CN109960293A - A kind of temprature control method of thermotherapy, apparatus and system - Google Patents
A kind of temprature control method of thermotherapy, apparatus and system Download PDFInfo
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Abstract
The present invention provides a kind of temprature control methods of thermotherapy, apparatus and system, wherein, this method comprises: the Current Temperatures information according to detection, the voltage controlling increment information at current time is determined based on the temperature prediction model constructed in advance, the temperature prediction model, which refers to, carries out temperature control according to history information of voltage, historical temperature information and current voltage information；Based on the temperature of the voltage controlling increment information control subsequent time at determining current time.Temprature control method, the apparatus and system of the thermotherapy provided through the invention carry out temperature control according to the temperature prediction model constructed in advance, and the efficiency and security performance of control are higher.
Description
Technical field
The present invention relates to intelligent temperature control technology fields, temprature control method, dress in particular to a kind of thermotherapy
It sets and system.
Background technique
Statistics indicate that 41.5 DEG C -43 DEG C are cancer cell gradually downright bad and normal cell survival window temperatures, when human body group
Knitting local temperature is more than 41.5 DEG C, and tumor tissues start the phenomenon that extravasated blood or even coagulation necrosis occur, and the temperature in 43 DEG C
Will not normal tissue cause irreversible damage.Tumor thermotherapy is resistance in temperature with normal injected organism tissue using tumor tissues
By the significant difference in property, its temperature is set to be in window temperature to reach the mesh of damage tumor tissues by heating tumor tissues
's.
During tumor thermotherapy, ultrasonic technique can be focused using guided by magnetic resonance and lesions position is heated,
In order to guarantee that the injury to other normal injected organism tissues can be reduced again while damaging tumor tissues to greatest extent, often need
Heating temperature is monitored and is controlled.It provides in the related technology a kind of based on the temperature controlled method of PID progress, the party
Method proportion of utilization, integral, difference gauge calculate control amount, then carry out temperature control based on control amount.
However, in the related technology based on the temprature control method of PID, due to there is asking for the overlong time for entering stable state
Topic, causes hyperthermia process to take a long time, efficiency over control that is lower, and being limited under PID control, so that there are certain peaces
Full hidden danger.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of temprature control methods of thermotherapy, apparatus and system, using pre-
The temperature prediction model first constructed carries out temperature control, and the efficiency and security performance of control are higher.
In a first aspect, the present invention provides a kind of temprature control methods of thermotherapy, which comprises
According to the Current Temperatures information of detection, the voltage control at current time is determined based on the temperature prediction model constructed in advance
Increment information processed, the temperature prediction model refer to according to history information of voltage, historical temperature information and current voltage information
Carry out temperature control；
Based on the temperature of the voltage controlling increment information control subsequent time at determining current time.
With reference to first aspect, the present invention provides the first possible embodiments of first aspect, wherein the foundation
The Current Temperatures information of detection determines the voltage controlling increment information at current time based on the temperature prediction model constructed in advance,
Include:
It is current according to Current Temperatures information and historical temperature information, current voltage information and the building of history information of voltage
The parameter matrix at moment；
It is current according to Current Temperatures information, the parameter matrix at current time and the building of the parameter coefficient matrix of last moment
The parameter coefficient matrix at moment；
The parameter coefficient matrix of parameter matrix and current time based on current time determines the voltage control at current time
Increment information.
The possible embodiment of with reference to first aspect the first, second the present invention provides first aspect are possible
Embodiment, wherein calculate the parameter coefficient matrix using following formula:
Wherein,For the parameter coefficient matrix at current time,For the parameter coefficient matrix of last moment, y (k)
For Current Temperatures information,For the parameter matrix at current time, c>0, and 0<α<2.
The possible embodiment of second with reference to first aspect, the third the present invention provides first aspect are possible
Embodiment, wherein calculate initial parameter coefficient matrix using following formula:
θ0=(ΦTΦ)-1ΦTY；
Wherein, θ0For initial parameter coefficient matrix, Φ and Y are respectively the test voltage information square of input before controlling temperature
Battle array and its corresponding test temperature information matrix.
