CN110559565A - Ultrasonic spherical curved surface scanning three-dimensional body treatment device and using method thereof - Google Patents
Ultrasonic spherical curved surface scanning three-dimensional body treatment device and using method thereof Download PDFInfo
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- 238000002679 ablation Methods 0.000 claims description 66
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
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Abstract
The invention relates to an ultrasonic spherical curved surface scanning three-dimensional body treatment device, which is provided with an ultrasonic focusing transducer; a positioning probe lifting device and a positioning probe rotating device are installed in a center hole of the ultrasonic focusing transducer; the method is characterized in that: the upper end of the ultrasonic focusing transducer is sequentially connected with a swinging mechanism, a rotating mechanism and a lifting mechanism in series; the lower end of the swing mechanism is hinged with the ultrasonic focusing transducer through a swing rotating shaft, and the upper end of the swing mechanism is fixedly connected with a rotating disc of the rotating mechanism; the rotating mechanism is connected with the movable end of the lifting mechanism; the ultrasonic focusing transducer, the swing mechanism, the rotating mechanism, the lifting mechanism, the position measuring probe lifting device, the position measuring probe rotating device and a water tank water sac used for containing coupling water form the HIFU treatment head. The ultrasonic spherical curved surface scanning three-dimensional body treatment mechanical structure adopted by the invention has the advantages that the diameter of the treatment head is small, the weight is light, the movement is not needed during treatment, the defects of the existing mechanical structure are overcome, and the requirement of thermal ablation treatment on the three-dimensional scanning body in any shape in the treatment range is met.
Description
Technical Field
The invention relates to ultrasonic treatment equipment, in particular to an ultrasonic spherical curved surface scanning three-dimensional body treatment device and a using method thereof, and belongs to the technical field of medical equipment.
background
the High Intensity Focused Ultrasound (HIFU) is a new noninvasive treatment method, and has the advantages of no wound, no infection, short recovery period and good curative effect. Since the HIFU therapy was first reported by Lynn et al in 1942, currently, several HIFU products have been registered at home and abroad for clinical applications. The HIFU principle is to form an energy-dense three-dimensional region, the focal region, in a medium surrounding the focal point by a convergence technique, using a low mhz frequency band with beam properties and good penetration capability in human tissue. When the propagation medium is human tissue, the tissue in the focal zone absorbs the ultrasound energy and converts it into heat energy to raise its temperature. When the sound intensity in the focal region reaches hundreds of thousands per square centimeter, the temperature can be instantly increased to 56-100 ℃, so that protein denaturation and cell coagulative necrosis (ablation) are caused; due to the steep edge of the focal zone, the tissue outside the focal zone has much lower sound intensity and temperature than the inside and can still be in a safe state. Because the size of the ultrasonic focusing focal domain body is far smaller than the size of the tumor to be treated, and the shape of the tumor is not matched with the shape of the focal domain, the HIFU needs the solid tumor to carry out the thermal ablation treatment of the point-line-surface three-dimensional scanning body, and the three-dimensional mechanical transmission motion structure is most commonly, reliably and conveniently adopted in the three-dimensional scanning body scanning mode.
