Apparatus for controlling ultrasonic irradiation, method for controlling thereof

Abstract

This disclosure relates to a control device and control method for an ultrasonic irradiation apparatus. The disclosure is characterized by including: a memory; a communication unit for communicating with the ultrasonic irradiation apparatus; and a processor for controlling the ultrasonic irradiation apparatus, wherein the processor calculates the movement position based on: a first offset distance value between the ultrasonic probe and a marker stored in the memory; a second offset distance value between the ultrasonic irradiation unit and a camera stored in the memory; and a first, second, or third distance value between the position of the marker in an image of the irradiated area acquired from the camera by the communication unit and the center position of the camera.

Description

Technical Field

[0001] This disclosure relates to a control device and control method for an ultrasonic irradiation apparatus. More specifically, this disclosure relates to a control device and control method for an ultrasonic irradiation apparatus utilizing high-intensity focused ultrasound. Prior Technology

[0002] The most representative application of ultrasound in the medical field is in ultrasound imaging devices that utilize the transmission and reflection properties of ultrasound waves. For example, one device transmits ultrasound waves through the human body and various organs, and visualizes the time and intensity of the reflections, thereby obtaining cross-sectional images of the human body.

[0003] In addition, there is a device that uses heat generated by high-intensity focused ultrasound (HIFU) to burn and remove specific subcutaneous tissues such as intradermal tumors, or to induce degeneration and regeneration of skin tissue, thereby producing skin cosmetic or skin plastic surgery effects such as wrinkle improvement.

[0004] However, existing ultrasonic irradiation devices cannot accurately move to the irradiation position of the ultrasonic waves, resulting in low accuracy of ultrasonic irradiation.

[0005] Furthermore, existing ultrasonic irradiation devices have limitations in shortening the ultrasonic irradiation preparation time for moving to the irradiation position and irradiating the ultrasonic waves, and also in effectively irradiating ultrasonic waves.

[0006] Patent Document 1: Japanese Patent No. 6861624 (published on April 1, 2021) Summary of the Invention

[0007] The purpose of the embodiments disclosed herein is to provide a control device and control method for an ultrasonic irradiation device that can be accurately moved to the irradiation position of ultrasonic waves to improve the accuracy of ultrasonic irradiation.

[0008] Furthermore, the purpose of the embodiments disclosed in this disclosure is to provide a control device and control method for an ultrasonic irradiation apparatus that can shorten the preparation time for ultrasonic irradiation.

[0009] Furthermore, the purpose of the embodiments disclosed herein is to provide a control device and control method for an ultrasonic irradiation device capable of effectively irradiating ultrasonic waves.

[0010] The technical problems that this disclosure aims to solve are not limited to those mentioned above, and those skilled in the art will clearly understand other technical problems not mentioned below through the following description.

[0011] A control device for an ultrasonic irradiation apparatus according to an embodiment of the present disclosure for solving the above-mentioned technical problems is characterized in that it includes: a memory; a communication unit for communicating with the ultrasonic irradiation apparatus; and a processor for controlling the ultrasonic irradiation apparatus, wherein the processor calculates the movement position based on the following values: a first offset distance value between the ultrasonic probe and the marker stored in the memory; a second offset distance value between the ultrasonic irradiation unit and the camera stored in the memory; and a first distance value, a second distance value, or a third distance value between the position of the marker in an image of the irradiated area obtained from the camera by the communication unit and the center position of the camera.

[0012] Furthermore, the processor can make the position information of the marker consistent with the center position information of the camera based on the first distance value, the second distance value, or the third distance value.

[0013] Furthermore, the processor can move by controlling the moving part of the ultrasonic irradiation device through the communication unit, or move by controlling the movement of the bed through the communication unit, so that the position information of the marker is consistent with the center position information of the camera.

[0014] Furthermore, the processor can further calculate the moving position of the ultrasonic irradiation unit based on the sensing distance obtained from the sensing unit of the ultrasonic irradiation device through the communication unit, so as to keep the distance between the ultrasonic irradiation unit and the ultrasonic probe or the distance between the ultrasonic irradiation unit and the human body at a predetermined distance.

[0015] Furthermore, the processor can move the ultrasonic irradiation device by controlling the moving part of the ultrasonic irradiation device through the communication unit based on the calculated moving position, or move the bed by controlling the moving part of the bed through the communication unit, so that the ultrasonic irradiation unit moves to the calculated moving position.

[0016] Furthermore, the processor receives the first offset distance value and the second offset distance value by calibrating the user interface (UI) and stores them in the memory. The processor controls the movement of the bed according to the X-axis position movement and Y-axis position movement of the bed associated with the first offset distance value and the second offset distance value, so that the irradiation position of the ultrasonic irradiation unit is consistent with the imaging position of the ultrasonic probe.

[0017] Furthermore, the processor can further control the notification unit of the ultrasonic irradiation device to notify the ultrasonic irradiation device that it is in a state where it can irradiate ultrasonic waves when the irradiation position of the ultrasonic irradiation unit is consistent with the shooting position of the ultrasonic probe.

[0018] Furthermore, the processor can further control the ultrasonic irradiation unit of the ultrasonic irradiation device to irradiate the ultrasonic waves of the ultrasonic irradiation device when the irradiation position of the ultrasonic irradiation unit is consistent with the shooting position of the ultrasonic probe.

[0019] Furthermore, the processor can receive the proximity distance to the human body obtained from the sensing unit of the ultrasonic irradiation device through the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with a preset intensity associated with the target distance when the proximity distance is a preset target distance.

