CN101238994A - High-strength focusing ultrasonic therapy locating scanning device - Google Patents
High-strength focusing ultrasonic therapy locating scanning device Download PDFInfo
- Publication number
- CN101238994A CN101238994A CNA2008100190570A CN200810019057A CN101238994A CN 101238994 A CN101238994 A CN 101238994A CN A2008100190570 A CNA2008100190570 A CN A2008100190570A CN 200810019057 A CN200810019057 A CN 200810019057A CN 101238994 A CN101238994 A CN 101238994A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixed
- screw mandrel
- nut sleeve
- gusset piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/461—Displaying means of special interest
- A61B8/466—Displaying means of special interest adapted to display 3D data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0052—Ultrasound therapy using the same transducer for therapy and imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0082—Scanning transducers
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Vascular Medicine (AREA)
- Computer Graphics (AREA)
- General Engineering & Computer Science (AREA)
- Surgical Instruments (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
A locating and scanning device of focused ultrasound treatment with high intensity is a three-dimensional locating, five-dimensional accurate scanning device in a focused ultrasound treatment system with high intensity. A ultrasonic probe for finding position and a focused ultrasonic transducer are mounted on a bracket of five-dimensional accurate scanning device in treatment head in way of internal and external shaft sleeving. The treatment head is connected with an arm plate by revolving modules of the two sides and a set of pushpull modules and the arm plate is connected with a connecting plate by revolving shaft and arc track and the connecting plate is connected with an upright column by a straight guiderail, finally the three-dimensional locating device is obtained. The focused ultrasound treatment system with high intensity focuses the ultrasonic transducer to implement the upper to lower treatment mode. After three-dimensional locating, the system exactly locates, scanns, images and treats the focus of patient by the five-dimensional accurate scanning kinematic mechanism in the treatment head. The focused ultrasonic transducer can satisfy the different treatment attitudes from upper to lower and reduce the movement error during accurate scanning.
Description
Technical field
The present invention is a kind of accurate scanning means in high intensity focused ultrasound (HIFU) therapy system location that is used for.The technical field that belongs to the large-scale ultrasonic therapeutic apparatus manufacturing of no wound treatment entity tumor.
Background technology
HIFU therapy system treatment tumor is that the dot matrix by HIFU therapy system point-line-surface body melts, and treatment needs the HIFU therapy system that accurate scanning means configuration is arranged.The HIFU therapy system needs the multidimensional locate mode to the oncotherapy of human body different parts, and simultaneously, dot matrix melts needs long treatment time, if add treatment prelocalization, scanning and imaging time, the HIFU treatment needs one or two hours usually.So the HIFU therapy system must be considered the comfort level of patient body position in the therapeutic process and the accuracy of treatment.At present, the HIFU therapy system has two kinds of therapeutic modality devices: the HIFU transducer is (patient lies prone horizontal) from bottom to top, and the patient is outstanding to crouch on tank, contacts with the patient by aqueous medium, and patient's comfort level is poor in the therapeutic process, and treatment is subjected to the restriction of tumor locus.Another kind of therapeutic modality device: the HIFU transducer is (patient's supination type) from top to bottom, it is to be done by the HIFU transducer to move up and down that the dot matrix treatment is moved, bed drives the planar motion combination that the patient does left-right and front-back and finishes, the motion that relatively moves of the water pocket parts that contact with the patient and patient's epidermis.Because it is big that bed drives the patient moving quality, HIFU therapy system treatment positioning accuracy is not high, needs the patient to cooperate in the therapeutic process, or to patient's anesthesia, or be tied on the therapeutic bed.
Summary of the invention
Technical problem: the purpose of this invention is to provide a kind of high-strength focusing ultrasonic therapy locating scanning device, this device reduces the displacement error in the systematic treating process, improves whole HIFU therapy system treatment accuracy and security reliability.
Technical scheme: high-strength focus supersonic therapeutic system of the present invention comprises the accurate sweep mechanism of five dimensions in three-dimensional localization mechanism and the treatment head, five accurate sweep mechanisms of dimension and location Ultrasonic-B probe, focused transducer are arranged in the treatment head, and location Ultrasonic-B probe and focused transducer are installed on the support of the accurate scanning means of five dimensions in the treatment head in the mode of exterior and interior axle sleeves; There are arm plate, gusset piece, column in three-dimensional localization mechanism, and the treatment head is connected with the arm plate with one group of push-and-pull assembly by the gyro black assembly of its two side, and the arm plate is connected with gusset piece with arc orbit by gyroaxis, and gusset piece is connected with the first straight shape guide rail on the vertical columns again.
