CN108836471A - Focused ultrasound therapy device - Google Patents
Focused ultrasound therapy device Download PDFInfo
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- CN108836471A CN108836471A CN201810945286.9A CN201810945286A CN108836471A CN 108836471 A CN108836471 A CN 108836471A CN 201810945286 A CN201810945286 A CN 201810945286A CN 108836471 A CN108836471 A CN 108836471A
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- therapy device
- ultrasound therapy
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- 238000002560 therapeutic procedure Methods 0.000 title claims abstract description 43
- 238000002604 ultrasonography Methods 0.000 title claims abstract description 42
- 238000011282 treatment Methods 0.000 claims abstract description 92
- 230000000712 assembly Effects 0.000 claims abstract description 58
- 238000000429 assembly Methods 0.000 claims abstract description 58
- 239000000523 sample Substances 0.000 claims description 42
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000003384 imaging method Methods 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims description 5
- 230000002463 transducing effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 230000003028 elevating effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 206010028851 Necrosis Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000017074 necrotic cell death Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000001144 postural effect Effects 0.000 description 1
- 230000037390 scarring Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
Abstract
This application discloses focused ultrasound therapy devices, belong to medical instruments field.It can only be moved left and right along screw rod for existing ultrasonic transducer, and then the focus of ultrasonic transducer can only move left and right, cause to treat the problem of depth cannot change, the application provides a kind of focused ultrasound therapy device.The transducer assemblies of the focused ultrasound therapy device are flexibly connected the head ontology by a liftable screw rod, the liftable screw rod stretches out the head ontology far from one end of the transducer assemblies, and it is driven by motor, being moved back and forth by the lifting of the liftable screw rod drives the transducer assemblies mobile, so that the distance between the transducer assemblies and the end are adjustable.To realize the variation for the treatment of depth.
Description
Technical field
The application belongs to medical instruments field, specifically, being related to focused ultrasound therapy device.
Background technique
High-strength focusing ultrasonic therapy using more and more extensive, high-strength focusing ultrasonic therapy technology, refer to main logical
It crosses and is carried out using high intensity focused ultrasound (high-intensity focused ultrasound, HIFU) treatment system
Treatment technology.System is made of parts such as power source, treatment control, positioning and assessment, motion controls in real time.It treats principle master
If the fuel factor generated using the high strength supersonic focused in biological tissue, make to treat the tissue moment coagulability at focal regions
Necrosis, focal regions are organized in addition without significant damage, and coagulation necrosis tissue finally can be gradually absorbed or scarring.This local treatment
New technology be also known as hot " ablation ", be primarily adapted for use in the pernicious and benign entity tumor for treating histoorgan.
Chinese patent, publication number CN1754586A, it discloses ultrasonic therapeutic head and have publication date on April 5th, 2006
The sonicator of the treatment head, the treatment head of the sonicator include shell, piezoelectric chip bracket, piezoelectric chip, screw rod,
Screw mandrel support seat, baffle, block, sealing ring, motor, power supply line, power switch, microswitch, headgear and water pipe.Piezoelectric chip
It being fixedly connected and is carried on piezoelectric chip bracket, nut is fixedly connected with piezoelectric chip bracket, and nut is sleeved on screw rod,
Screw rod is mounted in screw mandrel support seat, and screw rod passes through baffle and is connected on motor, and the screw thread of nut and screw rod is mutually matched,
It when motor rotary motion, drives nut for linear motion along screw rod, and then piezoelectric chip is driven to make straight line fortune along screw rod together
It is dynamic.
The invention has the disadvantage that：
1, the ultrasonic transducer (being made of in the invention piezoelectric chip) of the invention can only be moved left and right along screw rod, into
And the focus of ultrasonic transducer moves left and right, and causes treatment depth that cannot change.Treat depth be energy converter focus with wait control
Treat the vertical range of the skin at position.
2, the ultrasonic transducer (being made of in the invention piezoelectric chip) of the invention is moved left and right along screw rod, leads to this
The enclosure volume for the treatment of head needs sufficiently large, could provide enough spaces and allow the moving left and right of ultrasonic transducer；
In addition, Ultrasonic-B probe is placed among energy converter and carrys out detecting ultrasonic and change by existing high intensity focused ultrasound therapy device
The focus of energy device, since Ultrasonic-B probe is bulky, leads to the bulky of therapeutic equipment at a distance from therapentic part.
