CN112076401B - High-intensity focused ultrasound therapy system - Google Patents
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Abstract
The invention discloses a high-intensity focused ultrasound treatment system, which comprises a positioning device; the external B-ultrasonic probe is used for transmitting a first B-ultrasonic image of a target object acquired in real time to the main control computer; the positioning device is used for synchronously acquiring position data of the external B-ultrasonic probe in real time in the external B-ultrasonic probe and transmitting the position data to the main control computer; the main control computer is used for synchronizing the position data and the first B-ultrasonic image and establishing a corresponding relation; the built-in B-ultrasonic probe is used for acquiring a second B-ultrasonic image of the target object in real time after the main control computer synchronizes position data with the first B-ultrasonic image and transmitting the second B-ultrasonic image to the main control computer; and the main control computer is also used for carrying out data fusion on the first B-mode ultrasonic image and the second B-mode ultrasonic image based on the position data to obtain a fused image. The high-intensity focused ultrasound treatment system provided by the invention can improve the definition of the image of the target object and ensure the positioning precision of the target object.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a high-intensity focused ultrasound treatment system.
Background
A high Intensity Focused ultrasound therapy system is also called a HIFU (high Intensity Focused ultrasound) therapy system, and a conventional HIFU therapy system is shown in fig. 1 and mainly comprises an operation console 1, a main control computer 2, a treatment couch 3, a gantry 4, a treatment head 5, a B-ultrasonic diagnostic apparatus 6, a power driving cabinet 7 and a water treatment system 8. The main control computer 2 is arranged on the operating platform 1 and is used for realizing operation control such as positioning, treatment and the like; the treatment bed 3 is used for lying down and can perform three-dimensional movement; the gantry 4 is used for mounting electric components (not shown in the figure) and a treatment head 5; the treatment head 5 is a core treatment device, is internally provided with components such as an ultrasonic transducer (not shown in the figure) and a B ultrasonic probe (not shown in the figure), and can realize the functions of three-dimensional motion, rotation, lifting and the like; the B ultrasonic diagnostic apparatus 6 is a common B ultrasonic diagnostic device on the market and is used for diagnosing tumors before treatment and positioning the positions of the tumors; the power driving cabinet 7 is used for generating a high-frequency power supply to drive the ultrasonic transducer to work; the water treatment system 8 is used to generate the deaerated water as a medium for the ultrasonic wave propagation because the ultrasonic wave is attenuated little when propagating in the deaerated water.
The basic working principle of the conventional HIFU therapy system is as follows: the ultrasonic transducer in the treatment head 5 is driven by the power driving cabinet 7 to generate high-intensity focused ultrasonic waves, the ultrasonic waves are focused on a tumor focus area through the coupling of degassing water, the tumor tissue is rapidly heated (more than or equal to 65 ℃) through the mechanical effect, the thermal effect, the cavitation effect and the like of the ultrasonic waves, and coagulation necrosis is generated in a short time, so that the purpose of ablating the whole tumor tissue is achieved.
The treatment method using the conventional HIFU treatment system is as follows: a doctor finds out tumor tissues under the positioning monitoring of a built-in B ultrasonic probe of the treatment head, and outlines the edges of the tumor tissues on a B ultrasonic image; doctors set treatment parameters (such as power, time, etc.); the main control computer 2 calculates all treatment points through image processing; the main control computer 2 controls the ultrasonic transducer to align to the first point, treats according to set parameters, and ablates the tumor at the focus through the heat effect of the high-intensity focused ultrasonic wave; the ultrasound transducer is then moved to the next treatment site to continue treatment until the entire tumor tissue treatment is completed.
Therefore, the HIFU treatment is a non-invasive treatment method, and does not need to cut a knife, puncture or leave scars during the treatment; does not contain radioactive rays; the treatment only acts on the lesion part and does not damage adjacent tissues and organs; is fully tolerated.
In the HIFU therapy system, the accuracy of the positional relationship between the ultrasound transducer that emits the focused ultrasound and the tumor site directly affects the safety and effectiveness of the treatment process.
The conventional HIFU therapy system performs positioning therapy based on images acquired by a built-in B-ultrasonic probe, and fig. 2 is a schematic diagram of positioning a tumor site by using a built-in B-ultrasonic probe of the conventional HIFU therapy system, which has a problem of insufficient image clarity. Because of the structure of the treatment head 5, particularly referring to fig. 3, there are water and water sac membranes between the B-ultrasonic probe inside the treatment head and the human body, so there is a problem of multiple reflections and more artifacts. Meanwhile, for the treatment requirement, the B-mode ultrasound probe in the treatment head cannot be kept attached to the epidermis in the whole process, and the B-mode ultrasound probe must leave the epidermis during monitoring, so that a B-mode ultrasound image is seen as a far-field image, the far-field image is inconsistent with an image of a conventional B-mode ultrasound probe held by a doctor, and compared with a conventional B-mode ultrasound near-field image, the built-in B-mode ultrasound image is poor in aberration and unclear. Therefore, the problem of unclear images exists in the positioning treatment and monitoring of the images acquired by the built-in B-ultrasonic probe. The current industry equipment has this problem and each manufacturer has taken various approaches to try to solve the problem.
