiated.

[0090] FIG. 8 shows a method for determining and controlling the state of the ultrasonic generator according to the present disclosure. Flowchart It is as follows.

[0091] Referring to FIG. 8, the method for determining and controlling the state of the ultrasonic generator may include the movement of the ultrasonic generating unit Step (S810), magnetic force sensing Step (S820), and state determination of the ultrasonic generating unit Step (S830).

[0092] The movement step of the ultrasonic generating unit is MoveThe ultrasonic generating unit 400 can be moved in a preset pattern via the feeding unit 610 (S810). The preset pattern can include a first pattern in which the ultrasonic generating unit 400 moves from the first point A to the second point B, as shown in FIG. 7(a). As shown in The preset pattern can include a second pattern in which the ultrasonic generating unit 400 moves from the second point B to the first point A, as shown in FIG. 7(b). As shown in The preset pattern can include a first pattern and a second pattern in which the ultrasonic generating unit 400 reciprocates between the first point A and the second point B, as shown in FIG. 7(c). Information regarding the first pattern and information regarding the second pattern can be stored in the memory 621. As shown in The magnetic force sensing step is

[0093] to sense, via the sensing unit 500, the magnetic force generated when the ultrasonic generating unit 400 moves (S820). The sensing unit 500 can include at least one sensor 521 provided along the movement path of the ultrasonic generating unit 400. As an example, in the magnetic force sensing step, the magnetic force of the magnet 420 generated when the ultrasonic generating unit 400 moves can be sensed by two or more sensors 521a to 521f provided at equal intervals along the movement path of the ultrasonic generating unit 400. For example, the two or more sensors 521a to 521f can be magnetic hall sensors. Sense The ultrasonic generating unit 400 can be moved When doing FIGS. 9 to 11 are diagrams showing, as an example, the process of sensing the magnetic force of the magnet generated when the transducer moves by two or more sensors shown in FIG. 6. Process is First, the transducer 430 according to the present disclosure can move in a first pattern in which it moves from the first point A to the second point B, as shown in FIG. 7(a), and can move in a second pattern in which it moves from the second point B to the first point A, as shown in FIG. 7(b). When doing The ultrasonic generating unit 400 can move in a first pattern and a second pattern in which it reciprocates between the first point A and the second point B, as shown in FIG. 7(c).

[0094] The ultrasonic generating unit 400 can move When doing FIGS. 9 to 11 are diagrams showing, as an example, the process of sensing the magnetic force of the magnet generated when the transducer moves by two or more sensors shown in FIG. 6.

[0095] First, the transducer 430 according to the present disclosure can move in a first pattern in which it moves from the first point A to the second point B, as shown in FIG. 7(a), and can move in a second pattern in which it moves from the second point B to the first point A, as shown in FIG. 7(b). As shown in The ultrasonic generating unit 400 can move in a first pattern and a second pattern in which it reciprocates between the first point A and the second point B, as shown in FIG. 7(c). As shown in The ultrasonic generating unit 400 can move in a first pattern and a second pattern in which it reciprocates between the first point A and the second point B, as shown in FIG. 7(c). As shown inAs such, it can move in a first pattern and a second pattern that reciprocate between a first point A and a second point B.

[0096] In the following For convenience , it will be described by showing a first pattern in which the transducer 430 moves from the first point A to the second point B.

[0097] Referring to FIGS. 9(a) and (b), the magnetic force sensing step is To If the transducer 430 is changed to the position of the first sensor 521a, the transducer 430 can move via the first sensor 521a When doing and sense the magnetic force of the magnet 420 generated during the movement. The magnetic force sensing step is To If the transducer 430 is changed to a position between the first sensor 521a and the second sensor 521b, the transducer 430 can move via the first sensor 521a and the second sensor 521b When doing and sense the magnetic force of the magnet 420 generated during the movement.

[0098] Referring to FIGS. 9(c) and (d), the magnetic force sensing step is To If the transducer 430 is changed to the position of the second sensor 521b, the transducer 430 can move via the second sensor 521b When doing and sense the magnetic force of the magnet 420 generated during the movement. The magnetic force sensing step is To If the transducer 430 is changed to a position between the second sensor 521b and the third sensor 521c, the transducer 430 can move via the second sensor 521b and the third sensor 521c When doing and sense the magnetic force of the magnet 420 generated during the movement.