Summary of the invention
1, it to solve the problems, such as
It can only be moved left and right along screw rod for existing ultrasonic transducer, and then the focus of ultrasonic transducer can only control shifting
It is dynamic, cause to treat the problem of depth cannot change, the application provides a kind of focused ultrasound therapy device.Focused ultrasound therapy dress
The transducer assemblies set are flexibly connected the head ontology by a liftable screw rod, and the liftable screw rod is far from the energy converter
The head ontology is stretched out in one end of component, and is driven by motor, and is moved back and forth by the lifting of the liftable screw rod and drives institute
It is mobile to state transducer assemblies, so that the distance between the transducer assemblies and the end are adjustable, so that it is deep to realize treatment
The variation of degree.
2, technical solution
To solve the above problems, the application adopts the following technical scheme that.
Focused ultrasound therapy device, the focused ultrasound therapy device include treatment head；
The treatment head includes：
Head ontology, has the end for contacting position to be treated；
Transducer assemblies are arranged in the head ontology；
The transducer assemblies are flexibly connected the head ontology by a liftable screw rod, and the liftable screw rod is far from institute
The head ontology is stretched out in the one end for stating transducer assemblies, and is driven by motor, and is back and forth transported by the lifting of the liftable screw rod
It is dynamic to drive the transducer assemblies mobile, so that the distance between the transducer assemblies and the end are adjustable.
Preferably, the transducer assemblies include mounting bracket, element of transducer and Imaging: Monitoring probe；
The element of transducer and Imaging: Monitoring probe are arranged in the mounting bracket, and the Imaging: Monitoring
Probe is arranged on the central axis of the element of transducer；
The mounting bracket is fixedly connected with the liftable screw rod.
Preferably, the Imaging: Monitoring probe is laser probe.
Preferably, the side of the liftable screw rod is additionally provided with balancing pole；
The balancing pole liftable screw rod setting in parallel, and one end of the balancing pole is fixedly connected with the energy converter
Component, the other end stretches out the head ontology, and is fixedly connected with the liftable screw rod.
Preferably, the treatment head further includes displacement sensor for pull rope；
The displacement sensor for pull rope is used to monitor the moving distance of the transducer assemblies；
The drawstring of the displacement sensor for pull rope protrudes into the head ontology, and is fixedly connected with the transducer assemblies.
Preferably, the focused ultrasound therapy device further includes controller；
One input terminal of the controller connects the output end of the displacement sensor for pull rope, for receiving the drawstring position
The first movement distance for the transducer assemblies of displacement sensor monitored；
Another input terminal of the controller is connected with treatment depth setup module, and the treatment depth setup module is used for
Required treatment depth value is set；
One output end of the controller connects the motor, revolves for the motor according to the distance controlling to be moved
Turn, rotates to drive by the motor and realize that the lifting of liftable screw rod drives the transducer assemblies mobile.
Preferably, another input terminal of the controller is connected with power setting module, another output of the controller
End connection power source, the power source are electrically connected the transducer assemblies.
Preferably, the focused ultrasound therapy device further includes Multi-shaft mechanical arm；
The Multi-shaft mechanical arm is connect with the treatment head, and is fixedly connected with workbench.
Preferably, the Multi-shaft mechanical arm includes；
First mechanical arm, the first end of the first mechanical arm and the focused ultrasonic treating head ball axis connection, described
The first end rotation connection of the second end and second mechanical arm of one mechanical arm；
Second mechanical arm, the first end of the second mechanical arm is rotatablely connected the second end of the first mechanical arm, described
The second end of second mechanical arm and the first end rotation connection of third mechanical arm；
The first end of third mechanical arm, the third mechanical arm is rotatablely connected the second end of the second mechanical arm；
The first end junction of the second end of the second mechanical arm and the third mechanical arm is provided with shaft, and described turn
Workbench described in axis connection.
Preferably, the Multi-shaft mechanical arm further includes balance weight, and the balance weight is for keeping at the Multi-shaft mechanical arm
In equilibrium state, the second end of the balance weight and the third mechanical arm is rotatablely connected.
Preferably, the Multi-shaft mechanical arm further includes spring, the spring connection first mechanical arm and second mechanical arm.
