JP2000271136A - Ultrasonic therapeutic apparatus and method for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic therapeutic apparatus capable of moving an applicator for irradiating with a patient ultrasonic waves safely and securely along the body surface. SOLUTION: This apparatus has an applicator 30, a pressure sensor 35, an applicator holder and an applicator holder control part. The applicator 30 has an ultrasonic wave generating source 32, an ultrasonic probe 33 and a film 34 including a liquid for transmitting ultrasonic waves generated from the ultrasonic wave generating source 32 into the body of a patient K. The pressure sensor 35 detects the pressure of the liquid inside the film 34. The applicator holder holds the applicator 30 and moves the surface of the film 34 along the body surface of the patient K based on a prescribed movement locus. The applicator holder control part controls the applicator holder, modifying the movement locus based on the pressure information from the pressure sensor 35.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic treatment apparatus for performing treatment by focusing ultrasonic waves on a treatment site in a living body and a method for controlling the ultrasonic treatment apparatus.

[0002]

2. Description of the Related Art An ultrasonic treatment apparatus is an apparatus for performing treatment by focusing an ultrasonic wave from the outside onto a treatment site in a living body, and its system is disclosed in JP-A-10-328194 and JP-A-9-1997.
-66057.

In an ultrasonic therapy apparatus, an applicator having an ultrasonic source, an ultrasonic probe, and a film containing a liquid for transmitting ultrasonic waves from the ultrasonic source into the living body is appropriately applied to the body surface of the living body. It is necessary to control the focal point of the ultrasonic wave and to reliably irradiate the ultrasonic wave to the treatment site by making contact with a suitable pressure.
At this time, if the treatment area is larger than the focal size of the ultrasonic wave, the applicator must be moved along a predetermined trajectory, and the ultrasonic wave must be applied to the treatment area while changing the irradiation position and direction. No.

For this reason, the applicator is moved while controlling the contact pressure between the applicator and the living body and the focal position by an applicator holding device that holds the applicator.

[0005]

The above-described conventional ultrasonic therapy apparatus has the following problems. That is, it is difficult to move the applicator along the body surface along a predetermined trajectory because the surface of the living body has irregularities or changes its position due to breathing. In addition, when the heavy applicator is moved, the arm itself of the applicator holding device holding the applicator may be deformed such as flexed depending on the posture, and an error may occur from the original contact pressure or position. Was.

Accordingly, an object of the present invention is to provide an ultrasonic treatment apparatus and an ultrasonic treatment apparatus control method capable of safely and reliably moving an applicator for irradiating ultrasonic waves along the body surface of a living body.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems and to achieve the object, an invention according to a first aspect of the present invention is directed to an ultrasonic treatment apparatus for performing treatment by focusing ultrasonic waves on a treatment site in a living body. An applicator having an ultrasonic source, an ultrasonic probe and a film containing a liquid for transmitting ultrasonic waves from the ultrasonic source into the living body, and detecting a pressure of the liquid in the film A pressure sensor and an applicator holding unit that holds the applicator and moves the membrane surface along the body surface of the living body based on a predetermined movement trajectory, based on pressure information from the pressure sensor. A control unit for controlling the applicator holding unit by modifying the movement trajectory.

According to a second aspect of the present invention, there is provided an ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body. An applicator having a film containing a liquid for transmitting ultrasonic waves into the living body, a position sensor for detecting the position of the ultrasonic probe, and holding the applicator, based on a predetermined movement trajectory, And an applicator holding unit that moves the membrane surface along the body surface of the living body, and a control unit that controls the applicator holding unit by modifying the movement trajectory based on position information from the position sensor. Was prepared.

According to a third aspect of the present invention, there is provided an ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body. An applicator having a membrane containing a liquid for transmitting ultrasonic waves into the living body, and holding the applicator, based on a predetermined movement trajectory, and moving the membrane surface along the body surface of the living body. An applicator holding unit that moves the applicator holding unit; a storage unit that stores deformation information of the applicator holding unit following a change in the posture of the applicator holding unit; and modifies the movement trajectory based on the deformation information from the storage unit. And a control unit for controlling the applicator holding unit.