The possible embodiment of second with reference to first aspect, the 4th kind the present invention provides first aspect are possible
Embodiment, wherein calculate Current Temperatures information using following formula:
Wherein, y (k), u (k-1) and ε (k) are Current Temperatures information, the information of voltage of last moment and white noise letter
Breath, Δ=1-z-1For difference operator,In addition, A (z-1)、B(z-1) and C (z-1) it is defined as follows:
The 4th kind of possible embodiment with reference to first aspect, the 5th kind the present invention provides first aspect are possible
Embodiment calculates voltage controlling increment information using following formula:
ΔUf(k)=(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)]；
Wherein, Δ UfIt (k) is the voltage controlling increment information at current time, Δ UfIt (k-j) is the jth before current time
The voltage controlling increment information at moment, Yf(k) voltage matrix constituted for current voltage information and history information of voltage；YrFor not
Come the expectation voltage matrix at moment, F1、F2It is coefficient matrix of polynomial with G.
The 5th kind of possible embodiment with reference to first aspect, the 6th kind the present invention provides first aspect are possible
Embodiment is sought described in the corresponding voltage controlling increment information conduct of the following predictor error of minimum of the following predictor error function
The voltage controlling increment information at current time.
The 6th kind of possible embodiment with reference to first aspect, the 7th kind the present invention provides first aspect are possible
Embodiment, the future predictor error function are as follows:
Wherein, J is the following predictor error function, and y (k+j) is the estimated voltage information at the jth moment after current time,
yrIt (k+j) is the expectation information of voltage at the jth moment after current time, γjFor weighting coefficient, N1Length, N are exported for minimum2
For maximum output length, NuTo control length.
Second aspect, the present invention also provides a kind of temperature control equipment of thermotherapy, described device includes:
Increment determining module, it is true based on the temperature prediction model constructed in advance for the Current Temperatures information according to detection
Determine the voltage controlling increment information at current time, the temperature prediction model refers to according to history information of voltage, historical temperature letter
Breath and current voltage information carry out temperature control；
Temperature control modules, the temperature for the voltage controlling increment information control subsequent time based on determining current time
Degree.
The third aspect, the present invention also provides a kind of temperature control systems of thermotherapy, including thermotherapy described in second aspect
Temperature control equipment, further includes: ultrasonic probe, magnetic resonance imaging equipment and temperature measuring equipment；The ultrasonic probe and the survey
Warm equipment is connected with the temperature control equipment；The temperature measuring equipment is connected with the magnetic resonance imaging equipment；
The temperature control equipment is sent for generating voltage controlling increment information, and by the voltage controlling increment information
To the ultrasonic probe；
The ultrasonic probe, for emitting ultrasonic signal to control object according to the voltage controlling increment information；
The magnetic resonance imaging equipment is receiving what ultrasonic signal back reflection was gone out for obtaining the control object
The ultrasound image information is sent to temperature measuring equipment by ultrasound image information；
The temperature measuring equipment is analyzed and processed for receiving the ultrasound image information, and to the ultrasound image information,
Obtain the temperature information corresponding to the control object.
The temprature control method of thermotherapy provided by the invention, the Current Temperatures information including being first depending on detection, based on pre-
The temperature prediction model first constructed determines that the voltage controlling increment information at current time, temperature prediction model refer to according to history electricity
Information, historical temperature information and current voltage information is pressed to carry out temperature control；It is then based on the voltage at determining current time
The temperature of controlling increment information control subsequent time.Temprature control method, the apparatus and system of the thermotherapy provided through the invention,
It carries out temperature control according to the temperature prediction model constructed in advance, and the efficiency and security performance of control are higher.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram of the temperature control system of thermotherapy provided by the embodiment of the present invention；
Fig. 2 shows a kind of flow charts of the temprature control method of thermotherapy provided by the embodiment of the present invention；
Fig. 3 shows the flow chart of the temprature control method of another kind thermotherapy provided by the embodiment of the present invention；
Fig. 4 shows a kind of structural schematic diagram of the temperature control equipment of thermotherapy provided by the embodiment of the present invention；
Fig. 5 to Fig. 7 is Experimental results show figure provided in an embodiment of the present invention.