3, beneficial effect
Compared with the prior art, the application has the beneficial effect that：
(1) transducer assemblies of the focused ultrasound therapy device of the application are flexibly connected the head by a liftable screw rod
Ontology, the liftable screw rod stretches out the head ontology far from one end of the transducer assemblies, and is driven by motor, and passes through institute
The lifting for stating liftable screw rod, which moves back and forth, drives the transducer assemblies mobile, so that the transducer assemblies and the end
The distance between it is adjustable, thus realize treatment depth variation；
(2) in the prior art, Imaging: Monitoring probe uses Ultrasonic-B probe, and the diameter of Ultrasonic-B probe is about 5cm, and the application
The diameter of the laser probe of use is only 1cm or so, by selecting laser probe open volume can be allowed to greatly reduce, further
Reduce the diameter for the treatment of head；
(3) focused ultrasound therapy device of the application is by setting balancing pole, so that liftable screw rod is done in head ontology
When oscilaltion campaign, it is in equilibrium state always, will not shake, to guarantee that the focus of energy converter is constantly in liftable silk
On the central axis of bar；
(4) focused ultrasound therapy device of the application passes through setting controller and displacement sensor for pull rope, it may be convenient to
Control is adjusted to treatment depth；
(5) prior art uses the position of the focus of Ultrasonic-B probe monitor transducer and the treatment depth of energy transducer focus, by
It is big in Ultrasonic-B probe volume, cause the housing diameter for the treatment of head huge.In the application, energy transducer focus is obtained using laser probe
Position, laser probe diameter reduce, displacement sensor for pull rope obtain energy converter treatment depth, due to displacement sensor for pull rope
It is the treatment depth that energy converter is obtained by the elevating movement of drawstring, the elevating movement of drawstring not will lead to the shell for the treatment of head
Diameter increases, and the two combines, and can be further reduced the diameter for the treatment of head.
Detailed description of the invention
Fig. 1 is the treatment head schematic diagram of the preferred focused ultrasound therapy device of the application；
Fig. 2 is the F-F sectional view of Fig. 1；
Fig. 3 is the treatment head schematic diagram of the preferred focused ultrasound therapy device of the application；
Fig. 4 is the E-E sectional view of Fig. 3；
Fig. 5 is the schematic diagram of the preferred focused ultrasound therapy device of the application；
Fig. 6 is the schematic diagram of the preferred focused ultrasound therapy device of the application；
Fig. 7 is the control flow chart of the controller of the preferred focused ultrasound therapy device of the application；
In figure：1, treatment head；11, head ontology；12, transducer assemblies；121, mounting bracket；1210, the first mounting bracket；
1211, the second mounting bracket；122, element of transducer；123, Imaging: Monitoring is popped one's head in；13, liftable screw rod；14, end；15, it puts down
Weigh bar；151, the first fixed frame；152, the second fixed frame；16, displacement sensor for pull rope；161, drawstring；162, drawstring displacement passes
Sensor fixing end；17, motor；171, the first transmission gear；172, the second transmission gear；18, cover plate of outer casing；19, shell wall；2,
Controller；21, depth setup module is treated；3, Multi-shaft mechanical arm；31, first mechanical arm；32, second mechanical arm；33, third machine
Tool arm；34, balance weight；35, spring；4, workbench；5, terminal.
Specific embodiment
The application is further described below combined with specific embodiments below.
Embodiment 1
As shown in Figure 1 and Figure 2, wherein entrant sound medium is not added for the water pocket film in Fig. 1, so the cross section of end 14 is flat
's.
Focused ultrasound therapy device, the focused ultrasound therapy device include treatment head 1；
The treatment head 1 includes：
Head ontology 11, has the end 14 for contacting position to be treated；
Transducer assemblies 12 are arranged in the head ontology 11；
The transducer assemblies 12 are flexibly connected the head ontology 11, the liftable screw rod by a liftable screw rod 13
The head ontology 11 is stretched out in 13 one end far from the transducer assemblies 12, and is driven by motor 17, passes through the liftable silk
The lifting of bar 13, which moves back and forth, drives the transducer assemblies 12 mobile so that the transducer assemblies 12 and the end 14 it
Between distance it is adjustable.
