Ultrasound therapy device

Abstract

To measure the strength imparted to an ultrasonic probe of an ultrasonic treatment apparatus with a simple configuration, or to determine whether a sensor for measuring the strength imparted to the ultrasonic probe of the ultrasonic treatment device is abnormal.SOLUTION: An HIFU irradiation system 100 includes: a vibrator housing 16; an HIFU vibrator unit 12 fixed to the vibrator housing 16; an ultrasonic probe 10 attached to the vibrator housing 16 with its tip side directed to a patient side; an impedance measuring device 52 for measuring impedance of an ultrasonic vibrator of the ultrasonic probe 10; a robot arm 18 for conveying the vibrator housing 16; and a system control unit 22 for controlling the HIFU vibrator unit 12, the ultrasonic probe 10, the impedance measuring device 52, and the robot arm 18. The system control unit 22 measures pressing force applied to the ultrasonic probe 10 on the basis of the impedance.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an ultrasonic therapy device, and more particularly to detecting the state of an ultrasonic probe. [Background technology]

[0002] Treatment devices using high intensity focused ultrasound (HIFU) are widely used. These devices are called HIFU irradiation devices or HIFU irradiation systems, and necrotize tissue by irradiating the treatment area with ultrasound.

[0003] In general, a HIFU irradiation device includes a plurality of therapeutic ultrasonic transducers (hereinafter referred to as therapeutic transducers) arranged on a cup-shaped surface. The plurality of therapeutic transducers are arranged so that ultrasonic waves emitted from each of them are irradiated to one point to form a focal point. During treatment, the position of the focal point is aligned with the treatment site and ultrasonic waves are irradiated. To confirm the irradiation position, an ultrasonic diagnostic device that displays the focal point on an ultrasonic image is used.

[0004] The following Patent Document 1 describes an ultrasonic treatment device that observes the position of the focal point using an ultrasonic diagnostic device that displays a B-mode image (tomographic image). In this device, ultrasonic waves at a low level that do not affect tissue are emitted from a treatment transducer, and a tomographic image is displayed by transmitting and receiving ultrasonic waves using an ultrasonic probe. Since the acoustic properties of the tissue of the subject change according to changes in the temperature of the tissue, the position of the focal point is indicated in the tomographic image by the intensity of brightness.

[0005] Patent Document 2 describes a treatment device in which the position and posture of a treatment head are controlled by a robot arm. The treatment head includes an irradiation unit that irradiates a treatment target with therapeutic ultrasound and a diagnostic probe for acquiring an image of the treatment target. This treatment device includes two force sensors that detect the force applied to the treatment head, and determines whether or not at least one of the two force sensors is abnormal based on the detection results of each force sensor. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 8-71069 [Patent Document 2] JP 2020-39397 A Summary of the Invention [Problem to be solved by the invention]

[0007] In the HIFU irradiation device, it may be judged whether the ultrasonic probe is pressed against the patient with a force larger than necessary. Therefore, as shown in Patent Document 2, the HIFU irradiation device may use a pressure sensor that detects the force applied to the ultrasonic probe. A strain sensor or the like is used as this pressure sensor. In general, the strain sensor is expensive, and has a problem that an abnormality occurs or the lifespan is shortened due to the structure by an impact or the like.

[0008] An object of the present invention is to measure the force applied to an ultrasonic probe of an ultrasonic treatment device using a simple configuration, or to determine whether a sensor that measures the force applied to the ultrasonic probe of an ultrasonic treatment device is abnormal. [Means for solving the problem]

[0009] The present invention includes a housing, an HIFU transducer unit fixed to the housing, an ultrasonic probe attached to the housing with its tip facing the patient side and for acquiring B-mode image data, an impedance measuring device for measuring the impedance of an ultrasonic transducer included in the ultrasonic probe, a transport mechanism for transporting the housing, and a system control unit for controlling the HIFU transducer unit, the ultrasonic probe, the impedance measuring device, and the transport mechanism, and the system control unit determines whether or not a pressing force applied to the ultrasonic probe is normal based on the impedance, and determines whether or not a pressing force applied to the ultrasonic probe is normal.It is excessive. When it is determined that the ultrasonic probe is not normal, the transport mechanism stops transport of the housing. Preferably, the system control unit executes, in a time-division manner, a process of an impedance measurement mode in which the impedance measuring device measures the impedance of an ultrasonic transducer included in the ultrasonic probe, and a process of an ultrasonic measurement mode in which ultrasonic waves are transmitted and received by the ultrasonic probe and the B-mode image data is generated based on a reception signal based on the ultrasonic waves received by the ultrasonic probe.

