CN102525596B - Ultrasound collection and treatment control system and image acquisition method thereof - Google Patents
Ultrasound collection and treatment control system and image acquisition method thereof Download PDFInfo
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Abstract
The invention discloses an ultrasound collection and treatment control system and an image acquisition method thereof. The system comprises a treatment head and a type-B ultrasound probe which can rapidly revolve 360 degrees around the probe axis and is used for acquiring a primary section image and orthogonal section images. A rotation driving component for driving the type-B ultrasound probe to revolve around the probe axis is adopted; a collection control module is adopted to control a type-B ultrasound probe rotating component of an ultrasound treatment device to acquire an image of any angle from 0 degree to 360 degrees (particularly two orthogonal images); the two images are displayed in a three-dimensional manner on a screen, and an HIFU ((High Intensity Focused Ultrasound)) focal points and sound channels are drawn in a three-dimensional window, so as to provide safe auxiliary diagnosis for doctors. A treatment efficacy judgment module is adopted to judge treatment efficacy according to comparison of the orthogonal images of two angles before and after treatment. The judgment results are the basis for automatically controlling the treatment process and judging whether the treatment is effective and whether the treatment can be stopped, or judging whether a danger exists and the treatment needs to be stopped or interrupted.
Description
Technical field
The present invention relates to medical auxiliary apparatus, particularly a kind of for ultrasound acquisition and treatment control system and obtain the method for image.
Background technology
High intensity focused ultrasound technology (High Intensity Focused Ultrasound), is called for short HIFU technology.That ultrasound wave is focused on to target area tissue, the tissue penetration and the energy deposition that utilize ultrasound wave to have, ectogenetic ultrasound wave is focused on to pathological tissues in organism (treatment target spot), reach the object for the treatment of disease by ultrasonic mechanical effect, heat effect and cavitation effect.It is focuses that HIFU technology has two key concepts, harmony passage.Focus is exactly the zonule that ultrasound wave focuses on, and sound passage is the region of ultrasound wave process.
Adopting the sonicator of high intensity focused ultrasound technology is a kind of newer noninvasive therapeutic instrument, exists treatment location institute's time spent long, and the safety for the treatment of is held more difficult, and the curative effect for the treatment of judges more unilateral, also the problem such as not too accurate.
In traditional Ultrasound Instrument, curative effect judgement is generally used as according to the grey scale change (after treatment, gray scale strengthens) on image before and after a tangent plane treatment result that curative effect is sentenced, because tissue characteristics is inhomogeneous, not obvious on the some tangent planes of grey scale change possibility, and in another angle situation clearly.
Sonicator sometimes needs to use Ultrasonic-B probe monitoring image, and the information providing according to image positions, and treatment and curative effect judge, such as high-intensity focus supersonic tumor therapy system.In prior art, adopt in the sonicator (such as high-intensity focus supersonic tumor therapy system) of Ultrasonic-B probe monitoring image, general just from an angle real-time image acquisition, and for location, treatment and curative effect judgement and analysis, although what have can process from two angles, but what spend is chronic, do not reach in real time effect accurately.Because can only be in real time from an angle position, treatment and curative effect judgement and analysis, the efficiency that this has greatly affected location, has affected the comprehensive and accuracy of curative effect judgement, can not reach the effect of comprehensive security judgement.
Therefore, need a kind of ultrasound acquisition and treatment control system that is applicable to sonicator, thereby make Ultrasonic-B probe can provide within a short period of time within the scope of 0 degree and 360 degree in arbitrarily angled image, utilize existing image acquisition control module, kinetic control system, can strengthen judgement therapeutic effect and the treatment safety ability of operator to tissue image, can shorten again the time of accurate judgement, improve therapeutic efficiency.
Summary of the invention
In view of this, the object of this invention is to provide a kind of ultrasound acquisition and treatment control system and image-pickup method thereof, thereby make Ultrasonic-B probe can provide within a short period of time within the scope of 0 degree and 360 degree in arbitrarily angled image, utilize existing image acquisition control module, kinetic control system, can strengthen judgement therapeutic effect and the treatment safety ability of operator to tissue image, can shorten again the time of accurate judgement, improve therapeutic efficiency.
