Focused ultrasound device and method for setting focused ultrasound treatment sequence

Abstract

A focused ultrasound device and a method for setting a focused ultrasound treatment sequence thereof are disclosed. When using ultrasonic therapy using mechanical energy, the focused ultrasound device according to an embodiment determines the next focal point position by considering at least one previous focal point position of the focused ultrasound, thereby minimizing thermal rise in the affected area and maximizing the use of mechanical energy.

Description

[Technical field]

[0001] The present invention relates to diagnostic and therapeutic techniques using ultrasound, and more particularly to image scanning and therapeutic techniques using focused ultrasound (FUS) for image guided therapy.

[0002] The present invention was invented based on a project of the Republic of Korea government. The government project information is NTIS unique number: 9991006682, project number: 202011B03-01, name of the ministry: Ministry of Science and ICT, Ministry of Trade, Industry and Energy, Ministry of Health and Welfare, Ministry of Food and Drug Safety, name of research project: Pan-Ministry All-Periodic Medical Device Research and Development Project (R&D), name of research project: Commercialization development of market-guided ultrasound image-guided high-intensity focused ultrasound treatment device for pancreatic cancer fusion treatment, research management specialized organization: Pan-Ministry All-Periodic Medical Device Research and Development Foundation, contribution rate: 100%, lead research organization: IMGT Co., Ltd. Research period: 2020.09.01 to 2021.02.28. [Background technology]

[0003] Ultrasound signals can be used to treat biological tissues such as cancer, tumors, and lesions. Ultrasound therapy is a method of treating lesions in the human body by irradiating the lesion with ultrasound signals. Compared to general surgery and chemotherapy, ultrasound therapy can realize non-invasive treatment by causing less trauma to the patient. Its application examples are diverse, including liver cancer, bone sarcoma, breast cancer, pancreas cancer, kidney cancer, soft tissue tumors, and pelvic tumors. Summary of the Invention [Problem to be solved by the invention]

[0004] In one embodiment, a focused ultrasound device and a method for setting the focused ultrasound treatment sequence are proposed that can maximize the use of mechanical energy while minimizing the thermal rise of the affected area when using ultrasound treatment to stimulate the affected area using mechanical energy other than thermal treatment or to improve the delivery effect of a therapeutic drug. [Means for solving the problem]

[0005] A method for setting a focused ultrasound treatment sequence according to one embodiment includes the steps of: arranging focus candidate points within a three-dimensional structure in a coordinate system; determining a focus point position to irradiate focused ultrasound, and if there is at least one previous focus point to which focused ultrasound has been irradiated, determining a next focus point position from among the focus candidate points taking into account the at least one previous focus point position; and irradiating focused ultrasound to the determined next focus point position.

[0006] The previous focal point is the previous focal point PT(0). n The previous convergence point is the previous convergence point PT(0) n and the previous convergence point PT(0) n The previous 1st to Lth focusing points (L=integer), where L is preset and can be changed by the user, and a different weight value is assigned to each focusing point.

[0007] In the step of determining the position of the next focal point, a focal point candidate point located at a position farthest from the previous focal point among the plurality of focal point candidates may be determined as the next focal point.

[0008] In the step of determining the position of the next focal point, if there are a plurality of focal point candidates that are located at positions farthest from the previous focal point, the position with the shortest driving distance of the device among them may be determined as the next focal point.

[0009] In the step of determining the position of the next focal point, a maximum distance of the next focal point based on the previous focal point may be preset, and the position of the next focal point may be determined within the preset maximum distance.

[0010] The step of determining the position of the next focal point may include the steps of converting distance information between the previous focal point and the next focal point into temperature information; and determining, as the next focal point, a position where the temperature rise is minimum from among the next focal point candidate points using the converted temperature information.

[0011] The step of determining the next focal point location is

number

[0012] The step of determining the next focal point position is

number

number

[0013] The step of determining the position of the next focal point may further include a step of finalizing the determined next focal point as the next focal point if a temperature change value is lower than a predetermined temperature value when the determined next focal point is irradiated with focused ultrasound.

[0014] The method for setting a focused ultrasound treatment sequence may further include adjusting treatment parameters so that thermal damage to a target region is minimized when the focused ultrasound is focused at the same focal point.

[0015] A focused ultrasound device according to another embodiment includes a control unit that aligns focus candidate points within a three-dimensional structure in a coordinate system, and, if there is at least one previous focus point to which focused ultrasound has been irradiated, determines a next focus point position from among the focus candidate points taking into consideration the position of the at least one previous focus point; and a transceiver unit that irradiates focused ultrasound to the determined focus point position.

[0016] The control unit may determine, as the next focusing point, a focusing candidate point located at a position farthest from the previous focusing point, from among the plurality of focusing candidate points.

[0017] When there are a plurality of focusing candidate points at positions farthest from the previous focusing point, the control unit may determine a position at which the driving distance of the device is shortest among the plurality of focusing candidate points as the next focusing point.

[0018] The control unit may preset a maximum distance of the next focal point based on the previous focal point, and then determine the position of the next focal point within the preset maximum distance.

