CN109960293B - Temperature control method, device and system for thermal therapy - Google Patents
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Abstract
The invention provides a temperature control method, a device and a system for thermal therapy, wherein the method comprises the following steps: determining the voltage control increment information at the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information; and controlling the temperature at the next moment based on the determined voltage control increment information at the current moment. According to the temperature control method, device and system for thermal therapy provided by the invention, the temperature is controlled according to the pre-constructed temperature prediction model, and the control efficiency and safety performance are higher.
Description
Technical Field
The invention relates to the technical field of intelligent temperature control, in particular to a temperature control method, device and system for thermal therapy.
Background
The data show that the temperature of 41.5-43 ℃ is the window temperature for the gradual necrosis of cancer cells and the survival of normal cells, when the local temperature of the tissue of the body exceeds 41.5 ℃, the phenomenon of extravasated blood and even coagulative necrosis of tumor tissue begins to appear, and the temperature within 43 ℃ can not cause irreversible damage to the normal tissue. The tumor thermotherapy is to heat the tumor tissue to a window temperature by utilizing the obvious difference of the temperature tolerance of the tumor tissue and the normal body tissue so as to achieve the purpose of damaging the tumor tissue.
In the process of tumor thermotherapy, a magnetic resonance guided focused ultrasound technology can be adopted to heat a focus part, and in order to ensure that the tumor tissue is damaged to the maximum extent and the damage to other normal body tissues can be reduced, the heating temperature is often required to be monitored and controlled. In the related art, a method for performing temperature control based on PID is provided, in which a controlled variable is calculated by using proportion, integral and derivative, and then temperature control is performed based on the controlled variable.
However, in the temperature control method based on PID in the related art, the time consumption of the thermal therapy process is long and the efficiency is low due to the problem of long time for entering the steady state, and the method is limited by the overshoot phenomenon under PID control, so that certain potential safety hazard exists.
Disclosure of Invention
In view of the above, the present invention provides a temperature control method, device and system for thermal therapy, which use a pre-constructed temperature prediction model to control the temperature, and have high control efficiency and safety performance.
In a first aspect, the present invention provides a temperature control method for thermal therapy, the method comprising:
determining the voltage control increment information at the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information;
and controlling the temperature at the next moment based on the determined voltage control increment information at the current moment.
With reference to the first aspect, the present invention provides a first possible implementation manner of the first aspect, where the determining, based on a pre-constructed temperature prediction model, voltage control increment information at a current time according to the detected current temperature information includes:
constructing a parameter matrix at the current moment according to the current temperature information, the historical temperature information, the current voltage information and the historical voltage information;
constructing a parameter coefficient matrix at the current moment according to the current temperature information, the parameter matrix at the current moment and the parameter coefficient matrix at the previous moment;
and determining the voltage control increment information at the current moment based on the parameter matrix at the current moment and the parameter coefficient matrix at the current moment.
With reference to the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the parameter coefficient matrix is calculated by using the following formula:
wherein,
is a parameter coefficient matrix of the current time,
is the parameter coefficient matrix at the last moment, y (k) is the current temperature information,
is a parameter matrix at the current time, c>0, and 0<α<2。
With reference to the second possible implementation manner of the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein the initial parameter coefficient matrix is calculated by using the following formula:
θ0＝(ΦTΦ)-1ΦTY；
wherein, theta0The initial parameter coefficient matrix is phi and Y are respectively a test voltage information matrix input before temperature control and a test temperature information matrix corresponding to the test voltage information matrix.
With reference to the second possible implementation manner of the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, wherein the current temperature information is calculated by using the following formula:
wherein y (k) is,u (k-1) and epsilon (k) are current temperature information, voltage information at the previous time and white noise information, and delta is 1-z-1In order to be a difference operator, the difference operator,
in addition, A (z)-1)、B(z-1) And C (z)-1) The definition is as follows:
with reference to the fourth possible implementation manner of the first aspect, the present invention provides a fifth possible implementation manner of the first aspect, and the voltage control increment information is calculated by using the following formula:
ΔUf(k)＝(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)]；
wherein, Delta Uf(k) For the current time of voltage control delta information, Δ Uf(k-j) is the voltage control increment information at the j-th time before the current time, Yf(k) A voltage matrix formed by current voltage information and historical voltage information; y isrFor the desired voltage matrix at a future moment, F1、F2And G are both polynomial coefficient matrices.
