CN112451865A - Ultrasonic therapy monitoring device and method - Google Patents
Ultrasonic therapy monitoring device and method Download PDFInfo
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Abstract
The application discloses ultrasonic therapy monitoring devices, it includes: the ultrasonic treatment system comprises a treatment ultrasonic transducer unit, an ultrasonic treatment circuit, an imaging ultrasonic transducer unit, an ultrasonic imaging circuit, a synchronous signal control unit and a control unit; the synchronous signal control unit is used for controlling the transmitting time of the therapeutic ultrasonic transducer unit and the receiving time of the imaging ultrasonic transducer unit, and during the ultrasonic therapy of the therapeutic ultrasonic transducer unit, the imaging ultrasonic transducer unit utilizes the target tissue to carry out ultrasonic imaging on the harmonic wave of the back reflection ultrasonic wave of the therapeutic ultrasonic wave emitted by the therapeutic ultrasonic transducer unit, so that the ultrasonic imaging is carried out while the ultrasonic therapy is carried out. Because no imaging ultrasonic wave is emitted in the treatment, the interference of the imaging ultrasonic wave on the treatment ultrasonic wave, especially the cavitation process is avoided, and the change of the ultrasonic cavitation condition can be observed in real time; tissue harmonic imaging improves the resolution of the image and improves image quality.
Description
Technical Field
The invention relates to the field of ultrasonic therapy and ultrasonic diagnosis, in particular to an ultrasonic therapy monitoring device and method.
Background
Ultrasonic therapy is to emit ultrasonic waves in vitro or in a natural cavity of a human body, the ultrasonic waves enter specific tissues and specific areas of the human body to heat, melt, crush, liquefy and the like diseased tissues, so that the purpose of eliminating the diseased tissues is achieved. Ultrasonic therapy is a convenient non-invasive treatment method which utilizes the biological effects of ultrasonic, such as thermal effect, cavitation effect and the like, to inactivate or remove pathological tissues.
Focused ultrasound therapy focuses ultrasound energy at a focal region to a threshold of biological effect change, while non-focal regions are less affected, thus treating lesions in the focal region.
The thermal effect of the ultrasonic wave is the temperature rise caused by the fact that the human tissue continuously absorbs the energy of the ultrasonic wave in the process of the ultrasonic wave propagating in the human tissue. After the temperature is raised to a certain temperature, protein can be denatured, and tissues can be inactivated. The thermal effect of the ultrasound can thus be used to inactivate the diseased tissue. The challenge of this method of ultrasound treatment is the precise control of the treatment temperature and treatment area, the susceptibility to damage to normal tissue surrounding the diseased tissue, or the lack of complete coverage of the diseased tissue by the treatment area.
When the ultrasonic wave acts on the tiny bubbles in the soft tissue of the human body, the bubbles enter a vibration state under the action of the alternating sound pressure of the sound wave; if the intensity of the ultrasound is high enough (above a certain threshold), the bubble expands rapidly during the negative half-cycle of the sound wave and then is compressed again to collapse during the positive half-cycle of the sound wave. This is the cavitation effect of the ultrasonic wave, and the state before collapse is stable cavitation (the intensity of the ultrasonic wave is lower than a certain threshold), and the state in which collapse occurs is transient cavitation (the intensity of the ultrasonic wave reaches the threshold).
The extreme physical conditions of transient cavitation are sufficient to destroy and destroy organisms such as cells in the vicinity of the microbubbles, in effect liquefying the tissue, and thus can be used to destroy or inactivate diseased tissue for ultrasound therapy. Because of the threshold effect, the ultrasonic treatment method using the cavitation effect of the ultrasonic wave can precisely control the region where the transient cavitation is generated, that is, the region to be treated, by controlling the intensity of the ultrasonic wave. Transient cavitation produces bubbles or bubble clouds (a large number of bubbles) that are well visible in the B-mode of ultrasound imaging, and thus, ultrasound imaging can be used to monitor and locate the area of ultrasonic cavitation, i.e., the area of ultrasound treatment.