Wherein the three-dimensional localization mechanism arrangement of therapy system is:
First motor is fixed on the column by first motor cabinet; First screw mandrel, one end is fixed on the column, and the other end links to each other with the rotating shaft of first motor; The first straight shape guide rail is fixed on the column, and its first rolling slide block and gusset piece are fixed; First nut sleeve and gusset piece 8 are fixing on first screw mandrel; Counterweight is connected with gusset piece under guiding by assembly, the axis of guide of steel wire rope 4 at the assembly pulley that the 3rd assembly pulley, second assembly pulley and the 3rd assembly pulley are formed; First motor-driven, first screw mandrel rotates and makes first nut sleeve and gusset piece do lifting moving on straight shape guide rail, and counterweight makes gusset piece lifting moving weight balancing;
Second motor is fixed on the gusset piece by second motor cabinet; Second screw mandrel, one end links to each other with motor, and the other end is unsettled; Second nut sleeve on second screw mandrel is fixed on the treatment head; One end of gyro black assembly and arm plate 25 are fixing, the other end is fixing with the treatment head, second motor-driven, second screw mandrel rotates push-and-pull and is fixed in last second nut sleeve of treatment head and moves, and it is that the relative arm plate of center of rotation front and back rotatablely move with the gyro black assembly that second nut sleeve drives the treatment head.
The 3rd motor is fixed on the arm plate by the 3rd motor cabinet; One end of the 3rd screw mandrel links to each other with the 3rd motor, and the other end is unsettled; Arc orbit is fixed on the gusset piece, and its second rolling slide block and arm plate are fixed; One end of gyroaxis is connected with gusset piece, and the other end is connected with the arm plate; The 3rd nut sleeve and arm plate on the 3rd screw mandrel are fixed; The 3rd motor-driven the 3rd screw mandrel rotates and makes the 3rd nut sleeve 27 drive arm plates is the relative gusset piece left rotation and right rotation motion of center of rotation with the gyroaxis.
Wherein the accurate sweep mechanism device of five dimensions in the therapy system treatment head is:
In the axle, motor, encoder were fixed on outer shaft one end by fixing head in the location Ultrasonic-B probe was installed in, the turn of motor-driven screw mandrel, and axle outer shaft elevating movement relatively drives coder with accurate counting simultaneously in driving.
Focused transducer is installed on the end of outer shaft, is being fixed in the motor-driven screw mandrel turn of support, drives the relative support elevating movement of outer shaft.
Focused transducer is installed on the end of outer shaft, is that the relative support of center of rotation rotatablely moves being fixed in carriage motor drive gear set drive outer shaft with its axle center.
Be fixed with slide block, nut sleeve, support on the lower link frame, slide block connects in middle connecting frame by guide rail, on the screw mandrel of nut sleeve connecting frame in two ends are fixed in.Connecting frame motor-driven gear group turn in being fixed in, drive lead screw drives nut sleeve, and lower link is done the one dimension direction along guide rail and is accurately moved.
Middle connecting frame is fixed with guide rail, slide block, nut sleeve, motor, gear train, and slide block connects in last connecting frame by guide rail, and nut sleeve is fixed on the screw mandrel of connecting frame at two ends.Last connecting frame is fixed on the water tank, and water tank is gone to the bottom water pocket is housed, and is fixed in the turn of connecting frame motor-driven gear group, and drive lead screw drives nut sleeve, and middle connecting frame is done the one dimension direction along guide rail and accurately moved.
Beneficial effect: three-dimensional localization of the present invention, the accurate sweep mechanism device of five dimensions make the HIFU therapy system can adopt from top to bottom therapeutic modality of focusing therapy transducer, three-dimensional localization mechanism arrangement exercise therapy head cooperates with therapeutic bed, can make the top that is centrally located in the patient tumors epidermis of a treatment water pocket that contacts with the patient, do not have under the kinestate of relatively moving with the patient at treatment head, the accurate scanning moving mechanism device of five dimensions in the treatment head to patient's focus accurately locate, scanning, imaging and treatment.
