CN100409824C - Automatic stereotaxic method and device of B-ultrasonic location extemal lithotriptor - Google Patents
Automatic stereotaxic method and device of B-ultrasonic location extemal lithotriptor Download PDFInfo
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- CN100409824C CN100409824C CNB02157958XA CN02157958A CN100409824C CN 100409824 C CN100409824 C CN 100409824C CN B02157958X A CNB02157958X A CN B02157958XA CN 02157958 A CN02157958 A CN 02157958A CN 100409824 C CN100409824 C CN 100409824C
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
- A61B17/2256—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves with means for locating or checking the concrement, e.g. X-ray apparatus, imaging means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
- A61B17/2255—Means for positioning patient, shock wave apparatus or locating means, e.g. mechanical aspects, patient beds, support arms, aiming means
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Abstract
The present invention discloses an automatic stereotaxic method and a device of a B-ultrasonic positioning extracorporeal lithotriptor. The present invention is used for directly analyzing and processing B-ultrasonic diagnosis images by a computer image processing technique, and a pressure sensor can control a B-ultrasonic probe to automatically frontward and backward move so as to track a patient's skin surface at preset pressure; the position deviation is detected by a displacement sensor; an electric displacement device is automatically controlled to run after computer operation, and thus, a focus point of a therapy instrument is accurately controlled to superpose the calculus in a patient's body. An operator only needs to stroke a mouse for several times by manipulation in the positioning process, and thus, the present invention cancels the man-machine interaction processes of manual data reading from a B-ultrasonic instrument and data input on a computer, shortens positioning time, improves diagnosis efficiency and lessens the labor intensity of medical personnel. The present invention is applied to the diagnosis location for various diseases which can be observed by B ultrasonic waves in human bodies, such as calculi, tumors, etc.
Description
Technical field
The present invention relates to the localization method and the device of extracorporeal lithotiptor.
Background technology
In the clinical practice at present, adopt the B ultrasonic location extracorporeal lithotiptor that calculus location major part is pressed push-botton operation electricity driving displacement device to finish carrying out lithotripsy in treatment behind the positioning action of patient's calculi in vivo in the mode of progressively approaching by image, the people that the medical worker observes B ultrasonic scanning patient calculi in vivo.The B ultrasonic location extracorporeal lithotiptor is made up of B ultrasonic (B-mode instrument), therapy equipment, patient couch top, the electronic or manual gearshift that can move at solid space etc.B ultrasonic is made of B ultrasonic main frame and Ultrasonic-B probe: supply medical worker's inspections and examinations on Ultrasonic-B probe emission ultrasound wave and the display of recipient's in-vivo tissue reflection echo through imaging in the B ultrasonic main frame after the B ultrasonic main frame internal conversion.The characteristics of therapy equipment are can repeat the highpowerpulse energy focusing on a focus, this in focus calculi in vivo can carry out lithotripsy in treatment.Patient couch top is arranged at the therapy equipment top and receives treatment for calculus is patient bed.Ultrasonic-B probe lock onto on the machinery of manual control advance and retreat; This device is aimed at all the time at the central axis of guaranteeing ultrasonic beam that Ultrasonic-B probe is launched under the prerequisite of focus of therapy equipment and is rigidly connected with therapy equipment.The machinery of manually control advance and retreat is marked with scale, the searching surface that can directly read Ultrasonic-B probe in current location to the distance between the therapy equipment focus.Therapy equipment then be fixed on the gearshift of 3 D auto degree by artificial control be X, Y, the Z coordinate moves, so that artificially the calculus in human body in focus of therapy equipment can be carried out the external stone crushing treatment under the detection of Ultrasonic-B probe.When the medical worker operates this equipment, at first the searching surface of the machinery adjustment Ultrasonic-B probe of operation control advance and retreat contacts with human body skin, artificially adjust X, Y, Z coordinate position by gearshift then, be shown in until the picture rich in detail of calculus on the vertical center line of display picture of B ultrasonic main frame, this moment, X coordinate completing place was adjusted.The cursor of then handling in the B ultrasonic host display picture is pulverized the overlapping and click of point with the best for the treatment of crushed stone, read B ultrasonic main frame output depth data if with the machinery of manual control advance and retreat on inconsistent Y, Z coordinate position and the Ultrasonic-B probe advance and retreat position then adjusted repeatedly of shown scale, until two reading unanimities, promptly focus overlaps with calculus pulverizing point; After this can carry out lithotripsy in treatment.For example, the notification number of announcing on March 2nd, 1994 is disclosed a kind of " the B ultrasonic detent mechanism of external shock wave lithotrite " that utilizes the B ultrasonic location to carry out calculus-smashing of utility model patent of CN2157746Y; Its action principle and above narration are similar substantially.This kind equipment medical worker in to the position fixing process of target need observe the B ultrasonic image, the manual operation machinery is adjusted to B ultrasonic degree of depth reading in the mode of progressively approaching and manually controls when shown scale is consistent on the machinery of advancing and retreat of popping one's head in, and promptly focus overlaps with calculus pulverizing point and finishes positioning action.The positioning action process is loaded down with trivial details time-consuming and medical worker's labor intensity is bigger.
