Ultrasonic head device, ultrasonic therapy system, and method for controlling ultrasonic therapy system

An ultrasonic therapy system, comprising:

• an ultrasonic head device which sonicates an inside of a therapeutic object with ultrasonic waves;
• a robot arm which is able to hold the ultrasonic head device in any posture state;
• a liquid supplying and discharging mechanism which is connected to the ultrasonic head device;
• and
• a control device which controls the ultrasonic head device and the liquid supplying and discharging mechanism,
• wherein the ultrasonic head device includes:
• a base unit which is supported by the robot arm;
• a sonication unit which is provided on the base unit and includes a sonication surface which radiates the ultrasonic waves for sonication;
• a liquid bag which has a medium liquid through which the ultrasonic waves are transmitted accommodated therein and with which the sonication surface is covered;
• a liquid supplying and discharging unit which circulates the medium liquid through the liquid bag;
• and
• a moving mechanism which is provided on the base unit and supports the liquid bag so that the liquid bag is freely moved relative to the sonication surface along a direction of a central axis of the sonication surface,
• the moving mechanism includes:
• a first cylindrical unit provided on a side of the base unit;
• a second cylindrical unit which is provided to be freely moved along the direction of the central axis with respect to the first cylindrical unit and includes a lower side having the liquid bag fixed thereto;
• and
• a first driving unit which moves the second cylindrical unit relative to the first cylindrical unit, and
• the liquid supplying and discharging mechanism supplies the medium liquid to the liquid supplying and discharging unit or discharges the medium liquid from the liquid supplying and discharging unit.

A method for controlling an ultrasonic therapy system, the system including:

• an ultrasonic head device by which an inside of a therapeutic object is sonicated with ultrasonic waves;
• a robot arm which is able to hold the ultrasonic head device in any posture state;
• a liquid supplying and discharging mechanism by which a medium liquid through which the ultrasonic waves are transmitted to the ultrasonic head device is supplied or discharged;
• and
• a control device which controls the ultrasonic head device, the robot arm, and the liquid supplying and discharging mechanism, the method comprising:
• a process performed by the control device and including:
• a movement step of controlling the robot arm to move the ultrasonic head device supported by the robot arm;
• an alignment step of matching a position of a focal point of a sonication surface which is provided on the ultrasonic head device and by which the ultrasonic waves are radiated for sonication and a position of an affected part of a therapeutic object;
• a first movement step of controlling a moving mechanism provided on the ultrasonic head device to move a liquid bag which is provided on the ultrasonic head device, with which the sonication surface is covered, and which has the medium liquid accommodated therein relative to the sonication surface along a direction of a central axis of the sonication surface;
• a supply step of controlling the liquid supplying and discharging mechanism so that the medium liquid is circulated through the liquid bag and the medium liquid is supplied into the liquid bag;
• and
• a sonication step of controlling the ultrasonic head device to sonicate a position of the affected part with the ultrasonic waves from the sonication surface.