[0020] Furthermore, the processor can receive the location of a tumor in an internal human organ from the sensing unit of the ultrasonic irradiation device via the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with a preset intensity associated with the target location when the tumor location is a preset target location.

[0021] Furthermore, the processor can receive the tumor size of the internal organs of the human body from the sensing unit of the ultrasonic irradiation device through the communication unit, and the processor also controls the ultrasonic irradiation unit to irradiate different ultrasonic waves with a preset intensity associated with the target size when the tumor size is a preset target size.

[0022] Furthermore, according to another aspect of this disclosure, a control method for an ultrasonic irradiation device executed by a control device is characterized by comprising the following steps: receiving a first offset distance value between an ultrasonic probe and a marker, and receiving a second offset distance value between an ultrasonic irradiation part and a camera; receiving a first distance value, a second distance value, or a third distance value between the position of the marker in an image of the irradiated part acquired from the camera and the center position of the camera; and calculating the movement position based on the first offset distance value, the second offset distance value, the first distance value, and the second distance value.

[0023] Furthermore, according to another aspect of this disclosure, a control method for an ultrasonic irradiation device executed by a control device is characterized by comprising the following steps: receiving a first offset distance value between an ultrasonic probe and a marker, and receiving a second offset distance value between the ultrasonic irradiation part and a camera; receiving a first distance value and a second distance value between the position of the marker in an image of the irradiated part acquired from the camera and the center position of the camera; aligning the position information of the marker with the center position information of the camera based on the first distance value, the second distance value, or a third distance value between the position of the marker in the image of the irradiated part and the center position of the camera; and calculating the movement position based on the first offset distance value and the second offset distance value.

[0024] According to the above technical solution of this disclosure, a method is provided that can accurately move to the irradiation position of ultrasound to improve the accuracy of ultrasound irradiation.

[0025] Furthermore, according to the above-described technical solution of this disclosure, an effect that can shorten the preparation time for ultrasonic irradiation is provided.

[0026] Furthermore, according to the above-described technical solution of this disclosure, an effect that can effectively irradiate ultrasonic waves is provided.

[0027] The effects of this disclosure are not limited to those mentioned above, and those skilled in the art will clearly understand other effects not mentioned below through the description below. Simple Explanation of the Diagram

[0028] Figure 1 is a diagram showing the configuration of the control device of the ultrasonic irradiation apparatus according to the present disclosure. Figures 2 to 7 are flowcharts illustrating the control method of the control device for the ultrasonic irradiation apparatus according to the present disclosure. Figures 8 to 14 are diagrams illustrating an example of the process of controlling an ultrasonic irradiation device using the control device shown in Figure 1. Implementation

[0029] Throughout this disclosure, the same reference numerals refer to the same structural elements. This disclosure does not describe all elements of the embodiments, and general content in the technical field to which this disclosure pertains or content repeated between embodiments is omitted. The terms "part, module, component, block" used in the specification can be implemented in software or hardware. According to embodiments, multiple "parts, modules, components, blocks" can be implemented by a single constituent element, or a single "part, module, component, block" can also include multiple constituent elements.

[0030] Throughout the instruction manual, when one part is "connected" to another part, it includes not only the case where the two parts are directly connected, but also the case where they are indirectly connected. Indirect connections include those connected via wireless communication networks.

[0031] Furthermore, when a part "includes" a certain constituent element, unless there is a particularly contrary statement, it means that other constituent elements may also be included, rather than excluding other constituent elements.

[0032] Throughout the instruction manual, when a component is "above" another component, this includes not only situations where one component is in contact with another component, but also situations where there is another component between the two components.

[0033] The terms "first" and "second" are used to distinguish one constituent element from another, and the constituent element is not limited by the aforementioned terms.

[0034] Unless the context clearly indicates otherwise, singular expressions include plural expressions.

[0035] The identification symbols used in each step are for ease of explanation and are not intended to indicate the order of the steps. Unless a specific order is explicitly stated in the context, each step may be performed in a manner different from the order stated above.

[0036] The working principle and embodiments of this disclosure will be described below with reference to the accompanying drawings.

[0037] First, High Intensity Focused Ultrasound (HIFU) technology utilizes the heat generated by concentrating high-intensity ultrasound waves at a single point within the skin to burn off specific subcutaneous tissue, such as tumors. This is similar to using a magnifying glass to focus warm sunlight to start a fire. Because ultrasound waves easily penetrate body tissue, HIFU irradiation is performed in a perfectly non-invasive manner without scalpels or even needles. In other words, HIFU irradiation involves simply placing the skin in close contact with the ultrasound-generating surface to burn off specific subcutaneous tissue, such as tumors. Furthermore, existing HIFU irradiation methods are also used for uterine fibroids, bone metastases, prostate cancer, breast cancer, pancreatic cancer, liver cancer, and kidney cancer.

[0038] This high-intensity focused ultrasound technology can be achieved through an ultrasound irradiation device.

[0039] In this specification, the control device of the ultrasonic irradiation apparatus according to this disclosure includes all kinds of devices capable of performing computational processing and providing results to the user. For example, the control device of the ultrasonic irradiation apparatus according to this disclosure may include all of the following: a computer, a server device, and a portable terminal, or any of them.

[0040] For example, a computer can include a laptop computer equipped with a web browser, a desktop computer, a laptop computer, a tablet computer, a touch screen tablet computer, etc.