Main element symbol description:
11, temperature control equipment；12, ultrasonic probe；13, magnetic resonance imaging equipment；14, temperature measuring equipment；111, increment is true
Cover half block；112, temperature control modules.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
It is now right first for the ease of better understanding temprature control method, the device of thermotherapy provided in an embodiment of the present invention
The temperature control system of thermotherapy provided in an embodiment of the present invention carries out simple illustration.Referring to Fig. 1, the temperature of the thermotherapy controls system
System includes the temperature control equipment 11 being made of increment determining module 111 and temperature control modules 112, further includes ultrasonic probe
12, magnetic resonance imaging equipment 13 and temperature measuring equipment 14；Ultrasonic probe 12 and temperature measuring equipment 14 are connected with temperature control equipment 11
It connects；Temperature measuring equipment 14 is connected with magnetic resonance imaging equipment 13；Temperature control equipment 11, for generating voltage controlling increment letter
Breath, and the voltage controlling increment information is sent to ultrasonic probe 12；Ultrasonic probe 12, for according to voltage controlling increment information
Emit ultrasonic signal to control object；Magnetic resonance imaging equipment 13 is receiving ultrasonic signal for obtaining control object
The ultrasound image information is sent to temperature measuring equipment 14 by the ultrasound image information that back reflection is gone out；Temperature measuring equipment 14, for receiving
Ultrasound image information, and the ultrasound image information is analyzed and processed, obtain the temperature information corresponding to control object.It can
See, temperature control is carried out according to the temperature prediction model constructed in advance, the efficiency and security performance of control are higher.
Next the temprature control method of thermotherapy provided in an embodiment of the present invention is specifically illustrated.Referring to fig. 2, on
Temprature control method is stated to specifically comprise the following steps:
The Current Temperatures information that S101, foundation detect, determines current time based on the temperature prediction model constructed in advance
Voltage controlling increment information, temperature prediction model refers to be believed according to history information of voltage, historical temperature information and current voltage
Breath carries out temperature control；
S102, the temperature that subsequent time is controlled based on the voltage controlling increment information at determining current time.
Here, the model predictive control method in the embodiment of the present invention is roughly divided into following steps progress, that is, prediction mould
Type, rolling optimization and error feedback compensation.
Wherein, the function of above-mentioned prediction model is worked as according to the historical information and current input, prediction model of controlled device
Preceding response.In addition, Model Predictive Control is a kind of optimal control method, it can be determined by the optimal of a certain performance indicator
Following control action.In Model Predictive Control, its optimization aim is not to use unalterable global optimization
Target, but use the finite time-domain optimisation strategy of roller.Optimize not primary offline progress, repeatedly online
It carrying out, passage on-line optimization at any time, from the point of view of its each step, it is accomplished that the static optimization for subsequent time, from
It is a dynamic improving process from the point of view of the overall situation.It, in the numerical value at current time, is gone out according to reference locus by model prediction
The best output valve at the moment is determined the Optimal Control increment at current time by best model prediction output valve.
