| 摘要 |
PROBLEM TO BE SOLVED: To provide an ultrasonic therapeutic system which obtains coordinate transformation information by utilizing cavitation generated by ultrasonic waves.SOLUTION: A vibrator 10T for therapy is controlled by using a therapy coordinate system, ultrasonic beams are formed and cavitation is generated. The cavitation is observed in an ultrasonic image obtained through a vibrator 10D for observation. A position specifying part 30 obtains a measured position corresponding to focuses of the respective ultrasonic beams in an observation coordinate system, on the basis of an observation result of the cavitation. A transformation matrix generation part 50 generates a coordinate transformation matrix between the therapy coordinate system and the observation coordinate system, on the basis of the set position and the measured position of the focuses related to the plurality of ultrasonic beams. |