[0099] Referring to FIGS. 10(e) and (f), the magnetic force sensing step is To If the transducer 430 is changed to the position of the third sensor 521c, the transducer 430 can move via the third sensor 521c When doingIt is possible to detect the magnetic force of the magnet 420 generated therein. The magnetic force detection step is that if the transducer 430 is changed to a position between the third sensor 521c and the fourth sensor 521d, the transducer 430 moves via the third sensor 521c and the fourth sensor 521d When doing It is possible to detect the magnetic force of the magnet 420 generated therein.

[0100] Referring to FIGS. 10(g) and (h), the magnetic force detection step is To If the lance transducer 430 is changed to the position of the fourth sensor 521d, the transducer 430 moves via the fourth sensor 521d When doing It is possible to detect the magnetic force of the magnet 420 generated therein. The magnetic force detection step is To If the lance transducer 430 is changed to a position between the fourth sensor 521d and the fifth sensor 521e, the transducer 430 moves via the fourth sensor 521d and the fifth sensor 521e When doing It is possible to detect the magnetic force of the magnet 420 generated therein.

[0101] Referring to FIGS. 11(i )、(j), and and (k), the magnetic force detection step is To If the lance transducer 430 is changed to the position of the fifth sensor 521e, the transducer 430 moves via the fifth sensor 521e When doing It is possible to detect the magnetic force of the magnet 420 generated therein. The magnetic force detection step is To If the lance transducer 430 is changed to a position between the fifth sensor 521e and the sixth sensor 521f, the transducer 430 moves via the fifth sensor 521e and the sixth sensor 521f When doing It is possible to detect the magnetic force of the magnet 420 generated therein To If the lance transducer 430 is changed to the position of the sixth sensor 521f, the transducer 430 moves via the sixth sensor 521f When doing It is possible to detect the magnetic force of the magnet 420 generated therein.

[0102] As shown in FIGS. 9 to 11, two or more sensors 521a to 521f can linearly sense the current position of the transducer 430 based on the intensity of the magnetic force measured by the positional relationship with the magnet 420. Such two or more sensors 521a to 521f can sense all numerical values of the change amount with respect to the intensity of the magnetic force in real time, and can sense up to the overlapping portion of the intensity of the magnetic force between the sensors, so that during the ultrasonic irradiation, the separated state, the detached state, and the stopped state of the transducer 430 can be sensed. Here, although two or more sensors 521f are shown as being provided six, depending on the conditions of ultrasonic irradiation and the internal space, etc., it can be provided less than six or more than six. Done Among them, at least one state can be sensed. Here, in the description For convenience , two or more sensors 521f are shown as being provided six And However, depending on the conditions of ultrasonic irradiation and the internal space, etc., it can be provided less than six Or or more than six.

[0103] The step of determining the state of the ultrasonic generating unit Process can determine the position of the ultrasonic generating unit 400 based on the magnetic force sensing result information by the sensor 521 via the processor 622. As an example, the processor 622 can determine the position of the ultrasonic generating unit 400 based on the magnetic force sensing result information by two or more sensors 521a to 521f.

[0104] The step of determining the state of the ultrasonic generating unit Process via the processor 622, during the driving of the transfer unit 610, if the position of the ultrasonic generating unit 400 is not changed, it can be determined that it is any one of the separated state, the detached state, and the stopped state of the ultrasonic generating unit 400 from the transfer unit 610 (S830). The processor 622 can determine at least one of the real-time position of the transducer 430, the movement stop phenomenon of the transducer 430, and whether the transducer 430 has detached from the transfer unit 610 based on the magnetic force sensing result information. Done

[0105] Flowchart FIG. 12 shows, as an example, a method of irradiating ultrasonic energy by determining whether to drive the ultrasonic generating unit and the driving device based on the determination of the state of the ultrasonic generating unit in FIG. 8. Flowchart That is.

[0106] Referring to FIG. 12, the state determination step of the ultrasonic generation unit is Move When the ultrasonic generation unit 400 moves in either the first pattern as shown in FIG. 7(a) or the second pattern as shown in FIG. 7(b) As shown in or the first pattern and the second pattern as shown in FIG. 7(c) As shown in through the transmission unit 610, when the transducer 430 is changed to the positions of the first sensor 521a to the sixth sensor 521f or between the first sensor 521a to the sixth sensor 216f via the processor 622, it can be determined (S831). Done or changed to a position between the first sensor 521a to the sixth sensor 216f Tak can be determined (S831).