Summary of the invention
The object of the present invention is to provide a kind of automatic stereo localization method and device of B ultrasonic location extracorporeal lithotiptor.
The present invention carries out mathematical analysis by computer to the data such as plane picture that B ultrasonic diagnosis patient calculi in vivo produces, determine the spatial coordinate position of calculus, and control automatically and treat after the electricity driving displacement device moves to the position that overlaps with patient's calculi in vivo with the focus of therapy equipment.
The automatic stereo localization method and the device of B ultrasonic location extracorporeal lithotiptor of the present invention comprise:
Can repeat will treatment with the highpowerpulse energy focusing in the therapy equipment of a focus, therapy equipment is installed on X, Y, Z three-dimensional movably on the electricity driving displacement device; Diagnostic B ultrasonic, B ultrasonic is made up of B ultrasonic main frame and Ultrasonic-B probe; The therapy equipment arc-shaped rail that is rigidly connected, the circular arc center of circle of arc-shaped rail overlaps with the focus of therapy equipment.Electronic camber line gearshift can be done circular swing motion along arc-shaped rail.The electronic driving and reversing mechanism of Ultrasonic-B probe has two installation sites of stiff end and advance and retreat end, stiff end is installed on the electronic camber line gearshift, and installation need be guaranteed to hold the central axis of the ultrasonic beam that Ultrasonic-B probe is launched that is connected to aim at the focus of therapy equipment all the time with advance and retreat.The patient couch top that patients is received treatment is arranged at therapy equipment top, transfixion.
A computer that contains special-purpose software, the position measuring system of forming by a plurality of position sensors, a converting unit that a plurality of signal of sensor is converted to input computer behind the digital signal, a Programmable Logic Controller, a diagnostic image with the output of B ultrasonic main frame is sent to image pick-up card and keyboard special of computer.Described computer run special-purpose software is carried out following localization method: the method that adopts direct display analysis B ultrasonic image on computer display screen, the image pixel data of the display position of the pulverizing point of calculus in this image is converted to the geometrical length data, the horizontal range of the display position of the pulverizing point of calculus in this image and this image vertical center line is calculated the distance of the pulverizing point of the focus that can try to achieve therapy equipment and calculus at the X coordinate, control X coordinate electricity driving displacement device then and carry out the X coordinate position by value of calculation and move.Also can try to achieve the depth data of Ultrasonic-B probe surface and analyze this image to the pulverizing point of calculus, with these data and measure Ultrasonic-B probe advance and retreat position pick off output length data and measure the angle-data of pick off output of Ultrasonic-B probe pendulum angle and the perform mathematical calculations distance of Y, Z coordinate between the pulverizing point of the focus that can try to achieve therapy equipment and calculus of other given data; Then control corresponding electronic gearshift by value of calculation carry out Y, the Z coordinate position moves, it is localized purpose that the focus that reaches automatic control therapy equipment overlaps with the pulverizing point of calculus in human body.Owing between electronic driving and reversing mechanism of Ultrasonic-B probe and Ultrasonic-B probe force-sensing sensor is installed, system can drive Ultrasonic-B probe according to the feedback information control Ultrasonic-B probe driving and reversing mechanism of this pick off and advance and retreat automatically, is close to patient's skin surface with predefined pressure.But the sick and wounded people of anti-collision and be beneficial to B ultrasonic and continue the output diagnostic image thus.Above-mentioned positioning action can repeat, a kind of verification means of as accurate positioning denying.
