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 |
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.
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