When specific implementation, the treatment head 1 include head ontology 11, the head ontology 11 include by cover plate of outer casing 18,
The cavity that shell wall 19 and end 14 form, end 14 can be water pocket film, and water pocket film removably connects the cavity
Lower end, water pocket film are contacted by couplant or solid-state coupling gel piece with human skin surface.Motor 17 is mounted on shell
On the outer surface of cover board 18, cover plate of outer casing 18 is stretched out in 13 one end of liftable screw rod, and the other end is fixedly connected with transducer assemblies 12.When
When motor 17 rotates, second gear 172 is driven to rotate by first gear 171, second gear 172 drives worm gear rotation, turbine
It is to be threadedly engaged, and then the rotation of motor 17 is become liftable screw rod 13 and is transported in cavity oscilaltion with liftable screw rod 13
It is dynamic, simultaneously because transducer assemblies 12 are fixedly connected on liftable screw rod 13, and then transducer assemblies 12 can be allowed in head sheet
Oscilaltion campaign in body 11, to make the distance between transducer assemblies 12 and water pocket film adjustable.
The application realizes that the oscilaltion in head ontology 11 of transducer assemblies 12 is transported by the rotation of control motor 17
It is dynamic, thus allow transducer assemblies 12 focus and skin vertical range it is adjustable.Namely treatment depth is adjustable.Treatment depth is to change
Can device focus and position to be treated skin vertical range, when outer surface of the focus from skin of energy converter there are also one section away from
From when, treatment depth at this time is positive, such as+2cm, at this time indicate energy converter skin of the focus from position to be treated appearance
Face vertical range is 2cm.When the focus of energy converter is located at the lower surface of the skin at position to be treated, treatment depth at this time is
It is negative, such as -4cm, indicate that (namely energy transducer focus is located at human body for the inner surface of skin of the focus from position to be treated of energy converter
In tissue) vertical range be 4cm.In the prior art, energy converter can only be moved along screw rod left and right horizontal, the focus of energy converter with
The distance of end is unchanged always, causes the distance of the focal length skin of energy converter unchanged always, can only realize that same treatment is deep
The treatment of the different therapentic parts of degree.And in the application, transducer assemblies 12 can be with oscilaltion campaign, by transducer assemblies 12
The distance between water pocket film is adjustable, so as to convenient adjustment for the treatment of depth.On the other hand, in the prior art, transducing
Device can move left and right to flow out sufficient space by energy converter along screw rod left right horizontal movement, certainly will increase treatment head
Diameter, to facilitate energy converter left right horizontal movement.And in the application, transducer assemblies 12 are risen by about a 13 liftable screw rod
Drop movement, greatly reduces the diameter for the treatment of head 1.Human body surface is uneven, and the diameter of existing treatment head is very big, causes to control
Treating head can not be contacted with the surface of lesion well, so that many lesions do not have suitable postural therapy.
As the further preferred of the present embodiment,
The transducer assemblies 12 include mounting bracket 121, element of transducer 122 and Imaging: Monitoring probe 123；
The element of transducer 122 and Imaging: Monitoring probe 123 are arranged in the mounting bracket 121, and institute
Imaging: Monitoring probe 123 is stated to be arranged on the central axis of the element of transducer 122；
The mounting bracket 121 is fixedly connected with the liftable screw rod 13.
When specific implementation, mounting bracket 121 includes the first mounting bracket 1210, the second mounting bracket 1211 and transducing
Device element, wherein element of transducer 122 can be energy converter.Energy converter is fixedly connected in the second mounting bracket 1211, and second
Mounting bracket 1211 is fixedly connected in the first mounting bracket 1210, and the first mounting bracket 1210 is fixedly connected on liftable screw rod
On 13.The intermediate aperture of first mounting bracket 1210, Imaging: Monitoring probe 123 is placed in the hole, and is located at element of transducer 122
Central axis on.
When motor 17 rotates, second gear 172 is driven to rotate by first gear 171, second gear 172 drives worm gear
Rotation, turbine is to be threadedly engaged, and then the rotation of motor 17 is become 13 oscilaltion of liftable screw rod with liftable screw rod 13
Movement, simultaneously because energy converter is fixedly connected in the second mounting bracket 1211, the second mounting bracket 1211 is fixedly connected on the
In one mounting bracket 1210, the first mounting bracket 1210 is fixedly connected on liftable screw rod 13, so as to elevating screw 13
Oscilaltion campaign can drive energy converter oscilaltion campaign in head ontology 11, thus allow energy converter and water pocket film it
Between distance it is adjustable.To which the treatment depth that treatment head 1 may be implemented by the rotation of control motor 17 is adjustable.