[0010] Preferably, a force sensor is provided that detects a pressing force applied to the ultrasonic probe, and the system control unit determines whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance.

[0011] The present invention also provides a system including a housing, an HIFU transducer unit fixed to the housing, an ultrasonic probe attached to the housing with its tip facing the patient, an impedance measuring instrument that measures the impedance of an ultrasonic transducer provided in the ultrasonic probe, a transport mechanism that transports the housing, a system control unit that controls the HIFU transducer unit, the ultrasonic probe, the impedance measuring instrument, and the transport mechanism, and a force sensor that detects a pressing force applied to the ultrasonic probe, and the system control unit determines whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance.

[0012] Preferably, the system control unit stops the transport of the housing by the transport mechanism when the pressing force measured by the force sensor exceeds a predetermined threshold value.

[0013] Desirably, the device comprises a transmission / reception circuit that transmits a transmission signal to the ultrasonic probe and acquires from the ultrasonic probe a reception signal corresponding to the ultrasonic waves received by the ultrasonic probe, and a switch circuit that electrically connects the impedance measuring device to the ultrasonic transducer when measuring the impedance, and electrically disconnects the impedance measuring device from at least one end of the ultrasonic transducer when the transmission / reception circuit outputs the transmission signal to the ultrasonic transducer and when the transmission / reception circuit acquires the reception signal from the ultrasonic transducer.

[0014] Preferably, a coupling bag is provided which covers the housing and the ultrasonic probe from the patient side and holds a liquid therein. Effect of the Invention

[0015] According to the present invention, the force applied to the ultrasonic probe of an ultrasonic treatment device can be measured with a simple configuration. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing a configuration of a HIFU irradiation system. [Diagram 2] FIG. 2 is a diagram showing an example of the configuration of a HIFU control unit. [Diagram 3] 1 is a flowchart of a first process executed in the HIFU irradiation system. [Figure 4] 13 is a flowchart of a second process executed in the HIFU irradiation system. [Diagram 5] 11 is a flowchart in the case where a controller executes a process in an ultrasonic measurement mode and a process in an impedance measurement mode in a time-division manner. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] An embodiment of the present invention will be described with reference to the drawings. Identical components shown in multiple drawings will be given the same reference numerals and their description will be omitted. Furthermore, terms indicating directions such as up and down in this specification indicate directions in the drawings. These terms indicating directions are used for convenience of explanation and do not limit the posture when each component is arranged.

[0018] 1 shows the configuration of a HIFU irradiation system 100 (ultrasonic treatment device) according to an embodiment of the present invention. The HIFU irradiation system 100 includes an ultrasonic probe 10, a HIFU transducer unit 12, a coupling bag 14, a robot arm 18, a force sensor 34, a system control unit 22, and a display device 24.

[0019] The HIFU transducer unit 12 includes a cup-shaped transducer housing 16 with an opening facing downward, and a plurality of therapeutic transducers 2 fixed to the transducer housing 16. The shape of the transducer housing 16 may be the same as the side of a pyramid. Here, a pyramid refers to a three-dimensional shape formed by a collection of straight lines extending from one point in space to the bottom surface. Each therapeutic transducer 2 is fixed to the transducer housing 16 so that when each therapeutic transducer 2 emits ultrasound, the intensity of the ultrasound is intensified at a therapeutic reference point P below the transducer housing 16. That is, each therapeutic transducer 2 is fixed to the transducer housing 16 so as to form a focal point at the therapeutic reference point P.