[0019] The control unit converts distance information between the previous focusing point and the next focusing candidate group into temperature information, and can use the converted temperature information to determine the position among the next focusing candidates where the temperature rise is the smallest as the next focusing point.

[0020] The control unit can adjust treatment parameters such that thermal damage to a target area is minimized when focused ultrasound is focused at a predetermined focal point. Effect of the Invention

[0021] According to an embodiment of the focused ultrasound device and the method for setting the focused ultrasound treatment sequence thereof, when using an ultrasound treatment method for stimulating an affected area using mechanical energy other than thermal therapy or for improving the delivery effect of a therapeutic drug, it is possible to maximize the use of mechanical energy while minimizing the thermal rise of the affected area.

[0022] For example, by determining the next focal point position by considering at least one previous focal point position of the focused ultrasound, it is possible to minimize the thermal rise of the affected area. Furthermore, when there are a plurality of focal point candidates at positions farthest from the previous focal point, the movement of the device can be minimized by determining the position with the shortest driving distance of the device as the next focal point.

[0023] Its implementation and operating principle are simple and scalable, and it can be applied not only in the field of focused ultrasound, but also in similar applications that minimize energy exposure or dose. [Brief description of the drawings]

[0024] [Figure 1] 1 is a diagram showing a configuration of a focused ultrasound device according to an embodiment of the present invention; [Diagram 2] 1 is a diagram showing a three-dimensional structure of a target region for setting a focused ultrasound treatment sequence according to an embodiment of the present invention. [Diagram 3] 1 is a flowchart showing a method for setting a focused ultrasound treatment sequence according to an embodiment of the present invention; [Figure 4] 1 is a diagram illustrating a process of determining a next focal point position taking into account distance according to an embodiment of the present invention. [Diagram 5] 1 is a diagram illustrating a process for determining a next focal point position taking into account temperature according to an embodiment of the present invention. [Figure 6] 1 is a diagram showing a structure obtained by analyzing a three-dimensional structure of a target area in two dimensions to explain a method for determining a next focal point position taking into account distance and a method for determining a next focal point position taking into account distance and temperature according to an embodiment of the present invention. [Figure 7] 1 is a diagram showing an effect of irradiating focused ultrasound in consideration of a previous focal point position according to an embodiment of the present invention; [Figure 8] 1 is a diagram showing an effect of irradiating focused ultrasound in consideration of a previous focal point position according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] The advantages and features of the present invention, and the method of achieving the same, will become clear from the following detailed description of the embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various different forms. The present embodiments are provided merely to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

[0026] In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may obscure the gist of the present invention, the detailed description will be omitted, and the terms described below are defined in consideration of the functions in the embodiments of the present invention, and may vary depending on the intention or practice of a user or operator, etc. Therefore, the definitions must be based on the overall contents of this specification.

[0027] The combination of each block of the attached block diagrams and each step of the flowcharts may be performed by computer program instructions (execution engine) that are loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing device, and the instructions executed by the processor of the computer or other programmable data processing device generate means for performing the functions described in each block of the block diagrams or each step of the flowcharts.

[0028] These computer program instructions may be stored in a computer-usable or computer-readable memory that can direct a computer or other programmable data processing device to implement functions in a particular manner, such that the instructions stored in the computer-usable or computer-readable memory may produce an article of manufacture that contains instruction means to perform the functions described in each block of the block diagram or each step of the flowchart.

[0029] The computer program instructions may also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on the computer or other programmable data processing device to generate a computer-implemented process, and the instructions for running the computer or other programmable data processing device may provide steps for performing the functions described in each block of the block diagrams and each step of the flowcharts.

[0030] It should also be noted that each block or step may represent a module, segment, or portion of code that includes one or more executable instructions for performing a particular logical function, and that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, two blocks or steps shown one after the other may in fact be performed substantially simultaneously, or the blocks or steps may be performed in the reverse order of their respective functions, if necessary.

[0031] Hereinafter, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the following exemplary embodiments of the present invention may be modified into various other forms, and the scope of the present invention is not limited to the following detailed embodiments. The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

[0032] FIG. 1 is a diagram showing the configuration of a focused ultrasound device according to an embodiment of the present invention.

[0033] The main treatments using focused ultrasound (FUS) are thermal treatments that increase the temperature of the affected area, and treatments that use mechanical energy. Thermal treatment, one of the most common treatments, is a method of thermally ablating the lesion to cause it to necrose. However, thermal treatments are highly likely to cause side effects due to the increased temperature of surrounding normal tissues.

[0034] The focused ultrasound device 1 according to one embodiment uses focused ultrasound to stimulate the affected area using mechanical energy instead of thermal therapy, or to improve the delivery effect of a therapeutic drug. The present invention proposes a focused ultrasound device and a method for setting the focused ultrasound treatment sequence, which can maximize the use of mechanical energy while minimizing the thermal rise of the affected area when using ultrasonic therapy using mechanical energy.

[0035] Referring to FIG. 1, a focused ultrasound device 1 includes an ultrasound generator 10, a transceiver 11, a control unit 12, a signal processor 13, an image processor 14, a display unit 15, and a storage unit 16.