In order to solve the problem of unclear images of the built-in B-ultrasonic probe, an image fusion method has also been conceived in the industry. Image fusion or multi-modal image fusion is currently applied to devices such as radio frequency, particles, radiation, interventional puncture and the like in the field of medical instruments. The above devices adopt B-ultrasound and CT (Computed Tomography) image fusion, because the navigation in general surgery mostly adopts B-ultrasound, is simple and easy to implement, and has no radiation. However, the B-mode ultrasound image sharpness is affected by bones and gas organs, and is often obscured in the B-mode ultrasound image. At the time, the B-mode ultrasound and CT \ MRI fusion is adopted, so that the image definition can be improved to a certain degree. The method is an application scene and an application method of image fusion in the field of medical instruments at present. The patent with application number CN200510004980.3 discloses a focused ultrasound therapy system, in which a fusion method of HIFU positioning is disclosed, the fusion method uses the image of the built-in B-ultrasonic probe to fuse with the images of other medical instruments, such as CT, MRI, PET-CT (positron emission computed tomography), etc., and uses these images to perform data fusion, and the obtained fusion image is used for the doctor to perform the corresponding operations such as the treatment of edge-pointing. The fusion method improves the definition of the image for edge hooking, but has the following defects:
firstly, other large-scale equipment such as CT, MRI and PET-CT is needed, and in consideration of the actual conditions of hospitals, some small hospitals are not necessarily provided with the large-scale equipment, while for large hospitals, the imaging departments are very busy, and the imaging departments need to be queued for reservation once to do CT, MRI and PET-CT, which undoubtedly increases the work of the imaging departments and wastes social resources.
Second, while the patients who are to be treated by HIFU are already diagnosed, they are now required to do a dedicated CT, MRI or PET-CT for HIFU treatment, which increases the cost of time and money.
Third, generally, the devices such as HIFU and CT are not exactly located together, and it is difficult to exactly locate at the same time. If continuous CT is not guaranteed to be done and the HIFU is done immediately, the image of the previous CT does not correspond to the image of the current HIFU in position, and fusion errors are generated. For example, the CT is performed on the previous day, the HIFU treatment is performed on the next day, the diet, the intestinal tract peristalsis, the change of body position and the like in the two days are different, and the factors can greatly influence the body position of the patient, and finally influence the positioning accuracy.
Fourthly, for the operating physician, the operation is very complicated and difficult.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects that in the prior art, an image acquired by using a built-in B ultrasonic probe is not clear, and when the problem that the image acquired by using the built-in B ultrasonic probe alone is not clear is solved by using an HIFU treatment system and image fusion of a special CT, MRI or PET-CT large-scale device, the corresponding effect of the image position is poor, so that the fusion error is larger, and finally the positioning of a target object (such as a tumor) is inaccurate, and the high-intensity focused ultrasound treatment system can improve the definition of the image of the target object and ensure the positioning accuracy of the target object.
The invention solves the technical problems through the following technical scheme:
the invention provides a high-intensity focused ultrasound treatment system, which comprises a treatment head, a B-ultrasonic diagnostic apparatus and a main control computer, wherein the treatment head comprises an internal B-ultrasonic probe;
the external B-ultrasonic probe is used for transmitting a first B-ultrasonic image of a collected target object to the main control computer; the positioning device is used for synchronously acquiring position data of the external B-ultrasonic probe by the external B-ultrasonic probe and transmitting the position data to the main control computer; the main control computer is used for synchronizing the position data and the first B-ultrasonic image and establishing a corresponding relation;
the built-in B-ultrasonic probe is used for acquiring a second B-ultrasonic image of the target object after the main control computer synchronizes the position data with the first B-ultrasonic image and transmitting the second B-ultrasonic image to the main control computer;
the main control computer is also used for carrying out data fusion on the first B ultrasonic image and the second B ultrasonic image based on the position data to obtain a fused image; the fused image is used for positioning the target object and/or delineating the edge of the target object.
The B-ultrasonic diagnostic apparatus in the conventional HIFU therapy system is generally held by an operator, and is adjusted according to the disease condition to find the best position and see the target object, such as a tumor. The high-intensity focused ultrasound treatment system provided by the scheme comprises a positioning device, wherein the positioning device is used for synchronously acquiring the position data of the external B ultrasonic probe in real time and transmitting the position data to a main control computer, so that the real-time positioning of the external B ultrasonic probe is realized. In the scheme, images collected by the external B-ultrasonic probe and the internal B-ultrasonic probe and corresponding spatial position data are transmitted into the main control computer, the main control computer performs image fusion of the internal B-ultrasonic probe and the external B-ultrasonic probe, and because the definition of the images collected by the external B-ultrasonic probe is higher than that of the images collected by the internal B-ultrasonic probe, when the images collected by the internal B-ultrasonic probe are not very clear or are shielded by artifacts, the images at the same position collected by the external B-ultrasonic probe are adopted to be fused and replaced, so that the problem that the internal B-ultrasonic image in the HIFU treatment system is not clear is solved, and the quality and the function of the HIFU treatment system are improved.
On the other hand, the scheme adopts the external B-ultrasonic probe and the internal B-ultrasonic probe to perform image fusion, and because the two probes are part of the HIFU treatment system, the problem of making a cross with other equipment such as special CT, MRI or PET-CT large-scale equipment is avoided, the treatment can be ensured to be performed in time after the fusion is completed, the patient does not need to move, and the target object of the patient does not change. Therefore, the high-intensity focused ultrasound treatment system provided by the scheme can improve the definition of the image of the target object and ensure the positioning precision of the target object.
In addition, in the field of medical instruments, the application scene and the application method of image fusion are based on image fusion of B-ultrasound and CT \ MRI, and when the problem that B-ultrasound images are not clear, a person skilled in the field can think of adopting CT \ MRI with clearer images compared with a B-ultrasound diagnostic apparatus, but cannot think of fusing by using images of another B-ultrasound probe. This is also demonstrated by the disclosure of patent application No. CN200510004980.3, which discloses a focused ultrasound therapy system. In order to solve the problem that images acquired by an internal B-ultrasonic probe are not clear when the traditional HIFU treatment system with an external B-ultrasonic diagnostic apparatus is improved, images acquired by CT, MRI and PET-CT equipment are fused instead of images acquired by an external B-ultrasonic probe, which also indicates that, in the case of the problem that the images of the B-ultrasonic probe are not clear, the skilled person can think of fusing images by using CT \ MRI with the images being clearer than that of the B-ultrasonic diagnostic apparatus, but cannot think of fusing images by using images of another B-ultrasonic probe.