[0041] A server device, as a server that communicates with external devices to process information, can include application servers, computing servers, database servers, file servers, mail servers, proxy servers, and network servers, etc.

[0042] For example, portable terminals, as wireless communication devices that ensure portability and mobility, can include all kinds of handheld wireless communication devices such as Personal Communication System (PCS), Global System for Mobile communications (GSM), Personal Digital Cellular (PDC), Personal Handyphone System (PHS), Personal Digital Assistant (PDA), International Mobile Telecommunications (IMT)-2000, Code Division Multiple Access (CDMA)-2000, W-CDMA (W-Code Division Multiple Access), Wireless Broadband Internet (WiBro), and Smartphones, as well as wearable devices such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted devices (HMDs).

[0043] According to the present disclosure, the control device of the ultrasonic irradiation apparatus can calculate the movement position based on a first offset distance value between the ultrasonic probe and the marker stored in the memory, a second offset distance value between the ultrasonic irradiation part of the ultrasonic irradiation apparatus and the camera, and a first distance value, a second distance value, or a third distance value between the position of the marker in the image of the irradiated part obtained from the camera by the communication unit and the center position of the camera.

[0044] The control device of this ultrasonic irradiation device can be accurately moved to the irradiation position of the ultrasonic wave, thereby improving the accuracy of ultrasonic irradiation, shortening the preparation time for ultrasonic irradiation, and effectively irradiating the ultrasonic wave.

[0045] The control device of the ultrasonic irradiation device will be described in detail below.

[0046] Figure 1 is a diagram showing the configuration of the control device of the ultrasonic irradiation apparatus according to the present disclosure.

[0047] Referring to FIG1, the control device 100 of the ultrasonic irradiation device 10 may include a communication unit 110, a memory 130, and a processor 120.

[0048] The communication unit 110 can communicate with the ultrasonic irradiation device 10. In this case, the communication unit 110 may include at least one of a wired communication module and a wireless communication module.

[0049] Wired communication modules can include not only various wired communication modules such as LAN (Local Area Network) modules, WAN (Wide Area Network) modules, or VAN (Value Added Network) modules, but also various cable communication modules such as Universal Serial Bus (USB), High Definition Multimedia Interface (HDMI), Digital Visual Interface (DVI), recommended standard 232 (RS-232), power line communication, or plain old telephone service (POTS).

[0050] In addition to Wi-Fi and wireless broadband modules, wireless communication modules can also include modules that support various wireless communication methods such as GSM (Global System for Mobile Communication), CDM (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (Universal Mobile Telecommunications System), TDMA (Time Division Multiple Access), LTE (Long Term Evolution), 4G, 5G, and 6G.

[0051] The control unit can be implemented using a memory 130 and at least one processor 120. The memory 130 stores data of algorithms or program data for controlling the operation of components within the device, and the at least one processor 120 performs the aforementioned operations using the data stored in the memory 130. Here, the memory 130 and the processor 120 can each be implemented using separate chips. Furthermore, the memory 130 and the processor 120 can also be implemented using separate chips.

[0052] Memory 130 can store data for supporting various functions of the device and programs for operation of the control unit, can store input / output data, can store multiple applications (application programs or applications) driven in the device, and can store data and instructions for operation of the device. At least some of these applications can be downloaded from an external server via wireless communication.

[0053] This memory 130 can be at least one type of storage medium selected from flash memory, hard disk, solid-state drive (SSD), silicon disk drive (SDD), multimedia card micro, card-type memory (e.g., Secure Digital (SD) or Extreme Digital (XD) memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disc. Furthermore, the memory 130 is separate from this device, but can also be a database connected via wired or wireless means.

[0054] The memory 130 can store data related to the control of the ultrasonic irradiation device 10. The processor 120 can execute operations related to the control of the ultrasonic irradiation device 10.

[0055] The processor 120 can receive a first offset distance value between the ultrasonic probe 20 and the marker 21 stored in the memory 130. Furthermore, the processor 120 can receive a second offset distance value between the ultrasonic irradiation unit 14 and the camera 11 stored in the memory 130. Additionally, the processor 120 can receive, via the communication unit 110, a first distance value, a second distance value, or a third distance value between the position of the marker 21 in the image of the irradiated area acquired from the camera 11 and the center position of the camera 11. In this case, the processor 120 can also calculate the movement position based on the first offset distance value, the second offset distance value, the first distance value, the second distance value, or the third distance value.

[0056] At this time, the processor 120 can move the bed 30 along the X and Y axes based on the first distance value and the second distance value, so that the position information of the mark 21 is consistent with the center position information of the camera 11. Here, the processor 120 can move by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication unit 110, or by controlling the movement of the bed 30 through the communication unit 110, so that the position information of the mark 21 is consistent with the center position information of the camera 11. At this time, the processor 120 can calculate the moving position based on the first offset distance value OD1, the second offset distance value OD2, and the position where the position information of the mark 21 is consistent with the center position information of the camera 11.

[0057] Furthermore, the processor 120 can move the bed 30 along the X and Y axes based on the third distance value, so that the position information of the marker 21 is consistent with the center position information of the camera 11. Here, the processor 120 can move by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication unit 110, or by controlling the movement of the bed 30 through the communication unit 110, so that the position information of the marker 21 is consistent with the center position information of the camera 11. At this time, the processor 120 can calculate the moving position based on the first offset distance value OD1, the second offset distance value OD2, and the position where the position information of the marker 21 is consistent with the center position information of the camera 11.