According to a fourth aspect of the present invention, there is provided an ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body. An applicator having a membrane containing a liquid for transmitting ultrasonic waves into the living body, and holding the applicator, based on a predetermined movement trajectory, and moving the membrane surface along the body surface of the living body. An applicator holding unit that moves the applicator, an allowable position shift amount setting unit that sets an allowable position shift amount between the applicator and the body surface of the living body, and the allowable position shift amount set in the position shift amount setting unit. And a control unit for controlling the applicator holding unit by modifying the movement trajectory based on.

According to a fifth aspect of the present invention, there is provided an ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body. An applicator having a membrane containing a liquid for transmitting ultrasonic waves into the living body, and holding the applicator, based on a predetermined movement trajectory, and moving the membrane surface along the body surface of the living body. An applicator holding unit for moving the applicator; a input unit for inputting a movement locus of the applicator; and a monitor for displaying images before and after the applicator moves based on the movement locus.

According to a sixth aspect of the present invention, there is provided an ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body, comprising: an ultrasonic source; an ultrasonic probe; An applicator having a membrane containing a liquid for transmitting ultrasonic waves into the living body, and holding the applicator, based on a predetermined movement trajectory, and moving the membrane surface along the body surface of the living body. Applicator holding unit to be moved and moved, a living body image storage unit that stores the image of the living body, a trajectory of the outer shape of the applicator that changes based on the movement trajectory, a trajectory of a contact point with the body surface of the living body, and A trajectory calculation unit for calculating a trajectory of the focal point of the ultrasonic wave, and the living body image, the trajectory of the outer shape of the applicator, and a trajectory of a contact point with the body surface of the living body by the living body image storage unit and the trajectory calculation unit. And it was so and a monitor for displaying a composite image of the trajectory of the focal point of the ultrasonic wave.

According to a seventh aspect of the present invention, there is provided an applicator having an ultrasonic generating source, an ultrasonic probe, and a film containing a liquid for transmitting ultrasonic waves from the ultrasonic generating source into a living body. And a biological image storage step of storing an image of the living body, in the method of controlling the ultrasonic therapy apparatus for moving the membrane surface along the body surface of the living body based on a predetermined moving trajectory, A trajectory calculating step of calculating the trajectory of the outer shape of the applicator, the trajectory of the contact point of the living body with the body surface, and the trajectory of the focal point of the ultrasonic wave that changes based on the image of the living body and the outer shape of the applicator. A display step of displaying a composite image of the trajectory, the trajectory of the contact point of the living body with the body surface, and the trajectory of the ultrasonic focus.

[0014]

FIG. 1 is a view showing an ultrasonic treatment apparatus 10 according to an embodiment of the present invention, FIG. 2 is a view showing an applicator 30 incorporated in the ultrasonic treatment apparatus 10, and FIG. FIG. 4 is a diagram illustrating an example of an image on a monitor 60 incorporated in the ultrasonic therapy apparatus 10, and FIG. 4 is an explanatory diagram illustrating a principle of correcting a movement trajectory in the ultrasonic therapy apparatus 10. In these figures, K is the patient (living body), L is the body surface of the patient K, and M is the patient K
The affected part is shown.

The ultrasonic therapy apparatus 10 includes a bed 11 on which a patient M is placed, an applicator holding device 20 provided near the bed 11, and an applicator holding device 2
And the control circuit 40 for controlling the applicator holding device 20 and the applicator 30.
And a holding device driving circuit 50 for driving the applicator holding device 20 based on a control signal from the control circuit 40.
And a monitor 60 for displaying the positional relationship between the applicator holding device 20 and the living body.

The applicator holding device 20 includes a support 21 fixed to the floor, an elevating unit 22 supported on the support 21 so as to be vertically movable along the arrow Z direction in FIG. A table 23 attached to the table 22 and positioned in the direction of the arrow XY in FIG. 1, and an applicator holding section mounted to the table 23 and positioned around the direction θ-γ in FIG. 1 and holding the applicator 30 24. That is, the applicator holding device 20 has a 5-axis configuration (orthogonal 3-axis X-Ｘ-Z, rotation 2-axis γ-
θ), the applicator 30 is positioned.

As shown in FIG. 2, the applicator 30 has a support portion 31 formed in an arc shape, an ultrasonic generating source 32 supported by the supporting portion 31, and an ultrasonic generating source 32. Ultrasonic probe 33 arranged at the center of 32
And a membrane 34 containing a solution for transmitting ultrasonic waves into a living body, a pressure sensor 35 for detecting a change in pressure of a liquid in the membrane 34, and a position for detecting position information of an ultrasonic probe in an applicator. And a sensor 36.