The invention has the beneficial effects as follows: fully used advanced technologies such as computer control in the invention, thereby made it compared with the prior art easy to use, accurate positioning.Directly the diagnostic image that computer is shown carries out analyzing and processing, removes the man-machine interaction process that artificially reads data and import data on computers on B ultrasonic from.It is several down only need to control the computer mouse click, and system can finish three-dimensional location action automatically.Diagnostic procedure is efficient and convenient, shortens positioning time and improves prescription on individual diagnosis efficient, alleviates medical workers, shortens patient's consultation time.The present invention be applicable to by B ultrasonic can the intravital calculus of observed people, the diagnosis location of multiple disease such as tumor.
Description of drawings
Below in conjunction with accompanying drawing the present invention is done concrete description in detail.
Fig. 1 is a basic structure front view of the present invention;
Fig. 2 is a basic structure side view of the present invention;
Fig. 3 is the B ultrasonic diagnostic image sketch map that is shown in computer display;
Fig. 4 is the sketch map of the YOZ plane positioning principle after Fig. 2 is simplified;
Fig. 5 is the computer control system sketch map;
Fig. 6 is the computer software flow chart.
1. patient couch tops among the figure, 2.Z coordinate displacement pick off, 3.Z coordinate electricity driving displacement device, 4.X coordinate electricity driving displacement device, 5.X coordinate displacement pick off, 6. calculus, 7.B super probe, 8. force-sensing sensor, 9. keyboard special, 10.B the electronic driving and reversing mechanism of super probe, 11.B super probe advance and retreat position sensor, 12.Y coordinate electricity driving displacement device, 13.Y coordinate displacement pick off, 14. therapy equipment, 15. arc-shaped rail, 16. electronic camber line gearshifts, 17. camber line displacement transducers, 18. computer, 19. display, the super main frame of 20.B, 21. image pick-up cards, 22. converting unit, 23. Programmable Logic Controllers.
The specific embodiment
Following automatic stereo localization method and the device that B ultrasonic location extracorporeal lithotiptor of the present invention is described with reference to Fig. 1, Fig. 2 and Fig. 5.
Can repeat to use the highpowerpulse energy focusing in the therapy equipment 14 of focus O treatment.A diagnostic B ultrasonic, B ultrasonic is made up of B ultrasonic main frame 20 and Ultrasonic-B probe 7.Therapy equipment 14 connects arc-shaped rail 15 in the YOZ planar rigidity, and connection need guarantee that the circular arc center of circle of arc-shaped rail 15 overlaps with the focus O of therapy equipment 14.Electronic camber line gearshift 16 can be done circular swing motion along arc-shaped rail 15.The electronic driving and reversing mechanism 10 of Ultrasonic-B probe has advance and retreat end and two link positions of stiff end, advance and retreat end locking Ultrasonic-B probe 7, stiff end is installed on the electronic camber line gearshift 16, and installation need guarantee that the central axis of ultrasonic beam that Ultrasonic-B probe 7 is launched aims at focus O all the time.Therapy equipment 14 is installed on the three-dimensional gearshift: drive the X coordinate electricity driving displacement device 4 of X coordinate displacement, drive the Y coordinate electricity driving displacement device 12 of Y coordinate displacement, drive the Z coordinate electricity driving displacement device 3 of Z coordinate displacement.Patient couch top 1 is arranged at therapy equipment 14 tops, and transfixion is beneficial to the patient bed diagnoses and treatment of accepting.