[0058] The processor 120 may also further calculate the moving position of the ultrasonic irradiation unit 14 based on the sensing distance obtained from the sensing unit 15 of the ultrasonic irradiation device 10 via the communication unit 110, so that the distance between the ultrasonic irradiation unit 14 and the ultrasonic probe 20 or the distance between the ultrasonic irradiation unit 14 and the human body S remains at a predetermined distance.

[0059] The processor 120 can move the ultrasonic irradiation unit 14 to the calculated position by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication unit 110, or by controlling the movement of the bed 30 through the communication unit 110.

[0060] At this time, the processor 120 can receive the first offset distance value and the second offset distance value through the correction UI and store them in the memory 130, and control the movement of the bed 30 according to the X-axis position movement and Y-axis position movement of the bed 30 associated with the first offset distance value and the second offset distance value, so that the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the imaging position information of the ultrasonic probe 20.

[0061] The processor 120 can further control the notification unit 13 of the ultrasonic irradiation device 10 to notify the ultrasonic irradiation device that it is in a state where it can irradiate ultrasonic waves when the irradiation position information of the ultrasonic irradiation unit 14 matches the imaging position information of the ultrasonic probe 20. At this time, the user can move the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 along the Z-axis and use the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation part of the human body.

[0062] The processor 120 can further control the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 to irradiate the ultrasonic waves of the ultrasonic irradiation device 10 when the irradiation position of the ultrasonic irradiation unit 14 is consistent with the imaging position of the ultrasonic probe 20. At this time, the processor 120 can control the moving unit 12 to move the ultrasonic irradiation unit 14 along the Z-axis direction, and can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation part of the human body.

[0063] The communication unit 110 can also receive the proximity distance between the ultrasonic irradiation device 10 and the human body obtained from the sensing unit 15. At this time, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves with a preset intensity associated with the target distance when the proximity distance is a preset target distance.

[0064] The communication unit 110 can also receive the location of a tumor in an internal human organ obtained from the sensing unit 15 of the ultrasonic irradiation device 10. At this time, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities preset according to the target location when the tumor location is a preset target location. The communication unit 110 can also receive the size of a tumor in an internal human organ obtained from the sensing unit 15 of the ultrasonic irradiation device 10. At this time, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves at intensities preset according to the target size when the tumor size is a preset target size.

[0065] Figures 2 to 7 are flowcharts illustrating the control method of the control device for the ultrasonic irradiation apparatus according to the present disclosure. Figures 8 to 14 are diagrams illustrating an example of the process of controlling the ultrasonic irradiation apparatus by the control device of Figure 1.

[0066] Referring to Figure 3, the control method may include an input step (S210), a receiving step (S220), a consistency step (S221), a calculation step (S231), and a control step (S232).

[0067] In the input step (S210), a first offset distance value between the ultrasonic probe 20 and the marker 21 stored in the memory 130 can be received, and a second offset distance value between the ultrasonic irradiation unit 14 and the camera 11 stored in the memory 130 can be received.

[0068] Here, as shown in Figure 8, the first offset distance value OD1 can be a pre-set offset design value between the ultrasonic probe 20 and the mark 21. Here, the mark 21 can be formed on one side of the ultrasonic probe 20. In this case, the ultrasonic probe 20 can scan the irradiation site A by transmitting and receiving ultrasonic waves. That is, the user can use the ultrasonic probe 20 to scan the irradiation site A to confirm the irradiation site A.

[0069] Furthermore, as shown in Figure 9, the second offset distance value OD2 can be a preset offset design value between the ultrasonic irradiation unit 14 and the camera 11. In this case, the camera 11 can be mounted on the outside of the ultrasonic irradiation unit 14.

[0070] For example, camera 11 can be an image camera utilizing an image sensor. The image camera can be arranged in a stereoscopic structure to acquire left and right images for realizing a three-dimensional stereoscopic image. As another example, camera 11 can be provided using an artificial intelligence (AI) camera. An AI camera can finely adjust the recognized image using a wide-angle sensor modeled after the human retina and employing neural network algorithms. The AI ​​camera can adjust shutter speed, exposure, saturation, color density, dynamic range, contrast, etc. Furthermore, the AI ​​camera can output high-quality images.

[0071] In the receiving step (S220), the first distance value, the second distance value, or the third distance value between the position of the marker 21 in the image of the illuminated area obtained from the camera 11 and the center position of the camera 11 can be received by the communication unit 110.

[0072] At this time, as shown in FIG9, the processor 120 can receive position information P1 of the marker 21 in the image of the illuminated part A acquired from the camera 11 and center position information P2 of the camera 11. Here, the position information P1 of the marker 21 can be a first position coordinate value (x1, y1), and the center position information P2 of the camera 11 can be a second position coordinate value (x2, y2). At this time, the processor 120 can receive a first distance value D1, a second distance value D2, or a third distance value D3 based on the first position coordinate value (x1, y1) and the second position coordinate value (x2, y2).

[0073] In the calculation step (S231), the movement position can be calculated by the processor 120 based on the first offset distance value OD1, the second offset distance value OD2, the first distance value D1 and the second distance value D2 or the third distance value D3.