[0036] The transceiver 11 may include a focused ultrasound transducer 111 that operates to transmit focused ultrasound for treatment and an imaging ultrasound transducer 112 that operates to transmit and receive diagnostic ultrasound. The focused ultrasound transducer 111 converts a short pulse electrical signal, which is a drive signal received from the ultrasound generator 10, into focused ultrasound and transmits it to a target region of tissue.

[0037] The imaging ultrasound converter 112 converts a short pulse electrical signal, which is a driving signal received from the ultrasound generator 10, into an imaging ultrasound, transmits the imaging ultrasound to a target region of tissue, and extracts an echo signal reflected from the target region.

[0038] The signal processor 13 processes the received ultrasound echo signal and transmits it to the image processor 14. The signal processor 13 may include a low noise amplifier (LNA) and an analog to digital converter (ADC). The image processor 14 forms an image based on the received signal processed by the signal processor 13, and outputs the ultrasound image through the display unit 15. The storage unit 16 stores the received signal formed through the transceiver 11 and stores information required for the operation of the control unit 12. After confirming the affected area from the ultrasound image output through the display unit 15, the treatment area can be set. The ultrasound image is a three-dimensional multi-plane image. The treatment area may be set automatically or the user may set the treatment area manually.

[0039] The control unit 12 controls the overall operation of the focused ultrasound device 1. According to an embodiment, when using an ultrasound therapy using mechanical energy, the control unit 12 controls treatment parameters of the focused ultrasound so as to maximize the use of mechanical energy while minimizing thermal rise in the affected area.

[0040] The treatment parameters include the treatment sequence, intensity, exposure time, duty rate, pulse repetition frequency (PRF), interval, and weighting (based on distance, steering, etc.) of the focused ultrasound.

[0041] The control unit 12 may adjust treatment parameters, such as intensity, irradiation time, duty ratio, etc., to minimize thermal damage to a target area when focused ultrasound is irradiated at a predetermined focal point. As another example, when the focal point is moved, treatment parameters, such as the sequence of focused ultrasound treatment, may be set to minimize thermal damage.

[0042] Setting of the focused ultrasound treatment sequence, for example, the focused ultrasound device 1 transmits diagnostic ultrasound to the target object through the transceiver 11, receives an ultrasound echo signal reflected from the target object, confirms the affected area through an ultrasound image generated based on the received signal, and then determines a target area to be irradiated with focused ultrasound. The target area corresponds to the treatment area. Then, the treatment parameter control unit 121 of the control unit 12 controls the treatment parameters to set the focused ultrasound treatment sequence, and the focused ultrasound control unit 122 generates a control signal for irradiating the focused ultrasound to the three-dimensional position set through the ultrasound image. Then, the ultrasound generator 10 generates a focused ultrasound pulse according to the control signal received from the focused ultrasound control unit 122, and the focused ultrasound converter 111 of the transceiver 11 converts the focused ultrasound pulse into an ultrasound signal to irradiate the treatment area.

[0043] More specifically, the treatment parameter control unit 121 may set a treatment sequence for irradiating focused ultrasound so as to minimize thermal damage to a target region to be irradiated with focused ultrasound. In this case, the treatment sequence includes position information of a target region to be irradiated with a next focal point, and the next focal point position may be determined in consideration of at least one previous focal point position of the focused ultrasound. Then, the focused ultrasound control unit 122 generates a control signal to irradiate focused ultrasound to the next focal point position of the target region according to the set treatment sequence. The focused ultrasound transducer 111 of the transceiver unit 11 irradiates focused ultrasound to the next focal point position of the target region according to the treatment sequence in response to the control signal of the focused ultrasound control unit 122.

[0044] The treatment parameter control unit 121 may determine, as the next focal point, a focal point candidate point at a position farthest from the previous focal point from among a group of next focal points composed of a plurality of focal point candidates. In this case, when there are a plurality of focal point candidates at positions farthest from the previous focal point, the treatment parameter control unit 121 may determine, as the next focal point, a position at which the driving distance of the device (e.g., focused ultrasound transducer) is shortest among them. Furthermore, the maximum distance of the next focal point may be preset based on the previous focal point, and the position of the next focal point may be determined within the predetermined maximum distance.

[0045] The treatment parameter control unit 121 converts the distance information between the previous focal point and the next focal point candidate group into temperature information, and can use the converted temperature information to determine the position among the next focal point candidate group where the temperature rise is the smallest as the next focal point.

[0046] The treatment parameter control unit 121 can adjust treatment parameters, such as the intensity, duty ratio, and irradiation time of the focused ultrasound, so as to minimize thermal damage to the target area when the focused ultrasound is focused at a predetermined focal point.

[0047] FIG. 2 is a diagram showing a three-dimensional structure of a target region for setting a focused ultrasound treatment sequence according to an embodiment of the present invention.