A computer 18 that contains special-purpose software is used for the display 19 of display image and data; X, Y, Z coordinate displacement pick off 5,13,2 by the focus O position that is used for X, Y, Z measurement of coordinates therapy equipment (14), be used to measure the camber line displacement transducer 17 of Ultrasonic-B probe 7 pendulum angles, be used to measure the position measuring system that the Ultrasonic-B probe advance and retreat position sensor 11 of Ultrasonic-B probe 7 advance and retreat positions is formed; In order to detect the force-sensing sensor 8 of the pressure between Ultrasonic-B probe 7 and human body skin; The electric quantity signal of pick off output is converted to the converting unit 22 of standard digital signals input computer; Transmission information is carried out the Programmable Logic Controller 23 of logic control; The diagnostic image of B ultrasonic main frame 20 outputs is sent to the image pick-up card 21 of computer 18; Be used for the artificial keyboard special 9 that sends instruction and manual control displacement.Computer 18 calculates the alternate position spike between the pulverizing point of the focus O of therapy equipment 14 and calculus 6 by the program of input in advance, control Programmable Logic Controller 23 drives corresponding electricity driving displacement device, and the focus O of therapy equipment 14 is overlapped with the pulverizing point of calculus 6.The electronic driving and reversing mechanism 10 of Ultrasonic-B probe entered automatic tracking mode before above-mentioned displacement began, and can drive Ultrasonic-B probe 7 and advance and retreat automatically, was close to patient's skin surface all the time with predefined pressure, continued to show diagnostic image in order to the B ultrasonic main frame.
Below just the present invention be described in detail.The medical worker operates keyboard special 9 regulation and control X, Y, Z coordinate electricity driving displacement device 4,12, the 3 focus O with therapy equipment 14 move to the patient who couches on patient couch top 1 and suffer from the calculus zone, and binding operation keyboard special 9 places the electronic driving and reversing mechanism 10 of manual state regulation and control Ultrasonic-B probe, electronic camber line gearshift 16 until observe the image for the treatment of crushed stone 6 clearly on B ultrasonic main frame 20 and display 19 the electronic driving and reversing mechanism 10 of Ultrasonic-B probe: this image be ultrasound wave run into calculus 6 than the strong reflection ripple.Fig. 3 is the B ultrasonic diagnostic image sketch map that display 19 shows, this image of medical worker's direct analysis also determines that the best for the treatment of crushed stone 6 pulverizes point.The line segment of BD shown in the figure is this image vertical center line, and containing the circular arc that B orders is the imaging of outer surface in this image of the ultrasonic emitting receiving terminal of Ultrasonic-B probe 7.The A point is for after the medical worker analyzes this image, and the best to calculus 6 of determining is pulverized point, the click A point of operation computer 18.Suppose to do the D point that horizontal line intersects at this image vertical center line BD and form line segment AD by pulverizing some A.Because being installed, the ultrasound wave sector scanning battle array example of seasonal Ultrasonic-B probe 7 is horizontal positioned, so line segment AD is exactly focus O and pulverize between some A the distance of X coordinate in this image, line segment BD then be that Ultrasonic-B probe 7 contact patient's skin surface are to the depth distance in this image between a pulverizing A.Be noted that here the image that computer display shows all reaches the pixel composition of row-coordinate formation longitudinally with horizontal row coordinate, all arranges with constant spacing between row and row pixel.In the image in the same coordinate pixel number between any two pixels to add the average headway of taking advantage of adjacent two pixels be exactly size between these two pixels.So computer 18 can measure the coordinate position of arbitrary pixel on the shown image also can calculate any two pixel interval from; The proportionality factor that multiply by again between actual size and picture size promptly is an actual size; Computer 18 carries out following computing:
AD＝m
1×(a+1)×n
1
BD＝m
2×(b+1)×n
2
In the formula, m
1Be the average headway of row pixel,
A is the row pixel number between A point and D point,
n
1Be the proportionality factor between horizontal actual size and respective image row size,
m
2Be the average headway of row pixel,
B is the capable pixel number between B point and D point,
n
2Be the proportionality factor between vertical actual size and respective image rows size.