The present invention overcomes the existing mechanism arrangement deficiency of HIFU therapy system, adopt focusing therapy transducer locate mode from top to bottom, a three-dimensional localization is moved and therapeutic bed cooperatively interacts makes the patient that comparatively comfortable attitude be arranged in therapeutic process by treating, and the patient is indefatigability in than the Changzhi treatment time.In therapeutic process, treatment head, therapeutic bed and patient keep resting state, by the accurate scanning moving mechanism of the dimension of five in the treatment head to patient's focus accurately locate, scanning, imaging and treatment, reduce the displacement error in the systematic treating process, improve whole HIFU therapy system treatment accuracy and security reliability.
Description of drawings
Fig. 1 is a three-dimensional localization mechanism arrangement side view,
Fig. 2 is a three-dimensional localization mechanism arrangement front view,
Fig. 3 is the accurate sweep mechanism device 3-D view of five dimensions in the treatment head,
Fig. 4 is the accurate sweep mechanism device privileged sites profile of five dimensions in the treatment head.
Have among the above figure: counterweight 1, the axis of guide 2, the 3rd assembly pulley 3, steel wire rope 4, second assembly pulley 5, the 3rd assembly pulley 6, the first straight shape guide rail 7, gusset piece 8, first rolling slide block 9, second motor 10, second screw mandrel 11, second nut sleeve 12, treatment 13, water pocket 14, gyro black assembly 15, second motor cabinet 16, gyroaxis 17, first nut sleeve 18, first screw mandrel 19, first motor cabinet 20, first motor 21, column 22, the 3rd motor 23, the 3rd motor cabinet 24, arm plate 25, second rolling slide block 26, the 3rd nut sleeve 27, the 3rd screw mandrel 28, arc orbit 29, lower link frame 30, the 3rd rolling slide block 31, the 8th motor 32, second guide rail 33, last connecting frame 34, support 35, outer shaft 36, interior axle 37, encoder 38, the 4th motor 39, fixing head 40, the 5th motor 41, the 3rd guide rail 42, middle connecting frame 44, the 7th motor 45, focused transducer 46, water tank 47, the 6th motor 48, the 4th nut sleeve 49, second gear train 52, the 6th screw mandrel 53, the 5th nut sleeve 54, the 3rd gear train 55;
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the invention is further specified.
High-strength focus supersonic therapeutic system of the present invention comprises treatment 13 and three-dimensional localization mechanism, five accurate sweep mechanisms of dimension and location Ultrasonic-B probe, focused transducer 46 are arranged in the treatment head, and location Ultrasonic-B probe and focused transducer 46 are installed on the support 35 of the accurate scanning means of five dimensions in the treatment head in the mode of exterior and interior axle sleeves; There are arm plate 25, gusset piece 8, column 22 in three-dimensional localization mechanism, the treatment head is connected with arm plate 25 with one group of push-and-pull assembly by the gyro black assembly 15 of its two side, arm plate 25 is connected with gusset piece 8 with arc orbit 29 by gyroaxis 17, and gusset piece 8 is connected with the first straight shape guide rail 7 on the vertical columns 22 again.
Wherein the three-dimensional localization mechanism arrangement of therapy system is:
First motor 21 is fixed on the column 22 by first motor cabinet 20; First screw mandrel, 19 1 ends are fixed on the column 22, and the other end links to each other with the rotating shaft of first motor 21; The first straight shape guide rail 7 is fixed on the column 22, and its first rolling slide block 9 is fixing with gusset piece 8; First nut sleeve 18 is fixing with gusset piece 8 on first screw mandrel 19; Counterweight 1 is connected with gusset piece 8 under guiding by assembly, the axis of guide 2 of steel wire rope 4 at the assembly pulley of the 3rd assembly pulley 3, second assembly pulley 5 and the 3rd assembly pulley 6 compositions; First motor 21 drives 19 rotations of first screw mandrel makes first nut sleeve 18 and gusset piece 8 do lifting moving on straight shape guide rail 7, and counterweight 1 makes gusset piece 8 lifting moving weight balancings;
Second motor 10 is fixed on the gusset piece 8 by second motor cabinet 16; Second screw mandrel, 11 1 ends link to each other with motor 10, and the other end is unsettled; Second nut sleeve 12 on second screw mandrel 11 is fixed in the treatment 13; One end of gyro black assembly 15 and arm plate 25 are fixing, the other end is fixing with treatment 13, second motor 10 drives second screw mandrel 11 and rotates push-and-pulls and be fixed in that second nut sleeve 12 moves in the treatment 13, and it be that the relative arm plate of center of rotation front and back rotatablely move with gyro black assembly 15 that second nut sleeve 12 drives treatment 13.
