CN109173097A - A kind of Internal Medicine-Oncology drug interventional therapy device and control method - Google Patents
A kind of Internal Medicine-Oncology drug interventional therapy device and control method Download PDFInfo
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- CN109173097A CN109173097A CN201811079389.8A CN201811079389A CN109173097A CN 109173097 A CN109173097 A CN 109173097A CN 201811079389 A CN201811079389 A CN 201811079389A CN 109173097 A CN109173097 A CN 109173097A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
Abstract
The invention belongs to the field of medical instrument technology, disclosing a kind of Internal Medicine-Oncology drug interventional therapy device and control method, device includes: linear motor, and the turning collar of the output shaft of linear motor is connected with the bar that is slidably connected by helicitic texture；The bar that is slidably connected by connector is connected with unidirectional syringe；Horizontal fixed bracket is connected on the outside of unidirectional syringe；Horizontal support bracket fastened both ends are fixed with perpendicular fixed bracket；The other end of unidirectional syringe is connected with injection needle by tee one-way valve；The other side of tee one-way valve is connected with buret by check valve；The other end of buret is connected with storing medicine bottle by dosing valve；Linear motor is wirelessly connected with signal acquisition control module；Signal acquisition control module is connected with display module and control module.The present invention realizes radiation and injection drug therapy in one, has saved treatment time, has reduced the pain of sufferer, has improved therapeutic effect, while having saved treatment cost.
Description
Technical field
The invention belongs to the field of medical instrument technology more particularly to a kind of Internal Medicine-Oncology drug interventional therapy device and controls
Method.
Background technique
Oneself becomes the first killer of the new century mankind to cancer, and will become the maximum public health problem in the whole world.For reply
Above-mentioned severe situation, report calls upon States to work out the whole nation plan of anti-cancer and specific embodiment, and especially emphasizes to cancer
Prevention, early detection and early treatment.Interventional therapy is the operation carried out under the monitoring of image documentation equipment ray, ultrasound etc. or behaviour
Make, be the new branch of science risen in the latest 20 years, and has become one of the important method for the treatment of tumour.Treatment is swollen at present
The treatment means of tumor be partial to it is single, repeatedly treat, be easy to bring psychological burden for patient, increase treatment cost.
In conclusion problem of the existing technology is:
(1) treatment means of current treatment tumour are partial to single, repeatedly treat, are easy to bring psychological burden for patient,
Increase treatment cost, the damage ratio of the noise on image at traditional image module edge unity and coherence in writing is more serious, causes image not
Clearly, noise is relatively low, is unfavorable for showing for image.
(2) number of features of traditional image classification decision is affected to classification performance, cause the classification of image compared with
Slowly, and the accuracy rate of classification is lower, causes the inaccuracy of diagnosis, diagnosis efficiency is lower.
(3) traditional linear motor be easy to cause and burns in use because of overheat not to the overload protection of temperature
It is bad, cause the reduction of working efficiency.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of Internal Medicine-Oncology drug interventional therapy device and controls
Method.
The invention is realized in this way a kind of control method of Internal Medicine-Oncology drug interventional therapy device, are as follows:
Step 1: carrying out Image Acquisition to tumor locus by ultrasonic irradiation module, is shone according to the information of acquisition ultrasound
Penetrate selection and control that module carries out the ultrasonic wave frequency, intensity；The ultrasonic wave frequency, intensity control in, utilize Fourier's inversion
It changing, the scattering parameter that frequency domain is measured transforms to time domain, obtains time domain impulse response, and reflection parameters correspond to Time Domain Reflectometry response,
Configured transmission corresponds to time-domain transmission response；
According to the position of the first two pulse on a timeline in reflex response and transmission response, four time domain choosings are constructed respectively
Pass function；
Gate function gates the reflex response and transmission response of time domain, extracts reflex response and transmission respectively
The first two pulse in response；
Time domain impulse after time domain gating is passed through into Fourier transformation respectively, obtains frequency domain gated data；
The information of circuit-under-test is contained in frequency domain gated data, using obtained information, according to formula construction compensation because
Sub- Fcf(i)；Using following formula, compensation factor F is constructedcf(i):
(i=1,2 ...)