After computer 18 made the 4 drive therapy equipments 14 of X coordinate electricity driving displacement device do displacement according to the actual size of AD line segment by Programmable Logic Controller 23, the best of calculus 6 was pulverized point in Fig. 3, moves on to a D by an A, has finished the location of calculus 6 at the X coordinate.
Finish after the X coordinate setting, three-dimensional orientation problem just is converted into has located YOZ is planar.See Fig. 4: the best of calculus 6 is pulverized point at a D, the focus O of therapy equipment 14 need be moved to a D.Definite during line segment CO Machine Design, for known; Line segment BD by Ultrasonic-B probe (7) the degree of depth of contact patient's skin surface between the pulverizing point D of patient's calculi in vivo (6), calculated and tried to achieve; Line segment CB is determined by the current length that the regular length of Ultrasonic-B probe 7, force-sensing sensor 8 adds the electronic driving and reversing mechanism 10 of Ultrasonic-B probe, can try to achieve by Ultrasonic-B probe advance and retreat position sensor 11 output signals are converted; ∠ α is converted by camber line displacement transducer 17 output signals and tries to achieve; Design conditions are satisfied, and computer 18 carries out following computing:
DO＝CO-CB-BD
DD
y＝DO×cos∠α
DD
z＝DO×sin∠α
The electronic driving and reversing mechanism 10 of Ultrasonic-B probe enters automatic tracking mode before X, Y, the automatic displacement of Z coordinate, can drive Ultrasonic-B probe 7 and advance and retreat automatically, is close to patient's skin surface with predefined pressure.Because electronic driving and reversing mechanism 10 of Ultrasonic-B probe and 7 of Ultrasonic-B probes are equipped with force-sensing sensor 8, in order to detect the pressure between Ultrasonic-B probe 7 and human body skin.By default this pressure limit of software and hardware means.Computer 18 compares by the feedback information and the preset pressure scope of converting unit 22 with force-sensing sensor 8: feedback information is if exceed the preset pressure scope then by electronic driving and reversing mechanism 10 actions of Programmable Logic Controller 23 control Ultrasonic-B probes, reach the interior electronic driving and reversing mechanism 10 of Ultrasonic-B probe of preset pressure scope and stop action, feedback information is as if the upper limit greater than the preset pressure scope, and computer 18 military order Programmable Logic Controllers 23 force X, Y, Z coordinate electricity driving displacement device 4,12,3 to be in halted state simultaneously.Ultrasonic-B probe 7 remains in the preset range with the pressure of patient's skin surface thus, helps B ultrasonic main frame 20 and the display 19 lasting diagnostic images that show.
After finishing positioning action, still can repeat above-mentioned position fixing process; If X, Y, Z coordinate electricity driving displacement device 4,12,3 equal attonitys prove that then accurate positioning is by verification at this moment.Certainly a graduated scale can be installed on the electronic driving and reversing mechanism 10 of Ultrasonic-B probe, ultrasonic emitting receiving terminal outer surface in order to indication Ultrasonic-B probe 7 is the length dimension of line segment BO to focus O, if this size and display 19 show line segment BD consistent size, also provable accurate positioning is by verification.
Determined the special-purpose software of computer 18 according to above-mentioned localization method, its flow process as shown in Figure 6.