At present, an HIFU product adopts a three-dimensional mechanical transmission motion structure and has two modes:
1. The therapeutic focused ultrasonic transducer forms an independent therapeutic head with functions of therapeutic depth adjustment, position measuring device rotation and the like and a human body coupling water bag (or water tank), and under the action of another two-dimensional mechanical motion structure, a target in the human body and the therapeutic head move relatively to each other to perform three-dimensional scanning treatment. The advantages are that: the diameter of the treatment head is basically equal to the diameter of the radiation surface of the ultrasonic focusing transducer (1), so that the diameter of the treatment head is smaller, and the treatment positioning is convenient; the defects are obvious, and the defects are mainly that the contact surface of a therapeutic head coupling water bag and a human body is displaced in the treatment process, so that internal organs of the human body can move, the normal internal organs can possibly move into an ultrasonic propagation path, the propagation of focused ultrasonic waves is blocked, the treatment effect is influenced, or the normal internal organs moving into the ultrasonic propagation path are directly damaged; the therapeutic head is coupled with the water sac and is contacted with the human body to have certain pressure, the displacement of the therapeutic head and the water sac can force the movement of target tissues in the human body, and the three-dimensional scanning thermal ablation therapy planning cannot be accurately executed. This structure may affect HIFU treatment safety. In addition, when the HIFU therapy needs to change the incident angle of the focused ultrasound, that is, the two-dimensional motion plane of the focused ultrasound transducer is not parallel to the contact surface of the human body, the range of the therapy plane may be limited, which may hinder the normal HIFU therapy process. If the focused ultrasound transducer for treatment is coupled by the water tank, a human body needs to lie in the water tank for treatment, no pressure is generated on the human body by the treatment head, but when the human body is treated in a lying state by the abdominal organ, the intestinal tract slides and sags and directly enters the ultrasonic propagation path, the treatment safety is seriously influenced, and a water bag needs to be additionally added to extrude the intestinal tract to leave the ultrasonic propagation path. Extrusion still produces the same drawbacks as described above;
2. The therapeutic focused ultrasonic transducer three-dimensionally moves, the position measuring device rotates and the like, and is integrated with the human body coupling water bag (or water tank) into an independent therapeutic head, and the focused ultrasonic transducer completes three-dimensional movement relative to a target in the human body in the therapeutic head to perform three-dimensional scanning therapy on a three-dimensional scanning body. The advantages are that: the therapeutic head is coupled with the water bag to contact with the human body, the therapeutic head does not need to move in the treatment process, the positions of internal organs of the human body are fixed, and the treatment is safe. The defect is that the focused ultrasonic transducer moves in three dimensions in the treatment head, and the mechanical structure weight is increased by increasing the movement dimension; the diameter of the treatment head needs to be increased by the distance of the movement process, the outer diameter of the treatment head is increased, and meanwhile, the water consumption for coupling is multiplied, so that the mechanical size and scale of the product are required to be increased. In addition, the diameter of the therapy head becomes larger, the weight becomes heavier, and the application range of the HIFU therapy is also influenced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an ultrasonic spherical curved surface scanning three-dimensional body treatment device which has a small diameter and light weight of a treatment head, does not need to move during treatment, overcomes the defects of the existing mechanism, and meets the requirements of thermal ablation treatment of any three-dimensional scanning body in a treatment range, and a using method thereof.
The technical scheme for realizing the purpose of the invention is as follows: an ultrasonic spherical curved surface scanning three-dimensional body treatment device is provided with an ultrasonic focusing transducer; a positioning probe lifting device and a positioning probe rotating device are installed in a center hole of the ultrasonic focusing transducer; the method is characterized in that: the upper end of the ultrasonic focusing transducer is sequentially connected with a swinging mechanism, a rotating mechanism and a lifting mechanism in series; the lower end of the swing mechanism is hinged with the ultrasonic focusing transducer through a swing rotating shaft, and the upper end of the swing mechanism is fixedly connected with a rotating disc of the rotating mechanism; the rotating mechanism is connected with the movable end of the lifting mechanism; the ultrasonic focusing transducer, the swing mechanism, the rotating mechanism, the lifting mechanism, the position measuring probe lifting device, the position measuring probe rotating device and the water tank water sac used for containing coupling water form the HIFU treatment head.
The application method of the ultrasonic spherical curved surface scanning three-dimensional body treatment device is characterized in that an ablation body in any shape can be formed in a three-dimensional curved surface cylinder by the aid of parameters of a control mechanism swing angle alpha, a rotating mechanism rotating angle beta and a lifting mechanism moving position Z.
according to the technical scheme, the swinging mechanism enables the ultrasonic focusing transducer to incline by an angle alpha with a rotating shaft of the swinging mechanism as a center, and when the ultrasonic focusing transducer is used, the ultrasonic focusing transducer generates an ablation focus on the tissue at the focus position of the sound shaft; if the swing mechanism changes the inclination angle alpha, the ultrasonic focusing transducer forms another ablation focus at a curve position with the curve radius R as the vertical distance from the center of the rotating shaft of the swing mechanism to the focus position of the sound shaft; the inclination angle alpha is continuously and orderly changed, and when the device is used, the tissue on the curve of the device can generate an ablation focus curve.
