CN212592203U - Internal intervention ultrasonic probe with rotary positioning function and ultrasonic imaging system comprising same - Google Patents

Abstract

The utility model belongs to the technical field of ultrasonic imaging, concretely relates to take rotational positioning's internal ultrasonic probe of interveneeing and contain its ultrasonic imaging system. The utility model provides an internal ultrasonic probe of interveneeing includes guiding mechanism, supersound mechanism and aligning gear, guiding mechanism includes sheath pipe and transmission shaft, supersound mechanism includes ultrasonic transducer, aligning gear includes the time-recorder and sets up magnetic generator and the magnetic sensor on sheath pipe distal end casing and supersound mechanism relatively, produce when ultrasonic transducer is for distal end casing rotary motion along the inhomogeneous magnetic field of rotary motion circumference and acquire magnetic field parameter variation by the magnetic sensor through the magnetic generator, mark ultrasonic transducer's position and speed, eliminate because of transmission shaft structural feature and with the last ultrasonic transducer actual position that causes of factors such as sheath pipe friction variation, speed and ideal position, the deviation of speed, make the utility model provides an ultrasonic imaging system has avoided the image to synthesize distortion problem.

Description

Internal intervention ultrasonic probe with rotary positioning function and ultrasonic imaging system comprising same

Technical Field

The utility model belongs to the technical field of ultrasonic imaging, concretely relates to take rotational positioning's internal ultrasonic probe of interveneeing and contain its ultrasonic imaging system.

Background

When the body cavity lesion is diagnosed, certain subjectivity and limitation exist by simply deducing the change of the tissue surface morphology. The in vivo interventional ultrasonic imaging technology utilizes an ultrasonic probe to intervene in vivo to carry out ultrasonic scanning on in vivo tissues such as blood vessels, digestive tracts, bronchus, heart and the like, can obtain clearer and more accurate in vivo tissue sectional images, and provides objective basis for the symptomatic treatment of doctors.

The internal intervention ultrasonic imaging device generally comprises an imaging host, an internal intervention ultrasonic probe and an external drive control unit. The internal interventional ultrasonic probe comprises a sheath tube with an end seal, a transmission flexible shaft arranged in the inner cavity of the sheath tube and an ultrasonic transducer which is positioned at the end seal of the sheath tube and connected with the transmission flexible tube; the external control unit connects the internal interventional probe with the imaging host, and drives the ultrasonic transducer to rotate by driving the transmission flexible shaft to obtain circumferential ultrasonic echo signals, thereby realizing the imaging of the inner wall of the internal cavity.

However, when the flexible transmission shaft drives the ultrasonic transducer to rotate, the bending characteristic, the torsion characteristic, the friction change with the sheath tube and other factors of the flexible transmission shaft can cause the nonuniformity of the rotation transmission, and finally the deviation between the actual position of the rotation of the ultrasonic transducer and the ideal position preset by the external drive control unit is caused. As shown in fig. 1, a, b, c, d are ideal positions recorded by the imaging host, b ', c' are actual positions of the rotation of the ultrasound transducer, and the imaging host cannot accurately judge the actual positions of the rotation of the ultrasound transducer, and can only adopt the ideal positions for image synthesis, thereby causing image distortion.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that thereby current ultrasonic imaging device can not accurately judge the rotatory actual position of ultrasonic transducer and lead to the image distortion to provide one kind can accurately judge ultrasonic transducer rotational position and speed intervene ultrasonic probe and contain this ultrasonic probe's ultrasonic imaging device in vivo.

In order to solve the technical problem, the utility model discloses a technical scheme is:

the utility model provides a take rotational positioning's internal ultrasonic probe of interveneeing, include:

a guide mechanism comprising a sheath having a proximal housing and a distal housing and a drive shaft disposed within the proximal housing cavity;

an ultrasonic mechanism including an ultrasonic transducer carried by the drive shaft for rotational movement within the distal housing cavity;

and the calibration mechanism comprises a timer, and a magnetic generator and a magnetic sensor which are oppositely arranged on the distal shell and the ultrasonic mechanism, wherein when the ultrasonic transducer rotates relative to the distal shell, the magnetic generator generates an uneven magnetic field along the circumferential direction of the rotation motion and the magnetic sensor acquires the parameter change of the magnetic field so as to calibrate the position and the speed of the ultrasonic transducer relative to the distal shell.