Referring to Fig. 6, move this software and carry out initialization step S01, pick off 2,5,8,11,13 and 17 output signals are converted to length data are shown on display 19 screens, the electronic driving and reversing mechanism 10 of Ultrasonic-B probe is placed manual state.Step S02 pulverizes a some A, computer acquisition point A coordinate position by the medical worker by the best that B ultrasonic finds calculus 6 backs to operate in the image of calculus 6 in click display 19 screens of computers 18.Step S03 places automatic tracking mode with the electronic driving and reversing mechanism 10 of Ultrasonic-B probe, and the feedback information and the preset pressure scope of force-sensing sensor 8 compared, and detects the displacement signal of Ultrasonic-B probe advance and retreat position sensor 11 simultaneously.Step S04 is according to presetting formula calculation chart 3 mid point A to the distance of putting between D.Step 05, drives the 4 drive therapy equipments 14 of X coordinate electricity driving displacement device and moves to Programmable Logic Controller 23 according to AD computational length output X coordinate displacement signal, detects X coordinate displacement pick off 5 displacement signals simultaneously.Focus O is to the displacement stroke of putting Y between D, Z coordinate in the default formula calculation chart 4 of step S06 basis.Step S07 output Y, Z coordinate displacement signal are to Programmable Logic Controller 23, driving Y, Z coordinate electricity driving displacement device 12,3 drive therapy equipments 14 and move, detect Y, Z coordinate displacement pick off 13,2 displacement signals simultaneously, focus O moves to a D the most at last, and the location is finished in 2 coincidences.Step S08 analyzing and positioning result such as need carry out verification and then return step S02, finish this positioning action otherwise enter step S09.
Implementing the present invention says with regard to hardware aspect: domestic existing most of B ultrasonic location extracorporeal lithotiptor improves a little at present, as can adopt the present invention after setting up displacement, force-sensing sensor and computer control system.Displacement transducer can be selected polytypes such as potentiometer, linear potentiometer, grating encoder, current vortex, ultrasound wave; Force-sensing sensor is selected little pressure-type for use; Converting unit needs to be complementary with the sensor output signal.Image pick-up card resolution adopts 640x480 or higher.Computer selects for use the also optional industrial computer of using of the popular type in market to improve reliability.Thinking design new architecture will be obtained optimum efficiency according to the present invention.
Talk with regard to the software aspect: in the whole automatic position fixing process, localization method and computing formula have had clear and definite concrete elaboration in this article; Only need above-mentioned localization method, computing formula, displacement transducer feedback information are enrolled in the computer runs programs by software flow, programming language is not limit.
Claims (5)
1. the automatic stereo localization method of a B ultrasonic location extracorporeal lithotiptor, artificial adjustment electricity driving displacement device moves to the patient who couches on patient couch top (1) with the focus O of therapy equipment (14) and suffers from the calculus zone, and definite calculus is pulverized some A, it is characterized in that: computer (18) operation special-purpose software is done the D point that horizontal line intersects at the B ultrasonic diagnostic image vertical center line BD that display (19) shows and is formed line segment AD by pulverizing some A, since digital picture all with horizontal row coordinate and longitudinally the pixel that constitutes of row-coordinate form, multiply by between the pulverizing point A that proportionality factor between actual size and picture size is exactly focus O and calculi in vivo (6) actual range again so the image column pixel number between AD adds the average headway of taking advantage of adjacent two row pixels after one at the X coordinate; After computer (18) control X coordinate electricity driving displacement device (4) drive therapy equipment (14) was done displacement according to the actual range between AD, the best of calculus (6) was pulverized point and is moved on to a D by an A, has finished the location of calculus (6) at the X coordinate; Contain circular arc that B orders and be the imaging of outer surface of the ultrasonic emitting receiving terminal of Ultrasonic-B probe (7), line segment BD by Ultrasonic-B probe (7) the contact patient's skin surface to the degree of depth between the pulverizing point D of patient's calculi in vivo (6), the image line pixel number between BD adds that to take advantage of the proportionality factor that multiply by again between actual size and picture size of average headways of adjacent two row pixels after one be exactly the actual range of depth B D; Determine that subsequently the best of calculus (6) pulverizes some D in the planar position of YOZ: establish the extended line of the line segment OB that forms to the B point of the outer surface of the ultrasonic emitting receiving terminal of Ultrasonic-B probe (7) by focus O and the camber line of camber guide rail (15) and intersect at a C, point C is definite when the distance of focus O is line segment CO Machine Design, for known; The distance of being ordered to the B of the outer surface of the ultrasonic emitting receiving terminal of Ultrasonic-B probe (7) by the C current length that to be line segment CB add the electronic driving and reversing mechanism of Ultrasonic-B probe (10) by the regular length of Ultrasonic-B probe (7) and force-sensing sensor (8) is determined, because of trying to achieve external the measurement; Pulverizing point D by patient's calculi in vivo (6) is the prolongation end points D that horizontal line intersects at the ZO axis
y, be the prolongation end points D that vertical line intersects at the YO axis by a D
z, by a D
zLine segment D to focus O
zThe angle ∠ α that O and line segment CO form can measure and try to achieve, by the line segment DO=CO-CB-BD of a D to focus O, by a D to putting D
yLine segment DD
y=DO * cos ∠ α, by a D to putting D
zLine segment DD
z=DO * sin ∠ α; Computer (18) control Y coordinate electricity driving displacement device (12) is pressed line segment DD
yLength is carried out displacement, control Z coordinate electricity driving displacement device (3) wiring section DD
zAfter length was carried out displacement, the focus O of therapy equipment (14) moved to a D, and promptly focus O overlaps with the pulverizing point of calculus (6) and finishes positioning action.