Ultrasonic B-mode imaging, namely ultrasonic gray scale imaging, is to transmit ultrasonic short pulses to human soft tissues, then receive ultrasonic waves reflected by the human tissues, and modulate echo intensity imaging through gray scale, so that the change of acoustic impedance of the human soft tissues can be intuitively reflected in real time, and the change of the structural form of the soft tissues can be reflected. The device is used for monitoring bubbles generated by ultrasonic therapy, and is visual and real-time. However, the imaging method also brings certain problems because the ultrasonic wave of the ultrasonic cavitation treatment is sensitive to the intensity, the ultrasonic wave emitted by the imaging ultrasonic system interferes with the ultrasonic wave of the ultrasonic treatment system, and the controllability of the cavitation is reduced; the tissue echo of the therapeutic ultrasonic wave also causes interference to the ultrasonic wave received by the imaging system, and the quality of the ultrasonic gray-scale image is reduced.
Disclosure of Invention
In view of the above problems, the present application aims to provide an ultrasound therapy monitoring apparatus and method, which can effectively solve the imaging problem during the therapy process on the premise of ensuring the therapeutic effect.
The ultrasound therapy monitoring device of the present application, comprising: the ultrasonic treatment system comprises a treatment ultrasonic transducer unit, an ultrasonic treatment circuit, an imaging ultrasonic transducer unit, an ultrasonic imaging circuit, a synchronous signal control unit and a control unit;
the therapeutic ultrasonic transducer unit and the ultrasonic therapy circuit form an ultrasonic therapy system so as to carry out ultrasonic therapy on target tissues;
the imaging ultrasonic transducer unit and the ultrasonic imaging circuit form an ultrasonic imaging system, and the ultrasonic treatment process of the target tissue is monitored by performing ultrasonic imaging in the treatment process;
the control unit is used for configuring working parameters of the ultrasonic treatment system and the ultrasonic imaging system;
the synchronous signal control unit is used for controlling the transmitting time of the therapeutic ultrasonic transducer unit and the receiving time of the imaging ultrasonic transducer unit, so that the ultrasonic therapeutic system and the ultrasonic imaging system work cooperatively, and during the ultrasonic therapy of the therapeutic ultrasonic transducer unit, the imaging ultrasonic transducer unit utilizes the target tissue to carry out ultrasonic imaging on the harmonic wave of the back reflection ultrasonic wave of the therapeutic ultrasonic wave emitted by the therapeutic ultrasonic transducer unit, thereby realizing ultrasonic imaging while ultrasonic therapy.
Preferably, the ultrasonic therapy circuit comprises a therapy focus former, a waveform generator, a radio frequency power amplifier and a first impedance matching network which are connected in sequence; the control unit calculates working parameters of the ultrasonic treatment system according to the depth of the region to be treated and the treatment ultrasonic transducer unit, the working parameters are transmitted to the treatment focus former, the excitation waveform generator of the treatment focus former forms an excitation waveform, the excitation waveform is amplified by the radio frequency power amplifier, the treatment ultrasonic transducer unit is excited by the first impedance matching network to form treatment ultrasonic waves, and the treatment ultrasonic waves are converged in the region to be treated of the subject;
the ultrasonic imaging circuit comprises a second impedance matching network, an analog front end, an imaging beam former and a high-speed data acquisition circuit which are sequentially connected; the harmonic waves of the back reflection ultrasonic waves are received by the imaging ultrasonic transducer unit, are sent to the analog front end through the second impedance matching network, are sent to the imaging beam former after being amplified and filtered, are subjected to AD conversion and delay addition in the beam former, and then are sent to the control unit through the high-speed data acquisition circuit.
Preferably, the synchronous signal control unit is respectively connected to the therapeutic focus former and the imaging beam former, and sends a transmit start signal to the therapeutic focus former and a receive start signal to the imaging beam former, so as to realize the cooperative work of the ultrasonic therapeutic system and the ultrasonic imaging system.