Preferably, the internal body intervention ultrasonic probe with rotary positioning of the structure, the magnetic generator comprises a plurality of magnetic generating units arranged along the rotary motion circumferential array, and/or the magnetic sensor comprises a plurality of magnetic sensing units arranged along the rotary motion circumferential array.

Further preferably, in the internal intervention ultrasonic probe with rotational positioning of the structure, the plurality of magnetic generation units are arranged on the inner wall surface of the distal end shell in at least two rows along the direction parallel to the circumferential direction of the rotational motion, and the magnetic generation units in different rows are arranged in a staggered manner along the direction perpendicular to the circumferential direction of the rotational motion;

the magnetic sensing unit is disposed on the ultrasonic mechanism.

Further preferably, the structural internal intervention ultrasonic probe with rotary positioning has a circular cross section of the distal shell along a direction perpendicular to the length extension direction of the sheath;

and along the direction perpendicular to the circumferential direction of the rotary motion, the straight lines of the magnetic generating units in different rows are distributed on the far-end shell at equal intervals.

Further preferably, in the internal interventional ultrasound probe with rotational positioning structure, the number of the magnetic sensing units is greater than or equal to the number of the magnetic generating units, and at least two magnetic sensing units are arranged in a staggered manner along the direction perpendicular to the rotational movement direction.

Further preferably, the structure of the internal body intervention ultrasonic probe with rotary positioning, at least one magnetic sensing unit is used for recording the initial position information of the rotary motion of the ultrasonic transducer.

Further preferably, the structure of the internal body intervention ultrasonic probe with rotary positioning, the magnetic generation unit is selected from permanent magnets; alternatively, the first and second electrodes may be,

the magnetic generating unit is selected from ferromagnetic materials, and the magnetic generator further comprises a coil for exciting the magnetic generating unit to generate a constant magnetic field.

Further preferably, the structure of the internal body intervention ultrasonic probe with rotary positioning, the ultrasonic mechanism further comprises the ultrasonic transducer and the magnetic sensing unit, an ultrasonic base for mounting the ultrasonic transducer and an acoustic window corresponding to the ultrasonic transducer.

The utility model also provides an ultrasonic imaging system, include:

an internal interventional ultrasound probe with rotational positioning as described above;

an imaging host;

and the external drive control device is connected with the imaging host and comprises a drive control mechanism and a connecting mechanism connected with the internal interventional ultrasonic probe.

Preferably, in the ultrasonic imaging system with the structure, the driving control mechanism comprises a driving motor, a calibration module, a high-voltage excitation module, a transceiving switch, a signal preprocessing module and a power supply.

The utility model discloses technical scheme has following advantage:

1. the utility model provides an internal ultrasonic probe of interveneeing of area rotational positioning, including guiding mechanism, supersound mechanism and aligning gear. The guiding mechanism comprises a sheath tube with a proximal shell and a distal shell and a transmission shaft arranged in the cavity of the proximal shell; the ultrasonic mechanism comprises an ultrasonic transducer which is driven by the transmission shaft to rotate in the far-end shell cavity; the calibration mechanism comprises a timer, and a magnetic generator and a magnetic sensor which are oppositely arranged on the far-end shell and the ultrasonic mechanism, wherein when the ultrasonic transducer rotates relative to the far-end shell, the magnetic generator generates an uneven magnetic field along the circumferential direction of the rotating motion and the magnetic sensor acquires the parameter change of the magnetic field, so that the position and the speed of the ultrasonic transducer rotating relative to the far-end shell are calibrated.

The internal intervention ultrasonic probe with the structure can be used for positioning the rotary motion of the ultrasonic transducer due to the structural characteristics of the transmission shaft and the friction change of the sheath tube and other factors, and finally eliminating the deviation between the actual position and speed of the rotary motion of the ultrasonic transducer and the ideal position and speed preset for controlling the rotary motion of the ultrasonic transducer due to the structural characteristics of the transmission shaft of the conventional ultrasonic probe, and the like, and the problem of distortion during image synthesis is avoided.