The 3rd motor 23 is fixed on the arm plate 25 by the 3rd motor cabinet 24; One end of the 3rd screw mandrel 28 links to each other with the 3rd motor 23, and the other end is unsettled; Arc orbit 29 is fixed on the gusset piece 8, and its second rolling slide block 26 is fixing with arm plate 25; One end of gyroaxis 17 is connected with gusset piece 8, and the other end is connected with arm plate 25; The 3rd nut sleeve 26 on the 3rd screw mandrel 28 is fixing with arm plate 25; The 3rd motor 23 drivings the 3rd screw mandrel 28 rotates and makes the 3rd nut sleeve 26 drive arm plates 25 is the relative gusset piece 8 left rotation and right rotation motion of center of rotation with gyroaxis 17.
Wherein the accurate sweep mechanism device of five dimensions in the therapy system treatment head is:
In the axle 38, motor 40, encoder 39 were fixed on outer shaft 37 1 ends by fixing head 41 in the location Ultrasonic-B probe was installed in, and motor 40 drives the screw mandrel turn, and axle 38 relative outer shaft 37 elevating movements drive encoder 39 simultaneously and accurately count in driving.
Focused transducer 47 is installed on the end of outer shaft 37, drives the screw mandrel turn at the motor 42 that is fixed in support 36, drives outer shaft 37 relative support 36 elevating movements.
Focused transducer 47 is installed on the end of outer shaft 37, is that the relative support 36 of center of rotation rotatablely moves being fixed in support 36 motors 51 drive gear set 55 drive outer shafts 37 with its axle center.
Be fixed with slide block 32, nut sleeve 52, support 36 on the lower link frame 31, slide block 32 connects in middle connecting frame 45 by guide rail 33, on the screw mandrel 53 of nut sleeve 52 connecting frame 45 in two ends are fixed in.Connecting frame 45 motors 60 drive gear set 59 turns in being fixed in, drive lead screw 53 drives nut sleeve 52, and lower link frame 31 is done the one dimension direction along guide rail 33 and is accurately moved.
Middle connecting frame 45 is fixed with guide rail 33, slide block 44, nut sleeve 62, motor 60, gear train 59, and slide block 44 connects in last connecting frame 35 by guide rail 43, and nut sleeve 62 is fixed at two ends on the screw mandrel 61 of connecting frame 35.Be fixed in 63 turns of connecting frame 35 motors 64 drive gear set, drive lead screw 61 drives nut sleeve 62, and middle connecting frame 45 is done the one dimension direction along guide rail 43 and accurately moved.
This therapy system is in practical operation, and at first by the motion of operator's control system 3 D locating device and therapeutic bed, laser positioning guiding on the treatment head makes the treatment head be centrally located in the top of tumor locus epidermis.The operator handles first motor 21 and drives 19 rotations of first screw mandrel, make first nut sleeve 18 and gusset piece 8 on straight shape guide rail 7, do lifting moving, make the treatment head reduce to the top of patient tumors position epidermis, and contact with its acoustical coupling, contact sound window size satisfies the treatment requirement.According to the required position of patient treatment, the operator can handle second motor 10 and drive second screw mandrel 11 and rotate push-and-pulls and be fixed in that second nut sleeve 12 moves in the treatment 13, and it be that the relative arm plate of center of rotation is done front and back and rotatablely moved with gyro black assembly 15 that second nut sleeve 12 drives treatment 13.Equally, the operator handles the 3rd motor 23 and drives the 3rd screw mandrel 28 and rotate that to make the 3rd nut sleeve 26 drive arm plates 25 be the relative gusset piece 8 of center of rotation with gyroaxis 17, drives the treatment head and does left rotation and right rotation and move.When the patient satisfied therapy system treatment position, the patient had comparatively comfortable attitude in therapeutic process.After finishing the location, treatment head, therapeutic bed and patient keep resting state, by the accurate scanning moving mechanism of five dimensions in the treatment head to patient's focus accurately locate, scanning, imaging and treatment.The operator handles motor 42 and drives the screw mandrel turn, and focused transducer 47 focuses are reduced to patient's in-vivo tumour position on the drive outer shaft 37.Handle motor 40 and drive the screw mandrel turns, relative outer shaft 37 elevating movements of location Ultrasonic-B probe in the axle 38 when location, make the location Ultrasonic-B probe press close to the patient surface in driving, can more clear demonstration area for treatment B ultrasonic image; It is that the relative support 36 of center of rotation rotatablely moves with its axle center that drive motors 51 drive gear set 55 drive outer shaft 37, and multi-angle is surveyed area for treatment B ultrasonic