[0107] FIG. 13 is a diagram showing, as an example, the process of outputting magnetic force sensing result information via the processor when the ultrasonic generation unit in FIG. 7 moves forward in the first pattern. When doing to output magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S1, S3, S5, S7, S9, S11 with high magnetic force intensity. S1, S3, S5, S7, S9, S11 indicate the times when the transducer 430 is sequentially changed to the positions of the first sensor 521a to the sixth sensor 521f.

[0108] Referring to FIG. 13, when the ultrasonic generation unit 400 moves forward in the first pattern and the transducer 430 is changed to the positions of the first sensor 521a to the sixth sensor 521f, the processor 622 When doing can output magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S1, S3, S5, S7, S9, S11 with high magnetic force intensity. S1, S3, S5, S7, S9, S11 indicate the times when the transducer 430 is sequentially changed to the positions of the first sensor 521a to the sixth sensor 521f. Of to output magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S1, S3, S5, S7, S9, S11 with high magnetic force intensity. S1, S3, S5, S7, S9, S11 indicate the times when the transducer 430 is sequentially changed to the positions of the first sensor 521a to the sixth sensor 521f.

[0109] When the ultrasonic generation unit 400 moves forward in the first pattern, the processor 622 When doingIf the transducer 430 is changed to a position between the first sensor 521a to the sixth sensor 521f, magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other can be output. S2, S4, S6, S8, S10 indicate the time when the transducer 430 is sequentially changed to a position between the first sensor 521a to the sixth sensor 521f.

[0110] The processor 622 can output magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S1 to S11 in the order of S1→S11 when the ultrasonic generator 400 moves forward in the first pattern. When doing If the transducer 430 is changed to a position between the first sensor 521a to the sixth sensor 521f, magnetic force sensing result information regarding each linear graph G1 to G6 including a plurality of sensing points S1 to S11 in the order of S1→S11 can be output.

[0111] Referring to FIG. 12, the step of stopping the driving of the ultrasonic generator is Process Via the processor 622, if the magnetic force sensing result information is not at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is strong and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other, the driving of the ultrasonic generator 400 can be stopped so that the ultrasonic wave of the ultrasonic generator 400 is not output (S832). The processor 622 determines that the magnetic force sensing result information is the magnetic force intensity Of If it is not at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is strong and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other, and during the driving of the transfer unit 610 If there is no change in the position of the transducer 430, it can be determined that the transducer 430 is in one of the states where a certain state occurs or the transducer 430 is separated from the transfer unit 610 or has become detached. The processor 622 determines that the magnetic force sensing result information is the magnetic force intensity Has stopped If it is not at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is strong and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other, the driving of the transducer 430 can be stopped Of To prevent the transducer 430 from being burned. By doing, To prevent the transducer 430 from being burned.

[0112] Referring to FIG. 12, the driving stop step of the driving device is Process Via the processor 622, if the magnetic force sensing result information is the intensity of the magnetic force Of not at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is high and at a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect each other, the driving of the driving device 200 is stopped By doing, To prevent damage to the driving parts While doing and additional accidents can be prevented (S833).

[0113] Referring to FIG. 12, the ultrasonic generator driving step Is, process Via the processor 622, if the magnetic force sensing result information is the intensity of the magnetic force Of is high at a plurality of sensing points S1, S3, S5, S7, S9, S11 and at a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect each other, the ultrasonic generator 400 can be driven so that the ultrasonic wave of the ultrasonic generator 400 is output (S834). The transducer 430 can irradiate the skin S on the moving path of the transfer unit 610 with ultrasonic waves. The transducer 430 irradiates ultrasonic waves during forward movement When doing in the first pattern and does not irradiate ultrasonic waves during return movement When doing so that it can be seen that the width of the magnetic field shown by the linear graphs G1 to G6 during forward movement When doing is wider than the width of the magnetic field shown by the linear graph during return movement When doing .