In addition, above-mentioned Model Predictive Control uses closed loop control algorithm, when it carries out rolling optimization, current time
Temperature information should be consistent with actual temperature.But when due to model prediction, it is merely able to carry out letter to the dynamic characteristic of object
Single description (system accurately mathematical model can not be obtained in practical operation), in real system operation, since its is non-thread
Property, a series of uncertain factor such as time-varying, model mismatch and interference, a prediction based on not varying model is impossible very
It is consistent completely with actual conditions well, just needs to be used to supplementary model using a kind of additional predicting means in this case
Deficiency when prediction, or online amendment is carried out for the model on basis.Only establish on the basis of this feedback compensation
Rolling optimization, can just embody its superiority.In view of this, the embodiment of the invention provides a kind of correcting mode, Ke Yi
On the basis of keeping prediction model constant, following error is made and predicts and is compensated accordingly, it is also possible to directly
It connects and its prediction model is directly modified according to the principle of current time on-line identification.Above-mentioned correcting mode, for model
It predicts that optimization is needed to establish on the basis of reality output, makes and comparing accurately in advance simultaneously for following dynamic behaviour
It surveys.Thus, in prediction model control, optimization does not depend solely on model, while its information for getting also in relation with feedback,
To constitute a closed-loop optimization.
In the embodiment of the present invention, for each " current sample time k ", it can be utilized with object-based model prediction
Past, the present and the future control input quantity and past and present output quantity, to the output within certain following time
Sequence is predicted.Following control sequence can then be obtained by solving the form of the objective function of minimization form, mesh
The purpose of scalar functions is to allow the following output sequence reference locus can be followed to move.
Here, within each control period of PREDICTIVE CONTROL, although obtaining future by optimizing a certain performance indicator
Several controlling increments, but in current time k, we only need the control amount u (k) for implementation Process current time.This
Sample translates all sequences, prepares sampling next time.After sampling next time, above-mentioned each process is repeated, is convenient for basis
Newest real time data is updated the following control sequence, that is, realizes feedback compensation and rolling optimization.
As it can be seen that the embodiment of the present invention, which passes through the temperature prediction model that constructs in advance, carries out temperature control, the efficiency of control and
Security performance is higher
For the ease of preferably determining above-mentioned voltage controlling increment, referring to Fig. 3, the embodiment of the present invention as follows into
Row increment control algorithm:
S201, foundation Current Temperatures information and historical temperature information, current voltage information and history information of voltage structure
Build the parameter matrix at current time；
S202, foundation Current Temperatures information, the parameter matrix at current time and the parameter coefficient matrix structure of last moment
Build the parameter coefficient matrix at current time；
S203, the voltage that current time is determined based on the parameter matrix at current time and the parameter coefficient matrix at current time
Controlling increment information.
Here, in the embodiment of the present invention voltage controlling increment information at current time not only with the parameter matrix at current time
Correlation is also related to the parameter coefficient matrix at current time.Specifically, the embodiment of the present invention utilizes following formula calculating parameter coefficient square
Battle array:
Wherein,For the parameter coefficient matrix at current time,For the parameter coefficient matrix of last moment, y (k)
For Current Temperatures information,For the parameter matrix at current time, c>0, and 0<α<2.
In view of initial parameter coefficient matrix of embodiment of the present invention θ0Calculating process be based on temperature control system carry out
Before temperature control, the test voltage information matrix and test temperature information matrix used in advance, current timeIt needs
Based on the θ0It is calculated, the 1st after the current time moment then parameter coefficient matrix value based on current time.Here,
First by θ0Calculating process carry out it is as described below.
θ0=(ΦTΦ)-1ΦTY； (2)
Wherein, θ0For initial parameter coefficient matrix, Φ and Y are respectively the test voltage information square of input before controlling temperature
Battle array and its corresponding test temperature information matrix.
Assuming that T1To T15For before temperature controls, 15 temperature informations of input, u (1) to u (15) is corresponding 15
Information of voltage, thenWherein,
Based on above-mentioned θ0, further to above-mentionedIt is illustrated.
In the embodiment of the present invention,By the parameter coefficient matrix of last momentCurrent estimation temperature information y
(k), the parameter matrix at current timeAnd constant c>0, and 0<α<2 is determined.
The embodiment of the present invention preferably uses gradient calibration Parameter Estimation Method to carry out parameter feedback correction.It is specific:
Deterministic system is described as form
A(z-1) y (k)=B (z-1)u(k-d) (3)
Wherein, y (k) and u (k) is respectively system output and input, and is had
Formula (4) can be write as form again
In formula,
The parameter Estimation for enabling system is
Then the selection of parameter γ should can be such that following formula sets up.