G1(i)~G4It (i) is the frequency domain gated data obtained in upper step；
R (i) is ratio factor；
Fcf(i) compensation factor；
Using occlusion compensation formula, the reflection parameters F of error is not coveredS11(i) and configured transmission FS21(i)；
Step 2: the image information of ultrasonic irradiation module is collected by signal acquisition control module, and is classified；Letter
The image information method of number acquisition control module acquisition ultrasonic irradiation module includes:
The first step, in the deployment region that area is S=L*L, the wireless sensor node of the N number of isomorphism of random distribution,
Sink node is located at except deployment region, the data being collected into the entire wireless sensor network of node processing；
Second step, non-homogeneous cluster
Sink node is located at the top of deployment region；Deployment region X-axis is divided into S channel first, and all channels have phase
Same width w, and the equal length of the length of each channel and deployment region；Use the ID from 1 to s as channel, left end
Channel ID be 1, then each channel is divided into multiple rectangular mesh along y-axis, each grid in each channel by
A level is defined, the level of the lowermost grid is 1, and each grid and each channel have identical width w；In each channel
Distance dependent of number, length and the channel of grid to sink；The size of grid is adjusted by the way that the length of grid is arranged；For
Different channels, the lattice number that distance sink remoter channel contains are smaller；For same channel, distance sink remoter net
The length of lattice is bigger；Contain S element, the number of k-th of element representation grid in k-th of channel in A；Each grid is with one
A array (i, j) is used as ID, indicates that i-th of channel has horizontal j；Define the length of S array representation grid, v-th of array Hv
Indicate the length of grid in v-th of channel, and HvW-th of element hvwIndicate the length of grid (v, w)；Grid (i, j)
Boundary are as follows:
O_x+ (i-1) × w < x≤o_x+i × w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses in each round each
The maximum node of dump energy is added cluster according to nearby principle, is then counted again as cluster head node, remaining node in grid
According to polymerization；
Automatic adjustment generates the manipulation information of motor control module；
Step 3: collected information is converted into the operation speed of pulse signal control linear motor by motor control module
Degree carries out ultrasonic wave control in combination with ultrasonic irradiation module.
Further, using following occlusion compensation formula, the reflection parameters F of error is not coveredS11(i) it and transmits
Parameter FS21(i):
(i=1,2 ...).
Further, the image information method of signal acquisition control module acquisition ultrasonic irradiation module further comprises:
Grubbs pretreatment:
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using lattice
This pre- criterion of granny rag carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor
Node, the data that sensor node is collected into are x1,x2,…,xn, Normal Distribution, and set:
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measurement
Value participates in the data aggregate of next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next
The data aggregate of level；
Adaptive aggregating algorithm:
The unbiased estimator of each node measurement data is obtained by iteration, seeks the measurement data of each sensor node
Euclidean distance between value and estimated value, using normalized Euclidean distance as adaptive weighted warm weight；It selects in cluster
The collected data of sensor node maxima and minima average value centered on data；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value,
Euclidean distance by calculating each node data and centre data reacts the deviation between different node datas and centre data
Size, wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, gets over apart from smaller weight
Greatly；
WhereinwiFor corresponding weight.
Further, ultrasonic irradiation module to being handled after Image Acquisition in, using Super-resolution Reconstruction mathematical model, oversubscription
The step of distinguishing reconstruction are as follows:
(1) amplify every frame low resolution medical image using bilinear interpolation method, make it with high-resolution medical image
Size is identical, and result and reference picture are carried out gray scale estimation；
(2) to each pixel (m of motion profile1, m2, k) and definition set Ctr(m1, m2, k)；
(3) ambiguity function h is calculatedtr(n1, n2；m1, m2, k)；
(4) initial estimation f of the image acquired results as high-definition picture f that bilinear interpolation will be joined(1)(l=0)；
(5) set of computations Ctr(m1, m2, k) and each pixel (m for defining1, m2, k), according toFormula meter
Calculate residual error r (ft) (m1, m2, k), it recycles
P thereintr(m1, m2, k) and it is projection operator, r(ft)(m1, m2, k) and it is projection residual errors；
(6) pass through Cr={ y (n1, n2, tr):a≤f(n1, n2, tr)≤β } formula amplitude carry out medical image specific organization
Region projection；
(7) meeting termination criterion, then iteration terminates, and is unsatisfactory for then return step (5)；
Image classification uses the rapid image categorization algorithm based on naive Bayesian k nearest neighbor, specifically:
1) local feature in test image and C class training image is extracted, is denoted as d respectivelyi∈ Q and di c；
2) it calculates test image and training image concentrates the F of featureiValue, M maximum F before retainingiIt is worth corresponding feature,
Preceding M feature in middle test image is denoted as dM；
3) to each dMIts k nearest neighbor is searched in classification C, is denoted as { N respectively1 C, N2 C..., NK C, it is searched in other classifications
Its arest neighbors of rope simultaneously calculates its mean value
4) d is calculatedMTo K-1 neighbour of all categories sum of the distance and k nearest neighbor andDistance, be denoted as respectively
5) to each dMT is calculated in C of all categoriesC, TC=D1- D2- D3, final categorised decision are as follows:
Further, linear motor carries out operating status control using the improved algorithm based on thermal model, specifically:
Thermal model equation are as follows:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H
For the coefficient of heat transfer of motor；R is the stator resistance of motor；
It enables:
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
Then:
It enables:
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, and one takes 1；
Then:
And Tiny increment dt Δ T, Δ t are set, it is meant that within the extremely short Δ t time, the temperature of motor rises to T+ Δ by T
T:
Another object of the present invention is to provide a kind of controlling parties for realizing the Internal Medicine-Oncology drug interventional therapy device
The computer program of method.