Ultrasound acquisition of the present invention and treatment control system, comprise a treatment assembly and Ultrasonic-B probe assembly; Ultrasonic-B probe assembly comprises:
Ultrasonic-B probe, being used for obtaining main tangent plane picture and orthogonal tangent plane picture around 360 ° of rotations of self axis;
Rotating drive assembly, is connected with Ultrasonic-B probe and drives the Ultrasonic-B probe can be around 360 ° of rotations of self axis; The time that the rotation of rotating drive Component driver Ultrasonic-B probe is 360 ° is 0.5-3 second.
Further, also comprise: central processing system, be used for receiving the view data of Ultrasonic-B probe, irradiate or cease and desist order and realize therapeutic process control to a treatment assembly transmission, and contrasting and realize curative effect judgement with the rear view data for the treatment of before the treatment that Ultrasonic-B probe is obtained;
Further, described rotating drive assembly at least comprises rotation servomotor and the rotation drive machine by rotation driven by servomotor, described rotation drive machine comprises rotation worm couple, the worm screw of rotating worm couple with rotate the power output shaft transmission of servomotor and coordinate, the worm gear of rotation worm couple with Ultrasonic-B probe can drive its mode transmission around axis rotation to coordinate; Described central processing system order output terminal connects the control circuit of servomotor;
Further, also comprise the tubular sheath that is coated at Ultrasonic-B probe, the work surface of described Ultrasonic-B probe protrudes from tubular sheath end; The probe handle of necking down is formed at described Ultrasonic-B probe bottom, and described probe handle along the circumferential direction secure fit overcoat has T oblique crank Z cover; Described tubular sheath inner circle is provided with annular boss, described T oblique crank Z cover microcephaly is coaxial downwards to be coordinated through the inner circle of annular boss formation and with the worm-drive of rotating worm couple, described T oblique crank Z cover major part bottom load is rotatably assorted on annular boss and with it, and Ultrasonic-B probe is held on T oblique crank Z cover major part top;
Further, the plane sliding bearing that make by a self-lubricating material described T oblique crank Z cover major part bottom is carried on a shoulder pole on annular boss; The worm gear of described rotation worm couple coordinates with Ultrasonic-B probe transmission by telescopic shaft assembly;
Further, telescopic shaft assembly comprises worm-wheel shaft, gear pair and power output shaft, the driving gear of described gear pair with worm-wheel shaft in circumferencial direction secure fit and axially slidably coordinating, worm-wheel shaft as power intake by the worm-gear driven of rotating worm couple, the driven gear of gear pair coordinates with power output shaft coaxial transmission, and power output shaft coordinates with T oblique crank Z cover microcephaly coaxial transmission;
Further, have support set in power output shaft outer cover, this support set upper end is rotatably assorted and is supported in the shaft shoulder that power output shaft upper end forms and acts on T oblique crank Z cover microcephaly, support set lower end be supported in that tubular sheath inner circle bottom forms to inner convex platform; Tubular sheath coordinates with Ultrasonic-B probe coaxial transmission in the mode that can drive Ultrasonic-B probe to rotate around its axis, and the rotational power outfan of rotation drive machine is can drive the mode transmission cooperation of tubular sheath around self axis rotation; Described tubular sheath overcoat has fairlead, and fairlead inner surface is provided with the spigot surface being slidably matched with tubular jacket outer surface gapless, and spigot surface is distributed with the circumferential slot being set up in parallel vertically.
The invention also discloses a kind of image-pickup method that utilizes ultrasound acquisition and treatment control system, comprise the following steps:
A. obtain real-time ultrasonic image by Ultrasonic-B probe, and rotate Ultrasonic-B probe to main shear-face angle, gather image and make it show in two-dimentional window and preserve;
B rotation Ultrasonic-B probe arrives the shear-face angle with any angle of main tangent plane, gathers assistant images and preserves;
C is simultaneously displayed on main tangent plane picture and assistant images in three dimensional window;
D. treating after head irradiation, obtaining assistant images and main tangent plane picture and preserve;
C. contrast the gray scale between the assistant images that obtains in steps d and main tangent plane picture and main tangent plane picture and orthogonal tangent plane picture corresponding in step c.
Further, described assistant images is the orthogonal tangent plane picture orthogonal with main tangent plane picture.