Imaging: Monitoring probe 123 can be Ultrasonic-B probe, or laser probe, as the further preferred of the present embodiment,
The preferably laser probe of Imaging: Monitoring probe 123.In the prior art, Imaging: Monitoring probe 123 uses Ultrasonic-B probe, Ultrasonic-B probe
Diameter is about 5cm, and the diameter for the laser probe that the application uses is only 1cm or so, by selecting laser probe that can allow
Open volume greatly reduces, and further reduces the diameter for the treatment of head 1.
Embodiment 2
As shown in Figure 1 and Figure 2, wherein entrant sound medium is not added for the water pocket film in Fig. 1, so the cross section of end 14 is flat
's.
The present embodiment and embodiment 1 are essentially identical, the difference is that：
The side of liftable screw rod 13 is additionally provided with balancing pole 15；
The parallel liftable screw rod 13 of the balancing pole 15 is arranged, and one end of the balancing pole 15 be fixedly connected it is described
Transducer assemblies 12, the other end stretches out the head ontology 11, and is fixedly connected with the liftable screw rod 13.
When specific implementation, the parallel liftable screw rod 13 of balancing pole 15 is arranged, and balancing pole 15 stretches out the head sheet
One end of body 11 is fixedly connected on liftable screw rod 13 by the second fixed frame 152.Balancing pole 15 is in inside head ontology 11
One end be fixedly connected in the first mounting bracket 1210 by the first fixed frame 151, and then with liftable screw rod 13 is fixed connects
It connects.By the setting of balancing pole 15, when so that liftable screw rod 13 doing oscilaltion campaign in head ontology 11, always in flat
Weighing apparatus state will not shake, to guarantee that the focus of energy converter is constantly on the central axis of liftable screw rod 13.In conjunction with imaging
Monitoring probe 123, it may be convenient to the focus of position transducer.
Embodiment 3
As shown in Figure 3, Figure 4, wherein entrant sound medium is not added for the water pocket film in Fig. 3, so the cross section of end 14 is flat
's.
The present embodiment and embodiment 1 are essentially identical, the difference is that：
The treatment head 1 further includes displacement sensor for pull rope 16；
The displacement sensor for pull rope 16 is used to monitor the moving distance of the transducer assemblies 12；
The drawstring 161 of the displacement sensor for pull rope 16 protrudes into the head ontology 11, and is fixedly connected with the energy converter
Component 12.
When specific implementation, displacement sensor for pull rope 16 is located at the outer surface of cover plate of outer casing 18, displacement sensor for pull rope
16 drawstring 161 is protruded into the head ontology 11, and is connect with displacement sensor for pull rope fixing end 162, displacement sensor for pull rope
Fixing end 162 is fixedly connected in the first mounting bracket 1210, and the first mounting bracket 1210 is fixedly connected with liftable screw rod 13, the
One mounting bracket 1210 is fixedly connected with the second mounting bracket 1211, and the second mounting bracket 1211 is fixedly connected with transducer assemblies 12.
So when transducer assemblies 12 are with the 13 oscilaltion campaign of liftable screw rod, the drawstring 161 of displacement sensor for pull rope 16
It being moved up and down accordingly, the variation of the size of drawstring 161 leads to the resistance or voltage change of displacement sensor for pull rope 16, from
And the mobile distance of transducer assemblies 12 can be calculated.
As the further preferred of this implementation,
The focused ultrasound therapy device further includes controller 2；
One input terminal of the controller 2 connects the output end of the displacement sensor for pull rope 16, for receiving the drawing
The first movement distance for the transducer assemblies 12 of rope displacement sensor 16 monitored；
Another input terminal of the controller 2 is connected with treatment depth setup module 21, the treatment depth setup module
21 for being arranged required treatment depth value；
One output end of the controller 2 connects the motor 17, is used for the electricity according to the distance controlling to be moved
Machine 17 rotates, and rotates to drive by the motor 17 and realizes that the lifting of liftable screw rod 13 drives the transducer assemblies 12 to move
It is dynamic.