2. The utility model provides an internal ultrasonic probe of interveneeing of area rotational positioning, one of them or the two of magnetic generator and the magnetic sensor that the aligning gear includes can set up to the array unit along rotary motion circumference simultaneously, the magnetism generating element that the array set up can provide 360 within range regulation changes's magnetic field, the magnetic sensing unit that the array set up can provide 360 within range regulation changes's induction zone, that is, with the magnetic generator, the magnetic sensor is arbitrary or the two sets up simultaneously and all can realize that the magnetic sensor acquires magnetic field parameter change at ultrasonic transducer rotary motion process for array unit structure, and be the magnetic field that the law changes, just so simplified follow-up position and the speed's that mark ultrasonic transducer for the distal end casing calculation process through magnetic field parameter change.

3. The utility model provides a take rotational positioning's internal ultrasonic probe of interveneeing, along being on a parallel with rotary motion circumference, a plurality of magnetism generating element divide into two at least and set up at the internal wall of distal end casing, just, along perpendicular to rotary motion circumference, the setting of staggering of the magnetism generating element of different rows.

The magnetic generating units are arranged on the inner wall surface of the far-end shell in at least two rows in a staggered mode, each magnetic generating unit can generate a magnetic field parameter, and the magnetic sensor can acquire a plurality of magnetic field parameters so as to calibrate the position and the speed of the ultrasonic transducer relative to the far-end shell in a rotating mode. Compared with the magnetic generator with the structure that the magnetic generating units are arranged in one row, the magnetic generator with the structure has the advantages that the magnetic sensing units acquire more magnetic field parameters and have higher calibration precision, and then the calibration precision is improved; compared with the mode that the array arrangement density is increased in the same column, the manufacturing process is simple.

4. The utility model provides a take rotational positioning's internal ultrasonic probe of interveneeing, along perpendicular to rotary motion circumference, the straight line at different row magnetism generating element places is equidistant distribution on the distal end casing, has realized improving calibration precision and simplified calibration calculation process's unity like this.

5. The utility model provides a take rotational positioning's internal ultrasonic probe of interveneeing, the magnetic sensing unit sets up the number and sets up the line number with magnetism generating element and equals, and every magnetic sensing unit can independently acquire the magnetic field parameter who corresponds the line, integrates the magnetic field parameter who acquires a plurality of magnetic sensing units and can improve the calibration accuracy.

The ultrasonic transducer may shake relative to the axial direction during the rotary motion, the magnetic sensing units are arranged in a staggered mode along the direction perpendicular to the rotary motion direction, magnetic field parameters of a plurality of points during the shaking can be obtained, errors caused by the shaking are eliminated by taking the average value of the magnetic field parameters, and the calibration accuracy is improved.

6. The internal intervention ultrasonic probe with rotary positioning provided by the utility model has the advantages that the magnetic generation unit can be selected from permanent magnets, the structure is simple, and the generated magnetic field is constant; the magnetic generating unit may also be selected from ferromagnetic materials that are permanently magnetically retained by coil excitation.

7. The utility model provides an ultrasonic imaging system, including taking rotational positioning's internal ultrasonic probe of interveneeing, can accurately judge ultrasonic transducer rotary motion's actual position and speed, can not arouse the image distortion when the image is synthetic.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram illustrating the principle of image distortion caused by rotational motion transfer deviation in the prior art;

fig. 2 is a schematic structural view of an internal interventional ultrasonic probe provided in embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a guiding mechanism provided in embodiment 1 of the present invention;

fig. 4 is a schematic structural view of an ultrasonic mechanism provided in embodiment 1 of the present invention;

fig. 5 is a schematic view of an installation manner of an ultrasonic transducer provided in embodiment 1 of the present invention;

fig. 6 is a schematic diagram of an arrangement mode of an ultrasonic transducer array element provided in embodiment 1 of the present invention;

fig. 7 is a schematic cross-sectional view of the calibration mechanism provided in embodiment 1 of the present invention along the extending direction of the sheath tube length;