Preferably, the therapeutic ultrasound transducer unit is an array of a plurality of transducers;
the imaging ultrasonic transducer unit is a one-dimensional array formed by a plurality of transducers.
Preferably, the transducers of the therapeutic ultrasound transducer unit and the transducers of the imaging ultrasound transducer unit are arranged in a mixed manner to form a spherical surface or a plane.
Preferably, the therapeutic ultrasound transducer unit and the imaging ultrasound transducer unit are mounted on a robotic arm; a position sensor is disposed on the robotic arm to obtain a relative position and orientation between the therapeutic ultrasound transducer unit and the imaging ultrasound transducer unit for registration and transformation between the therapy space and the imaging space.
The ultrasound therapy monitoring method of the present application, comprising:
when the therapeutic ultrasonic transducer unit is used for carrying out ultrasonic therapy on target tissue, the harmonic wave of the back reflection ultrasonic wave generated by the target tissue during the therapy process is received by the imaging ultrasonic transducer unit for ultrasonic imaging, thereby monitoring the process of the ultrasonic therapy.
Preferably, the therapeutic ultrasound transducer unit does not transmit the next therapeutic ultrasound wave until a harmonic of a back-reflected ultrasound wave, which has been transmitted last time the therapeutic ultrasound wave reached the farthest place of the imaging field of view, is received.
Preferably, after the therapeutic ultrasound waves are transmitted, the harmonic waves of the back reflection ultrasound waves are continuously received until the harmonic waves of the back reflection ultrasound waves at the farthest position of the imaging visual field are received; this transmission and reception process is repeated until the ultrasound treatment is ended.
Preferably, the imaging ultrasound transducer unit performs ultrasound imaging in a self-transmit and self-receive mode when the imaging ultrasound transducer unit does not have harmonic reception of back-reflected ultrasound waves in its imaging region between transmission intervals of the two treatment ultrasound waves.
With the device and the method, during the transmitting process of the therapeutic ultrasonic wave, namely during the ultrasonic therapy process, the ultrasonic imaging system can receive the back reflection echo of the therapeutic ultrasonic wave instead of transmitting the ultrasonic wave, and uses the harmonic wave to image. Because no imaging ultrasonic wave is emitted in the treatment, the interference of the imaging ultrasonic wave on the treatment ultrasonic wave, especially the cavitation process is avoided, and the change of the ultrasonic cavitation condition can be observed in real time; tissue harmonic imaging improves the resolution of the image and improves image quality.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of an ultrasound therapy monitoring apparatus of the present application;
fig. 2 is a schematic diagram of an imaging ultrasound transducer unit of the ultrasound therapy monitoring device of the present application;
fig. 3 is a schematic diagram of a transducer mixing arrangement of a therapeutic ultrasound transducer unit and an imaging ultrasound transducer unit of the ultrasound therapy monitoring device of the present application.
Detailed Description
The ultrasound therapy monitoring apparatus and method of the present application will be described in detail below with reference to the accompanying drawings.
The invention provides an ultrasonic treatment monitoring device and a method thereof, which form an ultrasonic cavitation treatment system, and the system adopts the cooperative work of treatment ultrasound and imaging ultrasound, and uses tissue harmonic imaging of the treatment ultrasound to monitor the treatment ultrasonic cavitation state and the change thereof in real time.
The basic idea is that the therapeutic ultrasound transmissions and the imaging ultrasound transmissions are staggered in time in a coordinated manner so that they do not intersect in the space within the field of view of the imaging ultrasound, avoiding mutual effects.