Beneficial effect of the present invention: ultrasound acquisition of the present invention and treatment control system and image-pickup method thereof, adopt for driving the rotating drive assembly of Ultrasonic-B probe around the rotation of self axis, obtain in 0 degree and 360 degree image at any angle by acquisition control module control sonicator rotation Ultrasonic-B probe assembly, especially two width orthogonal images, this two width image is shown on screen in three-dimensional mode, be combined in three dimensional window and draw HIFU focus harmony passage, for doctor provides safe auxiliary judgment; Utilize curative effect judge module, the orthogonal image that carries out two angles is treated the curative effect judgement of front and back; Utilize and judge judged result, therapeutic process is controlled automatically, determine whether to treat and reach requirement and can finish to treat, or whether danger has occurred, need to stop or therapy discontinued.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the another kind of kind of drive structural representation of the present invention;
Fig. 3 is control principle block diagram of the present invention.
Detailed description of the invention
Fig. 1 is structural representation of the present invention, as shown in the figure: the ultrasound acquisition of the present embodiment and treatment control system, comprise a treatment assembly and Ultrasonic-B probe assembly; Ultrasonic-B probe assembly comprises:
Ultrasonic-B probe 1, being used for obtaining main tangent plane picture and orthogonal tangent plane picture around 360 ° of rotations of self axis;
Rotating drive assembly, is connected with Ultrasonic-B probe 1 and drives the Ultrasonic-B probe 1 can be around 360 ° of rotations of self axis; The time that the rotation of rotating drive Component driver Ultrasonic-B probe is 360 ° is 0.5-3 second; Rotate transmission component and comprise the existing driving mechanism that can carry out rotating drive, comprise electronic, the pneumatic or driving mechanism that surges, also comprise magnetic drives structure, all can realize object, certainly, need to configure some supplementary structures, such as support and base etc.
In the present embodiment, also comprise: central processing system, be used for receiving the view data of Ultrasonic-B probe, irradiate or cease and desist order and realize therapeutic process control to a treatment assembly transmission, and contrasting and realize curative effect judgement with the rear view data for the treatment of before the treatment that Ultrasonic-B probe is obtained.
As shown in Figure 3, the present invention can be according to different operating demand, in the time that needs obtain different angles image: central processing system can comprise that acquisition control module (can adopt existing PLC control system, and integrated data collecting card), kinetic control system and image monitoring, in designated movement range and movement time, make Ultrasonic-B probe move to an angle of appointment by kinetic control system (for controlling the driving arrangements such as servomotor), then collecting control module sends out by the image under this angle of image monitoring Real-time Obtaining, and be saved in the internal memory and hard disk of computer, so move to a lower angle, and gather image, until all Image Acquisition in given range complete.The scope of motion can be controlled at 0 to 360 degree as required, and the time of having moved is controlled in 0.5 second to 3 seconds.
In practice, in order to meet real-time, accuracy, and improve therapeutic efficiency, we are chosen within the scope of 0 to 180 degree, in the time range of 0.5 second to 1 second, obtain any two orthogonal tangent planes, as two orthogonal tangent planes of 0 degree and 90 degree, 90 degree and two orthogonal tangent planes of 180 degree.In order to improve the accuracy of control and simplify sonicator the structure of rotating Ultrasonic-B probe assembly 1, we can be only to 0 degree, 90 degree, and three angles of 180 degree are carried out high accuracy control.In the time of this three angles of rotation, acquisition control module control meeting control sonicator rotation Ultrasonic-B probe assembly 1 stops 50ms left and right, then gathers image, to reach optimum efficiency.
In the present embodiment, described rotating drive assembly at least comprises and rotates servomotor 12 and by rotating the rotation drive machine that drives of servomotor 12, rotation drive machine be provided with rotational power outfan and with Ultrasonic-B probe can drive its mode transmission of rotating around axis to coordinate; Described central processing system order output terminal connects the control circuit of servomotor; Adopt and rotate servomotor 12 control rotations, have control sensitive, the feature that precision is high, is beneficial to and realizes automatization completely.
In the present embodiment, also comprise the tubular sheath 4 that is coated at Ultrasonic-B probe 1, the work surface of described Ultrasonic-B probe 1 protrudes from tubular sheath 4 ends; For the protection of and support Ultrasonic-B probe 1, make globality of the present invention stronger.