The high-intensity focused ultrasound treatment system provided by the scheme only adds a positioning device on the basis of the conventional HIFU treatment system from the viewpoint of included hardware equipment, so that the cost is controllable. In addition, CT, MRI or PET-CT imaging does not need to be carried out once, so that the time and money of the patient are saved. For a user using the system, no matter a doctor or a patient, the whole operation process is relatively simple, and can be completed without additional operation image fusion, so that the user experience is improved.
Preferably, the positioning device is a magnetic positioning device.
In the scheme, the magnetic positioning device with mature technology is adopted to collect the position data of the external B-ultrasonic probe, so that the tracking of high-precision position and direction can be realized.
Preferably, the magnetic positioning device comprises a control unit, a magnetic field generator and a position sensor;
the magnetic field generator and the position sensor are respectively and electrically connected with the control unit;
the position sensor is fixedly connected with the external B-ultrasonic probe;
the magnetic field generator is fixedly arranged at a preset position in the high-intensity focused ultrasound treatment system, and the preset position is a datum point position of the magnetic positioning device for acquiring the position data;
and the main control computer is also used for carrying out data fusion after establishing the corresponding relation of the first B-ultrasonic image and the second B-ultrasonic image in position based on the position data and the datum point position so as to obtain the fused image.
In the scheme, a magnetic positioning device comprising a control unit, a magnetic field generator and a position sensor is adopted, wherein the control unit is connected with a main control computer through an interface; the magnetic field generator is fixed at a preset position, and the position is a datum point position of an image acquired by the external B-ultrasonic probe. When in use, the treatment part can be used as the center of the magnetic field to establish the magnetic field required by the magnetic positioning device. In the scheme, the position sensor is fixedly connected with the external B-ultrasonic probe, so that the position sensor can be synchronously moved no matter how the external B-ultrasonic probe moves.
In the scheme, the main control computer is communicated with the control unit through a connected interface, the control unit transmits position data of the position sensor, namely position data of the external B-ultrasonic probe, to the main control computer, the main control computer can acquire space position data of the external B-ultrasonic probe in real time, and meanwhile, the main control computer can establish a digital corresponding relation between the position of the external B-ultrasonic probe and an image through images acquired by the external B-ultrasonic probe which are acquired synchronously for data fusion or subsequent display.
Preferably, the main control computer is further configured to establish a corresponding relationship between the positions of the first B-mode ultrasound image and the second B-mode ultrasound image based on the position data and the fiducial point location as follows:
the main control computer is also used for registering the built-in B ultrasonic probe and the external B ultrasonic probe based on the datum point position, and then establishing the corresponding relation of the first B ultrasonic image and the second B ultrasonic image in position based on the position data.
Preferably, the main control computer is further configured to register the internal B-mode ultrasonic probe and the external B-mode ultrasonic probe based on the reference point position as follows:
the main control computer is also used for taking the datum point position as a coordinate origin in a coordinate system of the external B-mode ultrasonic probe, and marking the coordinate origin on the coordinate system of the external B-mode ultrasonic probe in the coordinate system of the internal B-mode ultrasonic probe according to the relative position relation between the datum point position and the internal B-mode ultrasonic probe.
In the scheme, because the patient lies still all the time, the position of the built-in B ultrasonic probe and the position of the external B ultrasonic probe obtained by the magnetic positioning device can be registered easily through the datum point of the magnetic field generator, so that the image of the external B ultrasonic probe and the image of the internal B ultrasonic probe can be registered. The specific scheme is as follows: the datum point of the magnetic field generator is a fixed point which is fixed and invariant relative to the devices in the whole HIFU treatment system. The coordinate origin can be defined on the coordinate system of the external B-ultrasonic probe. And for the built-in B-ultrasonic probe, the point can be marked on a coordinate system of the built-in B-ultrasonic probe by a method of debugging by an engineer, namely during installation. Therefore, the position corresponding relation of the coordinate systems of the built-in type-B ultrasonic probe and the built-in type-B ultrasonic probe can be established through the fixed point position. After the registration on the position is finished, the HIFU treatment system calculates the corresponding position by each movement of the built-in B ultrasonic probe, and automatically adjusts the images of the built-in B ultrasonic probe outside to the corresponding positions together, thereby achieving the synchronous display of the internal and external images.
Preferably, the main control computer is further configured to display the fused image.
Preferably, the display mode of the fused image comprises left-right contrast display or superimposed four-quadrant display;
the left and right comparison display is that the left and right parts of the fusion image respectively display the image corresponding to the built-in B ultrasonic probe and the image corresponding to the external B ultrasonic probe;
the superposed four quadrants are displayed as images corresponding to two quadrants in the four quadrants corresponding to the built-in B-ultrasonic probe, the other two quadrants corresponding to images corresponding to the external B-ultrasonic probe, and the central point of the four quadrants moves along with the movement of a mouse of the main control computer.
In this scheme, the display mode after image fusion is various, can be: and (3) performing left-right comparison display, namely displaying images corresponding to the built-in B-ultrasonic probe and the built-out B-ultrasonic probe on the left side and the right side respectively, wherein the display frames have the same size, the pixel proportion is the same, the positions of the images are the same, and the offset of the images is the same. The method comprises the steps of displaying four quadrants in a superposition mode, specifically, after superposition, establishing a four-quadrant display mode, for example, displaying an external B-ultrasonic probe image on the upper left, displaying an internal B-ultrasonic probe image on the upper right, displaying an internal B-ultrasonic probe image on the lower left, and displaying an external B-ultrasonic probe image on the lower right, wherein the central point of the four quadrants can be changed along with the movement of a mouse, so that a doctor can adjust the four quadrants as required, and the doctor who uses the HIFU treatment system can conveniently perform accurate operation. In addition, the display can also be a plurality of superimposed stripes, specifically, an external B-ultrasonic probe image, an internal B-ultrasonic probe image, arranged at intervals. The display of the superimposed grid is similar, and the external B-ultrasonic probe image and the internal B-ultrasonic probe image are displayed at intervals.