fig. 8 is a schematic structural view of a cross section of the calibration mechanism provided in embodiment 1 of the present invention along a direction perpendicular to the length direction of the sheath tube;

fig. 9 is a schematic view of an arrangement structure of a magnetic generating unit provided in embodiment 1 of the present invention;

fig. 10 is a schematic diagram of relative positions of the first calibration unit and the second calibration unit provided in embodiment 1 of the present invention;

fig. 11 is a schematic diagram of the relative positions of the magnetic sensing units provided in embodiment 1 of the present invention;

fig. 12 is a schematic diagram of an output signal of a magnetic sensor provided in embodiment 1 of the present invention;

fig. 13 is a schematic diagram of a composite process of acquiring signals by the initial positioning unit, the first calibration unit, and the second calibration unit provided in embodiment 1 of the present invention;

fig. 14 is a schematic structural view of an imaging system provided in embodiment 2 of the present invention;

description of reference numerals:

1-an internal intervention ultrasonic probe;

11-a guide mechanism; 111-sheath; 1111-a proximal housing; 1112-a distal housing; 112-a drive shaft;

12-an ultrasonic mechanism; 121-an ultrasonic base; 1211 — a first mounting portion; 1212 — a second mounting portion; 1213-third mount; 122-an ultrasound transducer; 123-acoustic window;

13-a calibration mechanism; 131-a magnetic generator; 1311-a magnetic generating unit; 1312-a coil; 132-a magnetic sensor; 1321-a magnetic sensing unit; 13210-an initial positioning unit; 13211 — a first calibration unit; 13212 — a second calibration unit;

2-external drive control means; 21-a drive control mechanism; 211-a power supply; 212-a transmit-receive switch; 213-high voltage excitation module; 214-a drive motor; 215-calibration module; 216-signal preprocessing module; 22-a connection mechanism;

3-imaging host.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

The present embodiment provides an internal intervention ultrasonic probe 1 with rotational positioning, as shown in fig. 2, which includes a guiding mechanism 11, an ultrasonic mechanism 12 and a calibration mechanism 13.

As shown in fig. 2 and 3, the guiding mechanism 11 is used for introducing the ultrasonic mechanism 12 into the body, such as blood vessels, digestive tract, bronchus, heart, etc., and includes a sheath 111 and a transmission shaft 112.

As shown in FIG. 3, the sheath 111 is an elongated tubular structure, generally 0.8-2.5 m in length, and includes a proximal housing 1111 and a distal housing 1112, and forms a communicating inner cavity. The outer diameter of sheath 111 may be gradually reduced or may be maintained from proximal housing 1111 to distal housing 1112. In this embodiment, the outer diameter of sheath 111 is constant, and the cross section of distal housing 1112 is circular along the direction perpendicular to the length of sheath 111.

The sheath 111 may be made of at least one of styrene-butadiene rubber, polyoxyethylene, epoxy resin, and other polymer resins, and doped with molybdenum disulfide, wherein the proximal housing 1111 and the distal housing 1112 may be made of the above materials with different flexibility (or rigidity), for example, the proximal housing 1111 has an elastic modulus of 4.0-5.0N/mm²The material of (1), the elastic modulus of the distal housing 1112 is 7.0-8.0N/mm²Or, the proximal housing 1111 and the distal housing 1112 are made of the same flexible (or rigid) material and are integrally formed, for example, 6.11N/mm²Provided that it provides the required stiffness and bending strength and reduces friction and has good compatibility with the body tissue and is not sensitive to ultrasound.

As shown in fig. 3, the distal housing 1112 has a closed end at an end away from the proximal housing 1111 and has an arc shape to reduce the damage of the sheath 111 to the body tissue when contacting the body tissue.

As shown in fig. 3, drive shaft 112 is a hollow spring structure disposed within the lumen of proximal housing 1111 and is configured to impart rotational motion to ultrasonic mechanism 12 for imaging of tissue within the body. The spring structure may be one of a coil spring and a rigid rope, and in this embodiment, the transmission shaft 112 is a coil spring; the spiral spring may be a single-layer structure or an inner-outer multi-layer structure, in this embodiment, the transmission shaft 112 adopts an inner-outer two-layer structure with opposite rotation directions, which can reduce the delay of the torsion signal or rebound when the ultrasonic mechanism 12 is driven to rotate, thereby improving the synchronism and uniformity of the transmission shaft 112 to the ultrasonic mechanism 12, and avoiding the distortion problem during the subsequent image synthesis as much as possible.