With reference to the fifth possible implementation manner of the first aspect, the present invention provides a sixth possible implementation manner of the first aspect, and voltage control increment information corresponding to a minimum future predicted error of a future predicted error function is obtained as the voltage control increment information of the current time.
With reference to the sixth possible implementation manner of the first aspect, the present invention provides a seventh possible implementation manner of the first aspect, where the future prediction error function is:
wherein J is the futureAn estimated error function, y (k + j) is estimated voltage information of the j time after the current time, yr(k + j) is expected voltage information of the j-th time after the current time, γjAs a weighting coefficient, N1Is a minimum output length, N2Is the maximum output length, NuTo control the length.
In a second aspect, the present invention also provides a temperature control device for thermal therapy, the device comprising:
the increment determining module is used for determining the voltage control increment information of the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information;
and the temperature control module is used for controlling the temperature at the next moment based on the determined voltage control increment information at the current moment.
In a third aspect, the present invention also provides a temperature control system for thermal treatment, comprising the temperature control device for thermal treatment of the second aspect, further comprising: an ultrasonic probe, a magnetic resonance scanning device and a temperature measuring device; the ultrasonic probe and the temperature measuring equipment are both connected with the temperature control device; the temperature measuring equipment is connected with the magnetic resonance scanning equipment;
the temperature control device is used for generating voltage control increment information and sending the voltage control increment information to the ultrasonic probe;
the ultrasonic probe is used for transmitting an ultrasonic signal to a control object according to the voltage control increment information;
the magnetic resonance scanning equipment is used for acquiring ultrasonic image information reflected by the control object after receiving the ultrasonic signal and sending the ultrasonic image information to the temperature measuring equipment;
and the temperature measuring equipment is used for receiving the ultrasonic image information and analyzing and processing the ultrasonic image information to obtain temperature information corresponding to the control object.
The temperature control method for thermotherapy provided by the invention comprises the following steps of firstly determining the voltage control increment information of the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information; and then controlling the temperature at the next time based on the determined voltage control increment information at the current time. According to the temperature control method, device and system for thermal therapy provided by the invention, the temperature is controlled according to the pre-constructed temperature prediction model, and the control efficiency and safety performance are higher.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view illustrating a temperature control system for thermal therapy according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a temperature control method for thermal therapy according to an embodiment of the present invention;
fig. 3 is a flow chart illustrating another temperature control method for thermal therapy according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating a structure of a temperature control device for thermal therapy according to an embodiment of the present invention;
fig. 5 to 7 are graphs showing experimental results provided by the embodiment of the present invention.
Description of the main element symbols:
11. a temperature control device; 12. an ultrasonic probe; 13. a magnetic resonance scanning apparatus; 14. a temperature measuring device; 111. an increment determination module; 112. and a temperature control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In order to better understand the temperature control method and device for thermal therapy provided by the embodiments of the present invention, a brief description will be given to the temperature control system for thermal therapy provided by the embodiments of the present invention. Referring to fig. 1, the temperature control system for hyperthermia comprises a temperature control device 11 consisting of an increment determining module 111 and a temperature control module 112, an ultrasonic probe 12, a magnetic resonance scanning device 13 and a temperature measuring device 14; the ultrasonic probe 12 and the temperature measuring equipment 14 are both connected with the temperature control device 11; the temperature measuring equipment 14 is connected with the magnetic resonance scanning equipment 13; a temperature control device 11 for generating voltage control increment information and transmitting the voltage control increment information to the ultrasonic probe 12; an ultrasonic probe 12 for transmitting an ultrasonic signal to the control object according to the voltage control increment information; the magnetic resonance scanning device 13 is used for acquiring ultrasonic image information reflected by the control object after receiving the ultrasonic signal and sending the ultrasonic image information to the temperature measuring device 14; and the temperature measuring equipment 14 is used for receiving the ultrasonic image information and analyzing and processing the ultrasonic image information to obtain temperature information corresponding to the control object. Therefore, the temperature control is carried out according to the pre-constructed temperature prediction model, and the control efficiency and the safety performance are high.