In the technical scheme, after a tissue ablation curve is formed, the movement position Z of the lifting mechanism is changed, and then the ablation focus curve is treated to form another ablation focus curve; the moving position Z of the lifting mechanism is continuously changed, the HIFU tissue ablation curve is continuously used, an HIFU ablation surface is formed, the height of the ablation surface is controlled by the moving stroke Z of the lifting mechanism, and the width is controlled by the swing angle alpha of the swing mechanism and the curve radius R.
According to the technical scheme, the rotating mechanism changes the rotating angle beta, and another ablation focus is formed at the position of a circular ring which takes the focal position with the inclination angle as 0 angle as the center of the circle and takes the sine product of the curve radius R and the inclination angle alpha as the radius R; the rotation angle beta is continuously and orderly changed to be 0-360 degrees, and when the device is used, the tissue on the ring can generate an ablation focus ring.
In the technical scheme, after the tissue ablation ring is formed, the central inclination angle alpha of the swing mechanism is changed, and then the ablation focus ring is treated to form another ablation focus ring; continuously changing the swing angle alpha of the swing mechanism, and continuously using the HIFU tissue ablation focus circular ring to form an HIFU ablation focus curved surface or a curved surface with a central hole; the maximum diameter of the curved surface of the ablation focus is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
According to the technical scheme, the movement position Z of the lifting mechanism is changed to form another HIFU ablation range curved surface; continuously and orderly changing the motion position Z of the lifting mechanism, and continuing using the HIFU tissue ablation curved surface to form an HIFU three-dimensional curved surface cylindrical ablation body; the maximum height of the three-dimensional curved cylindrical ablation body is the maximum movement stroke of the lifting mechanism Z, and the maximum diameter of the curved surface is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
After the technical scheme is adopted, the invention has the following positive effects:
(1) The external diameter of the HIFU treatment head is still basically equal to the diameter of the radiation surface of the focusing transducer, and only the size generated by the inclination of the focusing transducer is increased; the structure is only added with a swinging structure, and the capacity of the water tank is not greatly changed, so the weight of the treatment head is not increased much.
(2) The treatment head has the advantages of small diameter, light structure weight and low requirement on the mechanical structure of the product, and does not require another two-dimensional mechanical motion structure to be added to the product to enable the target in the human body and the treatment head to move relatively.
(3) The treatment head has smaller diameter, convenient treatment positioning and wide application range of HIFU treatment
(4) The treatment mechanism for the three-dimensional scanning body with the ultrasonic spherical curved surface in the treatment head can complete the thermal ablation treatment of the three-dimensional scanning body with any shape in the treatment range, and the treatment head does not need to move relative to the surface of a human body in the treatment process, so that the treatment is safe.
(5) the therapeutic head coupling water sac has certain pressure when contacting with a human body, fixes the position of internal organs of the human body, and is beneficial to accurate execution of the scanning thermal ablation therapy planning of the three-dimensional scanning body.
(6) The focusing ultrasonic incidence angle of the treatment head is changed, and the thermal ablation treatment of the arbitrary three-dimensional scanning body in the treatment range is completed without influencing the ultrasonic spherical curved surface scanning three-dimensional body treatment mechanical structure in the treatment head.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic view of the formation of a focal curve according to example 1 of the present invention;
FIG. 2 is a schematic view of the formation of a lesion ring in accordance with example 2 of the present invention;
FIG. 3 is a schematic view of the curved surface of the focal zone formed in accordance with example 4 of the present invention;
FIG. 4 is a schematic view of the formation of a curved cylinder of a focal zone in accordance with example 5 of the present invention;
The reference numbers in the drawings are as follows: the ultrasonic focusing ultrasonic generator comprises an ultrasonic focusing transducer 1, a swinging mechanism 2, a rotating mechanism 3, a lifting mechanism 4 and a swinging rotating shaft 5.
