Apparatus for controlling ultrasonic irradiation, method for controlling thereof

A method for positioning an ultrasonic irradiation device, comprising:

• determining, by an apparatus, a moving position based on a first offset value stored in a memory, a second offset value stored in a memory, and a distance value, wherein the first offset value corresponds to a distance between an ultrasonic probe and a marker, wherein the second offset value corresponds to a distance between the ultrasonic irradiation device and a camera, and wherein the distance value corresponds to a distance between a center position of the camera and a position of the marker in an image obtained from the camera;
• and
• controlling, by the apparatus, the ultrasonic irradiation device and/or a bed to move based on the determined moving position to match the position of the marker with the center position of the camera;
• and
• wherein the method further comprises:
• maintaining, by the apparatus, a predetermined distance between the ultrasonic irradiation device and the ultrasonic probe or a predetermined distance between the ultrasonic irradiation device and a body based on a sensing distance obtained from a distance sensor of the ultrasonic irradiation device.

A non-transitory computer-readable medium having processor-executable instructions stored thereon for positioning an ultrasonic irradiation device, wherein the processor-executable instructions, when executed, facilitate performance of the following:

• determining, by an apparatus, a moving position based on a first offset value stored in a memory, a second offset value stored in a memory, and a distance value, wherein the first offset value corresponds to a distance between an ultrasonic probe and a marker, wherein the second offset value corresponds to a distance between the ultrasonic irradiation device and a camera, and wherein the distance value corresponds to a distance between a center position of the camera and a position of the marker in an image obtained from the camera;
• and
• controlling, by the apparatus, the ultrasonic irradiation device and/or a bed to move based on the determined moving position to match the position of the marker with the center position of the camera;
• and
• wherein the processor-executable instructions, when executed, further facilitate performance of the following:
• maintaining, by the apparatus, a predetermined distance between the ultrasonic irradiation device and the ultrasonic probe or a predetermined distance between the ultrasonic irradiation device and a body based on a sensing distance obtained from a distance sensor of the ultrasonic irradiation device.