The temperature control method for thermal therapy provided by the embodiment of the present invention will be specifically described below. Referring to fig. 2, the temperature control method specifically includes the following steps:
s101, determining voltage control increment information at the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information;
and S102, controlling the temperature at the next moment based on the determined voltage control increment information at the current moment.
Here, the model predictive control method in the embodiment of the present invention is roughly divided into the following steps, that is, predictive model, roll optimization, and error feedback correction.
The function of the prediction model is to predict the current response of the model according to the historical information and the current input of the controlled object. In addition, model predictive control is an optimization control method, which can determine the future control action through the optimization of a certain performance index. In the model predictive control, the optimization goal is not a invariable global optimization goal, but a rolling type limited time domain optimization strategy is adopted. The optimization is not performed off-line once, but is performed on-line repeatedly, and the optimization is performed on-line along with the time, and from each step, the optimization is static optimization for the next moment, and from the global point of view, the optimization is a dynamic optimization process. According to the numerical value of the reference track at the current moment, the optimal output value at the moment is predicted by the model, and the optimal control increment at the current moment is determined by the optimal model prediction output value.
In addition, the model predictive control adopts a closed-loop control algorithm, and when the model predictive control is subjected to rolling optimization, the temperature information of the current moment of the model predictive control is consistent with the actual temperature. However, in the model prediction, only the dynamic characteristics of the object can be simply described (in the actual operation, it is impossible to obtain a system accurate mathematical model), in the actual system operation, due to a series of uncertainty factors such as nonlinearity, time variation, model mismatch and interference, a prediction based on an invariant model is impossible to perfectly conform to the actual situation, in which case, an additional prediction means is required to supplement the deficiency in the model prediction, or an on-line correction is performed on the basic model. Only rolling optimization based on such feedback correction can be used to advantage. In view of this, the embodiment of the present invention provides a correction method, which can make a corresponding prediction for future errors and compensate the future errors on the basis of keeping the prediction model unchanged, and meanwhile, can directly modify the prediction model according to the online identification principle at the current time. In the correction mode, the model is predicted by establishing optimization on the basis of actual output, and meanwhile, accurate prediction is made on future dynamic behaviors. Therefore, in the predictive model control, the optimization does not depend on the model, and the optimization also combines the information obtained by feedback, thereby forming a closed loop optimization.
In the embodiment of the invention, for each current sampling time k, the output sequence within a certain period of time in the future can be predicted by using past, present and future control input quantities and past and present output quantities based on model prediction of the object. The future control sequence can be obtained by solving a form of minimized objective function, which aims to make the future output sequence follow the reference trajectory.
Here, in each control cycle of the predictive control, although several control increments in the future are obtained by optimizing a certain performance index, at the current time k, we only need to implement the control quantity u (k) at the current time for the process. Thus, all sequences are translated in preparation for the next sample. After the next sampling, each process is repeated, so that the future control sequence is updated conveniently according to the latest real-time data, namely, the feedback correction and the rolling optimization are realized.
Therefore, the temperature control is carried out through the pre-constructed temperature prediction model, and the control efficiency and the safety performance are higher
In order to better determine the voltage control increment, referring to fig. 3, the embodiment of the present invention performs increment control by the following steps:
s201, constructing a parameter matrix at the current moment according to the current temperature information, the historical temperature information, the current voltage information and the historical voltage information;
s202, constructing a parameter coefficient matrix at the current moment according to the current temperature information, the parameter matrix at the current moment and the parameter coefficient matrix at the previous moment;
and S203, determining the voltage control increment information at the current moment based on the parameter matrix at the current moment and the parameter coefficient matrix at the current moment.