Preferably, the position data of the external B-ultrasonic probe comprises a position and an angle.
According to the euler's geometric theorem, the following parameters, spatial position X, Y, Z, spatial angles j, θ, ψ, are common in describing the spatial position and attitude of a rigid body. In the scheme, the position data of the external B-ultrasonic probe comprises a position and an angle.
Preferably, the main control computer is further configured to create a three-dimensional image of the target object according to the position data and the first B-mode ultrasound image.
According to the scheme, a patient lies on a treatment bed provided with the magnetic positioning device, a doctor holds the external B-ultrasonic probe by hand to perform B-ultrasonic examination, the main control computer can record the position of the external B-ultrasonic probe and the acquired corresponding image in real time in the process of operating the external B-ultrasonic probe by the doctor to perform B-ultrasonic operation, a three-dimensional image is established according to the position and the image, and the three-dimensional image can be stored in the main control computer, so that a three-dimensional coordinate system of the external B-ultrasonic probe is established.
Preferably, the position sensor is fixedly connected with the tail part of the external B-ultrasonic probe through a clamp, and the clamp is made of plastic.
In this scheme, magnetic positioning device's position sensor passes through a anchor clamps fixed mounting at external B ultrasonic probe's afterbody, no matter how external B ultrasonic probe moves like this, position sensor all follows the motion in step, and through control anchor clamps and position sensor's size, can reduce the influence to the handheld external B ultrasonic probe operation of doctor. The fixing clamp is matched with the external B-ultrasonic probe in shape and the position sensor in shape, is made of plastic materials, and can ensure magnetic compatibility.
Preferably, the high-intensity focused ultrasound treatment system further comprises a treatment couch, the preset position is a fixed groove on the treatment couch, and the magnetic field generator is fixed in the groove through a buckle.
In the scheme, the magnetic field generator is placed on the treatment bed, and can establish a magnetic field required by the magnetic positioning device by taking the treatment part as the center of the magnetic field. The position of the magnetic field generator is a fixed groove preset on the treatment couch, the position of the fixed groove is a datum position of an external B-mode probe for collecting images, the magnetic field generator can be easily fixed on the treatment couch through a buckle, and the position of the datum position is kept still, so that the accuracy of the corresponding relation of the first B-mode ultrasonic image and the second B-mode ultrasonic image on the position can be guaranteed.
Preferably, the control unit is connected with the main control computer through a USB interface;
and/or the main control computer comprises an image acquisition card, and the B-ultrasonic diagnostic instrument is connected with the image acquisition card.
In the scheme, the main control computer acquires images acquired by the external B-ultrasonic probe through the image acquisition card.
The positive progress effects of the invention are as follows: compared with the prior art, the invention adopts the external B-ultrasonic probe and the internal B-ultrasonic probe to fuse the images, and because the two probes are part of the HIFU treatment system, the problem of interaction with other equipment is avoided, the timely treatment can be ensured after the fusion is finished, the patient does not need to move on the bed, and the target object of the patient does not change. The high-intensity focused ultrasound treatment system provided by the invention can improve the definition of the image of the target object and ensure the positioning precision of the target object.
Drawings
Fig. 1 is a schematic structural diagram of a conventional HIFU therapy system.
Fig. 2 is a schematic diagram of positioning a tumor site by using a built-in B-ultrasonic probe of a conventional HIFU treatment system.
Fig. 3 is a B-ultrasonic image diagram of a built-in B-ultrasonic probe of a conventional HIFU therapy system.
Fig. 4 is a schematic structural diagram of a HIFU therapy system according to a preferred embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a tumor location positioning system of a HIFU therapy system according to a preferred embodiment of the present invention.
FIG. 6 is a flowchart illustrating a treatment method using the HIFU treatment system according to a preferred embodiment of the invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
As shown in fig. 4 and 5, the present embodiment provides a high-intensity focused ultrasound treatment system, which includes an operation console 1, a main control computer 2, a treatment couch 3, a gantry 4, a treatment head 5, a B-ultrasonic diagnostic apparatus 6, a power driving cabinet 7, a water treatment system 8, and a positioning device, specifically, a magnetic positioning device 9. Wherein, the B-ultrasonic diagnostic apparatus 6 is connected with an external B-ultrasonic probe. The main control computer 2 comprises an image acquisition card, and the B-ultrasonic diagnostic apparatus 6 is connected with the image acquisition card. In this embodiment, the main control computer 2 acquires an image acquired by the external B-mode ultrasonic probe through the image acquisition card.
In this embodiment, the magnetic positioning device 9 with a mature technology is used to collect the position data of the external B-ultrasonic probe, so that the tracking of the high-precision position and direction can be realized. The magnetic positioning device 9 specifically comprises a control unit, a magnetic field generator and a position sensor, wherein the magnetic field generator and the position sensor are respectively electrically connected with the control unit. The control unit is connected with the main control computer 2 through a Universal Serial Bus (USB) interface; the position sensor is fixedly connected with the tail part of the external B-ultrasonic probe through a clamp, and the clamp is made of plastic. The magnetic field generator is fixed at a preset position in the high-intensity focused ultrasound treatment system, and the preset position is a datum point position of the magnetic positioning device 9 for collecting position data. In this embodiment, the predetermined position is a fixed groove on the treatment couch 3, and the magnetic field generator is fixed in the groove by a buckle.