Another object of the present invention is to provide a kind of controlling parties for realizing the Internal Medicine-Oncology drug interventional therapy device
The information data processing terminal of method.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the control method of the Internal Medicine-Oncology drug interventional therapy device.
Another object of the present invention is to provide a kind of Internal Medicine-Oncology drug interventional therapy devices, comprising:
Perpendicular fixed bracket；
It erects support bracket fastened bottom end and is connected with pedestal, be fixed with linear motor on pedestal；
The turning collar of the output shaft of the linear motor is connected with the bar that is slidably connected by helicitic texture；It is described to be slidably connected
Bar is connected with unidirectional syringe by connector；Horizontal fixed bracket is connected on the outside of the unidirectional syringe；The horizontal fixed branch
The both ends of frame are fixed with perpendicular fixed bracket；
The other end of the unidirectional syringe is connected with injection needle by tee one-way valve；The tee one-way valve it is another
Side is connected with buret by check valve；The other end of the buret is connected with storing medicine bottle by dosing valve；
The linear motor is wirelessly connected with signal acquisition control module；The signal acquisition control module is connected with display
Module and control module；The control module is connected with ultrasonic irradiation module.
Further, the unidirectional syringe is by an injector for medical purpose, two single Ye Gui a, famous physician of the Qing Dynasty rubber butterfly valves and injection catheter group
At；
The ultrasonic irradiation module is provided with fundamental frequency treatment probe, second harmonic treatment probe and diagnostic probe；
The control module includes motor control module and ultrasonic irradiation control module；The ultrasonic irradiation control module packet
Include treatment control unit, diagnosis control unit, echo diagnostic image processing unit；
The treatment control unit includes impulse generating unit, power amplification unit, phase modulation unit；The echo is examined
Disconnected image processing unit includes diagnostic image generation module, diagnostic image analysis module and diagnostic image display module.
Advantages of the present invention and good effect are as follows:
(1) present invention integrates tumour medicine interventional therapy and ultrasonic irradiation and treats, by control module to the two into
Row auto-control reduces the noise of Edge texture processing to figure by using Super-resolution Reconstruction mathematical model to image module
The pollution of picture, is more clear image, and more advantageous image shows.
(2) present invention realizes radiation and injection drug in one, by utilizing image classification using based on simple shellfish
The rapid image categorization algorithm of this k nearest neighbor of leaf improves the classification rate of image, has saved treatment time, reduced sufferer
Pain improves therapeutic effect.
(3) by linear motor being arranged the overload protection of temperature, motor is effectively prevented because burning out caused by overheat, together
Shi Jieyue treatment cost and working efficiency.
The present invention carries out the ultrasonic wave frequency, the selection of intensity and control to ultrasonic irradiation module according to the information of acquisition and invents
The time domain measurement parameter that each section network in mutually cascade ultrasonic irradiation module can be measured, is joined by the time domain to each network
Number carries out gating operation respectively, and the scattering ginseng to localized network in the tested ultrasonic irradiation module frequency, microwave circuit may be implemented
Several measurements, and other factors bring error in circuit.Compared to conventional method, method simple, intuitive of the invention, drop
The work difficulty of low operator, and there is better compensation result.