Detailed Description
Referring to fig. 1, the present invention has an ultrasonic focusing transducer 1; a positioning probe lifting device and a positioning probe rotating device are arranged in a center hole of the ultrasonic focusing transducer 1; the upper end of the ultrasonic focusing transducer 1 is sequentially connected with a swinging mechanism 2, a rotating mechanism 3 and a lifting mechanism 4 in series; the lower end of the swing mechanism 2 is hinged with the ultrasonic focusing transducer 1 through a swing rotating shaft 5, and the upper end of the swing mechanism is fixedly connected with a rotating disc of the rotating mechanism 3; the rotating mechanism 3 is connected with the movable end of the lifting mechanism 4; the ultrasonic focusing transducer 1, the swing mechanism 2, the rotating mechanism 3, the lifting mechanism 4, the positioning probe lifting device, the positioning probe rotating device and a water tank water sac for containing coupling water form the HIFU treatment head.
(example 1)
Referring to fig. 1, a method for using an ultrasonic spherical curved surface scanning three-dimensional body treatment device, an HIFU treatment head can form an ablation body in any shape in a three-dimensional curved surface cylinder by controlling parameters of a swing angle alpha of a mechanism, a rotation angle beta of a rotation mechanism and a moving position Z of a lifting mechanism.
The rotation angle beta of the rotating mechanism 3 is unchanged, the swinging mechanism 2 enables the ultrasonic focusing transducer 1 to incline by an angle alpha with the rotation axis of the swinging mechanism 2 as the center, and when the ultrasonic focusing transducer 1 is used, an ablation focus is generated on the tissue at the focus position of the sound axis of the ultrasonic focusing transducer 1; if the swing mechanism 2 changes the inclination angle alpha, the ultrasonic focusing transducer 1 will form another ablation focus at a curve position with the curve radius R as the vertical distance from the center of the rotating shaft of the swing mechanism 2 to the focus position of the sound shaft; by continuously and orderly changing the inclination angle alpha, the ultrasonic focusing transducer 1 forms an ablation focus curve 6 at a curve position with the curve radius R as the vertical distance from the center of the rotating shaft of the swing mechanism 2 to the focus position of the sound shaft.
(example 2)
The swinging mechanism 3 enables the focusing transducer to incline by an angle alpha by taking a rotating shaft of the swinging mechanism as a center, and the rotating mechanism 3 changes a rotating angle beta to form another ablation focus on a circular ring position which takes a focus position with an inclined angle of 0 as a center and takes a sine product of a curve radius R and an inclined angle alpha as a radius R; the angle of rotation beta is continuously and sequentially varied from about 0 to 360 deg., and in use, a ring of lesions 7 will be created in the tissue on the ring.
(example 3)
On the basis of the embodiment 2, after the tissue ablation ring is formed, the central inclination angle alpha of the swing mechanism 2 is changed, and then the ablation focus ring is treated to form another ablation focus ring; continuously changing the swing angle alpha of the swing mechanism 2, and continuously using the HIFU tissue ablation focus circular ring to form an HIFU ablation focus curved surface or a curved surface with a central hole; the maximum diameter of the curved surface of the ablation focus is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
(example 4)
On the basis of the embodiment 1, after a tissue ablation curve is formed, the movement position Z of the lifting mechanism 4 is changed, and then the ablation focus curve is treated to form another ablation focus curve; the moving position Z of the lifting mechanism 4 is continuously changed, the HIFU ablation curve is continuously used, an HIFU ablation surface 8 is formed, the height of the ablation surface is controlled by the moving stroke Z of the lifting mechanism 4, and the width is controlled by the swing angle alpha and the curve radius R of the swing mechanism 2.
(example 5)
On the basis of the embodiment 3 or the embodiment 4, the movement position Z of the lifting mechanism 4 is changed to form another HIFU ablation focus curved surface; continuously and orderly changing the motion position Z of the lifting mechanism 4, and continuing using the HIFU tissue ablation curved surface to form an HIFU three-dimensional curved surface cylindrical ablation body 9; the maximum height of the three-dimensional curved cylindrical ablation body is the maximum stroke of the 4Z motion of the lifting mechanism, and the maximum diameter of the curved surface is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
the mechanical structural forms of the swing mechanism 2, the rotating mechanism 3 and the lifting mechanism 4 in the invention can be realized by adopting a plurality of structural modes with the same motion effect, and are not limited to the structures drawn by the schematic diagrams.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An ultrasonic spherical curved surface scanning three-dimensional body treatment device is provided with an ultrasonic focusing transducer (1); a position measuring probe lifting device and a position measuring probe rotating device are installed in a center hole of the ultrasonic focusing transducer (1); the method is characterized in that: the upper end of the ultrasonic focusing transducer (1) is sequentially connected with a swinging mechanism (2), a rotating mechanism (3) and a lifting mechanism (4) in series; the lower end of the swing mechanism (2) is hinged with the ultrasonic focusing transducer (1) through a swing rotating shaft (5), and the upper end of the swing mechanism is fixedly connected with a rotating disc of the rotating mechanism (3); the rotating mechanism (3) is connected with the movable end of the lifting mechanism (4); the ultrasonic focusing transducer (1), the swing mechanism (2), the rotating mechanism (3), the lifting mechanism (4), the position measuring probe lifting device, the position measuring probe rotating device and a water tank water sac for containing coupling water form the HIFU treatment head.