In order to further ensure the synchronism and uniformity of the transmission rotary motion of the transmission shaft 112 to the ultrasonic mechanism 12, the inner and outer layers of the spiral springs of the transmission shaft 112 are respectively provided with a coating, the coating is formed by doping at least one of zinc, chromium, cadmium, copper, nickel, tin, silver and zinc-titanium alloy with at least one polymer resin such as polyvinylpyrrolidone, polyphenylene oxide and maleic acid, on one hand, the friction coefficient of the transmission shaft 112 and the inner wall surface of the cavity of the sheath tube 111 is reduced, on the other hand, the strength of the transmission shaft 112 is enhanced, the tangential deformation of the spiral springs during torsion is reduced, the synchronism and uniformity of the transmission rotary motion of the transmission shaft 112 to the ultrasonic mechanism 12 are further improved, and the distortion during subsequent image synthesis is avoided as much as possible.

As shown in fig. 3 and 4, ultrasonic mechanism 12 is disposed within the cavity of distal housing 1112 and includes an ultrasonic base 121, an ultrasonic transducer 122, and an acoustic window 123. The ultrasonic base 121 is arranged at the end of the transmission shaft 112, and can rotate in the cavity of the distal housing 1112 under the driving of the transmission shaft 112; a first mounting portion 1211 for mounting the ultrasonic transducer 122 is disposed on the ultrasonic base 121, the first mounting portion 1211 may be a side groove structure formed on a sidewall of the ultrasonic base 121 and facing the circumferential direction of the rotational movement, or an oblique front structure or an end plane structure formed on the ultrasonic base 121 and away from the transmission shaft 112, and therefore, the mounting manner of the ultrasonic transducer 122 on the ultrasonic base 121 includes: a side view mounting provided at the side groove structure, as shown in fig. 5 (a); (ii) an oblique front view mount disposed in an oblique front structure, as shown in fig. 5 (b); and (iii) is arranged in the front view of the end plane as shown in fig. 5 (c). The ultrasonic transducer 122 is driven by the drive shaft 112 through the ultrasonic base 121 to achieve rotational movement within the distal housing 1112 cavity. In this embodiment, a side view mounting is employed.

The ultrasonic transducer 122 may be selected from a unit array type as shown in fig. 6 (a), an array type as shown in fig. 6 (b), a convex array type as shown in fig. 6 (c), a circular array type as shown in fig. 6 (d), and the like, the unit array type is mainly used for two-dimensional ultrasonic imaging, and the array type is mainly used for real-time three-dimensional ultrasonic imaging.

As shown in fig. 4, acoustic window 123 is disposed on distal housing 1112.

When transmission shaft 112 drives ultrasonic transducer 122 rotary motion, because transmission shaft 112 structural feature such as crooked, twist reverse and all can arouse the asynchronous nature and the inhomogeneity of rotatory transmission with factors such as sheath 111 friction variation, there is the deviation in the ideal position, the speed that finally cause ultrasonic transducer 122 rotary motion's position, speed and outside drive control unit to predetermine, for this reason, the utility model relates to a can carry out the alignment mechanism 13 of demarcation to above-mentioned deviation.

As shown in fig. 7 and 8, the calibration mechanism 13 includes a magnetic generator 131, a magnetic sensor 132, and a timer (not shown), where the magnetic generator 131 and the magnetic sensor 132 are oppositely disposed on the distal housing 1112 and the ultrasonic mechanism 12, and when the ultrasonic transducer 122 rotates relative to the distal housing 1112, the magnetic generator 131 generates an inhomogeneous magnetic field along the circumferential direction of the rotation and obtains a parameter change of the magnetic field by the magnetic sensor 132, and during this process, the timer counts in real time, so as to calibrate the position and the speed of the rotation of the ultrasonic transducer 122 relative to the distal housing 1112.