Fig. 1 is a schematic structural diagram of one embodiment of an ultrasound therapy monitoring device. Wherein 1 to 12 are electronic parts, 13 is a mechanical arm, and the shaded parts are a therapeutic ultrasonic transducer unit (a therapeutic head), an imaging ultrasonic transducer unit (an imaging head) and the relationship between the therapeutic ultrasonic transducer unit and the imaging ultrasonic transducer unit and the target tissue. Wherein, 2 is a therapeutic focus former, 3 is a waveform generator, 4 is a radio frequency power amplifier, 5 is an impedance matching network, and the ultrasonic therapeutic system is formed by the two and a therapeutic head; an impedance matching network 6, an analog front end 7, an imaging beam former 8, and a high-speed data acquisition circuit (such as a high-speed data acquisition card) 9, which form a typical ultrasonic imaging system together with an imaging head; 1 is a synchronous signal control unit which controls the transmitting and receiving time of the therapeutic ultrasound system and the imaging ultrasound system; 11 is a 3D control table which controls the spatial position and orientation of the treatment head and the emission head through a mechanical arm so that the focus points of the treatment head and the emission head are all in the tissue area to be treated by the human body; these systems are all controlled by a PC. The PC is an implementation manner of the control unit, but the implementation manner of the control unit is not limited to the PC, and may be other devices with calculation and control functions, such as a single chip, a server, a tablet computer, and the like.
The therapeutic ultrasonic transducer unit consists of a transducer array element array arranged on an arc surface or a paraboloid of revolution, the array element number is m, and the focal depth is F;
the imaging ultrasonic transducer unit is a one-dimensional array transducer, and the number of array elements is n;
when the ultrasonic imaging system works, the PC 12 calculates delay data of all channels according to the depth of focus and parameters of the imaging transducer, and these data are transmitted to the imaging beam former 8, the beam former 8 excites the analog front end 7 of each channel in a delayed manner, the analog front end 7 forms short pulses through the impedance matching network 6 to respectively delay and excite each array element of the imaging head, and ultrasonic beams are generated and transmitted to the human body, as shown in fig. 2. During the process of ultrasonic wave propagation in human tissues, backward reflected ultrasonic waves are continuously generated, the backward reflected ultrasonic waves are transmitted to an imaging head to be received, the reflected signals pass through an impedance matching network 6 to an analog front end 7, are amplified and filtered to reach an imaging beam former 8, are subjected to AD conversion and delay addition, are sent to a PC (personal computer) 12 through a high-speed data acquisition card 9, and are subjected to image processing, gray scale conversion, DSC conversion and the like, and then are displayed by a display. As can be seen from this process, the timing of ultrasound reception depends on the timing of ultrasound transmission.
When the ultrasonic treatment system works, the PC 12 calculates the excitation time data of all treatment channels according to the depth of a region to be treated and the parameters of a treatment head, the data are transmitted to the treatment focus former 2, the treatment focus former 2 respectively excites the waveform generator 3 to form excitation waveforms in all the channels, the waveforms are amplified by the radio frequency power amplifier 4, all the array elements of the treatment head are respectively excited through the impedance matching network 5, all the array elements of the treatment head generate ultrasonic waves to form ultrasonic beams, the ultrasonic beams are emitted to a human body, and the ultrasonic beams are converged (focused at the focus) in the region to be treated.
When the ultrasonic therapy system and the ultrasonic imaging system work cooperatively, firstly, the PC 12 controls the mechanical arm 13 through the 3D console 11 to adjust the position and the orientation of the therapy head and the imaging head, so that the two transducers share a common focus, then the PC 12 respectively calculates the receiving delay data of each channel of the imaging system and transmits the excitation timing data of each channel of the therapy system to the imaging beam former 8 and the therapeutic focus former 2 according to the position orientation 10 and the transducer parameters of the two transducers, and then the synchronous signal control system 1 respectively transmits a starting transmitting signal to the therapeutic focus former 2 and a starting receiving signal to the imaging beam former 8, so that the coordination of the transmitting and imaging system receiving of the therapy system is realized.