The image information method of signal acquisition control module of the present invention acquisition ultrasonic irradiation module includes:
In the deployment region that area is S=L*L, the wireless sensor node of the N number of isomorphism of random distribution, sink node position
Except deployment region, the data that are collected into the entire wireless sensor network of node processing；
Uniform cluster:
Sink node is located at the top of deployment region；Deployment region X-axis is divided into S channel first, and all channels have phase
Same width w, and the equal length of the length of each channel and deployment region；Use the ID from 1 to s as channel, left end
Channel ID be 1, then each channel is divided into multiple rectangular mesh along y-axis, each grid in each channel by
A level is defined, the level of the lowermost grid is 1, and each grid and each channel have identical width w；In each channel
Distance dependent of number, length and the channel of grid to sink；The size of grid is adjusted by the way that the length of grid is arranged；For
Different channels, the lattice number that distance sink remoter channel contains are smaller；For same channel, distance sink remoter net
The length of lattice is bigger；The accurate acquisition of image information can be achieved, and improve the clarity of image, provide guarantor for the processing in later period
Card.
Detailed description of the invention
Fig. 1 is the structure chart of Internal Medicine-Oncology drug interventional therapy device provided in an embodiment of the present invention；
Fig. 2 is the control module structural block diagram of Internal Medicine-Oncology drug interventional therapy device provided in an embodiment of the present invention；
Fig. 3 is the structural frames of the unidirectional syringe of Internal Medicine-Oncology drug interventional therapy device provided in an embodiment of the present invention
Figure；
In figure: 1, erecting fixed bracket；2, pedestal；3, linear motor；4, be slidably connected bar；5, unidirectional syringe；6, horizontal solid
Fixed rack；7, tee one-way valve；8, buret；9, dosing valve；10, storing medicine bottle；11, signal acquisition control module；12, mould is shown
Block；13, control module；14, ultrasonic irradiation module；15, injector for medical purpose；16, single Ye Gui a, famous physician of the Qing Dynasty rubber butterfly valve；17, injection catheter.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is further described with reference to the accompanying drawing.
As shown in Fig. 1 Fig. 2, Internal Medicine-Oncology drug interventional therapy device includes: perpendicular fixed bracket 1, erects the bottom of fixed bracket 1
End is connected with pedestal 2, and linear motor 3 is fixed on pedestal 2；The turning collar of the output shaft of the linear motor 3 passes through screw thread knot
Structure is connected with the bar 4 that is slidably connected；The bar 4 that is slidably connected is connected with unidirectional syringe 5 by connector；The unidirectional syringe 5
Outside be connected with horizontal fixed bracket 6；The both ends of the horizontal fixed bracket 6 are fixed with perpendicular fixed bracket 1；The unidirectional syringe
5 other end is connected with injection needle by tee one-way valve 7；The other side of the tee one-way valve 7 is connected by check valve
There is buret 8；The other end of the buret 8 is connected with storing medicine bottle 10 by dosing valve 9；
The linear motor 3 is wirelessly connected with signal acquisition control module 11；The signal acquisition control module 11 connects
There are display module 12 and control module 13；The control module 13 is connected with ultrasonic irradiation module 14.
As the preferred embodiment of the present invention, the unidirectional syringe 7 is by an injector for medical purpose 15, two single Ye Gui a, famous physician of the Qing Dynasty rubbers
Glue butterfly valve 16 and injection catheter 17 form.
As the preferred embodiment of the present invention, the ultrasonic irradiation module 14 is provided with fundamental frequency treatment probe, second harmonic
Treatment probe and diagnostic probe.
As the preferred embodiment of the present invention, the control module 13 includes that motor control module and ultrasonic irradiation control mould
Block；The ultrasonic irradiation control module includes treatment control unit, diagnosis control unit, echo diagnostic image processing unit.
As the preferred embodiment of the present invention, the treatment control unit include impulse generating unit, power amplification unit,
Phase modulation unit；The echo diagnostic image processing unit include diagnostic image generation module, diagnostic image analysis module and
Diagnostic image display module.
The operation principle of the present invention is that: image, which is carried out, using tumor locus of the ultrasonic irradiation module 14 to tumor patient adopts
Collection, doctor carry out control selections ultrasonic therapy position, the frequency, intensity to ultrasonic irradiation module 14 according to the information of acquisition, simultaneously
Signal acquisition control module 11 collects the treatment of ultrasonic irradiation module 14, image information, and automatic adjustment generates medication information, and
It can accordingly be manipulated by doctor；Collected information is converted into pulse signal control linear motor 3 by motor control module, by
The motion control of linear motor 3 pushes away the speed of medicine；Ultrasonic therapy is pushed into both treatments with medication and operates simultaneously, when saving treatment
Between, alleviate the body and mind pain of patient.