image, makes things convenient for the needs of location, treatment.Therapy system is to adopt from bottom to top mode of lattice plane battle array to tumor treatment.Focused transducer 47 is in 59 turns of motor 60 drive gear set, and drive lead screw 53 drives nut sleeve 52, and lower link frame 31 is done X-direction along guide rail 33 and accurately moved; Equally, 63 turns of motor 64 drive gear set, drive lead screw 61 drives nut sleeve 62, and middle connecting frame 45 is done Y direction along guide rail 43 and is accurately moved; Combine with focused transducer 47 focuses accurate motion up and down on the motor 42 drive outer shafts 37, realize the three-dimensional lattice plane therapeutic modality of therapy system.Last connecting frame 34 is fixed on the water tank 47, and water tank 47 is gone to the bottom water pocket 14 is housed, in fill de aerated water, focused transducer 47 whole motion process are all in water tank 47 de aerated water, by water pocket 14 ultrasonic radiation treatment from top to bottom.Displacement error in therapy system locating scanning device minimizing systematic treating process improves whole HIFU therapy system treatment accuracy and security reliability.
Claims (3)
1. high-strength focusing ultrasonic therapy locating scanning device, it is characterized in that: this device comprises treatment head (13) and three-dimensional localization mechanism: five accurate sweep mechanisms of dimension and location Ultrasonic-B probe (56), focused transducer (46) are arranged in the treatment head, and location Ultrasonic-B probe (56) is installed on the support (35) of the accurate scanning means of five dimensions in the treatment head with the mode of focused transducer (46) with exterior and interior axle sleeves; Three-dimensional localization mechanism comprises arm plate (25), gusset piece (8), column (22), treatment head (13) is connected with arm plate (25) with the push-and-pull assembly that one group of second motor (10), second screw mandrel (11), second nut sleeve (12), second motor cabinet (16) are formed by the gyro black assembly (15) of its two side, arm plate (25) is connected with gusset piece (8) with arc orbit (29) by gyroaxis (17), and gusset piece (8) is connected with column (22) the last first straight shape guide rail (7) again.
2. high-strength focus supersonic therapeutic system locating scanning device as claimed in claim 1 is characterized in that described three-dimensional localization mechanism is:
First motor (21) is fixed on the column (22) by first motor cabinet (20); First screw mandrel (19) one ends are located on the column (22), and the other end links to each other with the rotating shaft of first motor (21); The first straight shape guide rail (7) is fixed on the column (22), and its first rolling slide block (9) is fixing with gusset piece (8); Last first nut sleeve of first screw mandrel (19) (18) is fixing with gusset piece (8); Counterweight (1) is connected with gusset piece (8) under guiding by assembly, the axis of guide (2) of steel wire rope (4) at the assembly pulley that the 3rd assembly pulley (3), second assembly pulley (5) and the 3rd assembly pulley (6) are formed; First motor (21) drives first screw mandrel (19) rotation makes first nut sleeve (18) and gusset piece (8) do lifting moving on straight shape guide rail (7), and counterweight (1) makes gusset piece (8) lifting moving weight balancing;
Second motor (10) is fixed on the gusset piece (8) by second motor cabinet (16); Second screw mandrel (11) one ends link to each other with motor (10), and the other end is unsettled; Second nut sleeve (12) on second screw mandrel (11) is fixed on the treatment head (13); One end of gyro black assembly (15) and arm plate (25) are fixing, the other end is connected with treatment head (13), it is mobile that treatment (13) last second nut sleeve (12) are fixed in second motor (10) driving second screw mandrel (11) rotation push-and-pull, and it is that the relative arm plate of center of rotation front and back rotatablely move with gyro black assembly (15) that head (13) is treated in second nut sleeve (12) drive;
The 3rd motor (23) is fixed on the arm plate (25) by the 3rd motor cabinet (24); One end of the 3rd screw mandrel (28) links to each other with the 3rd motor (23), and the other end is unsettled; Arc orbit (29) is fixed on the gusset piece (8), and its second rolling slide block (26) is fixing with arm plate (25); One end of gyroaxis (17) is connected with gusset piece (8), and the other end is connected with arm plate (25); The 3rd nut sleeve (27) on the 3rd screw mandrel (28) is fixing with arm plate (25); The 3rd motor (23) driving the 3rd screw mandrel (28) rotates and makes the 3rd nut sleeve (27) drive arm plate (25) is the motion of the relative gusset piece of center of rotation (8) left rotation and right rotation with gyroaxis (17).