Here, in the embodiment of the present invention, the voltage control increment information at the current time is related to not only the parameter matrix at the current time, but also the parameter coefficient matrix at the current time. Specifically, the embodiment of the present invention calculates the parameter coefficient matrix by using the following formula:
wherein,
is a parameter coefficient matrix of the current time,
is the parameter coefficient matrix at the last moment, y (k) is the current temperature information,
is a parameter matrix at the current time, c>0, and 0<α<2。
Considering the initial parameter coefficient matrix theta of the embodiment of the present invention0The calculation process is based on a test voltage information matrix and a test temperature information matrix adopted in advance before the temperature control system performs temperature control, and the current time
Needs to be based on this theta0And calculating, wherein the 1 st time after the current time is based on the parameter coefficient matrix value of the current time. Here, first, θ0The calculation process of (2) is explained as follows.
θ0＝(ΦTΦ)-1ΦTY； (2)
Wherein, theta0The initial parameter coefficient matrix is phi and Y are respectively a test voltage information matrix input before temperature control and a test temperature information matrix corresponding to the test voltage information matrix.
Let T be1To T15For 15 temperature information input before temperature control, u (1) to u (15) are corresponding 15 voltage information, then
Wherein,
based on the above-mentioned theta0Further to the above
The description is given.
In the embodiment of the present invention, the first and second substrates,
from the parameter coefficient matrix at the last moment
Current estimated temperature information y (k), parameter matrix at current moment
And a constant c>0, and 0<α<And 2, determining.
The embodiment of the invention preferably adopts a gradient correction parameter estimation method to carry out parameter feedback correction. Specifically, the method comprises the following steps:
deterministic system is described in the form
A(z-1)y(k)＝B(z-1)u(k-d) (3)
Wherein y (k) and u (k) are respectively the system output and input, and have
The formula (4) can be written as follows
In the formula,
let the parameters of the system be estimated as
The parameter y should be chosen such that the following holds.
Then
Bringing formula (8) into formula (6)
In practical engineering, it may happen
In this case, equation (9) can be modified as follows:
as can be seen, in the embodiment of the invention, the reference value is based on theta0Current temperature information y (k), and parameter matrix of current time
Can obtain
By analogy, parameter coefficient matrixes at various moments can be obtained.
In order to obtain the current voltage information, in the embodiment of the present invention, the current temperature information may be calculated based on a controlled autoregressive integrated moving average process model (CARIMA).
Wherein, the above CARIMA model equation is as follows:
wherein y (k), u (k), epsilon (k) are the output, input and white noise of the system, respectively; 1-z-1Is a difference operator, and each variable parameter is defined as follows:
in the embodiment of the present invention, if the delayed beat number d is set to 1, equation (11) may be written as follows:
by simplifying the above formula, we can obtain:
wherein,
as can be seen, in the embodiment of the present invention, the current estimated temperature information is calculated by the formula (14), and the current estimated temperature information corresponds to the voltage control increment information one to one. How the embodiment of the present invention calculates the incremental information of voltage control at the present moment is further described below.
The embodiment of the invention is based on the fact that the voltage control increment information corresponding to the minimum future prediction error of the future prediction error function is obtained and used as the voltage control increment information of the current moment. The process of obtaining the future prediction error function is as follows:
when the temperature control system in the embodiment of the present invention is applied to the controlled object, the output prediction error at the j-th time after the current time (k time) may be written in the following format:
the variance of the prediction error of the system is then:
from equation (16), the minimum optimal prediction for step j is:
C(z-1)y*(k+j|k)＝Gj(z-1)y(k)+Fj(z-1)Δu(k+j-1) (17)
wherein, G isj(z-1) And Fj(z-1) All can be solved by a plurality of graph equations, and the future prediction error function at the moment is as follows:
wherein J is a future prediction error function, y (k + J) is estimated voltage information of the J th time after the current time, yr(k + j) is expected voltage information of the j-th time after the current time, γjAs a weighting coefficient, N1Is a minimum output length, N2Is the maximum output length, NuTo control the length.
