HIFU Treatment Head Synchronization for Stable Pressing Force
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Solution Overview
Problem
Current ultrasound treatment apparatuses face challenges in precisely manipulating the treatment head to adjust the focus of High Intensity Focused Ultrasound (HIFU) while maintaining a stable pressing force on the treatment target, which can cause discomfort or loss of the target area due to changes in organ position during treatment.
Innovation Solution
A treatment apparatus comprising a robot arm with six degrees of freedom, a treatment head with an irradiator and diagnostic probe, and a controller that synchronizes the operation of the probe driver and robot arm to maintain the distal end position of the diagnostic probe, allowing precise control of the HIFU focus and minimizing pressing force on the treatment target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the treatment head is moved to adjust the HIFU focus, then the focus accuracy is improved, but the pressing force on the treatment target changes causing discomfort and loss of target area
Solution Approach 1:
The patent implements dynamic control by enabling independent movement of the diagnostic probe relative to the irradiator through a probe driver. This allows the system to dynamically adjust the probe's projection amount while the irradiator maintains its position and pressing force on the treatment target, resolving the contradiction between focus adjustment and pressing force stability.
Solution Approach 2:
The treatment head is segmented into two independently controllable components: the irradiator and the diagnostic probe. The irradiator remains fixed to maintain stable pressing force, while the diagnostic probe can be independently moved to adjust focus accuracy. This segmentation allows each component to perform its function without interfering with the other.
2Manufacturing precision
If the treatment head position is changed for focus adjustment, then the treatment precision is improved, but the stability of the treatment head position deteriorates
Solution Approach 1:
The system implements dynamic control where the probe driver independently adjusts the diagnostic probe's position while the irradiator maintains a stable, fixed position. This allows the system to achieve precise focus adjustment through probe movement while the irradiator's position remains stable, resolving the contradiction between treatment precision and position stability.
Solution Approach 2:
The diagnostic probe acts as an intermediary element that can be independently moved to adjust the HIFU focus without requiring movement of the irradiator. The probe driver serves as the intermediary mechanism that enables this independent adjustment, allowing focus precision improvement while maintaining irradiator position stability.
3Adaptability or versatility
If the robot arm moves the treatment head, then the flexibility in positioning is improved, but the control complexity increases
Solution Approach 1:
The positioning system is segmented into two independent control mechanisms: the robot arm for moving the treatment head to different positions, and the probe driver for adjusting the probe's projection amount. This segmentation allows each component to have dedicated control, reducing overall control complexity while maintaining positioning flexibility.
Solution Approach 2:
The system implements dynamic control where the robot arm and probe driver operate independently but cooperatively. The robot arm provides flexible positioning of the treatment head, while the probe driver dynamically adjusts the probe position to maintain optimal focus. This dynamic coordination reduces control complexity by allowing each component to operate within its own control range.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enables accurate and pain-free adjustment of the HIFU focus while preventing the loss of the treatment area, ensuring efficient and precise treatment by maintaining the pressing force and compensating for movement errors in the treatment head's orientation and position.
Implementation Method 1
an irradiator for irradiation of focused ultrasound (hereinafter, HIFU)
Implementation Method 2
The diagnostic probe transmits and receives diagnostic ultrasound different from the focused ultrasound
Data Source
AI summary
A controller changes a position and/or orientation of a treatment head by controlling an operation of a robot arm according to an external input. A probe driver changes a projection amount of a diagnostic probe with respect to an irradiator. Further, the controller performs synchronous control to synchronize the probe driver and the robot arm with each other so that the relative position between the irradiator and the distal end of the diagnostic probe changes while holding the distal end position of the diagnostic probe.