The control circuit 40 displays an image of the relationship between the applicator 30 and the treatment site of the living body based on the image of the living body from the ultrasonic probe 33 and the current position of the applicator holding device 20, as shown in FIG. An image signal to the monitor 60 is formed. Further, the control circuit 40 controls the operations of the applicator 30 and the applicator holding device 20 via the holding device driving circuit 50.

The control circuit 40 stores the applicator holding device 20 based on information from the pressure sensor 35 and the like in advance.
Has the function of correcting the movement trajectory of the applicator 30 via the. That is, the first function is to correct the movement locus of the applicator 30 based on the information from the pressure sensor 35. That is, based on the information from the pressure sensor 35, control is performed so that a pressure equal to or more than a predetermined value is not applied to the patient K and the membrane 34 sufficiently contacts the body surface.

A second function is to correct the movement locus of the applicator 30 based on information from the position sensor 36. That is, the distance between the ultrasonic source 32 and the body surface of the patient K is determined by the position of the distal end of the ultrasonic probe 33 when the distal end of the ultrasonic probe 33 contacts the body surface. And the distance between the patient and the body surface of the patient K can be kept constant.

A third function is to correct the movement locus of the applicator 30 based on the bending deformation information of the applicator holding device 20. That is, since the applicator holding device 20 holds the applicator 30 having a relatively large weight, the applicator holding device 20 bends and deforms as the position and the posture of the applicator 30 change. By storing the flexural deformation in the control circuit 40 in advance, it is possible to control as much as possible along the previously stored movement locus.

A fourth function is to correct the movement trajectory of the applicator 30 based on the allowable positional deviation amount. That is, when driving the applicator holding device 20 and trying to move the applicator 30 completely in accordance with a predetermined movement trajectory, calculation for operating each mechanism of the applicator holding device 20 becomes complicated, and The time may be long. For this reason, the calculation can be simplified by setting the allowable error between the body surface of the patient K and the membrane 34 in advance.

FIG. 4 is a diagram for explaining an allowable error. That is, T in FIG. 4 is an ideal movement trajectory calculated by the program. It is assumed that the applicator 30 is moved from the irradiation position T1 to the next irradiation position T2 along the movement trajectory T. The movement trajectory T is a substantially arc-shaped trajectory because it is ideal to move while keeping the contact pressure between the film 34 and the body surface L constant. On the other hand, since ultrasonic waves are not irradiated between the irradiation position T1 and the irradiation position T2, driving the mechanisms of the applicator holding device 20 simply becomes simpler when moving linearly, and the moving speed is improved.

Therefore, even if the contact pressure between the membrane 34 and the body surface L slightly fluctuates, it is actually convenient to move linearly within a range that does not overload the patient K. Therefore, the moving trajectory T is corrected as shown in FIG. In FIG. 4, δ is the maximum amount of the error, and the control circuit 40 performs an operation such that the maximum amount δ of the error falls within a preset range.

In FIG. 1, reference numeral 41 denotes a manual input device 41 such as a joystick connected to the control circuit 40, and is used when an operator such as a doctor commands the operation of the applicator 30 from the outside.

The ultrasonic therapy apparatus 10 constructed as described above
Then, ultrasonic treatment is performed as follows. Note that the control circuit 40 stores a program in advance corresponding to the irradiation position of the ultrasonic wave suitable for treating the affected part M and the irradiation position, and the movement locus of the applicator 30 is calculated by the program. The movement trajectory calculated by this program is calculated so that the distance between the ultrasonic source 32 and the body surface L is constant. The movement trajectory may be input by the operator using the manual input device 41.

The trajectory calculated or input as described above is corrected as follows. That is, the movement trajectory is corrected in consideration of deformation due to its own weight due to a change in posture of the applicator holding device 20 stored in the control circuit 40 in advance.

Further, the membrane 34 of the applicator 30 and the patient K
When the operator inputs an allowable error with respect to the body surface L, the movement locus is corrected. As the allowable error, for example, a displacement amount toward the patient K, a displacement amount toward the applicator holding device 20, and a displacement amount in the surface direction of the body surface L are set. In addition,
If the displacement to the patient K side is too large, the patient K
When an unnecessary load is applied to the device and the amount of displacement toward the applicator holding device 20 is too large, the degree of adhesion between the membrane 34 and the body surface L decreases, and ultrasonic waves are not sufficiently transmitted. Occurs. Conversely, if each tolerance is reduced, the operation of the applicator holding device 20 takes a long time. Therefore, it is preferable that the operator appropriately sets the parameters in consideration of these circumstances.