3. high-strength focus supersonic therapeutic system locating scanning device as claimed in claim 1 is characterized in that the accurate sweep mechanism device of five dimensions in the described treatment head is:
The location Ultrasonic-B probe is installed in the interior axle (37), the 4th motor (39), encoder (38) are fixed on outer shaft (36) one ends by fixing head (40), the 4th motor (39) drives the screw mandrel turn, axle (37) outer shaft (36) elevating movement relatively in driving drives accurately counting of encoder (38) simultaneously;
Focused transducer (46) is installed on the end of outer shaft (36), drives the screw mandrel turn at the 5th motor (41) that is fixed in support (35), drives outer shaft (36) support (35) elevating movement relatively; Is that the relative support of center of rotation (35) rotatablely moves being fixed in support (35) the 6th motor (48) driving first gear train (51) drive outer shaft (36) with its axle center;
Be fixed with the 3rd rolling slide block (31), the 4th nut sleeve (49), support (35) on the lower link frame (30), the 3rd rolling slide block (31) connects in middle connecting frame (44) by second guide rail (33), the 4th nut sleeve (49) is fixed on the 5th screw mandrel (55) of middle connecting frame (44) at two ends, be fixed in middle connecting frame (44) the 7th motor (45) and drive second gear train (52) turn, transmission the 5th screw mandrel (55) drives the 4th nut sleeve (44), and lower link frame (30) is done the one dimension direction along second guide rail (33) and accurately moved;
Middle connecting frame (44) is fixed with second guide rail (33), the 4th rolling slide block (43), the 4th nut sleeve (49), the 7th motor (45), second gear train (52), the 4th rolling slide block (43) connects in last connecting frame (34) by the 3rd guide rail (42), last connecting frame (34) is fixed on the water tank (47), water tank (47) is gone to the bottom water pocket (14) is housed, the 5th nut sleeve (54) is fixed at two ends on the 6th screw mandrel (53) of connecting frame (34), be fixed in connecting frame (34) the 8th motor (32) and drive the 3rd gear train (55) turn, transmission the 6th screw mandrel (53) drives the 5th nut sleeve (54), and middle connecting frame (44) is done the one dimension direction along the 3rd guide rail (42) and accurately moved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100190570A CN100525716C (en) | 2008-01-11 | 2008-01-11 | High-strength focusing ultrasonic therapy locating scanning device |
| KR1020090001150A KR101216818B1 (en) | 2008-01-11 | 2009-01-07 | Apparatus for scanning a position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100190570A CN100525716C (en) | 2008-01-11 | 2008-01-11 | High-strength focusing ultrasonic therapy locating scanning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101238994A true CN101238994A (en) | 2008-08-13 |
| CN100525716C CN100525716C (en) | 2009-08-12 |
Family
ID=39931019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100190570A Active CN100525716C (en) | 2008-01-11 | 2008-01-11 | High-strength focusing ultrasonic therapy locating scanning device |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101216818B1 (en) |
| CN (1) | CN100525716C (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102429720A (en) * | 2010-09-29 | 2012-05-02 | 江苏赛达医疗科技有限公司 | Ultrasonic probe transmission device for oral cavity and maxillofacial region |
| CN102784005A (en) * | 2011-05-17 | 2012-11-21 | 海罗尼克株式会社 | High intensity focused ultrasound generating device |
| CN104174120A (en) * | 2014-02-18 | 2014-12-03 | 上海联影医疗科技有限公司 | Linear accelerator |