The magnetic field parameters may be all parameters characterizing the magnetic field, such as magnetic induction intensity, magnetic field strength, magnetic flux, magnetic energy product, etc., and correspondingly, the magnetic sensor 132 is a device capable of obtaining the above parameters, and the magnetic generator 131 generates the magnetic field and the magnetic sensor 132 senses the magnetic field by using the prior art.

One arrangement of the magnetic generator 131 and the magnetic sensor 132 is as follows: the magnetic generator 131 is disposed on the distal housing 1112 and the magnetic sensor 132 magnetic field signal sensing region is disposed on the ultrasound mechanism 12, the magnetic generator 131 being synchronized with the distal housing 1112 and the magnetic sensor 132 magnetic field signal sensing region being synchronized with the ultrasound transducer 122 when the ultrasound transducer 122 is rotationally moved relative to the distal housing 1112.

Another arrangement of the magnetic generator 131 and the magnetic sensor 131 is as follows: the magnetic generator 131 is disposed on the ultrasonic mechanism 12 and the magnetic field signal sensing region of the magnetic sensor 132 is disposed on the distal housing 1112, such that when the ultrasonic transducer 122 is rotationally moved relative to the distal housing 1112, the magnetic generator 131 is synchronized with the ultrasonic transducer 122 and the magnetic field sensing region of the magnetic sensor 132 is synchronized with the distal housing 1112.

In any of the above arrangements, the magnetic generator 131 and the magnetic sensor 132 may be arranged opposite to each other on the distal housing 1112 and the ultrasonic mechanism 12 to generate an uneven magnetic field in the circumferential direction of the rotational movement.

In order to obtain the inhomogeneous magnetic field along the circumferential direction of the rotational motion, at least one of the magnetic generator 131 and the magnetic sensor 132 is configured as a unit structure discontinuous along the circumferential direction of the rotational motion, such as a plurality of magnetic generating units 1311 configured to be arrayed along the circumferential direction of the rotational motion for the magnetic generator 131, and a plurality of magnetic sensing units 1321 configured to be arrayed along the circumferential direction of the rotational motion for the magnetic sensor 132. Since there is a gap between two adjacent magnetic generation units 1311, regardless of whether the parameters of the magnetic field generated by each magnetic generation unit 1311 are the same, and regardless of whether the magnetic sensor 132 is arranged in an array unit structure, there is an uneven magnetic field for the magnetic sensor 132 in the circumferential direction of the rotational motion; similarly, a gap exists between two adjacent magnetic sensor units 1321, regardless of whether each magnetic sensor unit 1321 has the same sensitivity to a magnetic field, as long as the magnetic field generated by the magnetic generator 131 is not uniform in the circumferential direction along the rotational motion.

In this embodiment, the magnetic generator 131 includes a plurality of magnetic generating units 1311 disposed on an inner wall surface of the distal housing 1112; the magnetic sensor 132 includes 1 to 3 magnetic sensing units 1321, and is disposed on the ultrasonic base 121, as shown in fig. 8.

The magnetic generating units 1311 may be arranged at equal intervals or may be arranged at unequal intervals on the distal housing 1112; one row may be provided annularly along a circumference of the distal housing 1112, two rows, three rows, etc. may be provided parallel to the rotational movement circumference along a circumference of the distal housing 1112. In this embodiment, the magnetic generating units 1311 are arranged in two rows, and the magnetic generating units 1311 in different rows are staggered in the direction perpendicular to the circumferential direction of the rotational movement, and the straight lines in which the magnetic generating units 1311 in different rows are located are distributed at equal intervals on the distal end housing 1112, as shown in fig. 9.

The magnetic generator 1311 may be made of a permanent magnet or a ferromagnetic material, preferably a ferromagnetic material, and is embedded in the inner wall of the distal housing 1112 through various methods such as etching, evaporation, or assembly.

As shown in fig. 8, the magnetic generator 132 further includes a coil 1312, and a second mounting portion 1212 for mounting the coil 1312 is disposed on the ultrasonic base 121, and the ferromagnetic material is excited by the coil 1312 to maintain permanent magnetism.