2. A method of using the apparatus of claim 1, wherein: the HIFU treatment head can form an ablation body in any shape in a three-dimensional curved surface cylinder by controlling parameters of a swing angle alpha of a mechanism, a rotation angle beta of a rotation mechanism and a moving position Z of a lifting mechanism.
3. The method of using the apparatus for curved surface scanning of ultrasound ball according to claim 2, wherein: the swinging mechanism (2) enables the ultrasonic focusing transducer (1) to incline at an angle alpha by taking a rotating shaft of the swinging mechanism (2) as a center, and when the ultrasonic focusing transducer (1) is used, an ablation focus is generated on the tissue at the focus position of the sound shaft of the ultrasonic focusing transducer; if the swing mechanism (2) changes the inclination angle alpha, the ultrasonic focusing transducer (1) forms another ablation focus at a curve position with the vertical distance from the center of the rotating shaft of the swing mechanism (2) to the focus position of the sound shaft as the curve radius R; the angle of inclination alpha is continuously and orderly changed, and when in use, the tissue on the curve of the angle of inclination alpha generates an ablation focus curve (6).
4. the method of using the apparatus for curved surface scanning of ultrasound ball according to claim 3, wherein: after the tissue ablation curve is formed, the movement position Z of the lifting mechanism (4) is changed, and then the ablation focus curve is treated to form another ablation focus curve; the moving position Z of the lifting mechanism (4) is continuously changed, the HIFU tissue ablation curve is continuously used, an HIFU ablation surface (8) is formed, the height of the ablation surface is controlled by the moving stroke Z of the lifting mechanism (4), and the width is controlled by the swinging angle alpha and the curve radius R of the swinging mechanism (2).
5. The method of using the apparatus for curved surface scanning of ultrasound ball according to claim 3, wherein: the rotating mechanism (3) changes the rotating angle beta to form another ablation focus at the position of a circular ring which takes the focal position with the inclination angle as 0 angle as the center of the circle and takes the sine product of the curve radius R and the inclination angle alpha as the radius R; the rotation angle beta is continuously and orderly changed to be 0-360 degrees, and when the device is used, the tissue on the ring can generate an ablation focus ring (7).
6. The method of using the apparatus for curved surface scanning of ultrasound ball according to claim 5, wherein: after the tissue ablation ring is formed, the central inclination angle alpha of the swinging mechanism (2) is changed, and then the ablation focus ring is treated to form another ablation focus ring; continuously changing the swing angle alpha of the swing mechanism (2), and continuously using the HIFU tissue ablation focus circular ring to form an HIFU ablation focus curved surface or a curved surface with a central hole; the maximum diameter of the curved surface of the ablation focus is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
7. the use method of the ultrasonic spherical curved surface scanning three-dimensional body treatment device according to claim 4 or 6, is characterized in that: the movement position Z of the lifting mechanism (4) is changed to form another HIFU ablation range curved surface; continuously and orderly changing the motion position Z of the lifting mechanism (4), and continuously using the HIFU tissue ablation curved surface to form an HIFU three-dimensional curved surface cylindrical ablation body (9); the maximum height of the three-dimensional curved cylindrical ablation body is the maximum stroke of Z motion of the lifting mechanism (4), and the maximum diameter of the curved surface is equal to the sine product value of the curve radius R and the maximum inclination angle alpha.
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| CN113909203A (en) * | 2021-09-08 | 2022-01-11 | 温州市人民医院 | Full-automatic degreasing device and method |
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