[0114] FIG. 14 is a diagram showing, as an example, the process of outputting magnetic force sensing result information via the processor when the ultrasonic generator in FIG. 7 moves back in the second pattern When doing .

[0115] Referring to FIG. 14, when the ultrasonic generator 400 moves back in the second pattern, if the transducer 430 is changed to the positions of the sixth sensor 521f to the first sensor 521a via the processor 622, the intensity of the magnetic force When doing is OfIt is possible to output magnetic force sensing result information regarding each of the linear graphs G6 to G1 including a plurality of high sensing points S11, S9, S7, S5, S3, and S1. S11, S9, S7, S5, S3, and S1 indicate the times when the transducer 430 is sequentially changed to the positions of the sixth sensor 521f to the first sensor 521a.

[0116] When the ultrasonic generator 400 returns and moves in the second pattern, the processor 622 When doing If the transducer 430 is changed to a position between the sixth sensor 521f and the first sensor 521a, it is possible to output magnetic force sensing result information regarding each of the linear graphs G6 to G1 including a plurality of sensing points S10, S8, S6, S4, and S2 where a plurality of magnetic forces intersect each other. S10, S8, S6, S4, and S2 indicate the times when the transducer 430 is sequentially changed to a position between the sixth sensor 521f and the first sensor 521a.

[0117] When the ultrasonic generator 400 returns and moves in the second pattern, the processor 622 When doing can output magnetic force sensing result information regarding each of the linear graphs G6 to G1 including a plurality of sensing points S11 to S1 in the order of S11 → S1.

[0118] Referring to FIG. 12, in the step of stopping the driving of the ultrasonic generator Process via the processor 622, if the magnetic force sensing result information is not at a plurality of high sensing points S11, S9, S7, S5, S3, S1 and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, the driving of the ultrasonic generator 400 can be stopped so that the ultrasonic wave of the ultrasonic generator 400 is not output (S832). The processor 622 determines that the magnetic force sensing result information is not at a plurality of high sensing points S11, S9, S7, S5, S3, S1 and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, and during the driving of the transfer unit 610, if the position of the transducer 430 does not change, the transducer 430 Of is stopped Of If the magnetic force sensing result information is not at a plurality of high sensing points S11, S9, S7, S5, S3, S1 and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, and during the driving of the transfer unit 610, if the position of the transducer 430 does not change, the transducer 430 Is stops DoneIt can be determined that the state is any one of the states in which the state occurs, or the state in which the transducer 430 is separated from the transfer unit 610 or detached. The processor 622 determines that if the magnetic force sensing result information is the intensity of the magnetic force Of at a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and at a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, the driving of the transducer 430 is stopped By doing , it is possible to prevent burns.

[0119] Referring to FIG. 12, the driving stop step of the driving device is Process via the processor 622, if the magnetic force sensing result information is the intensity of the magnetic force Of at a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and at a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, the driving of the driving device 200 is stopped By doing, Prevent damage to drive components While doing , and additional accidents can be prevented (S833).

[0120] Referring to FIG. 12, the ultrasonic generator driving step is Process via the processor 622, if the magnetic force sensing result information is the intensity of the magnetic force Of at a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and at a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect each other, the ultrasonic generator 400 can be driven so that ultrasonic waves are output from the ultrasonic generator 400 (S834). The transducer 430 can irradiate ultrasonic waves onto the skin S on the moving path of the transfer unit 610. The transducer 430 does not irradiate ultrasonic energy during forward movement When doing but irradiates ultrasonic waves during return movement in the second pattern When doing so that the width of the magnetic field shown by the linear graphs G6 to G1 during return movement When doing appears wider than the width of the magnetic field shown by the linear graph during forward movement When doing . It can be seen.

[0121] FIG. 15 is a view of FIG. 7 When the ultrasonic generating unit reciprocates in the first pattern and the second pattern13 is a diagram illustrating a process of outputting magnetic force sensing result information through a processor as an example.

[0122] Referring to FIG. 15, the processor 622 detects whether the ultrasonic generating unit 400 moves forward in a first pattern. When doing In addition, if the transducer 430 is changed to the positions of the first sensor 521a to the sixth sensor 521f, the strength of the magnetic force Of The magnetic force sensing result information for each of the linear graphs G1 to G6 including a plurality of sensing points S1, S3, S5, S7, S9, and S11 can be output. S1, S3, S5, S7, S9, and S11 indicate when the transducer 430 is sequentially changed to the positions of the first sensor 521a to the sixth sensor 521f.