The cooperative working mode of the therapeutic ultrasound and the imaging ultrasound is as follows:
1. before treatment, the ultrasonic imaging system works independently, namely the imaging transducer receives and transmits automatically, and forms a gray scale mode image according to the traditional mode, and the focal point of the transducer is moved to a region to be treated through the transducer positioning control system;
2. when the treatment starts, the ultrasonic treatment system drives all or part of array elements of the treatment transducer to emit high-amplitude treatment ultrasonic waves for N periods;
considering that the imaging system is to be imaged with echoes of this ultrasound wave, the axial resolution of the image depends on the pulse length, this ultrasound wave should be a short pulse of N not too large;
considering the effect of harmonic imaging of the imaging system, N should not be less than 2;
3. the imaging ultrasonic transducer receives the back reflected wave of the ultrasonic wave;
4. the receiving unit receives the second or higher harmonic waves of the back reflected waves through the band-pass filter, performs beam forming of the received ultrasonic waves in the following mode, calculates the echo amplitude value of each point in the scanning plane of the imaging transducer, and displays the echo amplitude value in a gray scale mode after image processing.
Let P be a point in the field of view of the imaging transducer scan plane, TiIs the ith array element, I, of the therapy transducer arrayjThe therapeutic transducer array is m array elements, the imaging transducer array is n array elements, and c is the propagation speed of the ultrasound in human soft tissue.
Then, the therapeutic transducer array emits ultrasonic waves at the ith array element. The time to point P and then reflected to the jth array element of the imaging transducer array is: t is tij＝(PTi+PIj) And c, the amplitude of the echo received by the j array element of the imaging transducer array is A (t)ij) Then the echo amplitude at point P is:
here, the approximation is made based on that the pulse wave is transmitted, and the influence is not great;
the accuracy of the calculation of the large angular paths is reduced, considering the directivity of the ultrasound beam, but these areas far from the focus are not exactly the areas we are interested in;
5. the ultrasonic imaging system works independently, the imaging transducer receives and sends images in a gray scale mode in a common mode and generates 1 or more frames of images, and the number of the frames depends on the interval time of pulses of therapeutic ultrasonic emission;
setting the pulse repetition frequency of the therapeutic ultrasonic emitted by the therapeutic ultrasonic as f, wherein the period T of the pulse repetition is 1/f;
if the depth of the field of view of the imaging ultrasonic image is h, the time for the ultrasonic waves to return to the system from the bottom of the field of view to the system is t 2 h/c;
the invention requires that T is not less than T;
when T is less than or equal to T and less than 2T, the system continuously repeats the steps from 2 to 4, and the imaging system always uses harmonic wave imaging of the therapeutic ultrasound;
when T is more than or equal to 2T and less than (n +1) T, in a pulse repetition period of the therapeutic ultrasound and the time of the 1 st T, the system performs the steps from 2 to 4, and the imaging system performs harmonic imaging of the therapeutic ultrasound; during the following t time of s ≦ (n-1), the imaging system performs self-receiving to obtain image data of s scanning lines, and replaces the data with the corresponding data of the previous frame to obtain new image data of one frame (i.e. the frame data consists of two parts, one part is old data of the previous frame and the other part is new data obtained by scanning), and the scanning lines preferentially cover the focus area and thus extend to two sides;
when T is (n +1) T, the system performs steps 2 to 4 in one pulse repetition period of the therapeutic ultrasound and the 1 st T time, and the imaging system images by using the harmonic wave of the therapeutic ultrasound; within the following n times, the imaging system receives and sends by itself to obtain the image data of n scanning lines, namely 1 frame of image data;
when T > (n +1) T, in a pulse repetition period of the therapeutic ultrasound, within the time of the 1 st T, the system performs the steps 2 to 4, and the imaging system uses the harmonic wave of the therapeutic ultrasound for imaging; at the later time, the imaging system receives and sends data to obtain the complete image data of a plurality of frames (greater than or equal to 1), and if the data of the last frame is incomplete, the data is used for replacing the corresponding data of the previous frame to obtain the image of the frame.
The above takes 1 frame image of the imaging system as n scan lines as an example to illustrate the problem, and the same is true if there are 2n scan lines in 1 frame image;
6. repeating the steps 2 to 5 until the treatment of the focus area is completed;
7. moving the common focus of the two transducers to the next point (region) to be treated by the transducer positioning system;
and (5) repeating the steps 1 to 6 until the area to be treated is completely covered, and finishing the treatment.