[0020] The ultrasonic probe 10 is attached to the transducer housing 16 so that ultrasonic waves are transmitted and received at a position below the transducer housing 16 and above the treatment reference point P. In this embodiment, the ultrasonic probe 10 passes through the apex of the transducer housing 16 in the vertical direction, and the probe tip 32 that transmits and receives ultrasonic waves is directed downward, i.e., toward the patient 30. The ultrasonic probe 10 has directionality, and ultrasonic waves are transmitted and received on an observation surface that faces in a direction according to the structure of the ultrasonic probe 10. The ultrasonic probe 10 may be movable in the vertical direction. In addition, the ultrasonic probe 10 may be rotatable around a longitudinal axis.

[0021] Below the HIFU transducer unit 12, a coupling bag 14 is provided to match the acoustic impedance between each therapeutic transducer 2 and the patient 30, and between the ultrasonic probe 10 and the patient 30. The coupling bag 14 may be a bag filled with liquid such as water. The coupling bag 14 covers the transducer housing 16 and the ultrasonic probe 10 from the patient 30 side, and holds liquid inside. The coupling bag 14 holds liquid between the ultrasonic probe 10 and the patient 30. The coupling bag 14 is made of a material that transmits light, and is transparent or translucent. The ultrasonic probe 10 can be seen from the outside of the coupling bag 14.

[0022] The ultrasonic probe 10, the HIFU transducer unit 12, and the coupling bag 14 are attached to the tip of a robot arm 18 serving as a transport mechanism. The robot arm 18 is composed of a plurality of arms 18a connected by joints 18b, and is attached to a housing of a system control unit 22 via the joints 18b. Each arm 18a swings about the joint 18b as a rotation axis, whereby the robot arm 18 transports a movable body 20 including the ultrasonic probe 10, the HIFU transducer unit 12, and the coupling bag 14.

[0023] A force sensor 34 is provided at the contact portion between the tip of the robot arm 18 and the ultrasonic probe 10. The force sensor 34 detects the pressing force applied from the robot arm 18 to the ultrasonic probe 10. The force sensor 34 may be a strain sensor or the like that changes the detection signal it outputs when pressure is applied. This detection signal may be, for example, a current flowing through the strain sensor according to the element constant of the strain sensor. In this case, the element constant of the strain sensor changes according to the change in pressure, and the current as the detection signal changes. The force sensor 34 is connected to the system control unit 22 and outputs a detection signal to the system control unit 22.

[0024] The system control unit 22 includes an HIFU control unit 26 and a robot control unit 28. The HIFU control unit 26 includes a computer, an electric circuit for controlling the ultrasonic probe 10, and an electric circuit for controlling the HIFU oscillator unit 12. The computer included in the HIFU control unit 26 may be a business computer, a personal computer, a tablet computer, or the like. The computer executes a program to perform processes for generating each image and for displaying each image. An operation device (not shown) for the user to operate the HIFU irradiation system 100 is connected to the HIFU control unit 26. The operation device may include a mouse, a touch panel integrated with the display device 24, a switch, a keyboard, and the like.

[0025] The HIFU control unit 26 executes processes for operating the ultrasonic probe 10 and the HIFU oscillator unit 12. For example, the HIFU control unit 26 causes the ultrasonic probe 10 to transmit and receive ultrasonic waves, generates B-mode image data based on a reception signal based on the ultrasonic waves received by the ultrasonic probe 10, and causes the display device 24 to display a B-mode image. Further, the HIFU control unit 26 causes each treatment oscillator 2 included in the HIFU oscillator unit 12 to transmit treatment ultrasonic waves.

[0026] The HIFU control unit 26 further measures the pressing force applied from the robot arm 18 to the ultrasonic probe 10 based on a detection signal output from the force sensor 34.

[0027] The robot control unit 28 controls the robot arm 18 according to the control of the HIFU control unit 26 and may cause the robot arm 18 to carry the movable body 20. Further, the robot control unit 28 may include an operation device. In this case, the robot control unit 28 may control the robot arm 18 according to the operation of the operation device by the user.