[0074] Furthermore, as shown in Figure 3, in the unification step (S221), the processor 120 can move the bed 30 along the X and Y axes based on the first position coordinates (x1, y1) and the second position coordinates (x2, y2) to make the position information P1 of the marker 21 consistent with the center position information P2 of the camera 11. Here, the processor 120 can move by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication unit 110, or it can move by controlling the movement of the bed 30 through the communication unit 110, so that the position information P1 of the marker 21 is consistent with the center position information P2 of the camera 11. At this time, the calculation step (S231) can calculate the moving position by the processor 120 based on the first offset distance value OD1, the second offset distance value OD2, and the position where the position information P1 of the marker 21 is consistent with the center position information P2 of the camera 11.

[0075] Here, the processor 120 can also calculate the moving position of the ultrasonic irradiation unit 14 based on the sensing distance obtained from the sensing unit 15 of the ultrasonic irradiation device 10 via the communication unit 110, so as to maintain a predetermined distance between the ultrasonic irradiation unit 14 and the ultrasonic probe 20 or between the ultrasonic irradiation unit 14 and the human body S. In this case, if the sensing distance obtained from the sensing unit 15 reaches a target distance for maintaining the predetermined distance, the processor 120 can calculate the moving position of the ultrasonic irradiation unit 14 corresponding to the target distance. For example, the sensing unit 15 can be a distance sensor.

[0076] In the control step (S232), the processor 120 can move the ultrasonic irradiation device 10 by controlling the moving part 12 of the ultrasonic irradiation device 10 through the communication unit 110 based on the calculated moving position, or move the bed 30 by controlling the moving part of the bed 30 through the communication unit 110, so that the ultrasonic irradiation part 14 moves to the calculated moving position.

[0077] Here, as shown in FIG10, the processor 120 receives the first offset distance value OD1 and the second offset distance value OD2 through the correction UI and stores them in the memory 130. The movement of the bed 30 is controlled according to the X-axis and Y-axis position movements associated with the first offset distance value OD1 and the second offset distance value OD2, so that the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the imaging position information of the ultrasonic probe 20. At this time, the movement distance d1 can be controlled according to the X-axis and Y-axis position movements of the bed 30.

[0078] Here, even if the irradiation position information of the ultrasonic irradiation unit 14 is consistent with the imaging position information of the ultrasonic probe 20, the processor 120 can still perform correction because there is a distance difference between the mark 21 and the image of the irradiated area A. Furthermore, the processor 120 can perform correction between the ultrasonic irradiation unit 14 and the camera 11.

[0079] At this time, the user can use the calibration UI based on the GUI program of the control device 100 to input calibration values ​​to control the movement of the bed 30, so that the processor 120 can move the X-axis position and Y-axis position of the bed 30 on which the patient is lying based on the input calibration values ​​and the position information P1 of the marker 21.

[0080] Such a processor 120 can accurately match the irradiation position information of the ultrasonic irradiation unit 14 with the imaging position information of the ultrasonic probe 20, thereby improving the accuracy of ultrasonic irradiation.

[0081] In addition, the processor 120 can automatically position the ultrasonic probe 20 at the location pre-scanned by the camera 11, thus providing convenience for the user.

[0082] For example, the GUI-based setting UI may include: a first UI for displaying images acquired by camera 11; a second UI for setting the image capture position of camera 11; a third UI for setting the offset design value between camera 11 and ultrasound irradiation unit 14; a fourth UI for setting the offset design value between ultrasound probe 20 and marker 21; and a fifth UI for inputting communication settings with an ultrasound sensor used to measure the patient's body thickness.

[0083] Here, the second UI allows the user to view the image from camera 11 and move to the desired shooting position, then save the corresponding position by pressing the setting button. The third UI allows the user to manually input the offset design value between camera 11 and ultrasonic irradiation unit 14. At this time, the third UI can display the design value as the default value. The fourth UI allows the user to manually input the offset design value between ultrasonic probe 20 and marker 21. At this time, the fourth UI can display the design value as the default value. After inputting the communication setting value between the fifth UI and the ultrasonic sensor used to measure the patient's body thickness, pressing the measurement button can confirm whether the measurement is proceeding normally. Afterwards, the user can use the GUI-based calibration UI to position the patient in the area of ​​the irradiation site A of camera 11, and then use the ultrasonic probe 20 to confirm the presence of fibroids or cancerous changes in internal organs such as the uterus, ovaries, heart, kidneys, and breasts within the human body S, and select the final location.

[0084] After confirming the fibroid or cancer using the GUI-based calibration UI, the user can press the Alignment Move button on the control panel of the control device 100 to move the ultrasound irradiation unit 14 to the imaging position of the camera 11. At this time, the user can also use the control panel to move the camera 11 along the X, Y, and Z axes corresponding to the preset imaging position of the camera 11. Furthermore, the user can use the control panel to measure the patient's body thickness and can move the camera 11 by calibrating its Z-axis position to focus the image.

[0085] Subsequently, the user can use the GUI-based calibration UI to confirm the coordinates of the marker 21 acquired by the camera 11 and verify the corresponding results. Here, the user can confirm whether the position of the marker 21 can be detected. At this time, the distance conversion of the marker 21 can be automatically calculated in mm, using the image primitives as the unit.