The ultrasound therapy procedure of the present application includes a high intensity focused ultrasound ablation therapy or a focused ultrasound cavitation therapy procedure.
Tissue harmonic signals and imaging ultrasound signals including cavitation conditions, impedance characteristics, doppler characteristics, elasticity of the tissue and imaging.
The array elements of the imaging ultrasonic transducer unit can be one group or more than two groups, are distributed outside the therapeutic ultrasonic beam, and detect ultrasonic signals from different angles.
The therapeutic ultrasonic transducer unit can be in phased array focusing, geometric focusing or mixed focusing mode.
When the ultrasound imaging system has no reflected ultrasound waves in its imaging region, it can use self-transmit and self-receive mode ultrasound imaging for pre-treatment localization, in-treatment and post-treatment evaluation.
The ultrasound imaging system does not have the reflected ultrasound waves receivable in its imaging region, and includes the interval time of the therapeutic ultrasound transmission pulses in addition to the interval time before the therapeutic ultrasound transmission and after the treatment is completed, as long as the interval is long enough.
The ultrasonic treatment monitoring device and the ultrasonic treatment monitoring method organically combine the treatment ultrasonic waves and the imaging ultrasonic waves, and the problem of interference of the treatment ultrasonic waves and the imaging ultrasonic waves can be solved by using tissue echo imaging of the treatment ultrasonic waves. Because the frequency of therapeutic ultrasound waves is generally lower than that of imaging ultrasound waves, the image resolution of ultrasound imaging is proportional to frequency, the higher the frequency the better the image, and the quality of the image imaged with tissue echoes of therapeutic ultrasound waves is much worse than with conventional ultrasound. In view of the fact that the amplitude of the therapeutic ultrasonic wave is much larger than that of the conventional imaging ultrasonic wave, the harmonic wave is generated by the nonlinear effect of the ultrasonic wave in the transmission process, the larger the amplitude is, the stronger the nonlinear effect is, and the easier the harmonic wave is, the harmonic wave imaging of the tissue echo of the therapeutic ultrasonic wave is adopted, so that the problem of mutual interference of the therapeutic ultrasonic wave and the imaging ultrasonic wave is solved, and the image quality of the imaging ultrasonic wave is ensured.
Unless defined otherwise, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The materials, methods, and examples set forth in this application are illustrative only and not intended to be limiting.
Although the present invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the teachings of this application and yet remain within the scope of this application.
Claims (10)
1. An ultrasound therapy monitoring device, comprising: the ultrasonic treatment system comprises a treatment ultrasonic transducer unit, an ultrasonic treatment circuit, an imaging ultrasonic transducer unit, an ultrasonic imaging circuit, a synchronous signal control unit and a control unit;
the therapeutic ultrasonic transducer unit and the ultrasonic therapy circuit form an ultrasonic therapy system so as to carry out ultrasonic therapy on target tissues;
the imaging ultrasonic transducer unit and the ultrasonic imaging circuit form an ultrasonic imaging system, and the ultrasonic treatment process of the target tissue is monitored by performing ultrasonic imaging in the treatment process;
the control unit is used for configuring working parameters of the ultrasonic treatment system and the ultrasonic imaging system;
the synchronous signal control unit is used for controlling the transmitting time of the therapeutic ultrasonic transducer unit and the receiving time of the imaging ultrasonic transducer unit, so that the ultrasonic therapeutic system and the ultrasonic imaging system work cooperatively, and during the ultrasonic therapy of the therapeutic ultrasonic transducer unit, the imaging ultrasonic transducer unit utilizes the target tissue to carry out ultrasonic imaging on the harmonic wave of the back reflection ultrasonic wave of the therapeutic ultrasonic wave emitted by the therapeutic ultrasonic transducer unit, thereby realizing ultrasonic imaging while ultrasonic therapy.