Then
Formula (8) is brought into formula (6) to obtain
Due in practical projects, it is possible to will appearThe case where, so formula (9) can be corrected are as follows:
As it can be seen that being based on θ in the embodiment of the present invention0And the parameter matrix of Current Temperatures information y (k), current timeIt can be obtainedAnd so on, the parameter coefficient matrix at available each moment.
It, can be flat based on controlled autoregressive integral sliding in the embodiment of the present invention for the ease of obtaining current voltage information
Equal process model (CARIMA) carries out the calculating of Current Temperatures information.
Wherein, above-mentioned CARIMA model equation is as follows:
Wherein, y (k), u (k), ε (k) are respectively the output, input and white noise of system；Δ=1-z-1For difference operator,
And each variable parameter is defined in down:
In the embodiment of the present invention, 1 is set by delay umber of beats d, then formula (11) can be written as following form:
Above formula is simplified, can be obtained:
Wherein,
As it can be seen that the embodiment of the present invention calculates current estimation temperature information by formula (14), this currently estimate temperature information and
Voltage controlling increment information corresponds.Next the present invention is further explained, and embodiment is the voltage for how carrying out current time
The calculating of controlling increment information.
The embodiment of the present invention is based on the corresponding voltage control of the following predictor error of minimum for seeking the following predictor error function
Voltage controlling increment information of the increment information processed as current time.Wherein, the acquisition process of the above-mentioned following predictor error function
It is specific as follows:
When in the embodiment of the present invention temperature control system act on control object when, can by current time (k moment) it
The output prediction error at jth moment afterwards is written as follow format:
The then variance of the prediction error of system are as follows:
The smallest j walks optimum prediction known to formula (16) are as follows:
C(z-1)y*(k+j | k)=Gj(z-1)y(k)+Fj(z-1)Δu(k+j-1) (17)
Wherein, above-mentioned Gj(z-1) and Fj(z-1) can be obtained by more kinds of figure equation solutions, the following predictor error at this time
Function are as follows:
Wherein, J is the following predictor error function, and y (k+j) is the estimated voltage information at the jth moment after current time,
yrIt (k+j) is the expectation information of voltage at the jth moment after current time, γjFor weighting coefficient, N1Length, N are exported for minimum2
For maximum output length, NuTo control length.
In the embodiment of the present invention, in order to allow output y (k) to be smoothly transitted into setting value ω according to certain response speed, lead to
Reference locus can be often set, and commonly using reference locus is following first-order lag (single order is smooth) model:
Matrix form is expressed as by above-mentioned are as follows:
J=E { [Y-Yr]T[Y-Yr]+ΔUTTΔU} (19)
Wherein,
Y=[y (k+N1), y (k+N1+ 1 ..., y (k+N2)]T
Yr=[yr(k+N1), yr(k+N1+ 1) ..., yr(k+N2)]T
Δ U=[Δ u (k), Δ u (k+1) ..., Δ u (k+Nu-1]T
T=diag (γ1, γ2..., γ NT)
So, from formula (13):
Wherein:Formula (20) are carried it into, can be obtained:
Formula (21) substitution formula (16) can be obtained:
Due to the first item in above formula be it is uncontrollable, make J minimum in advance, need to set the right Section 2 in above formula
Zero, it may be assumed that
At this point, prediction error are as follows:
Then, formula (21) can be rewritten as following form:
Y (k+j)=FjΔuf(k+j-1)+Gjyf(k)+Ejε(k+j) (22)
In above formula,
Δ uf (k+1-1) is known as filtering controlling increment, and yt (k) is known as filtering output.