[0048] 1 and 2, the focused ultrasound device 1 can convert an ultrasound image of an ultrasound focal position into three-dimensional structure data and connect the converted three-dimensional structure into a connection network of points having a predetermined rule on an orthogonal coordinate system. In FIG. 2, three connection networks 21, 22, and 23 are illustrated as an example. Various points can be generated by tilting the focused ultrasound transducer 111 for each of the connection networks 21, 22, and 23 (e.g., 0 degrees, 5 degrees, and 10 degrees), and various points can be generated by rotating the focused ultrasound transducer 111. The target area corresponds to a treatment site to which focused ultrasound is irradiated. The orthogonal coordinate system can be a rectangular coordinate system, a spherical coordinate system, etc. The predetermined rule is equidistant, equiangular, or a combination thereof.

[0049] The focused ultrasound device 1 according to an embodiment sets a focused ultrasound treatment sequence in consideration of thermal damage of the focused ultrasound in order to minimize thermal damage during ultrasound treatment using mechanical energy.

[0050] When the focus needs to be moved to another point in the target area, the focused ultrasound device 1 sets the treatment sequence so that ultrasonic waves are irradiated as far away as possible from the position where the focused ultrasound was previously irradiated, so as not to cause a thermal synergistic effect with the previous focused position. In particular, the next focused point can be determined to be the farthest possible position from the previous focused point, which can be called the As Far Away Enough (AFAE) from the latest treatment point method or the Far Enough from the Latest Treatment Point (FELT) method. FIG. 2 illustrates an example of irradiating focused ultrasound in the treatment order of (1)→(2)→(3)→(4)→(5) (where the numbers in parentheses are circled numbers).

[0051] FIG. 3 is a flowchart showing a method for setting a focused ultrasound treatment sequence according to an embodiment of the present invention.

[0052] 1 and 3, as a preliminary operation, the focused ultrasound device 1 converts an ultrasound image of a target area into three-dimensional structure data, and connects the converted three-dimensional structure into a network of points having a predetermined rule on an orthogonal coordinate system. The target area corresponds to a treatment area to be irradiated with focused ultrasound. The orthogonal coordinate system may be a rectangular coordinate system, a spherical coordinate system, etc. The predetermined rule may be equidistant, equiangular, or a combination thereof.

[0053] The focused ultrasound device 1 arranges the focusing candidate points in the three-dimensional structure in an arbitrary order in the coordinate system (step S310). At this time, the focusing candidate points can be arranged in an arbitrary order or according to a predetermined rule. The predetermined rule is equidistant, equiangular, or a combination of these.

[0054] Next, the focused ultrasound device 1 determines the focal point position. If there is at least one previous focal point to which focused ultrasound has been irradiated, the next focal point position is determined from among the candidate focal points, taking into consideration the position of at least one previous focal point (step S320). The previous focal point is the previous focal point PT(0). n As another example, the previous convergence point is the immediately preceding convergence point PT(0). n and the previous convergence point PT(0) n The previous 1st to Lth focus points (L=integer), where L is preset and can be changed by the user. In this case, a different weight is assigned to each previous focus point. The most recent focus point in chronological order is assigned a higher weight than the previous focus point.

[0055] In the next focal point position determination step (320), the focused ultrasound device 1 can determine the next focal point position by considering at least one previous focal point position of the focused ultrasound when moving the focal point. For example, among a plurality of focal point candidates, the focal point candidate at the position farthest from the previous focal point is determined as the next focal point. In this case, if there are a plurality of focal point candidates at the position farthest from the previous focal point, the position at which the device has the shortest driving distance among them can be determined as the next focal point.

[0056] In the next focal point position determination step (320), the focused ultrasound device 1 can preset a maximum distance of the next focal point based on the previous focal point, and then determine the position of the next focal point within the preset maximum distance.

[0057] In the next focal point position determination step (320), the focused ultrasound device 1 converts distance information between the previous focal point and multiple focal point candidate points into temperature information, and then uses the converted temperature information to determine the position with the smallest temperature rise as the next focal point from among the multiple focal point candidate points.

[0058] In the treatment sequence setting step (320), the focused ultrasound device 1 can adjust treatment parameters to minimize thermal damage to the target area when the focused ultrasound is focused on a predetermined focal point. The treatment parameters include the intensity of the focused ultrasound, the irradiation time, the duty ratio, the pulse repetition frequency (PRF) interval, and weights (distance, steering, etc.).

[0059] Subsequently, the focused ultrasound device 1 irradiates the focused ultrasound to the determined next focal point position (step S330).

[0060] FIG. 4 is a diagram illustrating a process of determining a next focal point location taking into account distance according to an embodiment of the present invention.

[0061] To explain the process of determining the next focal point location taking distance into account, let us first define the terms PT(0) n is the previous convergence point, and PT n (PT(0) n =PT n ). PT(L) n is the previous convergence point PT(0) n is the Lth previous focusing point of PT(0). n The previous Lth irradiation order. For example, the focal point PT(1) n is the previous convergence point PT(0) n The first previous focal point of the n is the previous convergence point PT(0) nThe second previous focal point of the n is the previous convergence point PT(0) n is the L-th previous focusing point of

[0062] 1 and 4, the focused ultrasound device 1 aligns the focus candidate points in the three-dimensional structure in a coordinate system (410). The structure is aligned along a predetermined trajectory to the next focus candidate point PT n+1 From PT n+m The trajectory is arbitrarily set and can be preset by an algorithm that determines the treatment sequence.