[0123] The processor 622 detects whether the ultrasonic generating unit 400 moves forward in the first pattern. When doing Then, when the transducer 430 is moved to a position between the first sensor 521a to the sixth sensor 521f, magnetic force sensing result information regarding each of the linear graphs G1 to G6 including a plurality of sensing points S2, S4, S6, S8, and S10 where a plurality of magnetic forces intersect with each other can be output. S2, S4, S6, S8, and S10 indicate the time when the transducer 430 is moved to a position between the first sensor 521a to the sixth sensor 521f in sequence.

[0124] The processor 622 detects whether the ultrasonic generating unit 400 moves forward in the first pattern. When doing In addition, magnetic force sensing result information regarding each of the linear graphs G1 to G6 including the plurality of sensing points S1 to S11 in the order of S1 → S11 can be output.

[0125] The processor 622 detects that the ultrasonic generating unit 400 is moving back in the second pattern. When doing In addition, if the transducer 430 is changed to the position of the sixth sensor 521f to the first sensor 521a, the strength of the magnetic force OfIt can output magnetic force sensing result information regarding each linear graph G6~G1 including a plurality of high sensing points S11, S9, S7, S5, S3, S1. S11, S9, S7, S5, S3, S1 indicate the time when the transducer 430 is sequentially changed to the positions of the sixth sensor 521f to the first sensor 521a.

[0126] The processor 622 is such that when the ultrasonic generator 400 returns and moves in the second pattern When doing and the transducer 430 is changed to a position between the sixth sensor 521f and the first sensor 521a, it can output magnetic force sensing result information regarding each linear graph G6~G1 including a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces cross each other. S10, S8, S6, S4, S2 indicate the time when the transducer 430 is sequentially changed to a position between the sixth sensor 521f and the first sensor 521a.

[0127] The processor 622 is such that when the ultrasonic generator 400 returns and moves in the second pattern When doing it can output magnetic force sensing result information regarding each linear graph G6~G1 including a plurality of sensing points S11~S1 in the order of S11→S1.

[0128] Referring to FIG. 12, in the step of stopping the driving of the ultrasonic generator Process via the processor 622, if the magnetic force sensing result information is not at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is strong and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other, the driving of the ultrasonic generator 400 can be stopped so that the ultrasonic wave of the ultrasonic generator 400 is not output (S832). The processor 622 is such that the magnetic force sensing result information is at a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is strong Of and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces cross each other, and during the driving of the transfer unit 610 if there is no change in the position of the transducer 430, the transducer 430 Is stops DoneA state occurs, or the transducer 430 is separated from the transfer unit 610, stop Done It can be determined that it is any one of the states. The processor 622 determines that the magnetic force sensing result information indicates the strength of the magnetic force Of If it is not a plurality of sensing points S1, S3, S5, S7, S9, S11 where the magnetic force is high and a plurality of sensing points S2, S4, S6, S8, S10 where a plurality of magnetic forces intersect, the driving of the transducer 430 is stopped By doing, It is possible to prevent burns

[0129] Also, the step of stopping the driving of the ultrasonic wave generating unit is Process Via the processor 622, the magnetic force sensing result information indicates the strength of the magnetic force Of If it is not a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect, the driving of the ultrasonic wave generating unit 400 can be stopped so that the ultrasonic wave of the ultrasonic wave generating unit 400 is not output (S832). The processor 622 determines that the magnetic force sensing result information indicates the strength of the magnetic force Of If it is not a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect, and during the driving of the transfer unit 610, if there is no change in the position of the transducer 430, it can be determined that a movement stop phenomenon of the transducer 430 occurs or the transducer 430 is separated from the transfer unit 610. The processor 622 determines that the magnetic force sensing result information indicates the strength of the magnetic force Of If it is not a plurality of sensing points S11, S9, S7, S5, S3, S1 where the magnetic force is high and a plurality of sensing points S10, S8, S6, S4, S2 where a plurality of magnetic forces intersect, the driving of the transducer 430 is stopped By doing It is possible to prevent burns

[0130] Referring to FIG. 12, the step of stopping the driving of the driving device is Process Via the processor 622, the magnetic force sensing result information indicates the strength of the magnetic force OfUnless there are a plurality of high sensing points S1, S3, S5, S7, S9, S11 and a plurality of sensing points S2, S4, S6, S8, S10 where multiple magnetic forces intersect, stop the drive of the drive device 200 By doing to prevent damage to the drive components While doing and prevent additional accidents (S833).