2. according to the described localization method of claim 1, it is characterized in that: be shown on the display (19) after the diagnostic image that aforementioned calculation machine (18) operation special-purpose software is exported B ultrasonic main frame (20) is sent to computer (18) by image pick-up card (21), the operator directly carries out analyzing and processing to the diagnostic image on the display (19).
3. according to the described localization method of claim 1, it is characterized in that: aforementioned calculation machine (18) compares by the feedback information and the preset pressure scope of converting unit (22) with force-sensing sensor (8), feedback information is if exceed the preset pressure scope then by Programmable Logic Controller (23) the control electronic driving and reversing mechanism of Ultrasonic-B probe (10) action, reach the interior electronic driving and reversing mechanism of Ultrasonic-B probe (10) of preset pressure scope and stop action, if feedback information is greater than the preset pressure range limit, computer (18) forces X simultaneously by Programmable Logic Controller (23), Y, Z coordinate electricity driving displacement device (4), (12), (3) be in halted state, make that pressure remains in the preset range between Ultrasonic-B probe (7) and patient's skin surface.
4. positioner of implementing the automatic stereo localization method of the described B ultrasonic location extracorporeal lithotiptor of claim 1, it comprises a therapy equipment (14) that can repeat treatment is focused on pulse energy a focus O, therapy equipment (14) is installed on X, Y, the Z three-dimensional is electricity driving displacement device (4) movably, (12), (3) on, diagnostic B ultrasonic is made up of B ultrasonic main frame (20) and Ultrasonic-B probe (7), therapy equipment (14) connects arc-shaped rail (15) in the YOZ planar rigidity, connection need guarantee that the circular arc center of circle of arc-shaped rail (15) overlaps with focus O, electronic camber line gearshift (16) can be done circular swing motion along arc-shaped rail (15), the advance and retreat end locking Ultrasonic-B probe (7) of the electronic driving and reversing mechanism of Ultrasonic-B probe (10), its stiff end is installed on the electronic camber line gearshift (16), the patient couch top that patients is received treatment (1) is arranged at therapy equipment (14) top, it is characterized in that: a computer (18) that contains special-purpose software, the display of display image and data (19), the position measuring system of forming by a plurality of position sensors, converting unit (22) with a plurality of signal of sensor input computers (18), a Programmable Logic Controller (23), a diagnostic image with B ultrasonic main frame (20) output is sent to the image pick-up card (21) and a keyboard special (9) of computer (18).
5. according to the described positioner of claim 4, it is characterized in that: the described position measuring system of being made up of a plurality of position sensors is by the displacement transducer on the X coordinate (5), displacement transducer on the Y coordinate (13), displacement transducer on the Z coordinate (2), measure the camber line displacement transducer (17) of Ultrasonic-B probe (7) pendulum angle, measure the Ultrasonic-B probe advance and retreat position sensors (11) of Ultrasonic-B probe (7) advance and retreat position and form.
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| Publication number | Priority date | Publication date | Assignee | Title |
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