US 11,786,326 B2
Treatment apparatus
Tsuyoshi Ueyama, Kariya (JP); Seisho Inada, Kariya (JP); and Hideki Okuda, Kariya (JP)
Assigned to SONIRE THERAPEUTICS INC., Tokyo (JP)
Filed by SONIRE THERAPEUTICS INC., Tokyo (JP)
Filed on Sep. 2, 2020, as Appl. No. 17/10,790.
Application 17/010,790 is a continuation of application No. PCT/JP2019/011487, filed on Mar. 19, 2019.
Claims priority of application No. 2018-054209 (JP), filed on Mar. 22, 2018.
Prior Publication US 2020/0397519 A1, Dec. 24, 2020
Int. Cl. A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 8/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); A61N 7/02 (2006.01); A61N 7/00 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 8/4218 (2013.01); A61B 34/77 (2016.02); A61N 7/02 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); A61N 2007/0065 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A treatment apparatus comprising:
a robot arm having six degrees of freedom;
a treatment head provided at a distal end of the robot arm to include (i) an irradiator configured to irradiate with focused ultrasound, and (ii) a diagnostic probe provided to project from a center of the irradiator in an irradiation direction of the focused ultrasound, the diagnostic probe being configured to transmit and receive diagnostic ultrasound different from the focused ultrasound;
a controller configured to change (i) a position of the treatment head, or (ii) an orientation of the treatment head, or (iii) the position and the orientation of the treatment head by controlling a movement of the robot arm according to an input from an outside;
a probe driver configured to change a projection amount of the diagnostic probe with respect to the irradiator; and
a force sensor configured to detect a direction and magnitude of a force applied to the treatment head,
wherein:
the controller is configured to perform a synchronous control that drives the probe driver and the robot arm in synchronization with each other, the synchronous control in which a relative position between the irradiator and a distal end of the diagnostic probe is changed while the distal end of the diagnostic probe is maintained unchanged; and
in response to that a pressing force on a treatment target detected by the force sensor along with a movement of the robot arm is equal to or greater than a preset pressure threshold value, the controller is configured to perform the synchronous control in which the pressing force is reduced to be smaller than the preset pressure threshold value.