[0028] A treatment using high intensity focused ultrasound therapy will be described. Before the therapeutic ultrasound is irradiated from the HIFU transducer unit 12 to the patient 30, the following positioning process may be performed. The HIFU control unit 26 causes each therapeutic transducer 2 to transmit ultrasound with a lower intensity than that during treatment. The position and orientation of the ultrasound probe 10 are set to a position and orientation where the observation surface of the ultrasound probe 10 coincides with the observation target surface of the patient 30. The HIFU control unit 26 causes the ultrasound probe 10 to scan the observation target surface of the patient 30 with an ultrasound beam to acquire B-mode image data. The HIFU control unit 26 causes the display device 24 to display the B-mode image. The user as a practitioner refers to the B-mode image displayed on the display device 24 to confirm the difference between the focus of the ultrasound transmitted from the HIFU transducer unit 12 and the position of the affected area.

[0029] When the difference between the position of the focal point and the position of the affected area is not within an allowable range, the user operates the robot arm 18 to change the position or posture of the ultrasonic probe 10 and the HIFU transducer unit 12. After the user confirms that the position of the focal point and the position of the affected area match, the user performs an operation for treatment on the HIFU control unit 26. In response to the operation by the user, the HIFU control unit 26 transmits therapeutic ultrasonic waves having an intensity required for treatment to each therapeutic transducer 2. As a result, the living tissue is cauterized at the focal point, and treatment is performed.

[0030] In the HIFU irradiation system 100 according to this embodiment, in addition to the force sensor 34, the pressing force applied from the robot arm 18 to the ultrasonic probe 10 is obtained using the ultrasonic probe 10. The ultrasonic probe 10 includes a plurality of ultrasonic transducers for imaging (hereinafter referred to as imaging transducers). When generating B-mode image data, the HIFU control unit 26 outputs a transmission signal to each imaging transducer, and acquires transducer reception signals output individually from each imaging transducer based on the ultrasound received by each imaging transducer.

[0031] On the other hand, when measuring the pressing force, the HIFU control unit 26 stops the output of the transmission signal to each imaging transducer and measures the impedance of one of the multiple imaging transducers. The HIFU control unit 26 measures the pressing force based on the measured impedance.

[0032] 2 shows an example of the configuration of the HIFU control unit 26 together with the ultrasonic probe 10. The HIFU control unit 26 includes a transmission / reception circuit 54, an impedance measuring device 52, a switch circuit 56, and a controller 50. The switch circuit 56 connects the ultrasonic probe 10 to either the impedance measuring device 52 or the transmission / reception circuit 54 in accordance with the control of the controller 50.

[0033] The HIFU control unit 26 operates in either an ultrasonic measurement mode or an impedance measurement mode. The ultrasonic measurement mode is an operation mode for acquiring a B-mode image in a treatment using high intensity focused ultrasound therapy. When operating in the ultrasonic measurement mode, the controller 50 controls the switch circuit 56 to connect the ultrasonic probe 10 to the transmission / reception circuit 54. The transmission / reception circuit 54 outputs a transmission signal to each imaging transducer of the ultrasonic probe 10 according to the control of the controller 50. Based on the ultrasonic waves received by the ultrasonic probe 10, each imaging transducer outputs a transducer reception signal to the transmission / reception circuit 54. The transmission / reception circuit 54 performs synthesis processing such as phasing and addition processing on the transducer reception signals output from each imaging transducer to generate reception signals, and outputs the reception signals to the controller 50. The controller 50 generates B-mode image data based on the reception signals.

[0034] The impedance measurement mode is a mode for measuring the impedance of an imaging transducer included in the ultrasonic probe 10. When operating in the impedance measurement mode, the controller 50 controls the switch circuit 56 to connect an impedance measurement transducer, which is one of the multiple imaging transducers included in the ultrasonic probe 10, to the impedance measurer 52.

[0035] The impedance measuring instrument 52 includes an oscillator 58, an ammeter 60, and a voltmeter 62. When the ultrasonic probe 10 is connected to the impedance measuring instrument 52, one of a pair of output terminals of the oscillator 58 is connected to one end of the impedance measuring transducer. The other of the pair of output terminals of the oscillator 58 is connected to the other end of the impedance measuring transducer via the ammeter 60. In addition, the voltmeter 62 is connected to both ends of the impedance measuring transducer.

[0036] The oscillator 58 applies an AC voltage to the impedance measuring vibrator. The voltmeter 62 measures the AC voltage across both ends of the impedance measuring vibrator and outputs the measured voltage value to the controller 50. The ammeter 60 measures the AC current flowing through the impedance measuring vibrator and outputs the measured current value to the controller 50. The controller 50 obtains the impedance of the impedance measuring vibrator by dividing the measured voltage value by the measured current value.