2. The ultrasound therapy monitoring device of claim 1, wherein:
the ultrasonic treatment circuit comprises a treatment focus former, a waveform generator, a radio frequency power amplifier and a first impedance matching network which are connected in sequence; the control unit calculates working parameters of the ultrasonic treatment system according to the depth of the region to be treated and the parameters of the treatment ultrasonic transducer unit, the working parameters are transmitted to the treatment focus former, the excitation waveform generator of the treatment focus former forms an excitation waveform, the excitation waveform is amplified by the radio frequency power amplifier, the treatment ultrasonic transducer unit is excited by the first impedance matching network to form treatment ultrasonic waves, and the treatment ultrasonic waves are converged in the region to be treated of a subject;
the ultrasonic imaging circuit comprises a second impedance matching network, an analog front end, an imaging beam former and a high-speed data acquisition circuit which are sequentially connected; the harmonic waves of the back reflection ultrasonic waves are received by the imaging ultrasonic transducer unit, are sent to the analog front end through the second impedance matching network, are sent to the imaging beam former after being amplified and filtered, are subjected to AD conversion and delay addition in the beam former, and then are sent to the control unit through the high-speed data acquisition circuit.
3. The ultrasound therapy monitoring device of claim 2, wherein:
the synchronous signal control unit is respectively connected with the therapeutic focus former and the imaging beam former, and sends a starting transmitting signal to the therapeutic focus former and a starting receiving signal to the imaging beam former so as to realize the cooperative work of the ultrasonic therapeutic system and the ultrasonic imaging system.
4. The ultrasound therapy monitoring device of claim 2, wherein:
the therapeutic ultrasonic transducer unit is an array formed by a plurality of transducers;
the imaging ultrasonic transducer unit is a one-dimensional array formed by a plurality of transducers.
5. The ultrasound therapy monitoring device of claim 4, wherein:
the transducers of the therapeutic ultrasonic transducer unit and the transducers of the imaging ultrasonic transducer unit are arranged in a mixed mode to form a spherical surface or a plane.
6. The ultrasound therapy monitoring device of claim 1, wherein:
the therapeutic ultrasonic transducer unit and the imaging ultrasonic transducer unit are arranged on the mechanical arm; a position sensor is disposed on the robotic arm to obtain a relative position and orientation between the therapeutic ultrasound transducer unit and the imaging ultrasound transducer unit for registration and transformation between the therapy space and the imaging space.
7. An ultrasound therapy monitoring method, comprising:
when the therapeutic ultrasonic transducer unit is used for carrying out ultrasonic therapy on target tissue, the harmonic wave of the back reflection ultrasonic wave generated by the target tissue during the therapy process is received by the imaging ultrasonic transducer unit for ultrasonic imaging, thereby monitoring the process of the ultrasonic therapy.
8. The ultrasound therapy monitoring method of claim 7, wherein:
the therapeutic ultrasound transducer unit does not emit the next therapeutic ultrasound wave until the harmonic of the back-reflected ultrasound wave that the last emitted therapeutic ultrasound wave reached the farthest of the imaging field of view is received.
9. The ultrasound therapy monitoring method of claim 7, wherein:
after the therapeutic ultrasonic wave is transmitted, the harmonic wave of the back reflection ultrasonic wave is continuously received until the harmonic wave of the back reflection ultrasonic wave at the farthest position of the imaging visual field is received; this transmission and reception process is repeated until the ultrasound treatment is ended.
10. The ultrasound therapy monitoring method of claim 7, wherein:
when the imaging ultrasonic transducer unit does not receive the harmonic wave of the back reflection ultrasonic wave in the imaging area between the emission intervals of the two treatment ultrasonic waves, the imaging ultrasonic transducer unit carries out ultrasonic imaging in a self-receiving and self-transmitting mode.
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| CN114984470B (en) * | 2022-08-04 | 2022-11-18 | 之江实验室 | Ultrasonic treatment system based on photoacoustic guidance |
| CN117398122A (en) * | 2023-09-07 | 2024-01-16 | 深圳高性能医疗器械国家研究院有限公司 | Ultrasonic diagnosis and treatment equipment and control method |
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