In the present embodiment, the probe handle 17 of necking down is formed at described Ultrasonic-B probe 1 bottom, and described probe handle 17 along the circumferential direction secure fit overcoat has T oblique crank Z cover 16; Described tubular sheath 4 inner circles are provided with annular boss 10, described T oblique crank Z overlaps the downward coaxial inner circle forming through annular boss 10 of 16 microcephalies and coordinates with the transmission of rotation drive machine rotational power outfan, described T oblique crank Z overlaps 16 major part bottom loads and is rotatably assorted on annular boss 10 and with it, and T oblique crank Z overlaps 16 major part tops and holds Ultrasonic-B probe 1; The present embodiment is simple and compact for structure, has less volume and more stable rotational structure.
In the present embodiment, described T oblique crank Z overlaps the plane sliding bearing 2 of making by a self-lubricating material 16 major part bottoms to be carried on a shoulder pole on annular boss 10, reduces force of sliding friction, reduces and drives energy consumption.
In the present embodiment, described rotation drive machine coordinates with Ultrasonic-B probe 1 transmission by telescopic shaft assembly; By the setting of telescopic shaft structure, for being installed in addition, fast lifting drives structure provides possibility, Ultrasonic-B probe 1 is significantly improved at pickup image and the rising or falling speed between ultrasonic therapeutic, and by predefined Automatic Program lifting, allow Ultrasonic-B probe 1 treatment ultrasonic output before fast-descending, after treating ultrasonic output, rapidly increase to former height, what allow operator observes all the time is in-plant picture rich in detail, both strengthened the judgement of operator to tissue image, waiting time while having shortened again non-treatment, greatly improve therapeutic efficiency; Certainly, now tubular sheath 4 overcoats have fairlead 9, and fairlead 9 inner surfacies are provided with the spigot surface 3 being slidably matched with tubular sheath 4 outer surface gaplesss, spigot surface 3 circumferential slot 31 being set up in parallel vertically that distributes; This structure directly drives, and precision is higher, has compact stable feature simultaneously, when adopting spigot surface 3 structures can realize the object of guiding, reduces contact area, avoids causing larger lifting resistance; Spigot surface 3 circumferential slot 31 being set up in parallel vertically that distributes, circumferential slot 31 further reduces contact area, meanwhile, and can be for storing lubricant grease, smooth and easy while ensureing lifting; As shown in the figure, axial seal is respectively axial seal ring 32 and axial seal ring 33; Form sealing, ensure lubricant grease few loss of trying one's best, meanwhile, axial seal forms and supports slide mass 4, reduces the friction between spigot surface and slide mass.
In the present embodiment, described rotation drive machine comprises rotation worm couple, the worm screw 11 of rotating worm couple coordinates with the power output shaft transmission of rotating servomotor 12, rotates the worm gear 8 of worm couple and the power intake transmission of telescopic shaft assembly and coordinates; Adopt and rotate worm couple, in ensureing quick rotation, also make rotation process soft, avoid occurring the phenomenons such as quick shock and occur; Certainly, the worm gear 8 that rotates worm couple is supported in the base of casing 13 and is rotatably assorted with the base of casing 13, belongs to existing supporting construction, does not repeat them here.Adopt worm couple the drives structure in conjunction with servomotor, make drive mechanism bearing capacity high, controlled good, be beneficial to and realize quick rotation and accurately locate.
In the present embodiment, telescopic shaft assembly comprises worm-wheel shaft 5, gear pair and power output shaft 15, the driving gear 7 of described gear pair with worm-wheel shaft 5 in circumferencial direction secure fit and axially slidably coordinating, worm-wheel shaft 5 is driven by the worm gear 8 that rotates worm couple as power intake, the driven gear 14 of gear pair coordinates with power output shaft 15 coaxial transmissions, and power output shaft 15 overlaps 16 microcephaly's coaxial transmissions with T oblique crank Z and coordinates; Simple and compact for structure, transmission is smooth and easy, and has good installation adaptability.
In the present embodiment, there is support set 6 in power output shaft 15 outer cover, these support set 6 upper ends are rotatably assorted and are supported in the shaft shoulder that power output shaft 15 upper ends form and act on T oblique crank Z and overlap 16 microcephalies, support set 6 lower ends be supported in that tubular sheath 4 inner circles bottoms form to inner convex platform; Adopt support set structure, there is stable fixed structure, keep stability and the fastness of whole rotational structure.