[0131] Also, the drive stop step of the drive device is Process Unless, via the processor 622, the magnetic force sensing result information is the intensity of the magnetic force Of a plurality of high sensing points S11, S9, S7, S5, S3, S1 and a plurality of sensing points S10, S8, S6, S4, S2 where multiple magnetic forces intersect, stop the drive of the drive device 200 By doing to prevent damage to the drive components While doing and prevent additional accidents (S833).

[0132] Referring to FIG. 12, the ultrasonic generator drive step is Process Unless, via the processor 622, the magnetic force sensing result information is the intensity of the magnetic force Of if there are a plurality of high sensing points S1, S3, S5, S7, S9, S11 and a plurality of sensing points S2, S4, S6, S8, S10 where multiple magnetic forces intersect, the ultrasonic generator 400 can be driven so that ultrasonic waves of the ultrasonic generator 400 are output (S834). The transducer 430 can irradiate ultrasonic waves onto the skin S on the movement path of the transfer unit 610.

[0133] Also, the ultrasonic generator drive step is Process Unless, via the processor 622, the magnetic force sensing result information is the intensity of the magnetic force Of if there are a plurality of high sensing points S11, S9, S7, S5, S3, S1 and a plurality of sensing points S10, S8, S6, S4, S2 where multiple magnetic forces intersect, the ultrasonic generator 400 can be driven so that ultrasonic energy of the ultrasonic generator 400 is output (S834). The transducer 430 can irradiate ultrasonic waves onto the skin S on the movement path of the transfer unit 610. The transducer 430 moves forward When doing while irradiating ultrasonic waves in the first pattern and returnsWhen doing Since ultrasonic waves were irradiated, forward movement When doing The width of the magnetic field showing the linear graphs G1 to G6 of When doing is found to appear the same as the width of the magnetic field showing the linear graphs G6 to G1 of the return movement. The processor 622 changes from forward movement to return movement Of At the time of Notification Through the part, the return state can be Notification achieved. For example, Notification The part can include a display module for visually notifying, etc., and can include a speaker for audibly notifying, etc.

[0134] The ultrasonic wave generation unit driving step according to the present disclosure Process Via the processor 622, ultrasonic waves under the same conditions Or It can be further controlled so that ultrasonic waves under different conditions are output (S834). At this time, the conditions can include at least one of the time during which the irradiation of ultrasonic energy is maintained and the intensity of ultrasonic energy And

[0135] Such an ultrasonic wave generation unit driving step High Adjusts the heat and high ultrasonic energy By doing and can prevent the occurrence of the risk of burns.

[0136] That is, as shown in FIG. 7, the ultrasonic wave generation unit driving step Process Via the processor 622, the first time t1 during which the irradiation of the ultrasonic energy when the ultrasonic wave generation unit 400 moves in the first pattern is maintained, and the second time t2 during which the irradiation of the ultrasonic energy when moving in the second pattern When doing is maintained When doing can be further controlled to be output differently. And

[0137] For example, the first time t1 during which the irradiation of the ultrasonic energy during forward movement in the first pattern is maintained can be faster or slower than the second time t2 during which the irradiation of the ultrasonic energy during return movement in the second pattern. When doing When doing

[0138] Also, as shown in FIG. 7, the ultrasonic generation unit driving step is Process controlled such that the ultrasonic generation unit 400 moves in a first pattern When doing and outputs a first intensity E1 of ultrasonic energy different from a second intensity E2 of ultrasonic energy that moves in a second pattern. When doing Furthermore, it can be further controlled such that the first intensity E1 of ultrasonic energy moving forward in the first pattern

[0139] is greater than or less than the second intensity E2 of ultrasonic energy moving backward in the second pattern. When doing When doing

[0140] Or Or If so At least one component can be added or deleted corresponding to the performance of the components shown in FIG. 5. Also, the mutual positions of the components can be changed corresponding to the performance