| CN106730428A (en) * | 2016-12-13 | 2017-05-31 | 中惠医疗科技（上海）有限公司 | Tumour ablation treating mechanical device with power position control defencive function |
| CN106725726A (en) * | 2017-03-17 | 2017-05-31 | 深圳市普罗医学股份有限公司 | A kind of medical use liquid medium stores water sac device |
| CN106924887A (en) * | 2015-12-31 | 2017-07-07 | 上海联影医疗科技有限公司 | A kind of Medical Devices |
| CN107042000A (en) * | 2017-05-05 | 2017-08-15 | 青岛市市立医院 | A kind of prostate apparatus for ultrasonic therapeutic treatment |
| CN108926361A (en) * | 2018-07-27 | 2018-12-04 | 冯璇 | A kind of Color Sonography instrument convenient for lifting |
| CN109173100A (en) * | 2018-10-17 | 2019-01-11 | 无锡海鹰医疗科技股份有限公司 | Have the focused ultrasound devices of two-dimensional imaging and HIFU Treatment one for toy |
| CN109173099A (en) * | 2018-10-17 | 2019-01-11 | 无锡海鹰医疗科技股份有限公司 | Overhead focuses ultrasonic multi-dimensional movement treatment positioning scanning means |
| CN110559565A (en) * | 2019-10-16 | 2019-12-13 | 无锡海鹰医疗科技股份有限公司 | Ultrasonic spherical curved surface scanning three-dimensional body treatment device and using method thereof |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5933549B2 (en) | 2010-08-18 | 2016-06-08 | ミラビリス メディカ インク | HIFU applicator |
| RU2613431C2 (en) * | 2015-06-17 | 2017-03-16 | федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский политехнический университет Петра Великого" ФГАОУ ВО СПбПУ" | Device for energy impact on anatomical structures |
| CN107441639B (en) * | 2017-09-11 | 2019-06-07 | 邹进华 | It is a kind of can precise positioning focusing ultrasonic wave tightening skin and removing wrinkles beauty instrument |
| CN109745070B (en) * | 2017-11-08 | 2023-12-05 | 重庆海扶医疗科技股份有限公司 | Moving assembly and B ultrasonic imaging device |
| CN109646820A (en) * | 2018-12-29 | 2019-04-19 | 佛山瑞加图医疗科技有限公司 | Accelerator head liftable regulating device, radiotherapy apparatus and control method |
| CN111759311B (en) * | 2020-07-25 | 2024-05-24 | 上海健康医学院 | Three-dimensional gait force measuring table |
| CN113426034B (en) * | 2021-06-18 | 2023-08-29 | 鑫高益医疗设备股份有限公司 | Nuclear magnetic resonance guided ultrasonic focusing system |
| CN117085267B (en) * | 2023-09-04 | 2024-05-10 | 金达威医疗科技(湖南)有限公司 | Focused ultrasonic energy output device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4137777A (en) * | 1977-07-11 | 1979-02-06 | Mediscan Inc. | Ultrasonic body scanner and method |
| JPS57160444A (en) * | 1981-03-26 | 1982-10-02 | Aloka Co Ltd | Scanner of ultrasonic probe |
| JP2005259738A (en) | 2004-03-09 | 2005-09-22 | Canon Inc | Positioning device |
-
2008
- 2008-01-11 CN CNB2008100190570A patent/CN100525716C/en active Active
-
2009
- 2009-01-07 KR KR1020090001150A patent/KR101216818B1/en active IP Right Grant
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102429720A (en) * | 2010-09-29 | 2012-05-02 | 江苏赛达医疗科技有限公司 | Ultrasonic probe transmission device for oral cavity and maxillofacial region |
| CN102784005A (en) * | 2011-05-17 | 2012-11-21 | 海罗尼克株式会社 | High intensity focused ultrasound generating device |
| CN104174120A (en) * | 2014-02-18 | 2014-12-03 | 上海联影医疗科技有限公司 | Linear accelerator |
| CN106924887B (en) * | 2015-12-31 | 2020-12-01 | 上海联影医疗科技股份有限公司 | Medical equipment |
| CN106924887A (en) * | 2015-12-31 | 2017-07-07 | 上海联影医疗科技有限公司 | A kind of Medical Devices |
| CN106730428A (en) * | 2016-12-13 | 2017-05-31 | 中惠医疗科技（上海）有限公司 | Tumour ablation treating mechanical device with power position control defencive function |
| CN106730428B (en) * | 2016-12-13 | 2024-01-23 | 中惠医疗科技（上海）有限公司 | Tumor ablation treatment mechanical device with force position control and protection functions |
| CN106725726A (en) * | 2017-03-17 | 2017-05-31 | 深圳市普罗医学股份有限公司 | A kind of medical use liquid medium stores water sac device |