Fig. 2 is the another kind of kind of drive structural representation of the present invention, as shown in the figure, the present invention also can adopt following structure, as shown in Figure 2, tubular sheath 4 coordinates with Ultrasonic-B probe 1 coaxial transmission in the mode that can drive Ultrasonic-B probe 1 to rotate around its axis, and the rotational power outfan of rotation drive machine is can drive the mode transmission cooperation of tubular sheath around self axis rotation; Described tubular sheath 4 overcoats have fairlead 9, and fairlead 9 inner surfacies are provided with the spigot surface 3 being slidably matched with tubular sheath 4 outer surface gaplesss, and gapless is slidably matched and refers to the fit structure that does not have gap and can be movable relatively between the two; Spigot surface 3 is distributed with the circumferential slot 31 being set up in parallel vertically; This structure directly drives, and precision is higher, has compact stable feature simultaneously, when adopting spigot surface 3 structures can realize the object of guiding, reduces contact area, avoids causing larger lifting resistance; Spigot surface 3 circumferential slot 31 being set up in parallel vertically that distributes, circumferential slot 31 further reduces contact area, meanwhile, and can be for storing lubricant grease, smooth and easy while ensureing lifting; As shown in the figure, axial seal is respectively axial seal ring 32 and axial seal ring 33; Form sealing, ensure lubricant grease few loss of trying one's best, meanwhile, axial seal forms and supports slide mass 4, reduces the friction between spigot surface and slide mass; As shown in the figure, described driving gear 7 also can coordinate with 4 transmissions of tubular sheath, thereby drives Ultrasonic-B probe 1 to rotate; Simple and compact for structure, transmission is smooth and easy, and has good installation adaptability.Certainly, can be also worm-wheel shaft integral drive in Ultrasonic-B probe 1, all can realize object of the present invention.
The worm gear 8 of described rotation worm couple is supported in the base of casing 13 and is rotatably assorted with it, base is provided with the supporting base for the worm gear 13 of support rotating worm couple, this supporting seat is the worm screw 11 of support rotating worm couple simultaneously, all adopt the structure of prior art, those skilled in the art can know this structure according to recording, and do not repeat them here.
The control of servomotor and driving are completed by control system, belong to technology well-known to those skilled in the art, do not repeat them here; In addition, ultrasound acquisition and treatment control system can be existing high-strength focusing ultrasonic therapy instrument, except treatment head and Ultrasonic-B probe, also have other controls, drive system, do not repeat them here.
The image-pickup method that utilizes ultrasound acquisition and treatment control system of the present embodiment, comprises the following steps:
A. obtain real-time ultrasonic image by Ultrasonic-B probe, and rotate Ultrasonic-B probe to main shear-face angle, gather image and make it show in two-dimentional window and preserve;
B rotation Ultrasonic-B probe arrives the shear-face angle with any angle of main tangent plane, gathers assistant images and preserves;
C is simultaneously displayed on main tangent plane picture and assistant images in three dimensional window;
D. treating after head irradiation, obtaining assistant images and main tangent plane picture and preserve;
C. contrast the gray scale between the assistant images that obtains in steps d and main tangent plane picture and main tangent plane picture and orthogonal tangent plane picture corresponding in step c.
In the present embodiment, described assistant images is the orthogonal tangent plane picture orthogonal with main tangent plane picture.
The process of utilizing this clearly to treat:
Position fixing process:
Before sonicator is implemented treatment, need a process that target area is definite, be called for short location.In position fixing process, doctor can find and definite therapeutic goal region according to ultrasonoscopy.
The present invention is according to doctor's requirement, in the short period of time, as got two orthogonal images within the scope of 0 to 180 degree in 1 second, as 0 degree and 90 degree two width images, acquisition module obtains after this two width image, can one of them image be main tangent plane, the angle of the main monitoring tangent plane of the angle of main tangent plane during with treatment plan be identical.As allowed 0 degree tangent plane as main tangent plane, the image of another angle, for auxiliary tangent plane, in three dimensional window, shows this two width image in three-dimensional mode, intuitively for judging the position at current HIFU focus place.This determines that compared with traditional image that only adopts a direction position of tumor is more directly perceived and convenient, because now, except seeing the organizational information on main tangent plane, can also see the information on auxiliary orthogonal tangent plane, that is to say, can not only see and work as frontal plane, also can also can understand the tissue situation before and after frontal plane.
Analysis process:
In therapeutic process, doctor, except determining the target area for the treatment of, also will determine the safety of this region treatment.In traditional supersonic therapeutic system, safety also can only judge obviously have one-sidedness by a main tangent plane.