[0086] Afterwards, the user can use the GUI-based calibration UI to locate the position of marker 21, and after removing the ultrasound probe 20 from the patient's abdomen, press the Alignment Move button on the operation panel to position the ultrasound probe 20 within the converter to the fibroid or cancerous lesion. At this time, the processor 120 can add or subtract the first offset distance value OD1 between the ultrasound probe 20 and marker 21 and the second offset distance value OD2 between the camera 11 and the ultrasound irradiation unit 14, and control the X-axis and Y-axis position movements of the bed 30 by adding or subtracting the first offset distance value OD1 between the ultrasound probe 20 and marker 21 and the second offset distance value OD2 between the camera 11 and the ultrasound irradiation unit 14, so that the irradiation position of the ultrasound irradiation unit 14 is aligned with the imaging position of the ultrasound probe 20. Afterwards, after the user completes the movement of the bed 30, they can use the operation panel to move the ultrasound irradiation unit 14 along the Z-axis to make it close to the patient's abdomen, and confirm whether the position of the fibroid or cancerous lesion irradiated by the ultrasound is correct.

[0087] Referring to Figure 4, the control method may further include a notification step (S240).

[0088] When the irradiation position information of the ultrasonic irradiation unit 14 matches the imaging position information of the ultrasonic probe 20, the notification step (S240) can control the notification unit 13 of the ultrasonic irradiation device 10 through the processor 120 to notify that the ultrasonic irradiation device 10 is in a state where it can irradiate ultrasonic waves. For example, the notification unit 13 can be provided as at least one of a display module and a light-emitting diode for visual notification, or as a speaker for auditory notification. Here, as shown in FIG10, the user can move the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 in the Z-axis direction, and can use the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation part A of the human body S.

[0089] Referring to Figures 4 to 7, the control method may further include an ultrasonic irradiation step (S250). The ultrasonic irradiation step (250) may further control the ultrasonic irradiation unit 14 of the ultrasonic irradiation device 10 via the processor 120, so that the irradiation position information of the ultrasonic irradiation unit 14 matches the imaging position information of the ultrasonic probe 20, thereby irradiating ultrasonic waves from the ultrasonic irradiation device 10. Here, as shown in Figure 10, the processor 120 can control the moving unit 12 to move the ultrasonic irradiation unit 14 along the Z-axis direction, and the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation part A of the human body S.

[0090] Referring to Figure 5, the ultrasonic irradiation step (S250) may further include a first receiving step (S251), a first judging step (S252), and a first control step (S253).

[0091] In the first receiving step (S251), the proximity distance d2 to the human body S, obtained from the sensing unit 15 of the ultrasonic irradiation device 10, can be received by the communication unit 110. Here, the sensing unit 15 can be a distance sensor, and the communication unit 110 can receive the proximity distance d2 to the human body S obtained by the distance sensor. In other words, the sensing unit 15 can sense the distance between the boundary surface of the human body S and the ultrasonic irradiation unit 14 in a predetermined manner. For example, the predetermined distance can be 200mm to 250mm, preferably 230mm. At this time, the sensing unit 15 can be mounted on the outside of the camera 11.

[0092] In the first determination step (S252), the processor 120 can determine whether the approach distance d2 is a preset target distance. In the first control step (S253), the processor 120 can control the ultrasonic irradiation unit 14 to irradiate different ultrasonic waves with a preset intensity associated with the target distance when the approach distance d2 is a preset target distance.

[0093] For example, as shown in Figures 11 and 12, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation site A of the human body S at a high intensity preset in relation to the first target distance d21 when the approach distance d2 is a preset first target distance d21. As another example, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation site A of the human body S at a medium intensity preset in relation to the second target distance d22 when the approach distance d2 is a preset second target distance d22. Yet another example, the processor 120 can control the ultrasonic irradiation unit 14 to irradiate ultrasonic waves onto the irradiation site A of the human body S at a low intensity preset in relation to the third target distance d23 when the approach distance d2 is a preset third target distance d23.

[0094] Furthermore, for ease of explanation, this disclosure has shown and explained the case of irradiating the irradiation site A of the human body S with ultrasound at three levels of intensity, but the processor 120 can control the ultrasound irradiation unit 14 to irradiate different ultrasound waves at two or more levels of intensity to the irradiation site A of the human body S.

[0095] Referring to Figure 6, the ultrasonic irradiation step (S250) may further include a second receiving step (S254), a second judging step (S255), and a second control step (S256).

[0096] In the second receiving step (S254), the location of a tumor in an internal human organ, obtained from the sensing unit 15 of the ultrasonic irradiation device 10, can be received by the communication unit 110. Here, the sensing unit 15 can be a gamma camera or an ultrasonic probe. At this time, the gamma camera or ultrasonic probe can accurately measure fibroids or cancerous changes present in human organs such as the uterus, ovaries, heart, kidneys, and breasts. Here, the communication unit 110 can receive the tumor location obtained by the gamma camera or ultrasonic probe. At this time, the sensing unit 15 can be mounted on the outside of the camera 11.

[0097] In the second determination step (S255), the processor 120 can determine whether the tumor location is a preset target location. In the second control step (S256), the processor 120 can control the ultrasound irradiation unit 14 to irradiate ultrasound waves of different intensities preset according to the target location if the tumor location is a preset target location.

[0098] For example, as shown in FIG13, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate the irradiation part A of the human body S with an ultrasonic wave at a high level preset in relation to the first target distance d21 when the tumor location is a preset first target location M1, and to irradiate the breast tumor with a customized intensity preset in relation to the first target location M1 and corresponding to the breast tumor location.

[0099] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the irradiation part A of the human body S with an intensity that is preset to a high level associated with the first target distance d21 when the tumor location is a preset second target location M2, and to irradiate the tumor of the heart with a customized intensity that is preset to correspond to the tumor location of the heart associated with the second target location M2.