[0063] Subsequently, the focused ultrasound device 1 performs a predetermined PT(0) n The tissue is exposed to focused ultrasound (420).

[0064] In order to determine the position of the next focal point, the focused ultrasound device 1 calculates the next focal point candidate point PT along the trajectory based on each previous focal point. n+1 From PT n+m For example, the distance value is calculated for each of the previous convergence points PT(0) (430). n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(0) n+1 ,…,D(0) n+m ] is calculated. Then, the first focusing point PT(1) before the previous focusing point n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(1) n+1 ,…,D(1) n+m ] is calculated using the formula: n Previous L-th focal point PT(L) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(L) n+1 ,…,D(L) n+m ]. To summarize,

number

[0065] Continued, the maximum distance [D(0) max ,…,D(L) max Calculate (440). D(0) max is [D(0) n+1 ,…,D(0) n+m ], that is, max[D(0) n+1 ,…,D(0) n+m ] and the previous convergence point PT(0) n is the longest distance value. D(L) max is [D(L) n+1 ,…,D(L) n+m ], that is, max[D(L) n+1 ,…,D(L) n+m ] and the previous L-th focusing point PT(L) n is the farthest distance value.

[0066] Subsequently, the focused ultrasound device 1 is max ,…,D(L) max ] are assigned weights and then summed to obtain the total distance [W(0)*D(0) max ,+…+,W(L)*D(L) max ] is calculated, and the total distance is the maximum value max[W(0)*D(0) max ,+…+,W(L)*D(L) max ] (the coordinate value of the farthest distance) is determined as the next focal point position (450), where W(0), ..., W(L) are weighting values, which are real numbers smaller than 1 and larger than 0. The weighting values ​​are assigned higher weighting values ​​to recent focal points than previous focal points during previous focal points, and can be changed by the user.

[0067] FIG. 5 is a diagram illustrating a process of determining the next focal point position taking into account temperature according to an embodiment of the present invention.

[0068] To explain the process of determining the next focal point location taking temperature into account, let us first define the terms PT(0) nis the previous convergence point, and PT n (PT(0) n =PT n ). PT(L) n is the previous convergence point PT(0) n is the Lth previous focusing point of PT(0). n The previous Lth irradiation order. For example, the focal point PT(1) n is the previous convergence point PT(0) n The first previous focal point is the first previous focal point, and the focal point PT(2) n is the previous convergence point PT(0) n The second previous focal point of the second order is the secondary previous focal point, and the focal point PT(L) n is the previous convergence point PT(0) n The L-th previous focusing point of is the L-th previous focusing point of.

[0069] Subsequently, the focused ultrasound device 1 performs a predetermined PT(0) n The tissue is exposed to focused ultrasound (420).

[0070] In order to determine the position of the next focal point, the focused ultrasound device 1 calculates the next focal point candidate point PT along the trajectory based on each previous focal point. n+1 From PT n+m For example, the distance value is calculated for each of the previous convergence points PT(0) (430). n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(0) n+1 ,…,D(0) n+m ] is calculated. Then, the first focusing point PT(1) before the previous focusing point n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(1) n+1 ,…,D(1) n+m ] is calculated using the formula: n Previous L-th focal point PT(L) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(L) n+1 ,…,D(L)n+m ]. To summarize,

number

[0071] Continued, the maximum distance [D(0) max ,…,D(L) max Calculate (440). D(0) max is [D(0) n+1 ,…,D(0) n+m ], that is, max[D(0) n+1 ,…,D(0) n+m ] and the previous convergence point PT(0) n is the longest distance value. D(L) max is [D(L) n+1 ,…,D(L) n+m ], that is, max[D(L) n+1 ,…,D(L) n+m ] and the previous L-th focusing point PT(L) n is the farthest distance value.

[0072] Subsequently, the focused ultrasound device 1 is max ,…,D(L) max ] are assigned weights and then summed to obtain the total distance [W(0)*D(0) max ,+…+,W(L)*D(L) max ] is calculated, and the total distance is the maximum value max[W(0)*D(0) max ,+…+,W(L)*D(L) max ] (the coordinate value of the farthest distance) is determined as the next focal point position (450), where W(0), ..., W(L) are weighting values, which are real numbers smaller than 1 and larger than 0. The weighting values ​​are assigned higher weighting values ​​to recent focal points than previous focal points during previous focal points, and can be changed by the user.

[0073] FIG. 5 is a diagram illustrating a process of determining the next focal point position taking into account temperature according to an embodiment of the present invention.

[0074] To explain the process of determining the next focal point position taking temperature into account, let us first define the terms PT(0) n is the previous convergence point, and PT n (PT(0) n =PT n ). PT(L) n is the previous convergence point PT(0) n is the Lth previous focusing point of PT(0). n The previous Lth irradiation order. For example, the focal point PT(1) n is the previous convergence point PT(0) n The first previous focal point is the first previous focal point, and the focal point PT(2) n is the previous convergence point PT(0) n The second previous focal point of the second order is the secondary previous focal point, and the focal point PT(L) n is the previous convergence point PT(0) n The L-th previous focusing point of is the L-th previous focusing point of.