The matrix expression that output temperature can be obtained by formula (22) is as follows:
Y=F1ΔUf+F2ΔUf(k-j)+GYf(k)+Eε (23)
Wherein,
Y=[y (k+N1), y (k+N1+ 1) ..., y (k+N)]TIt is exported as following prediction；
ΔUf=[Δ uf(k), Δ uf(k+1) ..., Δ uf(k+Nu-1)]TFiltering controlling increment as current and future
Vector；
ΔUf(k-j)=[Δ uf(k-1), Δ uf(k-2) ..., Δ uf(k-nb)]TControlling increment vector was filtered for the past；
Yf(k)=[yf (k), yf(k-1) ..., yf(k-no)]TIt is exported to be current with past filtering；
ε=[ε (k+1), ε (k+2) ..., ε (k+N)]TFor following white noise vector；
In addition, above-mentioned each coefficient matrix of polynomial are as follows:
So, voltage controlling increment information is determined by following formula:
ΔUf(k)=(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)] (24)
Wherein, Δ UfIt (k) is the voltage controlling increment information at current time, Δ UfIt (k-j) is the jth before current time
The voltage controlling increment information at moment, Yf(k) voltage matrix constituted for current voltage information and history information of voltage；YrFor not
Come the expectation voltage matrix at moment, F1、F2It is coefficient matrix of polynomial with G.
In addition, the one-component of above-mentioned voltage controlling increment information are as follows:
Δuf(k)=[1,0 ..., 0] (F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)]；
Then u (k)=u (k-1)+Δ uf(k)。
Each polynomial matrix in the embodiment of the present invention can be obtained based on more kinds of figure equations are solved.Be shown below for
The more kinds of figure equations that the embodiment of the present invention is established:
In formula,
It can be obtained by formula (25):
C(z-1)=A (z-1)Ej+1(z-1)+z-(j+1)Gj+1(z-1) (26)
C(z-1)=A (z-1)Ej(z-1)+z-(j+1)Gj(z-1) (27)
Formula (26) subtracts known to formula (27):
A(Ej+1-Ej)=z-j(Gj-z-1Gj+1) (28)
I.e. low power term coefficient all until (j-1) is secondary on the right of equation is 0.So (j-1) item before Ej+1 and Ej
Coefficient must it is equal, i.e.,
ej+1,i=ej,i, i=0,1 ..., j-1 (29)
Ej+1=Ej+ej+1,jz-j (30)
Formula (30) are substituted into known to formula (28):
z-1Gj+1=Gj-ej+1,jA (31)
Formula (31) expansion can be obtained:
It enables formula (32) equal sign left and right ends equal with power term coefficient, obtains
In addition, formula (32) is the recurrence formula of more kinds of figure equations, initial value is as follows:
As j=1, from formula (25): C=AE1+z-1G1
It enables above formula or so equal, obtains
As it can be seen that passing through initial A (z-1)、B(z-1) and C (z-1) above-mentioned more kinds of figure equations are solved, it is available each multinomial
Formula coefficient matrix, the following predictor error of minimum based on each coefficient matrix of polynomial and the following predictor error function can be with
It determines in current time corresponding voltage controlling increment information calculating process, can be updated based on voltage controlling increment information
The temperature information of parameter coefficient matrix and subsequent time, recycles according to this, until prediction obtains the temperature information at each moment, stops
Only recycle.
The temprature control method of thermotherapy provided in an embodiment of the present invention, the Current Temperatures information including being first depending on detection,
Determine that the voltage controlling increment information at current time, temperature prediction model refer to basis based on the temperature prediction model constructed in advance
History information of voltage, historical temperature information and current voltage information carry out temperature control；It is then based on determining current time
Voltage controlling increment information control subsequent time temperature, temperature control is carried out according to the temperature prediction model that constructs in advance
System, the efficiency and security performance of control are higher.
The embodiment of the invention also provides a kind of temperature control equipments 11 of thermotherapy, referring to fig. 4, the temperature control equipment 11
Include:
Increment determining module 111, for the Current Temperatures information according to detection, based on the temperature prediction model constructed in advance
Determine that the voltage controlling increment information at current time, temperature prediction model refer to according to history information of voltage, historical temperature information
And current voltage information carries out temperature control；
Temperature control modules 112 control subsequent time for the voltage controlling increment information based on determining current time
Temperature.