[0037] The controller 50 operates as a force measuring device. That is, the controller 50 stores in advance a correspondence table that associates the impedance of the impedance measuring transducer with the pressing force. The controller 50 calculates the pressing force based on the impedance calculated based on the measured voltage value and the measured current value, and the correspondence table.

[0038] Looking at this operation from the viewpoint of the operation of the switch circuit 56, the switch circuit 56 electrically connects the impedance measuring instrument 52 to the impedance measuring transducer when the controller 50 operates in the impedance measurement mode. That is, when the impedance measuring instrument 52 measures the impedance of the impedance measuring transducer (ultrasonic transducer), the switch circuit 56 electrically connects the impedance measuring instrument 52 to the impedance measuring transducer.

[0039] When the controller 50 operates in the ultrasonic measurement mode, the switch circuit 56 electrically disconnects the impedance measuring instrument 52 from at least one end of the imaging transducer. That is, when the transmission / reception circuit 54 outputs a transmission signal to the imaging transducer (ultrasound transducer) and when the transmission / reception circuit 54 acquires a transducer reception signal (reception signal) from the imaging transducer, the switch circuit 56 electrically disconnects the impedance measuring instrument 52 from at least one end of the imaging transducer.

[0040] In the above, a process of using one of the multiple imaging transducers included in the ultrasonic probe 10 as an impedance measurement transducer has been described. In addition to such a process, a process of using multiple of the multiple imaging transducers included in the ultrasonic probe 10 as impedance measurement transducers may be executed. In this case, the switch circuit 56 may connect a series connection of multiple impedance measurement transducers to the oscillator 58, or may connect a parallel connection of the multiple impedance measurement transducers to the oscillator 58. The switch circuit 56 may also connect some of the multiple impedance measurement transducers in series, and connect the series connection and the remaining parallel connection to the oscillator 58.

[0041] 3 shows a flowchart of the first process executed by the HIFU irradiation system 100. First, the controller 50 measures the pressing force F1 based on the detection signal output from the force sensor 34 (S101), and judges whether the pressing force F1 is equal to or less than a first threshold value determined in advance (S102). Here, the first threshold value may be determined according to a condition that, when the pressing force F1 is equal to or less than the first threshold value, the force applied to the ultrasonic probe 10, or the force with which the ultrasonic probe 10 presses against the patient 30, is normal.

[0042] When the pressing force F1 is less than or equal to the first threshold value, the controller 50 determines whether the movable body 20 is in a stopped state (S103). Here, the movable body 20 being in a stopped state means that the operation of the robot arm 18 has stopped and the ultrasonic probe 10 does not move relative to the oscillator housing 16. When the movable body 20 is in a stopped state, the controller 50 releases the stopped state of the movable body 20 (S104). That is, the controller 50 enables the robot arm 18 to operate, or the ultrasonic probe 10 to move up and down relative to the oscillator housing 16, or to rotate about the longitudinal rotation axis. When the movable body 20 is not in a stopped state, the controller 50 returns to the process of step S101.

[0043] On the other hand, when the pressing force F1 exceeds the first threshold value, the controller 50 sets the movable body 20 to a stopped state (S105) and displays an abnormality regarding the pressing force F1 (S106). That is, the controller 50 causes the display device 24 to display information indicating that the pressing force applied to the ultrasonic probe 10 is abnormal.

[0044] According to the first process, when the pressing force F1 measured based on the detection signal of the force sensor 34 is less than or equal to the first threshold value, the robot arm 18 and the ultrasonic probe 10 are in a movable state for treatment using high-intensity focused ultrasound therapy. On the other hand, when the pressing force F1 exceeds the first threshold value, the movable body 20 is in a stopped state. Furthermore, information indicating that the pressing force applied to the ultrasonic probe 10 is abnormal is shown to the user. This avoids the robot arm 18 and the ultrasonic probe 10 being driven while the ultrasonic probe 10 is pressing against the patient 30 with an unnecessarily strong force.