[0075] 1 and 5, the focused ultrasound device 1 aligns the focus candidate points in the three-dimensional structure in a coordinate system (510). The structure is aligned along a predetermined trajectory to the next focus candidate point PT n+1 From PT n+m The trajectory is arbitrarily set and can be preset by an algorithm that determines the treatment sequence.

[0076] Subsequently, the focused ultrasound device 1 performs a predetermined PT(0) n The tissue is exposed to focused ultrasound (520).

[0077] In order to determine the position of the next focal point, the focused ultrasound device 1 calculates the next focal point candidate point PT along the trajectory based on each previous focal point. n+1 From PT n+m For example, the distance value is calculated for each of the previous convergence points PT(0) (530). n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(0)n+1 ,…,D(0) n+m ] is calculated. Then, the first focusing point PT(1) before the previous focusing point n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(1) n+1 ,…,D(1) n+m ] is calculated using the formula: n Previous L-th focal point PT(L) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(L) n+1 ,…,D(L) n+m ]. To summarize,

number

[0078] Next, the focused ultrasound device 1 converts the distance value into a temperature value.

number

[0079] Subsequently, the focused ultrasound device 1 measures the maximum temperature [T max(n+1) ,…,T max(n+m) ] is calculated (540), where T max(n+1) is the maximum value max[T δ D(0) n+1 ,T δ D(0) n+m ] and T max(n+m) is the maximum value max[T δ D(L) n+1 ,T δ D(L) n+m ] and T δis the temperature change value during the irradiation time δt.

[0080] Next, the minimum value Min[T max(n+1) ,T max(n+2) ,T max(n+3) ,…,T max(n+m) ] (the coordinate value of the place where the temperature change is the smallest) is determined as the next focal point position (550). Step 550 is repeated m times, and if the temperature change value is smaller than a predetermined value, it can be determined as the next focal point.

[0081] FIG. 6 is a diagram showing a structure obtained by analyzing a three-dimensional structure of a target area in two dimensions to explain a method for determining a next focal point position taking into account distance and a method for determining a next focal point position taking into account distance and temperature according to an embodiment of the present invention.

[0082] To define the term, the structure is focused along a predefined trajectory to a set of candidates PT n+1 From PT n+m The trajectory is arbitrarily set and can be preset by an algorithm that determines the treatment sequence. n is the previous convergence point, and PT n (PT(0) n =PT n ). PT(L) n is the previous convergence point PT(0) n is the Lth previous focusing point of PT(0). n The previous Lth irradiation order. For example, the focal point PT(1) n is the previous convergence point PT(0) n The first previous focal point is the first previous focal point, and the focal point PT(2) n is the previous convergence point PT(0) n The second previous focal point of the second order is the secondary previous focal point, and the focal point PT(L) n is the previous convergence point PT(0) n The L-th previous focusing point of is the L-th previous focusing point of.

[0083] First, the process of determining the next focal point position using distance will be explained using the structure in FIG.

[0084] 1 and 6, in order to determine the position of the next focal point, the focused ultrasound device 1 calculates the next focal point candidate point PT along the trajectory based on each previous focal point. n+1 From PT n+m For example, calculate the distance value from the previous convergence point PT(0) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(0) n+1 ,…,D(0) n+m ] is calculated. Then, the previous convergence point PT(0) n Previous L-th focal point PT(L) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(L) n+1 ,…,D(L) n+m ] is calculated.

[0085] D(0) n+1 =|PT n+1 -PT(0) n |, D(1) n+1 =|PT n+1 -PT(1) n |,…,D(L) n+1 =|PT n+1 -PT(L) n |, D(0) n+2 =|PT n+2 -PT(0) n |, D(1) n+2 =|PT n+2 -PT(1) n |,…,D(L) n+2 =|PT n+2 -PT(L) n |, D(0) n+m =|PT n+m -PT(0) n |, D(1) n+m =|PT n+m -PT(1) n |,…,D(L) n+m =|PT n+m -PT(L) n | Continued, the maximum distance [D(0) max ,…,D(L) max Calculate D(0) max is [D(0) n+1 ,…,D(0) n+m ], that is, max[D(0) n+1 ,…,D(0) n+m ] and the previous convergence point PT(0) n is the longest distance value. D(L) max is [D(L) n+1 ,…,D(L) n+m ], that is, max[D(L) n+1 ,…,D(L) n+m ] and the previous L-th focusing point PT(L) n is the farthest distance value.

[0086] Subsequently, the focused ultrasound device 1 is max ,…,D(L) max ] are assigned weights and then summed to obtain the total distance [W(0)*D(0) max ,+…+,W(L)*D(L) max ] is calculated, and the total distance is the maximum value max[W(0)*D(0) max ,+…+,W(L)*D(L) max ] (the coordinate value of the farthest distance) is determined as the next focal point position (450), where W(0), ..., W(L) are weighting values, which are real numbers smaller than 1 and larger than 0. The weighting values ​​are assigned higher weighting values ​​to recent focal points than previous focal points during previous focal points, and can be changed by the user.

[0087] As another example, the process of using temperature to determine the next focal point location is described using the structure of FIG.