The temperature control equipment 11 of thermotherapy provided in an embodiment of the present invention, the Current Temperatures including being first depending on detection are believed
Breath, determines that the voltage controlling increment information at current time, temperature prediction model refer to based on the temperature prediction model constructed in advance
Temperature control is carried out according to history information of voltage, historical temperature information and current voltage information；It is then based on determining current
The temperature of the voltage controlling increment information control subsequent time at moment, carries out temperature according to the temperature prediction model constructed in advance
Control, the efficiency and security performance of control are higher.
Based on above-mentioned temperature control equipment 11, referring to Fig. 1, the embodiment of the invention also provides a kind of controls of the temperature of thermotherapy
System, the temperature control system further include: ultrasonic probe 12, magnetic resonance imaging equipment 13 and temperature measuring equipment 14；Ultrasonic probe 12
It is connected with temperature control equipment 11 with temperature measuring equipment 14；Temperature measuring equipment 14 is connected with magnetic resonance imaging equipment 13；
Temperature control equipment 11 is sent to for generating voltage controlling increment information, and by the voltage controlling increment information
Ultrasonic probe 12；
Ultrasonic probe 12, for emitting ultrasonic signal to control object according to voltage controlling increment information；
Magnetic resonance imaging equipment 13 is receiving the ultrasound figure that ultrasonic signal back reflection goes out for obtaining control object
As information, which is sent to temperature measuring equipment 14；
Temperature measuring equipment 14 is analyzed and processed for receiving ultrasound image information, and to the ultrasound image information, is obtained pair
It should be in the temperature information of control object.
As it can be seen that above-mentioned temperature control system carries out temperature control, the effect of control according to the temperature prediction model constructed in advance
Rate and security performance are higher.
The temprature control method for the thermotherapy that embodiment provides in order to further illustrate the present invention, the technology of apparatus and system are imitated
Fruit, the embodiment of the present invention are also based on three kinds of tissues such as in vitro pork, isolated pig ren, living body rabbit leg muscle and have carried out temperature control
System experiment.
It is organized corresponding to above-mentioned three kinds, experimental curve diagram as shown in Figs. 5 to 7, dotted line is desired temperature information, and solid line is
Actual temperature information.As it can be seen that the temprature control method of thermotherapy provided in an embodiment of the present invention, apparatus and system are with following prominent
Advantage: 1) short into temperature steady state time, 200s or so enters stable state；2) temperature control stability is good, shakes small；3) it is adapted to
Different tissues.
The computer program product of the temperature controlled method of thermotherapy, including storage are carried out provided by the embodiment of the present invention
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing previous methods embodiment
Described in method, specific implementation can be found in embodiment of the method, details are not described herein.
The temperature controlled device of thermotherapy provided by the embodiment of the present invention can be the specific hardware or peace in equipment
Loaded on the software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present invention, realization principle and generation
Identical with preceding method embodiment, to briefly describe, Installation practice part does not refer to place, can refer to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided by the present invention, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of temprature control method of thermotherapy characterized by comprising
According to the Current Temperatures information of detection, determine that the voltage control at current time increases based on the temperature prediction model constructed in advance
Information is measured, the temperature prediction model refers to be carried out according to history information of voltage, historical temperature information and current voltage information
Temperature control；
Based on the temperature of the voltage controlling increment information control subsequent time at determining current time.
2. the method according to claim 1, wherein the Current Temperatures information according to detection, is based on preparatory
The temperature prediction model of building determines the voltage controlling increment information at current time, comprising:
Current time is constructed according to Current Temperatures information and historical temperature information, current voltage information and history information of voltage
Parameter matrix；
Current time is constructed according to Current Temperatures information, the parameter matrix at current time and the parameter coefficient matrix of last moment
Parameter coefficient matrix；
The parameter coefficient matrix of parameter matrix and current time based on current time determines the voltage controlling increment at current time
Information.