[0045] 4 shows a flow chart of the second process executed in the HIFU irradiation system 100. The second process is executed in parallel with the first process. First, the controller 50 measures the impedance of the impedance measuring transducer (S201), and judges whether the impedance is equal to or less than a second threshold value determined in advance (S202). Here, the second threshold value may be determined according to a condition that, when the impedance is equal to or less than the second threshold value, the force applied to the ultrasonic probe 10, or the force with which the ultrasonic probe 10 presses against the patient 30, is normal.

[0046] When the impedance of the impedance measuring transducer is equal to or less than the second threshold, the controller 50 stops the impedance measurement (S203). Until a predetermined delay time has elapsed, the user operates the HIFU irradiation system 100 (S204). After the predetermined delay time has elapsed since the impedance measurement was stopped (S204), the controller 50 judges whether its own operation mode is set to the ultrasound measurement mode or the impedance measurement mode (S205).

[0047] When the operation mode of the controller 50 is set to the ultrasonic measurement mode, the process returns to step S203, where the impedance measurement is maintained in a stopped state, and the processes from step S203 onward are executed.

[0048] When the operation mode of the controller 50 is set to the impedance measurement mode, the controller 50 returns to step S201, measures the impedance of the impedance measurement transducer again, and executes the processes from step S201 onwards.

[0049] On the other hand, when the impedance of the transducer for impedance measurement exceeds the second threshold Exceeding If so, the controller 50 stops the movable body 20 (S207) and displays an abnormality in the pressing force (S208). That is, the controller 50 causes the display device 24 to display information indicating that the pressing force applied to the ultrasonic probe 10 is abnormal.

[0050] The controller 50 measures the pressing force F1 based on the detection signal output from the force sensor 34 (S209), and determines whether the pressing force F1 is equal to or less than a predetermined first threshold (S210). When the pressing force F1 is equal to or less than the first threshold, the controller 50 determines that the force sensor 34 is abnormal, and displays that information (S211).

[0051] On the other hand, when the pressing force F1 exceeds the first threshold value, the controller 50 returns to step S201, measures the impedance of the impedance measuring transducer again, and executes the processes from step S201 onwards.

[0052] According to such a second process, when the impedance of the impedance measuring transducer exceeds the second threshold, the movable body 20 is stopped. When the impedance exceeds the second threshold, there is a possibility that the force applied to the ultrasonic probe 10 is excessive. Therefore, it is possible to avoid driving the robot arm 18 and the ultrasonic probe 10 in a state where the ultrasonic probe 10 is pressed against the patient 30 with an unnecessarily strong force.

[0053] Furthermore, when the impedance of the impedance measuring vibrator exceeds the second threshold value while the pressing force F1 by the force sensor 34 is equal to or less than the first threshold value, the controller 50 determines that the force sensor 34 is abnormal and displays the information. This detects the abnormality of the force sensor 34 and notifies the user that an abnormality has occurred in the force sensor 34.

[0054] In the HIFU irradiation system 100, the pressing force F2 may be measured at any time by the impedance measuring transducer without using the force sensor 34. In this case, the process of generating B-mode image data and the process of measuring the pressing force F2 may be performed in a time-division manner. For example, the A time slot and the B time slot may be alternately arranged on the time axis, the pressing force F2 may be measured in the A time slot, and the B-mode image data may be generated in the B time slot. The A time slot is set shorter than the B time slot so as not to affect the display process of the B-mode image. The controller 50 recognizes whether the current time slot is the A time slot or the B time slot, for example, by a clock or the like provided in the controller 50.

[0055] 5 shows a flowchart in the case where the controller 50 executes the process of the ultrasound measurement mode and the process of the impedance measurement mode in a time-division manner. The process based on this flowchart may be executed in the positioning process before the therapeutic ultrasound is irradiated from the HIFU transducer unit 12 to the patient 30. The controller 50 judges whether the current time period is time period A or time period B (S301). When the current time period is time period B, the controller 50 executes the control of the ultrasound measurement mode (S302 to S305).

[0056] The switch circuit 56 connects the ultrasonic probe 10 to the transmission / reception circuit 54 under the control of the controller 50 (S302). The transmission / reception circuit 54 transmits and receives ultrasonic waves by the ultrasonic probe 10 under the control of the controller 50 (S303). The controller 50 generates B-mode image data based on each transducer reception signal output from the transmission / reception circuit 54 (S304), and causes the display device 24 to display the B-mode image (S305).