In this embodiment, a magnetic positioning device 9 comprising a control unit, a magnetic field generator and a position sensor is adopted, wherein the control unit is connected with the main control computer 2 through an interface; the magnetic field generator is fixed at a preset position, is particularly arranged on the treatment bed 3, and can establish a magnetic field required by the magnetic positioning device by taking the treatment part as the center of the magnetic field. The position of the magnetic field generator is a fixed groove preset on the treatment couch 3, the position of the fixed groove is a datum position of an external B-mode ultrasonic probe for collecting images, the magnetic field generator can be easily fixed on the treatment couch 3 through a buckle, the position of the datum position is kept still, and therefore the accuracy of the corresponding relation of the first B-mode ultrasonic image and the second B-mode ultrasonic image on the position can be guaranteed.
In this embodiment, the position sensor of the magnetic positioning device 9 is fixedly mounted at the tail of the external B-ultrasonic probe through a clamp, so that the position sensor is synchronously followed no matter how the external B-ultrasonic probe moves, and the influence on the operation of holding the external B-ultrasonic probe by a doctor can be reduced by controlling the size of the clamp and the position sensor during specific implementation. The fixing clamp is matched with the external B-ultrasonic probe in shape and the position sensor in shape, is made of plastic materials, and can ensure magnetic compatibility.
In the embodiment, the external B-mode ultrasonic probe is used for transmitting a first B-mode ultrasonic image of a target object acquired in real time to the main control computer 2; the magnetic positioning device 9 is used for synchronously acquiring the position data of the external B-ultrasonic probe in real time in the external B-ultrasonic probe and transmitting the position data to the main control computer 2. In this embodiment, the position data of the external B-mode ultrasonic probe includes a position and an angle. The main control computer 2 is used for synchronizing the position data and the first B-ultrasonic image and establishing a corresponding relation. The built-in B-ultrasonic probe is used for acquiring a second B-ultrasonic image of the target object in real time after the main control computer 2 synchronizes the position data with the first B-ultrasonic image and transmitting the second B-ultrasonic image to the main control computer 2. The main control computer 2 is also used for registering the built-in B ultrasonic probe and the external B ultrasonic probe based on the datum point position, then establishing a corresponding relation of the first B ultrasonic image and the second B ultrasonic image in position based on the position data, and then performing data fusion to obtain a fused image. The fused image is used to locate the target object and/or delineate the edges of the target object.
The main control computer 2 is also used for registering the built-in B ultrasonic probe and the external B ultrasonic probe based on the datum point position. The method specifically comprises the following steps: the main control computer 2 is also used for marking the coordinate origin on the coordinate system of the external B-mode ultrasonic probe in the coordinate system of the internal B-mode ultrasonic probe according to the relative position relationship between the reference point position and the internal B-mode ultrasonic probe by taking the reference point position as the coordinate origin in the coordinate system of the external B-mode ultrasonic probe.
In this embodiment, the main control computer 2 communicates with the control unit through a USB interface, the control unit transmits position data of the position sensor, that is, position data of the external B-mode ultrasonic probe, to the main control computer, and the main control computer can acquire spatial position data of the external B-mode ultrasonic probe in real time, and meanwhile, the main control computer 2 can establish a digital correspondence between the position of the external B-mode ultrasonic probe and an image through an image acquired by the external B-mode ultrasonic probe, which is acquired synchronously, for data fusion or subsequent display.
In the embodiment, because the patient lies still, the position of the built-in B-ultrasonic probe and the position of the external B-ultrasonic probe obtained by the magnetic positioning device can be registered easily through the datum point of the magnetic field generator, so that the image of the external B-ultrasonic probe and the image of the internal B-ultrasonic probe can be registered. The specific scheme is as follows: the datum point of the magnetic field generator is a fixed point which is fixed and invariant relative to the devices in the whole HIFU treatment system. The coordinate origin can be defined on the coordinate system of the external B-ultrasonic probe. And for the built-in B-ultrasonic probe, the point can be marked on a coordinate system of the built-in B-ultrasonic probe by a method of debugging by an engineer, namely during installation. Therefore, the position corresponding relation of the coordinate systems of the built-in type-B ultrasonic probe and the built-in type-B ultrasonic probe can be established through the fixed point position. After the registration on the position is finished, the HIFU treatment system calculates the corresponding position by each movement of the built-in B ultrasonic probe, and automatically adjusts the images of the built-in B ultrasonic probe outside to the corresponding positions together, thereby achieving the synchronous display of the internal and external images.
In this embodiment, the main control computer 2 is further configured to display the fused image. The mode of displaying the fusion image comprises left-right contrast display or superimposed four-quadrant display; the left part and the right part are displayed in a left-right comparison mode, namely the left part and the right part of the fused image respectively display an image corresponding to the built-in B-ultrasonic probe and an image corresponding to the external B-ultrasonic probe; the overlapped four quadrants are displayed as images corresponding to the built-in B ultrasonic probe corresponding to two quadrants in the four quadrants, images corresponding to the external B ultrasonic probe corresponding to the other two quadrants, and the central point of the four quadrants moves along with the movement of the mouse of the main control computer 2.
In this embodiment, the display modes after image fusion are various, and may be:
1. and (3) performing left-right comparison display, namely displaying images corresponding to the built-in B-ultrasonic probe and the built-out B-ultrasonic probe on the left side and the right side respectively, wherein the display frames have the same size, the pixel proportion is the same, the positions of the images are the same, and the offset of the images is the same.
2. The method comprises the steps of displaying four quadrants by superposition, specifically, establishing display of one quadrant after superposition, for example, displaying an external B-ultrasonic probe image on the upper left, displaying an internal B-ultrasonic probe image on the upper right, displaying an internal B-ultrasonic probe image on the lower left, and displaying an external B-ultrasonic probe image on the lower right, wherein the central point of the four quadrants can be changed along with the movement of a mouse, so that a doctor can adjust the four quadrants as required, and the doctor who uses the HIFU treatment system can conveniently perform accurate operation.