In the present embodiment, can obtain at short notice the tangent plane of multiple directions, and for analysis, obviously more comprehensive and accurate than a main tangent plane.In the time of actual therapeutic, for efficiency, generally still take the just row analysis quasi real time of mode of two orthogonal tangent planes (a main tangent plane, an auxiliary orthogonal tangent plane).The quasi real time orthogonal image obtaining within the scope of these two short periods, also shows in three dimensional window with three-dimensional form.In order to allow the clearer and more definite tissue of doctor and HIFU focus, relation with HIFU sound passage, acquisition control module of the present invention is collecting image, and after being shown in three dimensional window, also in three dimensional window, draw the focus harmony passage of HIFU, allow doctor understand the relation of the human body of focus, sound passage and existing orthogonal tangent plane performance, thereby carry out more comprehensive and accurate safety judgement.
Curative effect judge process:
Curative effect in the ultrasonic therapeutic process normal important link that judges between right and wrong, traditional sonicator only can adopt a tangent plane to carry out curative effect judgement in real time, both inaccurate also not comprehensive.
In the present embodiment, can obtain in the short period of time the characteristic of multiple image, especially can in 1 second, obtain the characteristic of two orthogonal sectional drawings, carry out curative effect judgement.Before output HIFU energy is treated, first gather two orthogonal tangent planes before treatment, as 0 degree tangent plane and 90 degree tangent planes, and save, after HIFU output energy completes, again obtain immediately the image of 0 degree and 90 degree tangent planes, these 4 images are processed, according to the grey scale change of HIFU focus adnexa on two width images before and after 0 angle treatment, grey scale change while calculating 0 angle before and after treatment is as the foundation of curative effect, again according to the grey scale change of HIFU focus adnexa on two width images before and after 90 degree treatments, calculate 90 grey scale change while spending as curative effect foundation.The foundation of the curative effect that is this treatment by the maximum intensity change value detecting under these two angles judgement.This has been avoided in actual therapeutic process, and grey scale change is only surperficial on a tangent plane, and on another tangent plane, there is no the situation of significant change, can reflect more exactly therapeutic effect.
Treatment control procedure:
It is also a very important joint in therapeutic process that treatment is controlled.Present system only determines whether continual cure according to the grey scale change at single direction image HIFU focus place as curative effect, also can be according to the grey scale change of the normal structure beyond single direction image HIFU focus as dangerous judgement, to stop treatment.
In this example, can obtain in the short period of time the characteristic of multiple image, especially can in 1 second, obtain the characteristic of two orthogonal sectional drawings, and through curative effect judgement, if curative effect reaches expection requirement, stop the treatment in this region, if do not reach requirement, proceed treatment.
In addition, the present embodiment not only carries out gray scale comparison by the front and back image for the treatment of region, also by near important normal structure treatment region, the variation of the variation on image compares, Fac finds that obvious gray scale strengthens, show that these normal structures have been subject to damage, stop immediately treatment by curative effect judge module (software of separately establishing) notice treatment control module (software of separately establishing), as shown in Figure 3.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (9)
1. ultrasound acquisition and a treatment control system, is characterized in that: comprise a treatment assembly and Ultrasonic-B probe assembly; Ultrasonic-B probe assembly comprises:
Ultrasonic-B probe, can be around 360 ° of rotations of self axis, for obtaining main tangent plane picture and orthogonal tangent plane picture;
Rotating drive assembly, is connected with Ultrasonic-B probe and drives the Ultrasonic-B probe can be around 360 ° of rotations of self axis; The time that the rotation of rotating drive Component driver Ultrasonic-B probe is 360 ° is 0.5-3 second;
Described rotating drive assembly at least comprises rotation servomotor and the rotation drive machine by rotation driven by servomotor, described rotation drive machine comprises rotation worm couple, the worm screw of rotating worm couple with rotate the power output shaft transmission of servomotor and coordinate, the worm gear of rotation worm couple with Ultrasonic-B probe can drive its mode transmission around axis rotation to coordinate.
2. ultrasound acquisition according to claim 1 and treatment control system, it is characterized in that: also comprise: central processing system, for receiving the view data of Ultrasonic-B probe, send and irradiate or cease and desist order and realize therapeutic process control to a treatment assembly, and the view data of Ultrasonic-B probe is contrasted and realizes curative effect judgement.