[0057] When the current time period is time period A, the controller 50 executes control of the impedance measurement mode (S306 to S310). The controller 50 controls the switch circuit 56 to connect the impedance measurement transducer to the oscillator 58 (S306). The controller 50 acquires a voltage measurement value and a current measurement value from the voltmeter 62 and the ammeter 60, respectively (S307), and divides the voltage measurement value by the current measurement value to obtain the impedance (S308). The controller 50 measures the pressing force F2 based on the impedance (S309), and causes the display device 24 to display the pressing force F2 (S310).

[0058] According to this process, in the positioning process, the pressing force F2 is measured by a simple configuration without using the force sensor 34. Furthermore, the process of the ultrasonic measurement mode and the process of the impedance measurement mode are executed in a time-division manner. Therefore, in the positioning process, the pressing force F2 is confirmed by the user together with the B-mode image. This makes it easy to execute the positioning process while pressing the ultrasonic probe 10 against the patient 30 with an appropriate force.

[0059] In addition, whether the HIFU control unit 26 operates in the ultrasonic measurement mode or the impedance measurement mode may be determined by a user's operation. For example, in the positioning process, a basic operation is to display a B-mode image on the display device 24 by the operation of the ultrasonic measurement mode. An operation is performed such that the operation mode is appropriately set to the impedance measurement mode in response to a user's operation. When the operation mode is set to the impedance measurement mode, the pressing force F2 may be displayed on the display device 24 together with the B-mode image that was displayed immediately before.

[0060] [Configuration of the present invention] Configuration 1: A housing and a HIFU transducer unit fixed to the housing; an ultrasonic probe attached to the housing with its tip facing the patient; an impedance measuring device for measuring the impedance of an ultrasonic transducer provided in the ultrasonic probe; A transport mechanism that transports the housing; a system control unit that controls the HIFU transducer unit, the ultrasonic probe, the impedance measuring device, and the transport mechanism; The system control unit An ultrasonic treatment device, characterized in that a pressing force applied to the ultrasonic probe is measured based on the impedance. Configuration 2: The ultrasonic treatment device according to configuration 1, a force sensor for detecting a pressing force applied to the ultrasonic probe; The system control unit An ultrasonic treatment device, characterized in that it is determined whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance. Configuration 3: A housing and a HIFU transducer unit fixed to the housing; an ultrasonic probe attached to the housing with its tip facing the patient; an impedance measuring device for measuring the impedance of an ultrasonic transducer provided in the ultrasonic probe; A transport mechanism that transports the housing; a system control unit that controls the HIFU transducer unit, the ultrasonic probe, the impedance measuring device, and the transport mechanism; a force sensor for detecting a pressing force applied to the ultrasonic probe, The system control unit An ultrasonic treatment device, characterized in that it is determined whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance. Configuration 4: The ultrasonic treatment device according to configuration 2 or 3, The system control unit An ultrasonic treatment device characterized in that, when the pressing force measured by the force sensor exceeds a predetermined threshold value, the transportation of the housing by the transportation mechanism is stopped. Configuration 5: An ultrasonic treatment device according to any one of configurations 1 to 4, a transmission / reception circuit that transmits a transmission signal to the ultrasonic probe and obtains a reception signal from the ultrasonic probe in response to ultrasonic waves received by the ultrasonic probe; An ultrasonic treatment device characterized by comprising: a switch circuit that electrically connects the impedance measuring device to the ultrasonic transducer when measuring the impedance, and a switch circuit that electrically disconnects the impedance measuring device from at least one end of the ultrasonic transducer when the transmission / reception circuit outputs the transmission signal to the ultrasonic transducer and when the transmission / reception circuit acquires the reception signal from the ultrasonic transducer. Configuration 6: An ultrasonic treatment device according to any one of configurations 1 to 5, An ultrasonic treatment device comprising: a coupling bag for covering the housing and the ultrasonic probe from the patient side and for holding a liquid therein. [Explanation of symbols]

[0061] 2 therapeutic ultrasound transducer, 10 ultrasound probe, 12 HIFU transducer unit, 14 coupling bag, 16 transducer housing (housing), 18 robot arm (transport mechanism), 18a arm, 18b joint, 20 movable body, 22 system control unit, 24 display unit, 26 HIFU control unit, 28 robot control unit, 30 patient, 32 probe tip, 34 force sensor, 50 controller, 52 impedance measuring device, 54 transmitting / receiving circuit, 56 switch circuit, 58 oscillator, 60 voltmeter, 62 ammeter, 100 HIFU irradiation system.