The magnetic sensing unit 1321 is a magnetic sensor using a hall effect.

The number of the magnetic sensing units 1321 is equal to or greater than the number of the magnetic generation units 1311, and in this embodiment, three magnetic sensing units 1321 are provided: the initial positioning unit 13210 is configured to position an initial position of each rotation movement cycle, and the first calibration unit 13211 and the second calibration unit 13212 are configured to obtain magnetic field parameters of different columns of magnetic generation units 1311, respectively. Specifically, as shown in fig. 10 and 11, the ultrasonic base 121 is provided with a third mounting portion 1213 on which the magnetic sensing unit 1321 is mounted, the initial positioning unit 13210 and the first calibration unit 13211 are collinear on the second mounting portion 1212 in the direction perpendicular to the rotational movement direction, the first calibration unit 13211 and the second calibration unit 13212 are staggered on the second mounting portion 1212, and the second calibration unit 13212 is located behind the first calibration unit 13211 in the rotational movement direction.

When the ultrasonic transducer 122 rotates, the magnetic generating units 1311 are arranged in an equidistant array, and at different position angles, the magnetic field parameters detected by the magnetic sensing unit 1321 change regularly within 360 °, and the place with strong magnetic field can trigger the switch circuit of the magnetic sensing unit 1321, so that the output signal is 1, and the place with weak magnetic field cannot trigger the switch circuit of the magnetic sensing unit 1321, so that the output signal is 0, as shown in fig. 12.

Specifically, as shown in fig. 13, at the time of the rotational motion cycle 0, the initial positioning unit 13210 and the first calibration unit 13211 are directly opposite to the magnetic generation unit 1311, so that the initial positioning unit 13210 positions the initial position of the rotational motion cycle, thereby obtaining the absolute position of the ultrasonic transducer 122 in the rotational motion, which is used as a reference in the subsequent calibration calculation process, and eliminating the accumulated error; simultaneously the first calibration unit 13211 acquires its first magnetic field parameter signal; as the rotation proceeds, the first calibration unit 13211 acquires the second magnetic parameter signal and the third magnetic parameter signal … … thereof, and during the period when the first calibration unit 13211 acquires the first magnetic parameter signal and the second magnetic parameter signal, the second calibration unit 13212 starts to acquire the first magnetic parameter signal and the second magnetic parameter signal … … thereof, so as to acquire the direction and the angular position of the ultrasonic transducer 122 relative to the distal housing 1112, and after the two types of magnetic parameter signals are integrated, a composite signal along with a time schedule can be obtained, so that the signal density is higher, the calibration accuracy is higher, and the rotation speed of the ultrasonic transducer 122 can be obtained through the phase relationship and the time schedule recorded by the timer.

Although the error of the transmission of the rotational motion is caused by the irregular rotation of the transmission shaft 112, the external driving control unit determines the preset ideal position and speed of the transmission shaft 112, the position and speed of the ultrasonic transducer 122 relative to the distal housing 1112 can also be obtained by the calibration mechanism 13, and the actual position and speed of the ultrasonic transducer 122 can be obtained by adding or subtracting the calibration data obtained by the calibration mechanism 13 on the basis of the preset ideal parameters of the external driving control unit.

Example 2

The present embodiment provides an imaging system, as shown in fig. 14, including the internal interventional ultrasound probe with rotational positioning 1, the external drive control device 2, and the imaging host 3 provided by embodiment 1.

The external control device 2 includes a drive control mechanism 21 and a connection mechanism 22. Wherein, the connecting mechanism 22 is connected with a transmission shaft 112 of the internal interventional ultrasonic probe 1, and drives the ultrasonic transducer 122 to rotate through the transmission shaft 112 for ultrasonic imaging; the driving control mechanism 21 is connected to the ultrasonic transducer 122, the magnetic generator 131, the magnetic sensor 132, and the timer 133 through wired or wireless communication, respectively, and provides functions of supplying power, collecting data, and the like.