Below with reference to concrete analysis, the invention will be further described.
The control method of Internal Medicine-Oncology drug interventional therapy device provided in an embodiment of the present invention, are as follows:
Step 1: carrying out Image Acquisition to tumor locus by ultrasonic irradiation module, is shone according to the information of acquisition ultrasound
Penetrate selection and control that module carries out the ultrasonic wave frequency, intensity；The ultrasonic wave frequency, intensity control in, utilize Fourier's inversion
It changing, the scattering parameter that frequency domain is measured transforms to time domain, obtains time domain impulse response, and reflection parameters correspond to Time Domain Reflectometry response,
Configured transmission corresponds to time-domain transmission response；
According to the position of the first two pulse on a timeline in reflex response and transmission response, four time domain choosings are constructed respectively
Pass function；
Gate function gates the reflex response and transmission response of time domain, extracts reflex response and transmission respectively
The first two pulse in response；
Time domain impulse after time domain gating is passed through into Fourier transformation respectively, obtains frequency domain gated data；
The information of circuit-under-test is contained in frequency domain gated data, using obtained information, according to formula construction compensation because
Sub- Fcf(i)；Using following formula, compensation factor F is constructedcf(i):
(i=1,2 ...)
G1(i)~G4It (i) is the frequency domain gated data obtained in upper step；
R (i) is ratio factor；
Fcf(i) compensation factor；
Using occlusion compensation formula, the reflection parameters F of error is not coveredS11(i) and configured transmission FS21(i)；
Step 2: the image information of ultrasonic irradiation module is collected by signal acquisition control module, and is classified；Letter
The image information method of number acquisition control module acquisition ultrasonic irradiation module includes:
The first step, in the deployment region that area is S=L*L, the wireless sensor node of the N number of isomorphism of random distribution,
Sink node is located at except deployment region, the data being collected into the entire wireless sensor network of node processing；
Second step, non-homogeneous cluster
Sink node is located at the top of deployment region；Deployment region X-axis is divided into S channel first, and all channels have phase
Same width w, and the equal length of the length of each channel and deployment region；Use the ID from 1 to s as channel, left end
Channel ID be 1, then each channel is divided into multiple rectangular mesh along y-axis, each grid in each channel by
A level is defined, the level of the lowermost grid is 1, and each grid and each channel have identical width w；In each channel
Distance dependent of number, length and the channel of grid to sink；The size of grid is adjusted by the way that the length of grid is arranged；For
Different channels, the lattice number that distance sink remoter channel contains are smaller；For same channel, distance sink remoter net
The length of lattice is bigger；Contain S element, the number of k-th of element representation grid in k-th of channel in A；Each grid is with one
A array (i, j) is used as ID, indicates that i-th of channel has horizontal j；Define the length of S array representation grid, v-th of array Hv
Indicate the length of grid in v-th of channel, and HvW-th of element hvwIndicate the length of grid (v, w)；Grid (i, j)
Boundary are as follows:
O_x+ (i-1) × w < x≤o_x+i × w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses in each round each
The maximum node of dump energy is added cluster according to nearby principle, is then counted again as cluster head node, remaining node in grid
According to polymerization；
Automatic adjustment generates the manipulation information of motor control module；
Step 3: collected information is converted into the operation speed of pulse signal control linear motor by motor control module
Degree carries out ultrasonic wave control in combination with ultrasonic irradiation module.
Using following occlusion compensation formula, the reflection parameters F of error is not coveredS11(i) and configured transmission FS21
(i):
(i=1,2 ...).
The image information method of signal acquisition control module acquisition ultrasonic irradiation module further comprises:
Grubbs pretreatment:
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using lattice
This pre- criterion of granny rag carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor
Node, the data that sensor node is collected into are x1,x2,…,xn, Normal Distribution, and set:
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measurement
Value participates in the data aggregate of next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next
The data aggregate of level；
Adaptive aggregating algorithm:
The unbiased estimator of each node measurement data is obtained by iteration, seeks the measurement data of each sensor node
Euclidean distance between value and estimated value, using normalized Euclidean distance as adaptive weighted warm weight；It selects in cluster
The collected data of sensor node maxima and minima average value centered on data；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value,
Euclidean distance by calculating each node data and centre data reacts the deviation between different node datas and centre data
Size, wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, gets over apart from smaller weight
Greatly；
WhereinwiFor corresponding weight.