In the embodiment of the present invention, in order to make the output y (k) smoothly transition to the set value ω according to a certain response speed, a reference trajectory is usually set, and the common reference trajectory is a first-order lag (first-order smoothing) model as follows:
the above is expressed in matrix form as:
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
ΔU＝[Δu(k)，Δu(k+1)，...，Δu(k+Nu-1]T
T＝diag(γ1，γ2，...，γNT)
then, as can be seen from equation (13):
wherein:
when this is brought into the formula (20), it is possible to obtain:
the formula (16) can be substituted by the formula (21):
since the first term in the above equation is uncontrollable, to minimize J, the second term on the right in the above equation needs to be zeroed, i.e.:
at this time, the prediction error is:
then, equation (21) can be rewritten as follows:
y(k+j)＝FjΔuf(k+j-1)+Gjyf(k)+Ejε(k+j) (22)
in the above formula, the first and second carbon atoms are,
Δ uf (k +1-1) is called the filter control increment, yt (k) is called the filter output.
The matrix expression for the output temperature from equation (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)]Tas a future prediction output;
ΔUf＝[Δuf(k)，Δuf(k+1)，...，Δuf(k+Nu-1)]TasCurrent and future filter control increment vectors;
ΔUf(k-j)＝[Δuf(k-1)，Δuf(k-2)，...，Δuf(k-nb)]Tcontrolling the delta vector for the past filtering;
Yf(k)＝[yf(k)，yf(k-1)，...，yf(k-no)]Tcurrent and past filter outputs;
ε＝[ε(k+1)，ε(k+2)，...，ε(k+N)]Ta future white noise vector;
in addition, each polynomial coefficient matrix is:
then, the voltage control delta information is determined by:
ΔUf(k)＝(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)] (24)
wherein, Delta Uf(k) For the current time of voltage control delta information, Δ Uf(k-j) is the voltage control increment information at the j-th time before the current time, Yf(k) A voltage matrix formed by current voltage information and historical voltage information; y isrFor the desired voltage matrix at a future moment, F1、F2And G are both polynomial coefficient matrices.
In addition, the first component of the voltage control increment information is:
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 embodiments of the present invention may be obtained based on solving a polynomial equation. The following equation is a multiple of the equation established for the embodiment of the present invention:
in the formula,
from 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)
equation (26) is subtracted from equation (27) to obtain:
A(Ej+1-Ej)＝z-j(Gj-z-1Gj+1) (28)
i.e., all low power term coefficients from the right side of the equation to (j-1) are 0. The coefficients of the first (j-1) terms of Ej +1 and Ej must be equal, i.e.
ej+1,i＝ej,i,i＝0,1,…,j-1 (29)
Ej+1＝Ej+ej+1,jz-j (30)
By substituting formula (30) for formula (28):
z-1Gj+1＝Gj-ej+1,jA (31)
the formula (31) is developed to obtain:
the coefficients of the same power terms at the left and right ends of the equal sign of the formula (32) are equal to obtain
In addition, equation (32) is a recursive equation of the multiple-plot equation, and its initial values are as follows:
when j is 1, formula (25) shows that: AE ═ C1+z-1G1
Make the above formula equal to each other left and right to obtain
It can be seen that the initial A (z) is passed-1)、B(z-1) And C (z)-1) Solving the multiple-polynomial equation to obtain each polynomial coefficient matrix, determining the voltage control increment information corresponding to the current moment in the calculation process based on each polynomial coefficient matrix and the minimum future prediction error of the future prediction error function, updating the parameter coefficient matrix and the temperature information of the next moment based on the voltage control increment information, circulating the steps until the temperature information of each moment is obtained through prediction, and stopping the circulation.
The temperature control method for thermotherapy provided by the embodiment of the invention comprises the steps of firstly determining the voltage control increment information of the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information; and then controlling the temperature at the next moment based on the determined voltage control increment information at the current moment, and controlling the temperature according to a pre-constructed temperature prediction model, wherein the control efficiency and the safety performance are high.