Claims

1. A housing and a HIFU transducer unit fixed to the housing; an ultrasonic probe attached to the housing with a tip portion facing a patient side, for acquiring B-mode image data; an impedance measuring device for measuring the impedance of an ultrasonic transducer provided in the ultrasonic probe; A transport mechanism for transporting the housing; a system control unit that controls the HIFU transducer unit, the ultrasound probe, the impedance measuring device, and the transport mechanism; The system control unit This ultrasonic treatment device is characterized in that it determines whether the pressing force applied to the ultrasonic probe is normal based on the impedance, and when it determines that the pressing force applied to the ultrasonic probe is excessive and not normal, it stops transporting the housing by the transport mechanism.

2. 2. The ultrasonic treatment device according to claim 1, The system control unit A process of an impedance measurement mode in which the impedance measuring device measures the impedance of an ultrasonic transducer included in the ultrasonic probe; and an ultrasonic measurement mode process for transmitting and receiving ultrasonic waves using the ultrasonic probe and generating the B-mode image data based on a reception signal based on the ultrasonic waves received by the ultrasonic probe, in a time-division manner.

3. 2. The ultrasonic treatment device according to claim 1, a force sensor for detecting a pressing force applied to the ultrasonic probe; The system control unit An ultrasonic treatment device, characterized in that it is determined whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance.

4. A housing and a HIFU transducer unit fixed to the housing; an ultrasonic probe attached to the housing with its tip facing the patient; an impedance measuring device for measuring the impedance of an ultrasonic transducer provided in the ultrasonic probe; A transport mechanism that transports the housing; a system control unit that controls the HIFU transducer unit, the ultrasonic probe, the impedance measuring device, and the transport mechanism; a force sensor for detecting a pressing force applied to the ultrasonic probe, The system control unit An ultrasonic treatment device, characterized in that it is determined whether or not the force sensor is abnormal based on the pressing force detected by the force sensor and the impedance.

5. The ultrasonic treatment device according to claim 3 or 4, The system control unit An ultrasonic treatment device characterized in that, when the pressing force measured by the force sensor exceeds a predetermined threshold value, the transportation of the housing by the transportation mechanism is stopped.

6. The ultrasonic treatment device according to any one of claims 1 to 4, a transmission / reception circuit that transmits a transmission signal to the ultrasonic probe and obtains a reception signal from the ultrasonic probe in response to ultrasonic waves received by the ultrasonic probe; An ultrasonic treatment device characterized by comprising: a switch circuit that electrically connects the impedance measuring device to the ultrasonic transducer when measuring the impedance, and a switch circuit that electrically disconnects the impedance measuring device from at least one end of the ultrasonic transducer when the transmission / reception circuit outputs the transmission signal to the ultrasonic transducer and when the transmission / reception circuit acquires the reception signal from the ultrasonic transducer.

7. 6. The ultrasonic treatment device according to claim 5, a transmission / reception circuit that transmits a transmission signal to the ultrasonic probe and obtains a reception signal from the ultrasonic probe in response to ultrasonic waves received by the ultrasonic probe; An ultrasonic treatment device characterized by comprising: a switch circuit that electrically connects the impedance measuring device to the ultrasonic transducer when measuring the impedance, and a switch circuit that electrically disconnects the impedance measuring device from at least one end of the ultrasonic transducer when the transmission / reception circuit outputs the transmission signal to the ultrasonic transducer and when the transmission / reception circuit acquires the reception signal from the ultrasonic transducer.

8. The ultrasonic treatment device according to any one of claims 1 to 4, An ultrasonic treatment device comprising: a coupling bag for covering the housing and the ultrasonic probe from the patient side and for holding a liquid therein.

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