Ultrasonic irradiation module to being handled after Image Acquisition in, using Super-resolution Reconstruction mathematical model, Super-resolution Reconstruction
The step of are as follows:
(1) amplify every frame low resolution medical image using bilinear interpolation method, make it with high-resolution medical image
Size is identical, and result and reference picture are carried out gray scale estimation；
(2) to each pixel (m of motion profile1, m2, k) and definition set Ctr(m1, m2, k)；
(3) ambiguity function h is calculatedtr(n1, n2；m1, m2, k)；
(4) initial estimation f of the image acquired results as high-definition picture f that bilinear interpolation will be joined(1)(l=0)；
(5) set of computations Ctr(m1, m2, k) and each pixel (m for defining1, m2, k), according toFormula calculates residual
Poor r (ft) (m1, m2, k), it recycles
P thereintr(m1, m2, k) and it is projection operator, r(ft)(m1, m2, k) and it is projection residual errors；
(6) pass through Cr={ y (n1, n2, tr):a≤f(n1, n2, tr)≤β } formula amplitude carry out medical image specific organization
Region projection；
(7) meeting termination criterion, then iteration terminates, and is unsatisfactory for then return step (5)；
Image classification uses the rapid image categorization algorithm based on naive Bayesian k nearest neighbor, specifically:
1) local feature in test image and C class training image is extracted, is denoted as d respectivelyi∈ Q and di c；
2) it calculates test image and training image concentrates the F of featureiValue, M maximum F before retainingiIt is worth corresponding feature,
Preceding M feature in middle test image is denoted as dM；
3) to each dMIts k nearest neighbor is searched in classification C, is denoted as { N respectively1 C, N2 C..., NK C, it is searched in other classifications
Its arest neighbors of rope simultaneously calculates its mean value
4) d is calculatedMTo K-1 neighbour of all categories sum of the distance and k nearest neighbor andDistance, be denoted as respectively
5) to each dMT is calculated in C of all categoriesC, TC=D1- D2- D3, final categorised decision are as follows:
Linear motor carries out operating status control using the improved algorithm based on thermal model, specifically:
Thermal model equation are as follows:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H
For the coefficient of heat transfer of motor；R is the stator resistance of motor；
It enables:
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
Then:
It enables:
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, and one takes 1；
Then:
And Tiny increment dt Δ T, Δ t are set, it is meant that within the extremely short Δ t time, the temperature of motor rises to T+ Δ by T
T:
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of control method of Internal Medicine-Oncology drug interventional therapy device, which is characterized in that Internal Medicine-Oncology drug intervention is controlled
Treat the control method of device are as follows:
Step 1: Image Acquisition is carried out to tumor locus by ultrasonic irradiation module, according to the information of acquisition to ultrasonic irradiation mould
The selection and control of block progress the ultrasonic wave frequency, intensity；The ultrasonic wave frequency, intensity control in, utilize inverse Fourier transform, will
The scattering parameter that frequency domain measures transforms to time domain, obtains time domain impulse response, and reflection parameters correspond to Time Domain Reflectometry response, transmission ginseng
The corresponding time-domain transmission response of number；
According to the position of the first two pulse on a timeline in reflex response and transmission response, four time domain gating letters are constructed respectively
Number；
Gate function gates the reflex response and transmission response of time domain, extracts reflex response and transmission response respectively
In the first two pulse；
Time domain impulse after time domain gating is passed through into Fourier transformation respectively, obtains frequency domain gated data；
The information of circuit-under-test is contained in frequency domain gated data, using obtained information, according to formula construction compensation factor Fcf
(i)；Using following formula, compensation factor F is constructedcf(i):
(i=1,2 ...)