When specific implementation, as shown in Fig. 4, Fig. 5, Fig. 7, controller 2 is located in workbench 4,4 bottom of workbench
Equipped with wheel, can move.Energy converter is fixed in the initial position for the treatment of head 1, and the initial position of energy converter is the coke of energy converter
Point is in the minimum point of water pocket film.Treatment depth setup module 21 is located in terminal 5, defeated in treatment depth setup module 21
Enter and treat depth value, after controller 2 receives treatment depth value signal, is stored in controller 2, then controller 2 sends electricity
Machine turn signal is to motor 17, and after motor 17 receives motor turn signal, motor 17 is started turning, and motor 17 rotates band and moves
Energy device elevating movement, while the rotation of motor 17 drives the drawstring 161 of displacement sensor for pull rope 16 flexible.When energy converter up moves
When, drawstring 161 is shunk, and when energy converter moves down, drawstring 161 extends.Displacement sensor for pull rope 16 becomes 161 length of drawstring
Change value is transformed into resistance signal, is sent to controller 2, and controller 2 carries out after receiving resistance signal with treatment depth value signal
It compares.Resistance signal can reflect the first movement distance of transducer assemblies 12.Believe after resistance signal with treatment depth value
When number equal, controller 2 sends motor stalls signal to motor 17, after motor 17 receives motor stalls signal,
Motor 17 stops operating, and then energy converter stops movement.Certainly as needed, resistance signal can also change voltage signal into.
When treating for first time, for example the treatment depth needed is subcutaneous 2cm, namely treatment depth value is -2cm, that
Treatment depth value -2 can be inputted in the treatment depth setup module 21 of terminal 5, be then converted into electric signal and be sent to control
Device 2 after controller 2 receives treatment depth value signal, after being stored in controller 2, then sends motor turn signal to motor
17, after motor 17 receives motor turn signal, motor 17 is started turning, and the rotation of motor 17 drives energy converter decline, while electricity
The rotation of machine 17 drives the drawstring 161 of displacement sensor for pull rope 16 to extend.Displacement sensor for pull rope 16 is by 161 length varying value of drawstring
It is transformed into resistance signal, is sent to controller 2, after drawstring extends 2cm, controller 2 sends motor stalls signal to electricity
Machine 17, after motor 17 receives motor stalls signal, motor 17 stops operating, and then energy converter stops movement.
When for same Case treatment different parts, when needing replacing treatment depth, it is only necessary in upper primary treatment depth
On carry out mobile, do not need again to playback energy converter onto initial position.For example the depth of second for the treatment of is -3cm,
It only needs energy transducer focus moving 1cm again down.
In the application, the focus of energy converter is located at laser probe and issues on the central axes of laser, can be with by laser probe
The position for knowing energy transducer focus, in conjunction with displacement sensor for pull rope 16 it is known that energy converter treats depth, the two, which combines, to be known
The position of the focus of road energy converter and the treatment depth of energy converter.The focal length skin for being known that energy converter by treating depth
The distance of skin.The prior art uses the position of the focus of Ultrasonic-B probe monitor transducer and the treatment depth of energy transducer focus, due to
Ultrasonic-B probe volume is big, causes the housing diameter for the treatment of head 1 huge.In the application, energy transducer focus is obtained using laser probe
Position, laser probe diameter are reduced, and displacement sensor for pull rope 16 obtains the treatment depth of energy converter, due to displacement sensor for pull rope
16 be the treatment depth that energy converter is obtained by the elevating movement of drawstring 161, and the elevating movement of drawstring 161 not will lead to treatment
First 1 housing diameter increases, and the two combines, and can be further reduced the diameter for the treatment of head 1.
As the further preferred of the present embodiment, another input terminal of the controller 2 is connected with power setting module, institute
Another output end connection power source of controller 2 is stated, the power source is electrically connected the transducer assemblies 12.
When specific implementation, the power source of the energy converter in transducer assemblies 12 can be set by power setting module
Watt level, after a performance number is set in power setting module, send power signal into controller 2, controller 2 receive
After arriving, the watt level of the power source of energy converter is adjusted.
Embodiment 4
As shown in Figure 5, Figure 6, the present embodiment and embodiment 3 are essentially identical, the difference is that：
The focused ultrasound therapy device further includes Multi-shaft mechanical arm 3；
The Multi-shaft mechanical arm 3 is connect with the treatment head 1, and is fixedly connected with workbench 4.
When specific implementation, Multi-shaft mechanical arm 3 is connect with the treatment head 1, and is fixed on workbench 4.Pass through
The setting of Multi-shaft mechanical arm 3, it may be convenient to the moving direction and moving distance of adjustment for the treatment of head 1.