Next, the applicator holding device 20 is driven to position the applicator 30 on the body surface L corresponding to the affected area M of the patient K. At this time, the control circuit 40 issues a command to the holding device driving circuit 50 based on the information from the pressure sensor 35 so that no excessive pressure is applied to the patient K and the membrane 3
Make sure that 4 is in full contact with the body surface.

The image from the ultrasonic probe 33 of the applicator 30 and the image of the applicator 30 are combined and the monitor 6
0 is displayed, and the position of the affected area M is confirmed. Further, based on the above-described movement trajectory, the trajectory of the outer shape of the applicator 30, the trajectory of the point of contact with the body surface of the patient K, and the trajectory of the focal point of the ultrasonic wave are calculated, and the synthesized image is monitored as shown in FIG. 60
To be displayed. In FIG. 3, D is the shortest distance between the ultrasonic wave source 32 and a predetermined position L1 on the body surface L, and G is the ultrasonic wave source 32.
, H indicates the moving direction of the applicator 30.

By checking the image displayed on the monitor 60, the operator can avoid problems such as interference with the patient K and overload when the applicator 30 moves based on the movement trajectory. Check by simulation in advance.

After confirmation, the affected part M is irradiated with ultrasonic waves having a predetermined intensity to treat the affected part M. Next, the applicator 30 is moved along a predetermined movement trajectory, and moves to the next irradiation point. Then, similarly, the ultrasonic wave is applied to the affected area M.
This is repeated a predetermined number of times.

During the movement, the contact point between the membrane 34 and the body surface L of the patient K moves due to the unevenness of the body surface L of the patient K and the breathing of the patient K. For this reason, the pressure sensor 35
Accordingly, the movement trajectory is appropriately corrected so that the distance between the ultrasonic sound source and the body surface L becomes a predetermined length based on the contact pressure of the membrane 34 on the body surface and the position information of the ultrasonic probe 33. Thereby, it is possible to perform the operation while maintaining an appropriate contact state between the film 34 and the body surface.

In the above-described example, the movement trajectory of the applicator 30 is simulated collectively in advance, but the body surface of the applicator 30 and the patient K is displayed for each movement, and Monitor the posture and the posture after moving 60
It may be displayed above and moved after the comparison is confirmed.

As described above, according to the ultrasonic therapy apparatus 10 according to the present embodiment, the unevenness of the body surface L of the patient K and the patient K
The movement locus can be corrected in consideration of the movement of the applicator 30 due to its own movement.

Further, the membrane 34 is formed by the deformation of the applicator holding device 20 accompanying the change in the posture of the applicator holding device 20.
The movement trajectory can be corrected in consideration of the positional deviation between the object and the body surface L.

Further, when driving the applicator holding device 20 on the basis of the movement locus calculated by the program or the movement locus inputted by using the manual input device 41,
By synthesizing and displaying the positional relationship between the applicator 30 during and after the movement and the patient K on the monitor 60, it is possible to prevent problems such as interference with the patient K and overload before the movement.

Therefore, according to the ultrasonic treatment apparatus 10, safe and reliable treatment can be performed by minimizing the trouble due to disturbance.

It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the spirit of the present invention.

[0040]

According to the present invention, it is possible to safely and reliably move an applicator that emits ultrasonic waves along a body surface of a living body.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the appearance of an ultrasonic therapy apparatus according to an embodiment of the present invention.

FIG. 2 is a longitudinal sectional view showing an applicator incorporated in the ultrasonic therapy apparatus.

FIG. 3 is a view showing an example of an image on a monitor incorporated in the ultrasonic therapy apparatus.