An embodiment of the present invention also provides a temperature control device 11 for thermal therapy, referring to fig. 4, the temperature control device 11 including:
an increment determining module 111, configured to determine, according to the detected current temperature information, voltage control increment information at the current time based on a pre-constructed temperature prediction model, where the temperature prediction model is used to perform temperature control according to historical voltage information, historical temperature information, and current voltage information;
and a temperature control module 112 for controlling the temperature at the next time based on the determined voltage control increment information at the current time.
The temperature control device 11 for thermotherapy provided by the embodiment of the invention comprises a voltage control increment information determining module, a temperature prediction module and a temperature control module, wherein the voltage control increment information at the current moment is determined based on the pre-constructed temperature prediction model according to the detected current temperature information, and the temperature prediction model is used for performing temperature control according to historical voltage information, historical temperature information and current voltage information; and then controlling the temperature at the next moment based on the determined voltage control increment information at the current moment, and controlling the temperature according to a pre-constructed temperature prediction model, wherein the control efficiency and the safety performance are high.
Based on the temperature control device 11, referring to fig. 1, an embodiment of the present invention further provides a temperature control system for thermal therapy, the temperature control system further comprising: an ultrasonic probe 12, a magnetic resonance scanning device 13 and a temperature measuring device 14; the ultrasonic probe 12 and the temperature measuring equipment 14 are both connected with the temperature control device 11; the temperature measuring equipment 14 is connected with the magnetic resonance scanning equipment 13;
a temperature control device 11 for generating voltage control increment information and transmitting the voltage control increment information to the ultrasonic probe 12;
an ultrasonic probe 12 for transmitting an ultrasonic signal to the control object according to the voltage control increment information;
the magnetic resonance scanning device 13 is used for acquiring ultrasonic image information reflected by the control object after receiving the ultrasonic signal and sending the ultrasonic image information to the temperature measuring device 14;
and the temperature measuring equipment 14 is used for receiving the ultrasonic image information and analyzing and processing the ultrasonic image information to obtain temperature information corresponding to the control object.
Therefore, the temperature control system controls the temperature according to the pre-constructed temperature prediction model, and the control efficiency and the safety performance are high.
In order to further illustrate the technical effects of the temperature control method, the temperature control device and the temperature control system for the thermal therapy provided by the embodiment of the invention, the embodiment of the invention also performs a temperature control experiment based on three tissues such as in-vitro pork, in-vitro pig kidney, in-vivo rabbit thigh muscle and the like.
Corresponding to the above three tissues, as shown in the experimental graphs of fig. 5 to 7, the dotted line is the desired temperature information and the solid line is the actual temperature information. Therefore, the temperature control method, the device and the system for thermal therapy provided by the embodiment of the invention have the following outstanding advantages: 1) the entering temperature steady state time is short, and the entering temperature enters a steady state within about 200 s; 2) the temperature control stability is good, and the oscillation is small; 3) is suitable for different tissues.
The computer program product of the method for performing temperature control of hyperthermia according to the embodiments of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiments, and specific implementation can refer to the method embodiments, and will not be described herein again.
The temperature control device for thermal therapy provided by the embodiment of the present invention can be specific hardware on the device or software or firmware installed on the device. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A temperature control method for thermal therapy, comprising:
determining the voltage control increment information at the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information;
controlling the temperature at the next moment based on the determined voltage control increment information at the current moment;
the method for determining the voltage control increment information at the current moment based on the pre-constructed temperature prediction model according to the detected current temperature information comprises the following steps:
constructing a parameter matrix at the current moment according to the current temperature information, the historical temperature information, the current voltage information and the historical voltage information;
constructing a parameter coefficient matrix at the current moment according to the current temperature information, the parameter matrix at the current moment and the parameter coefficient matrix at the previous moment;
determining the voltage control increment information at the current moment based on the parameter matrix at the current moment and the parameter coefficient matrix at the current moment;
calculating the parameter coefficient matrix using:
wherein,
is a parameter coefficient matrix of the current time,
is the parameter coefficient matrix at the last moment, y (k) is the current temperature information,
is a parameter matrix at the current time, c>0, and 0<α<2。
2. The method of claim 1, wherein the initial parameter coefficient matrix is calculated using the following equation:
θ0＝(ΦTΦ)-1ΦTY；
wherein, theta0The initial parameter coefficient matrix is phi and Y are respectively a test voltage information matrix input before temperature control and a test temperature information matrix corresponding to the test voltage information matrix.