G1(i)~G4It (i) is the frequency domain gated data obtained in upper step；
R (i) is ratio factor；
Fcf(i) compensation factor；
Using occlusion compensation formula, the reflection parameters F of error is not coveredS11(i) and configured transmission FS21(i)；
Step 2: the image information of ultrasonic irradiation module is collected by signal acquisition control module, and is classified；Signal is adopted
Collection control module acquisition ultrasonic irradiation module image information method include:
The first step, in the deployment region that area is S=L*L, the wireless sensor node of the N number of isomorphism of random distribution, sink section
Point is located at except deployment region, the data being collected into the entire wireless sensor network of node processing；
Second step, non-homogeneous cluster
Sink node is located at the top of deployment region；Deployment region X-axis is divided into S channel first, and all channels have identical
Width w, and the equal length of the length of each channel and deployment region；Use the ID from 1 to s as channel, the letter of left end
The ID in road is 1, and then each channel is divided into multiple rectangular mesh along y-axis, and each grid in each channel is defined
One level, the level of the lowermost grid are 1, and each grid and each channel have identical width w；Grid in each channel
Number, length and channel to sink distance dependent；The size of grid is adjusted by the way that the length of grid is arranged；For difference
Channel, the lattice number that distance sink remoter channel contains is smaller；For same channel, distance sink remoter grid
Length is bigger；Contain S element, the number of k-th of element representation grid in k-th of channel in A；One number of each grid
Group (i, j) is used as ID, indicates that i-th of channel has horizontal j；Define the length of S array representation grid, v-th of array HvIt indicates
The length of grid in v-th of channel, and HvW-th of element hvwIndicate the length of grid (v, w)；The boundary of grid (i, j)
Are as follows:
O_x+ (i-1) × w < x≤o_x+i × w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses each grid in each round
Cluster is added according to nearby principle as cluster head node, remaining node in the middle maximum node of dump energy, and it is poly- then to carry out data again
It closes；
Automatic adjustment generates the manipulation information of motor control module；
Step 3: collected information is converted into the speed of service of pulse signal control linear motor by motor control module, together
When combine ultrasonic irradiation module carry out ultrasonic wave control.
2. the control method of Internal Medicine-Oncology drug interventional therapy device as described in claim 1, which is characterized in that utilize following
Occlusion compensation formula, do not covered the reflection parameters F of errorS11(i) and configured transmission FS21(i):
(i=1,2 ...).
3. the control method of Internal Medicine-Oncology drug interventional therapy device as described in claim 1, which is characterized in that signal acquisition
The image information method of control module acquisition ultrasonic irradiation module further comprises:
Grubbs pretreatment:
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using Ge Labu
This pre- criterion carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor section
Point, the data that sensor node is collected into are x1,x2,,xn, Normal Distribution, and set:
vi=xi-x0,
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measured value ginseng
With the data aggregate for arriving next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next level
Data aggregate；
Adaptive aggregating algorithm:
Obtain the unbiased estimator of each node measurement data by iteration, seek the measured data values of each sensor node with
Euclidean distance between estimated value, using normalized Euclidean distance as adaptive weighted warm weight；Select the biography in cluster
Data centered on the average value of the maxima and minima of the collected data of sensor node；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value, pass through
The Euclidean distance for calculating each node data and centre data reacts deviation size between different node datas and centre data,
Wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, bigger apart from smaller weight；
WhereinwiFor corresponding weight.
4. the control method of Internal Medicine-Oncology drug interventional therapy device as described in claim 1, which is characterized in that ultrasonic irradiation
Module to being handled after Image Acquisition in, using Super-resolution Reconstruction mathematical model, the step of Super-resolution Reconstruction are as follows:
(1) amplify every frame low resolution medical image using bilinear interpolation method, make it with high-resolution medical image size
It is identical, and result and reference picture are subjected to gray scale estimation；
(2) to each pixel (m of motion profile1, m2, k) and definition set Ctr(m1, m2, k)；
(3) ambiguity function h is calculatedtr(n1, n2；m1, m2, k)；
(4) initial estimation f of the image acquired results as high-definition picture f that bilinear interpolation will be joined(1)(l=0)；
(5) set of computations Ctr(m1, m2, k) and each pixel (m for defining1, m2, k), according toFormula calculates
Residual error r(ft)(m1, m2, k), it recycles
P thereintr(m1, m2, k) and it is projection operator, r(ft)(m1, m2, k) and it is projection residual errors；
(6) pass through Cr={ y (n1, n2, tr):a≤f(n1, n2, tr)≤β } formula amplitude carry out medical image specific organization region throw