| CN107042000A (en) * | 2017-05-05 | 2017-08-15 | 青岛市市立医院 | A kind of prostate apparatus for ultrasonic therapeutic treatment |
| CN108926361A (en) * | 2018-07-27 | 2018-12-04 | 冯璇 | A kind of Color Sonography instrument convenient for lifting |
| CN109173099A (en) * | 2018-10-17 | 2019-01-11 | 无锡海鹰医疗科技股份有限公司 | Overhead focuses ultrasonic multi-dimensional movement treatment positioning scanning means |
| CN109173100A (en) * | 2018-10-17 | 2019-01-11 | 无锡海鹰医疗科技股份有限公司 | Have the focused ultrasound devices of two-dimensional imaging and HIFU Treatment one for toy |
| CN109173100B (en) * | 2018-10-17 | 2024-03-08 | 无锡海鹰医疗科技股份有限公司 | Focusing ultrasonic device for small animals with two-dimensional imaging and HIFU treatment |
| CN110559565A (en) * | 2019-10-16 | 2019-12-13 | 无锡海鹰医疗科技股份有限公司 | Ultrasonic spherical curved surface scanning three-dimensional body treatment device and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20090077694A (en) | 2009-07-15 |
| CN100525716C (en) | 2009-08-12 |
| KR101216818B1 (en) | 2012-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100525716C (en) | High-strength focusing ultrasonic therapy locating scanning device | |
| CN102113905B (en) | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment | |
| CN106018443B (en) | Industrial CT detection device and method based on 3D ball detection platform | |
| CN104548328B (en) | Minimally invasive local radiotherapy robot device | |
| CN109173099A (en) | Overhead focuses ultrasonic multi-dimensional movement treatment positioning scanning means | |
| CN1263433C (en) | Bone surgery device of robot navigation | |
| CN102258826B (en) | Five-freedom degree minimally invasive acupuncture operation guiding mechanism | |
| CN204709657U (en) | A kind of accurately pendulum position therapeutic bed | |
| CN105852975A (en) | Nuclear magnetism compatible mammary gland interventional operation device | |
| CN102921099A (en) | Short-distance particle implantation robot based on ultrasonic image navigation | |
| CN105832362A (en) | Multi-freedom-degree cone-beam CT imaging system | |
| WO2013125146A1 (en) | Couch with patient-inclining device | |
| CN204446969U (en) | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus | |
| CN115068846A (en) | High-intensity focused ultrasound treatment positioning scanning system and using method thereof | |
| CN201055381Y (en) | Three-dimensional therapeutic bed | |
| CN110393856B (en) | Therapeutic bed for radiotherapy | |
| CN104307114A (en) | Five degree of freedom O-shaped arm radiation therapy system | |
| CN209173253U (en) | A kind of ultrasonic multi-dimensional movement treatment positioning scanning means of overhead focusing | |
| CN100515523C (en) | 3-D image guided-moving positioning system based on viewpoint in focus supersonic therapy | |
| CN203425388U (en) | Hadron treatment room | |
| CN203539610U (en) | Hadron treatment room | |
| CN106267573A (en) | A kind of accurately pendulum position therapeutic bed | |
| CN210813522U (en) | Therapeutic bed for radiotherapy | |
| CN104107510B (en) | The moving sweep device of high-strength focus supersonic therapeutic system | |
| CN111956960B (en) | Dynamic positioning device of high-intensity focused ultrasound treatment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180726 Address after: 214000 Room 101, C District, 20, Qingyuan Road, No. 20, Qingyuan Road, new Wu District, Wuxi, Jiangsu. Patentee after: The Wuxi Seahawks medical Polytron Technologies Inc Address before: 214061 room 205, zone two, science and Technology Pioneer Park, Wuxi New District, Jiangsu. Patentee before: Wuxi Haiying Electronic Medical Systems Inc. |