3. ultrasound acquisition according to claim 2 and treatment control system, is characterized in that: described central processing system order output terminal connects the control circuit of servomotor.
4. ultrasound acquisition according to claim 3 and treatment control system, is characterized in that: also comprise the tubular sheath that is coated at Ultrasonic-B probe, the work surface of described Ultrasonic-B probe protrudes from tubular sheath end; The probe handle of necking down is formed at described Ultrasonic-B probe bottom, and described probe handle along the circumferential direction secure fit overcoat has T oblique crank Z cover; Described tubular sheath inner circle is provided with annular boss, described T oblique crank Z cover microcephaly is coaxial downwards to be coordinated through the inner circle of annular boss formation and with the worm-drive of rotating worm couple, described T oblique crank Z cover major part bottom load is rotatably assorted on annular boss and with it, and Ultrasonic-B probe is held on T oblique crank Z cover major part top.
5. ultrasound acquisition according to claim 4 and treatment control system, is characterized in that: the plane sliding bearing that make by a self-lubricating material described T oblique crank Z cover major part bottom is carried on a shoulder pole on annular boss; The worm gear of described rotation worm couple coordinates with Ultrasonic-B probe transmission by telescopic shaft assembly.
6. ultrasound acquisition according to claim 5 and treatment control system, it is characterized in that: telescopic shaft assembly comprises worm-wheel shaft, gear pair and power output shaft, the driving gear of described gear pair with worm-wheel shaft in circumferencial direction secure fit and axially slidably coordinating, worm-wheel shaft as power intake by the worm-gear driven of rotating worm couple, the driven gear of gear pair coordinates with power output shaft coaxial transmission, and power output shaft coordinates with T oblique crank Z cover microcephaly coaxial transmission.
7. ultrasound acquisition according to claim 6 and treatment control system, it is characterized in that: have support set in power output shaft outer cover, this support set upper end is rotatably assorted and is supported in the shaft shoulder that power output shaft upper end forms and acts on T oblique crank Z cover microcephaly, support set lower end be supported in that tubular sheath inner circle bottom forms to inner convex platform; Tubular sheath coordinates with Ultrasonic-B probe coaxial transmission in the mode that can drive Ultrasonic-B probe to rotate around its axis, and the rotational power outfan of rotation drive machine is can drive the mode transmission cooperation of tubular sheath around self axis rotation; Described tubular sheath overcoat has fairlead, and fairlead inner surface is provided with the spigot surface being slidably matched with tubular jacket outer surface gapless, and spigot surface is distributed with the circumferential slot being set up in parallel vertically.
8. utilize ultrasound acquisition described in claim 1 and an image-pickup method for treatment control system, it is characterized in that: comprise the following steps:
A. obtain real-time ultrasonic image by Ultrasonic-B probe, and rotate Ultrasonic-B probe to main shear-face angle, gather image and make it show in two-dimentional window and preserve;
B. utilize rotating drive assembly rotation Ultrasonic-B probe to the shear-face angle of 0 ° of-360 ° of any angle of main tangent plane, gather assistant images and preserve;
C. main tangent plane picture and assistant images are simultaneously displayed in three dimensional window;
D. treating after head irradiation, again obtaining assistant images and main tangent plane picture and preserve;
E. contrast the gray scale between the assistant images that obtains in steps d and main tangent plane picture and assistant images and main tangent plane picture corresponding in step c.
9. the image-pickup method that utilizes according to claim 8 ultrasound acquisition and treatment control system, is characterized in that: described assistant images is the orthogonal tangent plane picture orthogonal with main tangent plane picture.
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| JP6006074B2 (en) | 2012-10-04 | 2016-10-12 | 東芝メディカルシステムズ株式会社 | Ultrasonic medical equipment, ultrasonic diagnostic equipment |
| CN104815399B (en) * | 2015-04-03 | 2018-04-17 | 西安交通大学 | High-strength focusing ultrasonic therapy guiding and control system and method based on six shaft mechanical arms |
| US11419577B2 (en) * | 2016-04-18 | 2022-08-23 | Koninklijke Philips N.V. | Ultrasound system and method for breast tissue imaging |
| CN107951577B (en) * | 2017-12-13 | 2023-09-26 | 南京广慈医疗科技有限公司 | Auxiliary positioning and mobile monitoring device and method based on double cameras |
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