3. The overlapped stripe displays are specifically an external B ultrasonic probe image, an internal B ultrasonic probe image, arranged at intervals and displayed in multiple strips.
4. And displaying the superposed grid, and displaying the external B-ultrasonic probe image and the internal B-ultrasonic probe image at intervals.
In this embodiment, the main control computer is further configured to create a three-dimensional image of the target object according to the position data and the first B-mode ultrasound image. The patient lies on the treatment bed provided with the magnetic positioning device, the doctor holds the external B-mode ultrasonic probe by hand to carry out B-mode ultrasonic examination, the main control computer 2 can record the position of the external B-mode ultrasonic probe and the acquired corresponding image in real time in the process of operating the external B-mode ultrasonic probe by the doctor to carry out B-mode ultrasonic operation, a three-dimensional image is established according to the position and the image, and the three-dimensional image can be stored in the main control computer 2, so that a three-dimensional coordinate system of the external B-mode ultrasonic probe is established.
At present, the B-ultrasonic diagnostic apparatus in the conventional HIFU therapy system is generally held by an operator, and is adjusted according to the disease condition to find the optimal position and see the target object, such as a tumor, clearly. The high-intensity focused ultrasound treatment system provided by the embodiment comprises a positioning device, wherein the positioning device is used for synchronously acquiring the position data of the external B-ultrasonic probe in real time and transmitting the position data to the main control computer 2, so that the real-time positioning of the external B-ultrasonic probe is realized.
In the embodiment, the images collected by the external B-ultrasonic probe and the internal B-ultrasonic probe and the corresponding spatial position data are transmitted into the main control computer 2, the images of the internal B-ultrasonic probe and the external B-ultrasonic probe are fused by the main control computer, because the definition of the image collected by the external B-ultrasonic probe is higher than that of the image collected by the internal B-ultrasonic probe, when the image collected by the internal B-ultrasonic probe is not very clear or is shielded by artifacts, the image collected by the external B-ultrasonic probe at the same position is replaced after being fused, the problem that the image of the internal B-ultrasonic probe in the HIFU treatment system is not clear is solved, and the quality and the function of the HIFU treatment system are improved.
On the other hand, in the embodiment, the images of the external B-ultrasonic probe and the internal B-ultrasonic probe are fused, and the two probes are part of the HIFU therapy system, so that the problem of making an intersection with other devices such as special CT, MRI or PET-CT large-scale devices is avoided, and the therapy can be ensured to be performed in time after the fusion is completed, so that the patient does not need to move on a bed, and the tumor on the patient does not change. Therefore, the high-intensity focused ultrasound treatment system provided by the embodiment can improve the definition of the image of the target object and ensure the positioning accuracy of the target object.
The high-intensity focused ultrasound treatment system provided by the embodiment only adds a positioning device on the basis of the conventional HIFU treatment system from the viewpoint of included hardware equipment, so that the cost is controllable. In addition, CT, MRI or PET-CT imaging does not need to be carried out once, so that the time and money of the patient are saved. For a user using the system, no matter a doctor or a patient, the whole operation process is relatively simple, no additional operation is needed, image fusion can be completed, and user experience is improved.
The following further illustrates the technical solutions and effects of the present invention by means of specific examples.
A built-in B ultrasonic probe for positioning and an ultrasonic transducer for treatment are integrated in a treatment head of the HIFU treatment system, the built-in B ultrasonic probe for positioning is fixedly arranged at the center of the ultrasonic transducer, and the position of a focus of treatment on a B ultrasonic image is fixed because the built-in B ultrasonic probe for positioning is fixedly arranged through machinery. The motion of all built-in B ultrasonic probes can be controlled by a machine, and the relative position of the built-in B ultrasonic probes and the ultrasonic transducer can be obtained by calculation. The motion structure is as follows:
the whole treatment head (comprising the ultrasonic transducer and the built-in B ultrasonic probe to move synchronously) swings left and right and stretches back and forth;
in the treatment head, the ultrasonic transducer and the built-in B ultrasonic probe move synchronously: x, Y, Z, three-dimensional six-way movement;
in the treatment head, the independent movement of the B-ultrasonic probe is arranged: rotating and lifting;
all of the above movements are position and angle data.
The control motion is realized by adopting motor control.
Sensors to collect data: x, Y, Z is acquired by an encoder, the spin angle j of the built-in B-ultrasonic probe is acquired by the encoder, and the nutation angle theta and the precession angle phi are measured by a gyroscope. According to the euler's geometric theorem, there are several parameters in total describing the spatial position and attitude of the rigid body, spatial position X, Y, Z, and spatial angles j, θ, ψ.
The above is the description of the internal B-ultrasonic probe, and for the external B-ultrasonic probe, the existing HIFU therapy system cannot know the corresponding position data, and the external B-ultrasonic probe is generally held by an operating doctor, and is adjusted according to the disease condition to find the best position to see the tumor clearly. The invention uses a magnetic positioning method to carry out positioning so as to obtain the position and the angle of the external B-ultrasonic probe.
The use of magnetic positioning is well established in the industry, such as the use of the dribbay or trakSTAR magnetic positioning suite from NDI corporation. The driveBAY and trakSTAR Electromagnetic (EM)6DoF tracking solutions from Ascension technologies, Inc. (an NDI corporation) provide cost-effective high-precision position and orientation tracking techniques. Lightweight miniaturized sensors embedded in medical instruments can track the user's motion in all six degrees of freedom (6 DoF). Tracking each motion within the volume, regardless of its granularity or precision, can achieve real-time tracking of optimal precision. This accuracy combines low latency with fast update rates, enabling seamless integration of sensor position and orientation data with medical products.
Specifically, the use mode of using the set of magnetic positioning device to acquire the position of the external B-mode ultrasonic probe on the HIFU therapy system in this embodiment is as follows:
1. the control unit driveBAY or trakSTAR of magnetic positioning device is connected with main control computer by means of USB interface.