[0141] structure of the system, which can be easily understood by those having ordinary knowledge in the relevant technical field. Step Step Step Although FIGS. 8 and 12 are described as sequentially executing a plurality of Step this is only an exemplary explanation of the technical idea of this embodiment. Those having ordinary knowledge in the technical field to which this embodiment belongs can change the order described in FIGS. 8 and 12 and execute it without departing from the essential characteristics of this embodiment, or can variously modify and apply it to execute one or more of the plurality of Step in parallel. Therefore, FIGS. 8 and 12 are not limited to a time-series order. Step

[0142] While As described above, referring to the accompanying drawings While the disclosed embodiments RegardingIt has been described. Those having ordinary knowledge in the technical field to which the present disclosure pertains can understand that the present disclosure can be implemented in forms different from the disclosed embodiments without changing the technical idea and essential features of the present disclosure. The disclosed embodiments are exemplary and should not be construed in a limiting sense.

Claims

1. An ultrasonic generating unit, a transfer unit coupled to the ultrasonic generating unit to move the ultrasonic generating unit in a preset pattern, a sensor for sensing the movement of the ultrasonic generating unit, determining the position of the ultrasonic generating unit based on the sensing result information from the sensor, a control unit that, during driving of the transfer unit, determines that the ultrasonic generating unit is in one of a state of being separated from the transfer unit, a state of detachment, or a stopped state if the position of the ultrasonic generating unit is not changed. An ultrasonic generating device comprising the above components.

2. The sensor is characterized in that two or more sensors are provided at equal intervals along the movement path of the ultrasonic generating unit. The ultrasonic generating device according to claim 1.

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

4. The preset pattern includes at least one of a first pattern in which the ultrasonic generating unit moves from a first point to a second point and a second pattern in which the ultrasonic generating unit moves from the second point to the first point, The magnetic force sensing result information includes a plurality of sensing points where the intensity of the magnetic force is the highest among the sensed magnetic forces and a plurality of sensing points where the magnetic forces intersect each other. The ultrasonic generating device according to claim 3.

5. The control unit is when the ultrasonic generating unit moves in either the first pattern or the second pattern, further characterized in that if the magnetic force sensing result information does not include a plurality of sensing points where the intensity of the magnetic force is high and a plurality of sensing points where the magnetic forces intersect each other, the driving of the ultrasonic generating unit is stopped so that the ultrasonic waves of the ultrasonic generating unit are not output. The ultrasonic generating device according to claim 4.

6. further includes a cartridge housing that houses the ultrasonic generating unit and is coupled to one side of the handpiece, The handpiece includes locking protrusions formed on the inner surface and a main drive shaft having magnetism for coupling with the cartridge housing, The cartridge housing includes an insertion groove formed on the outer surface and a magnetic body provided to face the main drive shaft, The cartridge housing is The ultrasonic generator according to claim 1, characterized in that when coupled to the handpiece, the insertion groove engages with the locking projection and is magnetically coupled by the magnetic body to the main drive shaft having the magnetism with magnetic force.

7. In a method for determining and controlling the state of an ultrasonic generator, moving the ultrasonic generating unit in a previously set pattern; sensing the movement of the ultrasonic generating unit; determining the position of the ultrasonic generating unit based on the sensing result information by the sensor; during the driving of the transfer unit, if the position of the ultrasonic generating unit is not changed, determining that it is in any one of the states of being separated from the transfer unit, being detached, or being in a stopped state. A method including this step.

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

9. The previously set pattern includes at least one of a first pattern in which the ultrasonic generating unit moves from a first point to a second point and a second pattern in which the ultrasonic generating unit moves from the second point to the first point. The magnetic force sensing result information includes a plurality of sensing points where the intensity of the magnetic force is the highest among the sensed magnetic forces and a plurality of sensing points where the magnetic forces intersect each other. The method according to claim 8, characterized by this.

10. When the ultrasonic generating unit moves in either the first pattern or the second pattern, The method according to claim 9, further including the step of stopping the driving of the ultrasonic generating unit so that the ultrasonic wave of the ultrasonic generating unit is not output if the magnetic force sensing result information is not a plurality of sensing points where the intensity of the magnetic force is high and a plurality of sensing points where the magnetic forces intersect each other.

Images