3. The method of claim 1, wherein the current temperature information is calculated using the formula:
where y (k), u (k-1), and ∈ (k) are current temperature information, voltage information at the previous time, and white noise information, and Δ ═ 1-z-1In order to be a difference operator, the difference operator,
in addition, A (z)-1)、B(z-1) And C (z)-1) The definition is as follows:
4. the method of claim 3, wherein the voltage control delta information is calculated using the following equation:
ΔUf(k)＝(F1 TF1+T)-1F1 T[Yr-F2ΔUf(k-j)-GYf(k)]；
wherein, Delta Uf(k) For the current time of voltage control delta information, Δ Uf(k-j) is the voltage control increment information at the j-th time before the current time, Yf(k) A voltage matrix formed by current voltage information and historical voltage information; y isrFor the desired voltage matrix at a future moment, F1、F2And G are both polynomial coefficient matrices.
5. The method of claim 4, wherein the voltage control increment information corresponding to the minimum future predicted error of the future predicted error function is obtained as the voltage control increment information of the current time.
6. The method of claim 5, wherein the future prediction error function is:
wherein J is a future prediction error function, y (k + J) is estimated voltage information of the J th time after the current time, yr(k + j) is expected voltage information of the j-th time after the current time, γjAs a weighting coefficient, N1Is a minimum output length, N2Is the maximum output length, NuTo control the length.
7. A temperature control device for thermal therapy for implementing a temperature control method for thermal therapy according to any one of claims 1 to 6, comprising:
the increment determining module is used for determining the voltage control increment information of the current moment based on a pre-constructed temperature prediction model according to the detected current temperature information, wherein the temperature prediction model is used for carrying out temperature control according to historical voltage information, historical temperature information and current voltage information;
and the temperature control module is used for controlling the temperature at the next moment based on the determined voltage control increment information at the current moment.
8. A temperature control system for thermal treatment comprising the temperature control device for thermal treatment of claim 7, further comprising: an ultrasonic probe, a magnetic resonance scanning device and a temperature measuring device; the ultrasonic probe and the temperature measuring equipment are both connected with the temperature control device; the temperature measuring equipment is connected with the magnetic resonance scanning equipment;
the temperature control device is used for generating voltage control increment information and sending the voltage control increment information to the ultrasonic probe;
the ultrasonic probe is used for transmitting an ultrasonic signal to a control object according to the voltage control increment information;
the magnetic resonance scanning equipment is used for acquiring ultrasonic image information reflected by the control object after receiving the ultrasonic signal and sending the ultrasonic image information to the temperature measuring equipment;
and the temperature measuring equipment is used for receiving the ultrasonic image information and analyzing and processing the ultrasonic image information to obtain temperature information corresponding to the control object.
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| DE2827003C2 (en) * | 1977-06-20 | 1986-09-18 | Rca Corp., Princeton, N.J. | Facility for microwave hyperthermia treatment |
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| CN106377842A (en) * | 2016-09-30 | 2017-02-08 | 华中科技大学 | Magneto-fluid thermotherapy temperature control method based on temperature feedback and thermotherapy instrument thereof |
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| CN1160136C (en) * | 2001-11-28 | 2004-08-04 | 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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| DE2827003C2 (en) * | 1977-06-20 | 1986-09-18 | Rca Corp., Princeton, N.J. | Facility for microwave hyperthermia treatment |
| CN1973788A (en) * | 2006-12-25 | 2007-06-06 | 葛云龙 | Automatic brain tumor heat treating apparatus |
| CN102802728A (en) * | 2009-06-02 | 2012-11-28 | 皇家飞利浦电子股份有限公司 | MR Imaging Guided Therapy |
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