FIG. 4 is an explanatory diagram showing a principle of correcting a moving trajectory in the ultrasonic therapy apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Ultrasonic treatment apparatus 20 ... Applicator holding apparatus 30 ... Applicator 32 ... Ultrasonic generation source 33 ... Ultrasonic probe 34 ... Membrane 35 ... Pressure sensor 36 ... Position sensor 40 ... Control circuit 41 ... Manual input device 50 ... Holding Device drive circuit 60 Monitor

Claims (7)

[Claims] An ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body, wherein an ultrasonic wave source, an ultrasonic probe and ultrasonic waves from the ultrasonic wave source are propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, a pressure sensor for detecting the pressure of the liquid in the membrane, and holding the applicator, based on a predetermined movement trajectory, and An applicator holding unit that moves along the body surface of a living body, and a control unit that controls the applicator holding unit by modifying the movement trajectory based on pressure information from the pressure sensor. Ultrasonic therapy device. 2. An ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body, wherein the ultrasonic wave from the ultrasonic generation source, the ultrasonic probe, and the ultrasonic generation source is propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, a position sensor for detecting a position of the ultrasonic probe, and holding the applicator, based on a predetermined movement trajectory, and moving the membrane surface over the living body. An applicator holding unit that moves along the body surface of the body, and a control unit that controls the applicator holding unit by modifying the movement trajectory based on position information from the position sensor. Ultrasonic therapy equipment. 3. An ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body, wherein the ultrasonic wave source, the ultrasonic probe, and the ultrasonic wave from the ultrasonic generation source are propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, and an applicator holding unit that holds the applicator and moves the membrane surface along the body surface of the living body based on a predetermined movement trajectory. A storage unit for storing deformation information of the applicator holding unit in accordance with a change in the posture of the applicator holding unit; and controlling the applicator holding unit by modifying the movement trajectory based on the deformation information from the storage unit. An ultrasonic therapy apparatus, comprising: 4. An ultrasonic treatment apparatus for performing treatment by focusing ultrasonic waves on a treatment site in a living body, wherein an ultrasonic wave source, an ultrasonic probe, and ultrasonic waves from the ultrasonic wave source are propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, and an applicator holding unit that holds the applicator and moves the membrane surface along the body surface of the living body based on a predetermined movement trajectory. An allowable displacement amount setting unit that sets an allowable displacement amount between the applicator and the body surface of the living body; and correcting the movement trajectory based on the allowable displacement amount set in the displacement amount setting unit. In addition, a control unit for controlling the applicator holding unit is provided. 5. An ultrasonic treatment apparatus for performing treatment by focusing ultrasonic waves on a treatment site in a living body, wherein an ultrasonic wave source, an ultrasonic probe, and ultrasonic waves from the ultrasonic wave source are propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, and an applicator holding unit that holds the applicator and moves the membrane surface along the body surface of the living body based on a predetermined movement trajectory. An ultrasonic treatment apparatus, comprising: an input unit for inputting a movement locus of the applicator; and a monitor for displaying images before and after the applicator moves based on the movement locus. 6. An ultrasonic treatment apparatus for performing treatment by focusing an ultrasonic wave on a treatment site in a living body, wherein the ultrasonic wave from the ultrasonic generation source, the ultrasonic probe, and the ultrasonic generation source is propagated into the living body. An applicator having a membrane containing a liquid for performing the operation, and an applicator holding unit that holds the applicator and moves the membrane surface along the body surface of the living body based on a predetermined movement trajectory. A biological image storage unit that stores the image of the living body, a locus of the outer shape of the applicator that changes based on the moving locus, a locus of a contact point with the body surface of the living body, and a locus of an ultrasonic focus. A trajectory calculation unit, and the living body image storage unit and the trajectory calculation unit, by which the image of the living body, the trajectory of the outer shape of the applicator, the trajectory of the contact point of the living body with the body surface, and the trajectory of the ultrasonic wave focus Ultrasonic treatment apparatus characterized by comprising a monitor for displaying the composite image. 7. An applicator having an ultrasonic generating source, an ultrasonic probe and a film containing a liquid for transmitting ultrasonic waves from the ultrasonic generating source into a living body, and having a predetermined movement locus. An ultrasound therapy apparatus control method for moving the membrane surface along the body surface of the living body based on the living body image storing step of storing the image of the living body; and the applicator that changes based on the movement trajectory. A trajectory calculating step of calculating the trajectory of the outer shape of the living body, the trajectory of the contact point of the living body with the body surface, and the trajectory of the focal point of the ultrasonic wave; the image of the living body, the trajectory of the outer shape of the applicator, the body surface of the living body A display step of displaying a composite image of the trajectory of the contact point and the trajectory of the focal point of the ultrasonic wave.