2. The magnetic field generator, the position sensor and the control unit of the magnetic positioning device are connected.
3. The magnetic field generator is placed on the treatment bed, and the treatment part of the patient is taken as the center of the magnetic field to establish the magnetic field required by the magnetic positioning device. The position of the magnetic field generator is that a fixed groove and a buckle are arranged on the treatment bed, so that the magnetic field generator can be easily arranged on the bed. Meanwhile, the fixed position on the treatment couch is the datum point of the external B-ultrasonic probe image.
4. The position sensor of the magnetic positioning device is fixedly arranged at the tail part of the external B ultrasonic probe through a clamp, so that no matter how the external B ultrasonic probe moves, the position sensor synchronously moves along with the external B ultrasonic probe, and the clamp and the position sensor are not large, so that the operation of holding the external B ultrasonic probe by a doctor is basically not influenced. The fixing clamp is matched with the shape of an external probe and the shape of a position sensor, the fixing clamp is made of plastic in order to ensure magnetic compatibility, and the fixing clamp and the screws for fastening all adopt plastic screws.
5. After the arrangement is completed, the HIFU computer software loaded on the main control computer is in interactive communication with the software built in the control unit of the magnetic positioning device, the built-in software of the control unit transmits the position data of the position sensor, namely the position data of the external B-mode ultrasonic probe, to the HIFU computer software, and the HIFU computer software can obtain the spatial position data (X, Y, Z, j, theta and psi) of the external B-mode ultrasonic probe in real time.
6. Meanwhile, HIFU computer software can collect the image collected by external B-ultrasonic probe through image collecting card.
Therefore, the HIFU treatment system establishes the digital corresponding relation between the position of the external B-ultrasonic probe and the image.
After this:
1. the patient lies on the treatment couch provided with the magnetic positioning device.
2. The doctor holds the external B-ultrasonic probe to comprehensively scan the tumor and the peripheral important visceral organs of the patient.
3. In the process of operating the external B-ultrasonic probe by a doctor, the HIFU computer software records the position and the corresponding image in real time, establishes a three-dimensional image of a patient according to the position and the image, and stores the three-dimensional image of the patient in the HIFU computer software.
4. Thus, a three-dimensional coordinate system of the patient with the external B-ultrasonic probe is established.
Meanwhile, if the built-in B-ultrasonic probe and the external B-ultrasonic probe are subjected to image fusion, the corresponding relation of the position of the built-in B-ultrasonic probe image and the position of the external B-ultrasonic probe image must be established. After the relationship is established, the external B-mode ultrasonic probe image needs to be displayed according to the position of the internal B-mode ultrasonic probe image, and after the internal B-mode ultrasonic probe moves, the external B-mode ultrasonic probe image also synchronously displays the image of the new position.
Through the explanation, the respective spatial positions of the external B-ultrasonic probe and the internal B-ultrasonic probe and the corresponding images thereof can be acquired by the magnetic positioning device and the corresponding B-ultrasonic probe and then transmitted to the HIFU computer software. The HIFU computer software can fuse the images of the internal and external B-ultrasonic probes.
Because the patient lies on the bed and does not move all the time, the position of the built-in B ultrasonic probe and the position of the external B ultrasonic probe can be registered easily through the datum point of the magnetic field generator, and thus, the registration of the image of the external B ultrasonic probe and the image of the built-in B ultrasonic probe can be carried out. The scheme is as follows:
the reference point of the magnetic field generator is a fixed point on the treatment couch, and the point is fixed and invariable relative to the whole HIFU treatment system. The coordinate origin can be defined on the coordinate system of the external B-ultrasonic probe. And for the built-in B-ultrasonic probe, the point can be marked on a coordinate system of the built-in B-ultrasonic probe by a method of debugging by an engineer during installation. Therefore, the position corresponding relation of the coordinate systems of the built-in type-B ultrasonic probe and the external type-B ultrasonic probe can be established through the fixed point position.
After the registration on the position is finished, the system calculates the corresponding position by each movement of the built-in B ultrasonic probe, and automatically adjusts the images of the external B ultrasonic probe to the corresponding positions together to achieve the synchronous display of the internal image and the external image, thereby finishing the image fusion. After the image fusion is realized, the functions which can be realized are as follows:
1. synchronously displaying the inner image and the outer image; namely, along with the movement of the built-in B ultrasonic probe, the HIFU computer software automatically calculates the position and displays the external B ultrasonic probe image corresponding to the position.
2. When the images of the inner probe and the outer probe are displayed, the HIFU computer software can realize that: the image size is the same, the image position is the same, the image angle is the same, and the image magnification, reduction, rotation, translation and mirror image are the same.
3. Mouse synchronization of the inner probe and the outer probe: when the mouse clicks on the built-in B-ultrasonic probe or the external B-ultrasonic probe image, the system automatically marks a point at the same position on the other image for the user to refer to.
4. The treatment focus and the maximum treatment range of the inner probe and the outer probe are synchronous: the conventional HIFU treatment system only displays the treatment focus and the maximum treatable range on the image of the internal B-ultrasonic probe, and after the scheme described by the invention is adopted, the system can also display the treatment focus and the maximum treatable range on the image of the external B-ultrasonic probe for the user to view.
5. The edge hooking of the inner probe and the outer probe is synchronous: and after the fusion is finished, the doctor starts to hook the edge according to the image of the built-in B-ultrasonic probe, can also hook the edge according to the external B-ultrasonic probe, and can also hook the edge according to the fused image. If the edge is drawn on the built-in B ultrasonic probe, the system automatically draws the same graph at the same position of the external B ultrasonic probe image and/or the fusion image, and prompts a user; if the user outlines the external B-ultrasonic probe image, the system automatically outlines the same graph at the same position on the internal B-ultrasonic probe image and/or the fusion image; if the user outlines the fused image, the system automatically outlines the same graph at the same position on the internal B-ultrasonic probe image and/or the external B-ultrasonic probe image.