Shadow；
(7) meeting termination criterion, then iteration terminates, and is unsatisfactory for then return step (5)；
Image classification uses the rapid image categorization algorithm based on naive Bayesian k nearest neighbor, specifically:
1) local feature in test image and C class training image is extracted, is denoted as d respectivelyi∈ Q and di c；
2) it calculates test image and training image concentrates the F of featureiValue, M maximum F before retainingiIt is worth corresponding feature, wherein surveying
The preceding M feature attempted as in is denoted as dM；
3) to each dMIts k nearest neighbor is searched in classification C, is denoted as { N respectively1 C, N2 C..., NK C, it is searched in other classifications most
Neighbour simultaneously calculates its mean value
4) d is calculatedMTo K-1 neighbour of all categories sum of the distance and k nearest neighbor andDistance, be denoted as respectively
5) to each dMT is calculated in C of all categoriesC, TC=D1- D2- D3, final categorised decision are as follows:
5. the control method of Internal Medicine-Oncology drug interventional therapy device as described in claim 1, which is characterized in that linear motor
Operating status control is carried out using the improved algorithm based on thermal model, specifically:
Thermal model equation are as follows:
In formula: T ' (t) is the temperature rise of motor；I ' (t) is the electric current of motor；C is the heat capacity coefficient of motor；H is electricity
The coefficient of heat transfer of motivation；R is the stator resistance of motor；
It enables:
In formula: Tmax is the maximum allowable temperature rise of motor；Ie is the rated current of motor；
Then:
It enables:
In formula: τ is motor thermal time constant；SF is motor coefficient of utilization, and one takes 1；
Then:
And Tiny increment dt Δ T, Δ t are set, it is meant that within the extremely short Δ t time, the temperature of motor rises to T+ Δ T by T:
6. a kind of meter for realizing the control method of Internal Medicine-Oncology drug interventional therapy device described in Claims 1 to 5 any one
Calculation machine program.
7. a kind of letter for realizing the control method of Internal Medicine-Oncology drug interventional therapy device described in Claims 1 to 5 any one
Cease data processing terminal.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the control method of Internal Medicine-Oncology drug interventional therapy device described in 1-5 any one.
9. a kind of Internal Medicine-Oncology drug for realizing the control method of Internal Medicine-Oncology drug interventional therapy device described in claim 1 is situated between
Enter therapeutic device, which is characterized in that the Internal Medicine-Oncology drug interventional therapy device, comprising:
Perpendicular fixed bracket；
It erects support bracket fastened bottom end and is connected with pedestal, be fixed with linear motor on pedestal；
The turning collar of the output shaft of the linear motor is connected with the bar that is slidably connected by helicitic texture；The bar that is slidably connected is logical
It crosses connector and is connected with unidirectional syringe；Horizontal fixed bracket is connected on the outside of the unidirectional syringe；The cross is support bracket fastened
Both ends are fixed with perpendicular fixed bracket；
The other end of the unidirectional syringe is connected with injection needle by tee one-way valve；The other side of the tee one-way valve
Buret is connected with by check valve；The other end of the buret is connected with storing medicine bottle by dosing valve；
The linear motor is wirelessly connected with signal acquisition control module；The signal acquisition control module is connected with display module
And control module；The control module is connected with ultrasonic irradiation module.
10. Internal Medicine-Oncology drug interventional therapy device as claimed in claim 9, which is characterized in that the unidirectional syringe is by one
A injector for medical purpose, two single Ye Gui a, famous physician of the Qing Dynasty rubber butterfly valves and injection catheter composition；
The ultrasonic irradiation module is provided with fundamental frequency treatment probe, second harmonic treatment probe and diagnostic probe；
The control module includes motor control module and ultrasonic irradiation control module；The ultrasonic irradiation control module includes controlling
Treat control unit, diagnosis control unit, echo diagnostic image processing unit；
The treatment control unit includes impulse generating unit, power amplification unit, phase modulation unit；The echo diagnostic graph
As processing unit includes diagnostic image generation module, diagnostic image analysis module and diagnostic image display module.
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| CN104931912A (en) * | 2015-06-12 | 2015-09-23 | 西安电子科技大学 | Time domain compensation method of vector network analyzer |
| CN207286447U (en) * | 2017-03-08 | 2018-05-01 | 上海新科医院有限公司 | Soft liver art injecting systems |
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|---|---|---|---|---|
| CN1803224A (en) * | 2005-01-10 | 2006-07-19 | 重庆海扶(Hifu)技术有限公司 | High intensity focused ultrasound therapy device and method |
| US20140221832A1 (en) * | 2013-02-01 | 2014-08-07 | Siemens Medical Solutions Usa, Inc. | Tuning ultrasound acquisition parameters |
| CN104618997A (en) * | 2015-01-28 | 2015-05-13 | 西安电子科技大学 | Data aggregation method based on non-uniform grids |
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