[0088] 1 and 6, in order to determine the position of the next focal point, the focused ultrasound device 1 calculates the next focal point candidate point PT along the trajectory based on each previous focal point. n+1 From PT n+mFor example, calculate the distance value from the previous convergence point PT(0) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(0) n+1 ,…,D(0) n+m ] is calculated. Then, the previous convergence point PT(0) n Previous L-th focal point PT(L) n and the next convergence candidate point [PT n+1 ,…,PT n+m ] and the distance value [D(L) n+1 ,…,D(L) n+m ] is calculated.

[0089] D(0) n+1 =|PT n+1 -PT(0) n |, D(1) n+1 =|PT n+1 -PT(1) n |,…,D(L) n+1 =|PT n+1 -PT(L) n |, D(0) n+2 =|PT n+2 -PT(0) n |, D(1) n+2 =|PT n+2 -PT(1) n |,…,D(L) n+2 =|PT n+2 -PT(L) n |, D(0) n+m =|PT n+m -PT(0) n |, D(1) n+m =|PT n+m -PT(1) n |,…,D(L) n+m =|PT n+m -PT(L) n | Next, the focused ultrasound device 1 converts the distance value into a temperature value.

number

[0090] Subsequently, the focused ultrasound device 1 measures the maximum temperature [T max(n+1) ,…,T max(n+m) ] is calculated, where T max(n+1) is the maximum value max[T δ D(0) n+1 ,…,T δ D(0) n+m ] and T max(n+m) is the maximum value max[T δ D(L) n+1 ,…,T δ D(L) n+m ] and T δ is the temperature change value during the irradiation time δt.

[0091] Next, the minimum value Min[T max(n+1) ,T max(n+2) ,T max(n+3) ,…,T max(n+m) The position having the smallest temperature change is determined as the next focal point position. The above process is repeated m times, and if the temperature change value is smaller than the predetermined value, it can be determined as the next focal point.

[0092] 7 and 8 are diagrams illustrating the effect of irradiating focused ultrasound considering a previous focal point position according to an embodiment of the present invention.

[0093] More specifically, FIG. 7 is a diagram showing that when focused ultrasound is irradiated without taking into account the previous focal point position, a thermal rise in the affected area occurs, and FIG. 8 is a diagram showing that when focused ultrasound is irradiated taking into account the previous focal point position according to one embodiment of the present invention, the thermal rise in the affected area is prevented.

[0094] According to one embodiment, when using an ultrasound therapy for stimulating an affected area using mechanical energy other than thermal therapy or for improving the delivery effect of a therapeutic drug, it is possible to make the most of the mechanical energy while minimizing the thermal rise of the affected area. For example, the thermal rise of the affected area can be minimized by determining the next focal point position in consideration of at least one previous focal point position of the focused ultrasound.

[0095] The present invention has been described above with reference to its preferred embodiments. Those skilled in the art will understand that the present invention can be embodied in modified forms without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an explanatory perspective, not a limiting perspective. The scope of the present invention is defined in the claims, not the above description, and all differences within the scope of the claims should be interpreted as being included in the present invention. [Industrial Applicability]

[0096] In order to select a treatment location that minimizes damage such as thermal damage and radiation exposure from the energy or material (e.g., focused ultrasound) intended for treatment, this technology can be used to determine the safest location by reflecting previous treatment location information when selecting a location according to the treatment sequence.

Claims

1. A method for setting a sequence of focused ultrasound treatment using a focused ultrasound device, comprising: The focused ultrasound device aligning candidate focusing points within a three-dimensional structure in a coordinate system; determining a position of a focal point to be irradiated with focused ultrasound, and if there is at least one previous focal point to which focused ultrasound has been irradiated, determining a position of a next focal point from among candidate focal points in consideration of the position of the at least one previous focal point; A method for setting a focused ultrasound treatment sequence, comprising: The step of determining a next focal point position comprises: Distance Value [0010] and calculating Maximum distance [D(0) ｍａｘ , ..., D(L) ｍａｘ ]; and Maximum value max [W(0) * D(0)max + ... + W(L) * D(L) ｍａｘ [0036] as the next focal point position; [D(0) ｎ＋１ , ..., D(0) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], [D(L) ｎ＋１ , ..., D(L) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ Previous L-th focal point PT(L) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], D(0) ｍａｘ is max[D(0) ｎ＋１ , ..., D(0) ｎ＋ｍ ], D(L) ｍａｘ is max[D(L) ｎ＋１ , ..., D(L) ｎ＋ｍ ], W(0), ..., W(L) are weights, L is the previous convergence point PT(0) ｎ is the previous Lth irradiation order, n represents the nth point of a position within the three-dimensional structure; A method for setting a focused ultrasound treatment sequence, wherein m represents the mth point of a position within the three-dimensional structure.

2. The step of determining a next focal point position comprises: Among the plurality of focusing candidate points, a focusing candidate point located at a position farthest from the previous focusing point is determined as a next focusing point; The method for setting a focused ultrasound treatment sequence according to claim 1, characterized in that, when there are multiple focus candidate points that are located at the farthest distance from the previous focus point, the focus candidate point located at the shortest device driving distance is determined as the next focus point.