As the further preferred of the present embodiment,
The Multi-shaft mechanical arm 3 includes；
First mechanical arm 31, the 1 ball axis connection of first end and the focused ultrasonic treating head of the first mechanical arm 31, institute
State the first end rotation connection of the second end and second mechanical arm 32 of first mechanical arm 31；
Second mechanical arm 32, the first end of the second mechanical arm 32 are rotatablely connected the second of the first mechanical arm 31
End, the second end of the second mechanical arm 32 and the first end rotation connection of third mechanical arm 33；
Third mechanical arm 33, the first end of the third mechanical arm 33 are rotatablely connected the second of the second mechanical arm 32
End；
The first end junction of the second end of the second mechanical arm 32 and the third mechanical arm 33 is provided with shaft, institute
It states shaft and connects the workbench 4.
When specific implementation, the first end for the treatment of head 1 and first mechanical arm 31 is controlled by ball axis connection so as to allow
It treats head 1 and carries out 360 ° of movements.The second end of first mechanical arm 31 is connected with the first end shaft of second mechanical arm 32, as this reality
The further preferred of example is applied, which can be in the rotation in surface of XZ.
The second end of second mechanical arm 32 connects with the first end shaft of third mechanical arm 33, as the present embodiment into one
Preferably, which can be in the rotation in surface of XZ for step.The of the second end of second mechanical arm 32 and third mechanical arm 33 simultaneously
There are also a shafts for the junction of one end, are connect by the shaft with workbench 4, should as the further preferred of the present embodiment
Shaft can rotate in X/Y plane.
In the application, the treatment depth of same therapentic part can be may be implemented with oscilaltion campaign in the focus of energy converter
Transformation, it is mobile in Different Plane to treatment head 1 in conjunction with can be convenient by Multi-shaft mechanical arm 3, simultaneously because workbench
4 be that can move, and realizes different treatment depth, treatment angle so can facilitate and changes therapentic part, greatly simplifies simultaneously
Focused ultrasound therapy device.In the prior art to the moving horizontally of energy converter, move up and down and be all integrated in treatment head, then
It needs to increase transmission device and motor in treatment head, increases the volume and complexity for the treatment of head, increase treatment head and go out
The probability of failure.
As the further preferred of the present embodiment,
The Multi-shaft mechanical arm 3 further includes balance weight 34, and the balance weight 34 is for keeping the Multi-shaft mechanical arm 3 to be in
The second end of equilibrium state, the balance weight 34 and the third mechanical arm 33 is rotatablely connected.
When specific implementation, the second end of balance weight 34 and third mechanical arm 33 is rotatablely connected, and passes through balance weight 34
Setting can allow Multi-shaft mechanical arm 3 to be in micro-balance state using lever principle is utilized.
As the further preferred of the present embodiment, the Multi-shaft mechanical arm 3 further includes spring 35, the spring connection first
Mechanical arm 31 and second mechanical arm 32.
When specific implementation, spring 35 can be gas spring, and the both ends of gas spring are separately connected first mechanical arm
31 and second mechanical arm 32 provide stability by gas spring when Multi-shaft mechanical arm needs to compress, be applied to treatment head 1 one
Fixed power can keep treatment head 1 to be in settling position.As the further preferred of the present embodiment, gas spring and the first machine
Tool arm 31 is shaft connection, which can be in the rotation in surface of XZ.As the further preferred of the present embodiment, gas spring
It is that shaft connects with second mechanical arm 32, which can be in the rotation in surface of XZ.
As the further preferred of the present embodiment, terminal 5, the work are provided on the outer surface of the workbench 4
Controller 2, treatment depth setup module 21 and power setting module are provided in platform 4.Terminal 5 has display device and outside
Input unit, such as display device can be screen, and external input device is hardware, for example can be keyboard.
Claims (11)
1. focused ultrasound therapy device, the focused ultrasound therapy device includes treatment head (1)；
The treatment head (1) includes：
Head ontology (11) has the end (14) for contacting position to be treated；
Transducer assemblies (12), setting is in the head ontology (11)；It is characterized in that,
The transducer assemblies (12) are flexibly connected the head ontology (11), the liftable silk by a liftable screw rod (13)
Bar (13) stretches out the head ontology (11) far from the one end of the transducer assemblies (12), and is driven by motor (17), passes through institute
The lifting for stating liftable screw rod (13), which moves back and forth, drives the transducer assemblies (12) mobile, so that the transducer assemblies
(12) and the distance between the end (14) are adjustable.
2. focused ultrasound therapy device according to claim 1, which is characterized in that the transducer assemblies (12) include peace
Fill bracket (121), element of transducer (122) and Imaging: Monitoring probe (123)；
The element of transducer (122) and Imaging: Monitoring probe (123) are arranged on the mounting bracket (121), and
The Imaging: Monitoring probe (123) is arranged on the central axis of the element of transducer (122)；
The mounting bracket (121) is fixedly connected with the liftable screw rod (13).