The external control device 2 is also connected with the imaging host 2 in a wired or wireless manner, displays the information acquired by the ultrasonic transducer 122 in an image form, calibrates the image with the information acquired by the magnetic generator 131, the magnetic sensor 132 and the timer 133, and then synthesizes the calibrated image, accurately judges the actual position and speed of the rotary motion of the ultrasonic transducer 122, and does not cause image distortion during image synthesis.

In other embodiments, the driving control mechanism 21 includes a power source 211, a transceiver 212 for selection of the ultrasonic transducer 122, a high voltage excitation module 213 for exciting the ultrasonic transducer 122 to generate an ultrasonic signal, a driving motor 214 for driving the driving shaft 112 to rotate, a calibration module 215 for calculating the position and speed of the ultrasonic transducer 122, and a signal pre-processing module 216 for pre-processing the ultrasonic transducer 122 signal.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims (10)

1. An internal intervention ultrasonic probe with rotational positioning, comprising:

a guide mechanism comprising a sheath having a proximal housing and a distal housing and a drive shaft disposed within the proximal housing cavity;

an ultrasonic mechanism including an ultrasonic transducer carried by the drive shaft for rotational movement within the distal housing cavity;

and the calibration mechanism comprises a timer, and a magnetic generator and a magnetic sensor which are oppositely arranged on the distal shell and the ultrasonic mechanism, wherein when the ultrasonic transducer rotates relative to the distal shell, the magnetic generator generates an uneven magnetic field along the circumferential direction of the rotation motion and the magnetic sensor acquires the parameter change of the magnetic field so as to calibrate the position and the speed of the ultrasonic transducer relative to the distal shell.

2. The rotational positioning internal intervention ultrasonic probe of claim 1, wherein the magnetic generator comprises a plurality of magnetic generating units arranged in a circumferential array of rotational motion, and/or the magnetic sensor comprises a plurality of magnetic sensing units arranged in a circumferential array of rotational motion.

3. The ultrasonic probe with rotational positioning function for internal intervention according to claim 2, wherein the magnetic generating units are arranged on the inner wall surface of the distal housing in at least two rows in a direction parallel to the circumferential direction of rotational movement, and the magnetic generating units in different rows are arranged in a staggered manner in a direction perpendicular to the circumferential direction of rotational movement;

the magnetic sensing unit is disposed on the ultrasonic mechanism.

4. The rotational positioning internal intervention ultrasonic probe of claim 3, wherein the distal housing has a circular cross-section along a direction perpendicular to the sheath length extension;

and along the direction perpendicular to the circumferential direction of the rotary motion, the straight lines of the magnetic generating units in different rows are distributed on the far-end shell at equal intervals.

5. The ultrasonic probe with rotary positioning function for internal intervention according to claim 3 or 4, wherein the number of the magnetic sensing units is greater than or equal to the number of the magnetic generating units, and at least two magnetic sensing units are arranged in a staggered manner in the direction perpendicular to the direction of rotary motion.

6. The rotational positioning internal intervention ultrasonic probe of claim 5, wherein at least one of the magnetic sensing units is present for recording initial position information of the rotational movement of the ultrasonic transducer.

7. The rotational positioning internal intervention ultrasonic probe of claim 6, wherein the magnetic generation unit is selected from permanent magnets; alternatively, the first and second electrodes may be,

the magnetic generating unit is selected from ferromagnetic materials, and the magnetic generator further comprises a coil for exciting the magnetic generating unit to generate a constant magnetic field.

8. The rotational positioning internal intervention ultrasonic probe of claim 7, wherein the ultrasound mechanism further comprises the ultrasound transducer and the magnetic sensing unit, an ultrasound base on which the ultrasound transducer is mounted, and an acoustic window corresponding to the ultrasound transducer.

9. An ultrasound imaging system, comprising:

the internal intervention ultrasonic probe with rotary positioning of any of claims 1-8;

an imaging host;

and the external drive control device is connected with the imaging host and comprises a drive control mechanism and a connecting mechanism connected with the internal interventional ultrasonic probe.

10. The ultrasonic imaging system of claim 9, wherein the drive control mechanism comprises a drive motor, a calibration module, a high voltage excitation module, a transmit-receive switch, a signal pre-processing module, and a power supply.

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