[0100] For example, the processor 120 can further control the ultrasonic irradiation unit 14 to irradiate the irradiation part A of the human body S with an intensity that is preset to a high level associated with the distance d21 from the first target and a customized intensity that is preset to correspond to the location of the kidney tumor and associated with the third target M3.

[0101] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the irradiation part A of the human body S with a high level of intensity preset in relation to the first target distance d21 when the tumor location is a preset fourth target location M4, and to irradiate the tumor of the uterus with a customized intensity preset in relation to the fourth target location M4 and corresponding to the tumor location of the uterus.

[0102] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the irradiation part A of the human body S with a high level of intensity preset in relation to the first target distance d21 when the tumor location is a preset fifth target location M5, and to irradiate the ovarian tumor with a customized intensity preset in relation to the fifth target location M5 and corresponding to the tumor location of the ovary.

[0103] Furthermore, for ease of explanation, this disclosure illustrates and describes the case where ultrasound waves are irradiated onto the tumors of five internal organs at customized intensities corresponding to the tumor locations of those five internal organs. However, the processor 120 can control the ultrasound irradiation unit 14 to irradiate ultrasound waves onto the tumors of six or more internal organs at customized intensities corresponding to the tumor locations of more subdivided internal organs. In this case, the customized intensity can be the same or different for each tumor location in each internal organ.

[0104] Referring to Figure 7, the ultrasonic irradiation step (S250) may further include a third receiving step (S257), a third judging step (S258), and a third control step (S259).

[0105] In the third receiving step (S257), the size of a tumor in an internal human organ, obtained from the sensing unit 15 of the ultrasonic irradiation device 10, can be received via the communication unit 110. Here, the sensing unit 15 can be a gamma camera or an ultrasonic probe. At this time, the gamma camera or ultrasonic probe can accurately measure fibroids or cancerous changes present in human organs such as the uterus, ovaries, heart, kidneys, and breasts. Here, the communication unit 110 can receive the tumor size obtained by the gamma camera or ultrasonic probe. At this time, the sensing unit 15 can be mounted on the outside of the camera 11.

[0106] In the third judgment step (S258), the processor 120 can determine whether the tumor size is a preset target size. In the third control step (S259), the processor 120 can control the ultrasound irradiation unit 14 to irradiate ultrasound waves of different intensities preset according to the target size when the tumor size is a preset target size.

[0107] For example, as shown in FIG14, the processor 120 may further control the ultrasound irradiation unit 14 to irradiate the tumor of the breast with a customized intensity corresponding to the size of the breast tumor and associated with the first target size N1, when the tumor size is a preset first target size N1.

[0108] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the tumor of the heart with ultrasound waves at a customized intensity corresponding to the size of the tumor of the heart and pre-set in association with the second target size N2, when the tumor size is a pre-set second target size N2.

[0109] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the kidney tumor with ultrasound waves at a customized intensity corresponding to the size of the kidney tumor and associated with the third target size N3, when the tumor size is a preset third target size N3.

[0110] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the tumor in the uterus with ultrasound waves at a customized intensity corresponding to the size of the tumor in the uterus and pre-set in association with the fourth target size N4, when the tumor size is a preset fourth target size N4.

[0111] For example, the processor 120 can further control the ultrasound irradiation unit 14 to irradiate the ovarian tumor with ultrasound at a customized intensity corresponding to the size of the ovarian tumor and pre-set in association with the fifth target size N5, when the tumor size is a pre-set fifth target size N5.

[0112] Furthermore, for ease of explanation, this disclosure illustrates and describes the scenario where ultrasound waves are irradiated onto tumors in five internal organs at a customized intensity corresponding to the tumor size of those organs. However, the processor 120 can control the ultrasound irradiation unit 14 to irradiate tumors in six or more internal organs at a customized intensity corresponding to the tumor locations of those organs in more subdivided categories. In this case, the customized intensity can be the same or different for each internal organ tumor size.

[0113] In this disclosure, the ultrasonic irradiation device 10 can also be controlled to irradiate ultrasonic waves in such a way that at least one of the following is different from each other, depending on the irradiation conditions and the depth of the human organ: ultrasonic focusing depth, ultrasonic irradiation position, ultrasonic intensity, and ultrasonic irradiation time.

[0114] Here, the ultrasound focusing depth can be at least one of a deeper depth, an intermediate depth, and a shallower depth, preset according to the irradiation conditions and the depth of the human organ. Furthermore, the ultrasound irradiation position can be all or part of the position, preset according to the irradiation conditions and the depth of the human organ. The ultrasound intensity can be at least one of a high intensity, a medium intensity, and a low intensity, preset according to the irradiation conditions and the depth of the human organ. Furthermore, the ultrasound irradiation time can be at least one of a fast irradiation time, an average irradiation time, and a slow irradiation time, preset according to the irradiation conditions and the depth of the human organ. In this disclosure, the ultrasound irradiation time can be controlled to a shorter interval, thereby increasing the temperature again before it decreases, thus improving the irradiation effect.

[0115] Furthermore, in this disclosure, since each person may form different depths of human organs within the corresponding part, it is also possible to finely adjust at least one of the following within the corresponding part: ultrasonic focusing depth, ultrasonic irradiation position, ultrasonic intensity, and ultrasonic irradiation time.