The treatment mode of the HIFU treatment system provided by the present invention is shown in fig. 6:
s1, the doctor pre-estimates and positions the focus position to obtain the pre-estimated position of the focus.
S2, the doctor scans the focus area of the patient by adopting an external B-ultrasonic probe.
S3, the magnetic positioning module obtains the position of the external B-ultrasonic probe.
And S4, synchronizing with the step S3, and obtaining the image of the corresponding position by the external B-ultrasonic probe.
And S5, synchronously acquiring the position and the image in real time by the HIFU computer software, reconstructing a three-dimensional image of the focus area, and storing the three-dimensional image in the HIFU computer software.
S6, the external B-ultrasonic probe is taken away, and the treatment head is controlled to move over.
And S7, registering the positions of the inner probe image and the outer probe image by taking the magnetic field reference point as an origin, and starting fusion.
S8, the doctor controls the built-in B-ultrasonic probe to position the focus area.
And S9, synchronously displaying the fused image according to the data fusion result.
And S10, the doctor carries out corresponding edge-pointing treatment operation according to the fused image.
The conventional HIFU treatment system adopts the image positioned by the built-in B-ultrasonic probe to carry out positioning and edge-pointing treatment during treatment. After the HIFU treatment system provided by the invention is adopted to complete the fusion, the edge can be positioned on the image of the external B-ultrasonic probe. After the shape of the tumor is sketched out layer by layer on the external B-ultrasonic probe image, the HIFU computer software can generate the three-dimensional shape of the tumor, and synchronously map the three-dimensional tumor to the image of the internal B-ultrasonic probe for the operation doctor to check, and after the doctor confirms that the tumor is correct and sets treatment parameters, the three-dimensional tumor can be directly treated at one time, so that the treatment efficiency is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A high-intensity focused ultrasound treatment system comprises a treatment head, a B-ultrasonic diagnostic apparatus and a main control computer, wherein the treatment head comprises an internal B-ultrasonic probe;
the external B-ultrasonic probe is used for transmitting a first B-ultrasonic image of a collected target object to the main control computer; the positioning device is used for synchronously acquiring position data of the external B-ultrasonic probe by the external B-ultrasonic probe and transmitting the position data to the main control computer; the main control computer is used for synchronizing the position data and the first B-ultrasonic image and establishing a corresponding relation;
the built-in B-ultrasonic probe is used for acquiring a second B-ultrasonic image of the target object after the main control computer synchronizes the position data with the first B-ultrasonic image and transmitting the second B-ultrasonic image to the main control computer;
the positioning device is a magnetic positioning device;
the magnetic positioning device comprises a control unit, a magnetic field generator and a position sensor;
the magnetic field generator and the position sensor are respectively and electrically connected with the control unit;
the position sensor is fixedly connected with the external B-ultrasonic probe;
the magnetic field generator is fixedly arranged at a preset position in the high-intensity focused ultrasound treatment system, and the preset position is a datum point position of the magnetic positioning device for acquiring the position data;
the main control computer is further used for carrying out data fusion after establishing the corresponding relation of the first B-mode ultrasonic image and the second B-mode ultrasonic image in position based on the position data and the datum point position so as to obtain a fused image; the fused image is used for positioning the target object and/or delineating the edge of the target object.
2. The high intensity focused ultrasound therapy system according to claim 1, wherein said host computer is further configured to establish the correspondence in position of said first B-mode ultrasound image and said second B-mode ultrasound image based on said position data and said fiducial point location as:
the main control computer is also used for registering the built-in B ultrasonic probe and the external B ultrasonic probe based on the datum point position, and then establishing the corresponding relation of the first B ultrasonic image and the second B ultrasonic image in position based on the position data.
3. The high intensity focused ultrasound therapy system of claim 2, wherein said master control computer is further configured to register said internal B-mode ultrasound probe and said external B-mode ultrasound probe based on said fiducial point location as:
the main control computer is also used for taking the datum point position as a coordinate origin in a coordinate system of the external B-mode ultrasonic probe, and marking the coordinate origin on the coordinate system of the external B-mode ultrasonic probe in the coordinate system of the internal B-mode ultrasonic probe according to the relative position relation between the datum point position and the internal B-mode ultrasonic probe.
4. The system of claim 1, wherein said host computer is further configured to display said fused image.
5. The high intensity focused ultrasound therapy system according to claim 4, wherein the means of displaying the fused image comprises a left-right contrast display or a superimposed four-quadrant display;
the left and right comparison display is that the left and right parts of the fusion image respectively display the image corresponding to the built-in B ultrasonic probe and the image corresponding to the external B ultrasonic probe;
the superposed four quadrants are displayed as images corresponding to two quadrants in the four quadrants corresponding to the built-in B-ultrasonic probe, the other two quadrants corresponding to images corresponding to the external B-ultrasonic probe, and the central point of the four quadrants moves along with the movement of a mouse of the main control computer.
6. The system of claim 1, wherein the position data of the external B-mode ultrasound probe comprises position and angle.
7. The system of claim 1, wherein said host computer is further configured to create a three-dimensional image of said target object based on said position data and said first B-mode ultrasound image.
8. The high intensity focused ultrasound system as claimed in claim 1, wherein the position sensor is fixed to the tail of the external B-mode ultrasound probe by a clamp made of plastic.
9. The hifu treatment system of claim 1, further comprising a couch, wherein the predetermined location is a fixed recess in the couch, and wherein the magnetic field generator is fixed in the recess by a snap fit.
10. The system of claim 1, wherein said control unit is connected to said host computer via a USB interface;
and/or the main control computer comprises an image acquisition card, and the B-ultrasonic diagnostic instrument is connected with the image acquisition card.
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