3. according to the method described in claim 2, it is characterized in that, calculating the parameter coefficient matrix using following formula:
Wherein,For the parameter coefficient matrix at current time,For the parameter coefficient matrix of last moment, y (k) is current
Temperature information,For the parameter matrix at current time, c>0, and 0<α<2.
4. according to the method described in claim 3, it is characterized in that, calculating initial parameter coefficient matrix using following formula:
θ0=(ΦTΦ)-1ΦTY；
Wherein, θ0For initial parameter coefficient matrix, Φ and Y be respectively before controlling temperature, the test voltage information matrix of input and its
Corresponding test temperature information matrix.
5. according to the method described in claim 3, it is characterized in that, calculating Current Temperatures information using following formula:
Wherein, y (k), u (k-1) and ε (k) are Current Temperatures information, the information of voltage of last moment and white noise acoustic intelligence, Δ
=1-z-1For difference operator,In addition, A (z-1)、B(z-1) and C (z-1) it is defined as follows:
6. according to the method described in claim 5, it is characterized in that, calculating voltage controlling increment information using following formula:
ΔUf(k)=(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)]；
Wherein, Δ UfIt (k) is the voltage controlling increment information at current time, Δ UfIt (k-j) is the jth moment before current time
Voltage controlling increment information, Yf(k) voltage matrix constituted for current voltage information and history information of voltage；YrWhen for future
The expectation voltage matrix at quarter, F1、F2It is coefficient matrix of polynomial with G.
7. according to the method described in claim 6, it is characterized in that, the minimum future for seeking the following predictor error function estimate mistake
Voltage controlling increment information of the corresponding voltage controlling increment information of difference as the current time.
8. the method according to the description of claim 7 is characterized in that the future predictor error function are as follows:
Wherein, J is the following predictor error function, and y (k+j) is the estimated voltage information at the jth moment after current time, yr(k+
It j) is the expectation information of voltage at the jth moment after current time, γjFor weighting coefficient, N1Length, N are exported for minimum2For most
Big output length, NuTo control length.
9. a kind of temperature control equipment of thermotherapy characterized by comprising
Increment determining module is worked as the Current Temperatures information according to detection based on the temperature prediction model determination constructed in advance
The voltage controlling increment information at preceding moment, the temperature prediction model refer to according to history information of voltage, historical temperature information with
And current voltage information carries out temperature control；
Temperature control modules, the temperature for the voltage controlling increment information control subsequent time based on determining current time.
10. a kind of temperature control system of thermotherapy, the temperature control equipment including thermotherapy as claimed in claim 9, feature exist
In, further includes: ultrasonic probe, magnetic resonance imaging equipment and temperature measuring equipment；The ultrasonic probe and the temperature measuring equipment are and institute
Temperature control equipment is stated to be connected；The temperature measuring equipment is connected with the magnetic resonance imaging equipment；
The temperature control equipment is sent to institute for generating voltage controlling increment information, and by the voltage controlling increment information
State ultrasonic probe；
The ultrasonic probe, for emitting ultrasonic signal to control object according to the voltage controlling increment information；
The magnetic resonance imaging equipment, for obtaining the control object in the ultrasound for receiving ultrasonic signal back reflection and going out
The ultrasound image information is sent to temperature measuring equipment by image information；
The temperature measuring equipment is analyzed and processed for receiving the ultrasound image information, and to the ultrasound image information, obtains
Temperature information corresponding to the control object.
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| US8583211B2 (en) * | 2011-08-10 | 2013-11-12 | Siemens Aktiengesellschaft | Method for temperature control in magnetic resonance-guided volumetric ultrasound therapy |
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| DE2827003C2 (en) * | 1977-06-20 | 1986-09-18 | Rca Corp., Princeton, N.J. | Facility for microwave hyperthermia treatment |
| CN1358549A (en) * | 2001-11-28 | 2002-07-17 | 北京源德生物医学工程股份有限公司 | Ultrasonic wave heat therapeutic apparatus and focus temp. pre-measuring method |
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