3. focused ultrasound therapy device according to claim 2, which is characterized in that Imaging: Monitoring probe (123) is
Laser probe.
4. focused ultrasound therapy device according to claim 1, it is characterised in that：The side of the liftable screw rod (13)
It is additionally provided with balancing pole (15)；
Parallel liftable screw rod (13) setting of the balancing pole (15), and one end of the balancing pole (15) is fixedly connected with institute
It states transducer assemblies (12), the other end stretches out the head ontology (11), and is fixedly connected with the liftable screw rod (13).
5. focused ultrasound therapy device according to claim 1, it is characterised in that：The treatment head (1) further includes drawstring
Displacement sensor (16)；
The displacement sensor for pull rope (16) is used to monitor the moving distance of the transducer assemblies (12)；
The drawstring (161) of the displacement sensor for pull rope (16) protrudes into the head ontology (11), and is fixedly connected with the transducing
Device assembly (12).
6. focused ultrasound therapy device according to claim 5, it is characterised in that：The focused ultrasound therapy device also wraps
Include controller (2)；
One input terminal of the controller (2) connects the output end of the displacement sensor for pull rope (16), for receiving the drawing
The first movement distance for the transducer assemblies (12) of rope displacement sensor (16) monitored；
Another input terminal of the controller (2) is connected with treatment depth setup module (21), the treatment depth setup module
(21) for required treatment depth value to be arranged；
One output end of the controller (2) connects the motor (17), is used for the electricity according to the distance controlling to be moved
Machine (17) rotation is rotated to drive by the motor (17) and realizes that liftable screw rod (13) lifting drives the energy converter group
Part (12) is mobile.
7. focused ultrasound therapy device according to claim 5, it is characterised in that：Another input of the controller (2)
End is connected with power setting module, and another output end of the controller (2) connects power source, described in the power source electrical connection
Transducer assemblies (12).
8. focused ultrasound therapy device according to claim 1, it is characterised in that：The focused ultrasound therapy device also wraps
Include Multi-shaft mechanical arm (3)；
The Multi-shaft mechanical arm (3) connect with the treatment head (1), and is fixedly connected with workbench (4).
9. focused ultrasound therapy device according to claim 8, it is characterised in that：The Multi-shaft mechanical arm (3) includes；
First mechanical arm (31), the first end and the focused ultrasonic treating head (1) ball axis connection of the first mechanical arm (31),
The first end rotation connection of the second end and second mechanical arm (32) of the first mechanical arm (31)；
Second mechanical arm (32), the first end of the second mechanical arm (32) are rotatablely connected the second of the first mechanical arm (31)
End, the second end of the second mechanical arm (32) and the first end rotation connection of third mechanical arm (33)；
Third mechanical arm (33), the first end of the third mechanical arm (33) are rotatablely connected the second of the second mechanical arm (32)
End；
The second end of the second mechanical arm (32) and the first end junction of the third mechanical arm (33) are provided with shaft, institute
It states shaft and connects the workbench (4).
10. focused ultrasound therapy device according to claim 8, it is characterised in that：The Multi-shaft mechanical arm (3) further includes
Balance weight (34), the balance weight (34) is for keeping the Multi-shaft mechanical arm (3) to be in equilibrium state, the balance weight (34)
It is rotatablely connected with the second end of the third mechanical arm (33).
11. focused ultrasound therapy device according to claim 8, it is characterised in that：The Multi-shaft mechanical arm (3) further includes
Spring (35), spring connection first mechanical arm (31) and second mechanical arm (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945286.9A CN108836471A (en) | 2018-08-20 | 2018-08-20 | Focused ultrasound therapy device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945286.9A CN108836471A (en) | 2018-08-20 | 2018-08-20 | Focused ultrasound therapy device |
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| Publication Number | Publication Date |
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| CN108836471A true CN108836471A (en) | 2018-11-20 |
Family
ID=64189613
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| CN201810945286.9A Pending CN108836471A (en) | 2018-08-20 | 2018-08-20 | Focused ultrasound therapy device |
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| CN116251305A (en) * | 2023-05-10 | 2023-06-13 | 深圳半岛医疗有限公司 | Ultrasonic transduction unit output power control method, apparatus and readable storage medium |
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Application publication date: 20181120 |