[0116] Furthermore, this disclosure can control at least one of the angle and the irradiation direction of the ultrasonic irradiation device 10 based on at least one of the angle information and the irradiation direction information, so that the ultrasonic waves accurately irradiate the human organ at the corresponding location with at least one of the depth and intensity corresponding to the corresponding irradiation conditions.

[0117] At least one component can be added or removed based on the performance of the components shown in Figures 1, 8 to 14. Furthermore, those skilled in the art will readily understand that the relative positions of the components can be changed according to the performance or structure of the system.

[0118] Figures 2 to 7 illustrate the sequential execution of multiple steps, but this is merely an illustrative representation of the technical concept of this embodiment. Those skilled in the art to which this embodiment pertains can make various modifications and variations without departing from the essential characteristics of this embodiment, by changing the order of the steps shown in Figures 2 to 7 or by executing one or more steps in parallel. Therefore, Figures 2 to 7 are not limited to a specific temporal order.

[0119] The embodiments of the present invention have been described above with reference to the accompanying drawings. It will be understood by those skilled in the art that the invention can be implemented in other specific forms without altering the technical concept or essential features of the invention. The described embodiments should be understood as exemplary, not limiting.

[0120] 100: Control device 110: Ministry of Communications 120: Processor 130: Memory

Claims

1. A control device for an ultrasonic irradiation apparatus, comprising: Memory; The system includes a processor that controls operations related to ultrasonic irradiation, wherein the processor calculates the movement position based on: a first offset distance value between the ultrasonic probe and the marker stored in the memory; a second offset distance value between the ultrasonic irradiation unit and the camera stored in the memory; and a first distance value and a second distance value between the position of the marker and the center position of the camera in an image of the irradiated area acquired by the camera, wherein the processor calculates the movement position of the ultrasonic irradiation unit based on the first offset distance value and the second offset distance value, and aligns the position of the marker with the center position of the camera based on the first distance value and the second distance value.

2. The control device for the ultrasonic irradiation apparatus as claimed in claim 1, wherein the processor aligns the position information of the marker with the center position information of the camera based on at least one of the first distance value and the second distance value.

3. The control device for the ultrasonic irradiation apparatus as claimed in claim 2, wherein the processor controls the moving part of the ultrasonic irradiation apparatus, or controls the movement of the bed, so that the position information of the marker is consistent with the center position information of the camera.

4. The control device for the ultrasonic irradiation apparatus as claimed in claim 1, wherein the processor further calculates the moving position of the ultrasonic irradiation unit based on the sensing distance obtained from the sensing unit of the ultrasonic irradiation apparatus, so that the distance between the ultrasonic irradiation unit and the ultrasonic probe or the distance between the ultrasonic irradiation unit and the human body is maintained at a predetermined distance.

5. A control device for an ultrasonic irradiation apparatus as claimed in claim 1, wherein the processor controls the movement of the ultrasonic irradiation apparatus, or controls the movement of the bed, based on the calculated movement position, so that the ultrasonic irradiation part moves to the calculated movement position.

6. The control device for the ultrasonic irradiation apparatus as claimed in claim 5, wherein the processor receives the first offset distance value and the second offset distance value by calibrating a user interface and stores them in the memory, and the processor controls the movement of the bed according to the X-axis position movement and Y-axis position movement of the bed associated with the first offset distance value and the second offset distance value, so that the irradiation position of the ultrasonic irradiation unit is consistent with the imaging position of the ultrasonic probe.

7. The control device for the ultrasonic irradiation apparatus as claimed in claim 1, wherein the processor further controls the notification unit of the ultrasonic irradiation apparatus to notify the ultrasonic irradiation apparatus of the status that ultrasonic waves can be irradiated when the irradiation position of the ultrasonic irradiation unit coincides with the imaging position of the ultrasonic probe.

8. The control device for the ultrasonic irradiation apparatus as claimed in claim 7, wherein the processor further controls the ultrasonic irradiation unit so that the ultrasonic irradiation apparatus irradiates ultrasonic waves when the irradiation position of the ultrasonic irradiation unit coincides with the imaging position of the ultrasonic probe.

9. The control device for the ultrasonic irradiation apparatus as claimed in claim 8, wherein when the proximity distance to the human body received by the sensing unit of the ultrasonic irradiation apparatus is a preset target distance, the processor further controls the ultrasonic irradiation unit to perform ultrasonic irradiation at a preset intensity according to the target distance.

10. A control device for an ultrasonic irradiation apparatus as claimed in claim 8, wherein when the location of a tumor in an internal organ of the human body received by the sensing unit of the ultrasonic irradiation apparatus is a preset target location, the processor further controls the ultrasonic irradiation unit to perform ultrasonic irradiation at a preset intensity according to the target location.

11. The control device for the ultrasonic irradiation apparatus as claimed in claim 8, wherein when the size of a tumor in an internal human organ received by the sensing unit of the ultrasonic irradiation apparatus is a preset target size, the processor further controls the ultrasonic irradiation unit to perform ultrasonic irradiation at a predetermined intensity according to the target size.

12. A control method for an ultrasonic irradiation device executed by a control device, comprising the steps of: receiving a first offset distance value between an ultrasonic probe and a marker, and receiving a second offset distance value between an ultrasonic irradiation unit and a camera; receiving a first distance value and a second distance value between the position of the marker in an image of the irradiated part received through the camera and the center position of the camera; aligning the position of the marker with the center position of the camera based on the first distance value and the second distance value; and calculating the movement position of the ultrasonic irradiation unit based on the first offset distance value and the second offset distance value.

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