3. The step of determining a next focal point position comprises: The method for setting a focused ultrasound treatment sequence according to claim 1, further comprising: presetting a maximum distance of the next focal point based on the previous focal point; and determining the position of the next focal point within the predetermined maximum distance.

4. The step of determining a next focal point position comprises: converting distance information between a previous focusing point and a next focusing point into temperature information; determining a position where a temperature rise is minimum as a next focusing point from among the next focusing candidate points using the converted temperature information; The method for setting a focused ultrasound treatment sequence according to claim 1, further comprising:

5. A method for setting a sequence of focused ultrasound treatment using a focused ultrasound device, comprising: The focused ultrasound device aligning candidate focusing points within a three-dimensional structure in a coordinate system; determining a position of a focal point to be irradiated with focused ultrasound, and if there is at least one previous focal point to which focused ultrasound has been irradiated, determining a position of a next focal point from among candidate focal points in consideration of the position of the at least one previous focal point; A method for setting a focused ultrasound treatment sequence, comprising: The step of determining a next focal point position comprises: Distance Value [0025] and calculating Temperature value converted from distance value [0030] and calculating Maximum temperature [T ｍａｘ（ｎ＋１） , …, T ｍａｘ（ｎ＋ｍ） ]; and Minimum value Min [T ｍａｘ（ｎ＋１） , T ｍａｘ（ｎ＋２） , T ｍａｘ（ｎ＋３） , …, T ｍａｘ（ｎ＋ｍ） [0036] as the next focal point position; [D(0) ｎ＋１ , ..., D(0) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], [D(L) ｎ＋１ , ..., D(L) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ Previous L-th focal point PT(L) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], T ｍａｘ（ｎ＋１） is the maximum value max [T δ (D(0) ｎ＋１ ), ..., T δ (D(0) ｎ＋ｍ ) ], T ｍａｘ（ｎ＋ｍ） is the maximum value max [T δ (D(L) ｎ＋１ ), ..., T δ (D(L) ｎ＋ｍ ) ], T δ is the temperature change value during the irradiation time δt, L is the previous convergence point PT(0) ｎ is the previous Lth irradiation order, n represents the nth point of a position within the three-dimensional structure; A method for setting a focused ultrasound treatment sequence, wherein m represents the mth point of a position within the three-dimensional structure.

6. The step of determining a next focal point position comprises: The method for setting a focused ultrasound treatment sequence according to claim 5, further comprising the step of finalizing the next focal point if the temperature change value is lower than a predetermined temperature value when the focused ultrasound is irradiated to the determined next focal point.

7. How to set up the focused ultrasound treatment sequence: The method of claim 1, further comprising adjusting treatment parameters so that thermal damage to a target area is minimized when focused ultrasound is focused to the same focal point.

8. A control unit that arranges the focus candidate points in the three-dimensional structure in a coordinate system, and if there is at least one previous focus point to which focused ultrasound has been irradiated, determines a next focus point position from among the focus candidate points, taking into account the position of the at least one previous focus point; A transmitting / receiving unit that irradiates focused ultrasound at the determined focal point position; A focused ultrasound device comprising: The control unit is Distance Value [0045] Calculate Maximum distance [D(0) ｍａｘ , ..., D(L) ｍａｘ ], Maximum value max [W(0) * D(0)max + ... + W(L) * D(L) ｍａｘ determining a next focal point location by determining a position having [D(0) ｎ＋１ , ..., D(0) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], [D(L) ｎ＋１ , ..., D(L) ｎ＋ｍ ] is the previous convergence point PT(0) ｎ Previous L-th focal point PT(L) ｎ and the next convergence candidate point [PT ｎ＋１ , …, PT ｎ＋ｍ ], D(0) ｍａｘ is max[D(0) ｎ＋１ , ..., D(0) ｎ＋ｍ ], D(L) ｍａｘ is max[D(L) ｎ＋１ , ..., D(L) ｎ＋ｍ ], W(0), ..., W(L) are weights, L is the previous convergence point PT(0) ｎ is the previous Lth irradiation order, n represents the nth point of a position within the three-dimensional structure; A focused ultrasound device, wherein m represents the mth point of a position within the three-dimensional structure.

9. The control unit is Among the plurality of focusing candidate points, a focusing candidate point located at a position farthest from the previous focusing point is determined as a next focusing point; The focused ultrasound device according to claim 8, wherein, when there are a plurality of focusing candidate points which are located farthest from the previous focusing point, the focusing candidate point which is located at the shortest driving distance of the device is determined as the next focusing point.

10. The control unit is 9. The focused ultrasound device according to claim 8, wherein a maximum distance of a next focal point is preset based on a previous focal point, and the position of the next focal point is determined within the preset maximum distance.

11. The control unit is 9. The focused ultrasound device according to claim 8, wherein distance information between the previous focusing point and the next focusing candidate group is converted into temperature information, and the converted temperature information is used to determine the position among the next focusing candidates where the temperature rise is the smallest as the next focusing point.

12. The control unit is 9. The focused ultrasound device according to claim 8, wherein treatment parameters are adjusted so that thermal damage to a target area is minimized when the focused ultrasound is focused at a predetermined focal point.

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