CN111184949B - Focused ultrasound ablation system and control method thereof - Google Patents
Focused ultrasound ablation system and control method thereof Download PDFInfo
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- CN111184949B CN111184949B CN201910616172.4A CN201910616172A CN111184949B CN 111184949 B CN111184949 B CN 111184949B CN 201910616172 A CN201910616172 A CN 201910616172A CN 111184949 B CN111184949 B CN 111184949B
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- A61N7/00—Ultrasound therapy
Abstract
The invention provides a focused ultrasound ablation system and a control method, wherein the focused ultrasound ablation system comprises a first ultrasound transmitting device, a second ultrasound transmitting device and a data acquisition device; the first ultrasonic transmitting device comprises a first control unit, a first driving unit, a first power generation unit, a first treatment head and a first ultrasonic transducer; the second ultrasonic transmitting device comprises a second control unit, a second driving unit, a second power generation unit, a second treatment head and a second ultrasonic transducer; the data acquisition device comprises a storage module, an image acquisition module and an acoustic signal receiving module which are connected with the storage module; the invention transmits ultrasonic waves to target tissues through a first ultrasonic transducer and a second ultrasonic transducer to carry out ablation treatment on a focus area of the target tissues so as to obtain the gray level change of an image of the focus area in real time; the real-time change of the parameters of each ultrasonic transducer according to the real-time gray scale change of the image of the focal region and the actual ablation area can improve the treatment efficiency and the safety.
Description
Technical Field
The invention relates to the field of medical treatment instruments, in particular to a focused ultrasound ablation system and a control method thereof.
Background
High-intensity focused ultrasound is used as a new emerging micro-noninvasive tumor treatment technology, the clinical application of the high-intensity focused ultrasound is over ten years, the high-intensity focused ultrasound is mature for treating malignant tumors such as liver cancer, breast cancer, pancreatic cancer and prostate cancer, benign tumors such as uterine fibroids and non-tumor diseases such as adenomyosis, and the improvement of the treatment efficiency and the safety of the high-intensity focused ultrasound also becomes a current research hotspot. The clinical multi-application continuous wave high-intensity focused ultrasound once ablates the tumor, mainly takes the heat effect, and the complication of the clinical high-intensity focused ultrasound therapy is most common thermal injury. The intermittent output energy of the pulse wave high-intensity focused ultrasound mainly destroys tissues by non-thermal effects such as cavitation, mechanical effect and the like; however, for tumors with large volume, the treatment time is too long, the ablation rate can be improved and the treatment time can be shortened in an effective synergistic mode, the existing pulse wave high-intensity focused ultrasound cannot feed back the actual ablation area in real time, and the existing focused ultrasound ablation system cannot adjust the working parameters of the ultrasound transducer of the treatment head according to the real-time feedback of the actual ablation area.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a focused ultrasound ablation system, which is used to solve the problems that the focused ultrasound ablation system in the prior art cannot feed back the actual ablation area in real time, and cannot adjust the operating parameters of the ultrasound transducer of the treatment head according to the real-time feedback of the actual ablation area.
In order to achieve the above objects and other related objects, the present invention provides a focused ultrasound ablation system, which includes a first ultrasound emitting device, a second ultrasound emitting device, a data collecting device and an upper computer; the first ultrasonic transmitting device comprises a first control unit, a first driving unit and a first power generation unit which are respectively connected with the first control unit, a first therapeutic head and a first ultrasonic transducer, wherein the first ultrasonic transducer is connected with the first power generation unit and is arranged inside the first therapeutic head; the second ultrasonic transmitting device comprises a second control unit, a second driving unit and a second power generation unit which are respectively connected with the second control unit, a second therapeutic head and a second ultrasonic transducer, wherein the second ultrasonic transducer is connected with the second power generation unit and is arranged inside the second therapeutic head; the first treatment head and the second treatment head are arranged at a certain included angle; the data acquisition device comprises a storage module, an image acquisition module and an acoustic signal receiving module, wherein the image acquisition module is connected with the storage module and is used for acquiring image information; the data acquisition device is connected with the upper computer; the upper computer is connected with the first control unit and the second control unit.
Optionally, the first ultrasonic transducer and the second ultrasonic transducer are arranged in a confocal manner; the beam axis of the first ultrasonic transducer is perpendicular to the beam axis of the second ultrasonic transducer.
Optionally, the acoustic signal receiving module is disposed in a confocal manner with the first ultrasonic transducer and the second ultrasonic transducer, and a beam axis of the acoustic signal receiving module is perpendicular to a beam axis of the first ultrasonic transducer or a beam axis of the second ultrasonic transducer; the region where the focal points of the acoustic signal receiving module, the first ultrasonic transducer and the second ultrasonic transducer act on the target tissue is a focusing region.
Optionally, the acoustic signal receiving module comprises a planar piezoelectric transducer; the acoustic signal receiving module comprises a planar piezoelectric transducer; the ultrasonic ablation system comprises an acoustic signal receiving module, a storage module and an upper computer, wherein the acoustic signal receiving module is used for receiving acoustic emission and acoustic scattering information of a focusing area, the storage module is used for recording echoes returned by the focusing area, and the upper computer is used for processing the echoes and image information acquired by the image acquisition module to obtain the actual ablation area of the focusing ultrasonic ablation system.
Optionally, the focused ultrasound ablation system further includes a communication module, the first control unit and the second control unit are connected to the upper computer through the communication module, and the upper computer sends an instruction to the first control unit and the second control unit according to the actual ablation area, so as to control the working states of the first ultrasound transducer and the second ultrasound transducer.
Optionally, the storage module and the image acquisition module are arranged inside the first treatment head or inside the second treatment head.
Optionally, the first control unit controls the first power generation unit and the first ultrasonic control unit to emit continuous ultrasonic waves; the second control unit controls the second power generation unit and the second ultrasonic control unit to emit pulsed ultrasonic waves.
Optionally, the first driving unit at least comprises a three-axis mechanical motion mechanism, and the three-axis mechanical motion mechanism is used for driving the first therapeutic head to perform linear motion in the direction X, Y, Z. The second driving unit at least comprises a three-axis mechanical motion mechanism which is used for driving the second treatment head to perform linear motion in the direction X, Y, Z.
The invention also provides a control method of the focused ultrasound ablation system, which comprises the steps that the control unit controls the driving unit to drive the first treatment head of the first ultrasound transmitting device with different working frequencies and the second treatment head of the second ultrasound transmitting device to be in confocal and vertical arrangement; and controlling an acoustic signal receiving module to be confocal and vertically arranged with the first treatment head and the second treatment head through an upper computer.
Optionally, the control method of the focused ultrasound ablation system further includes controlling, by the control unit, the first treatment head to emit continuous ultrasound waves and controlling the second treatment head to emit pulsed ultrasound waves.
As described above, the focused ultrasound ablation system of the present invention performs ablation treatment on a lesion region of a target tissue by emitting ultrasound to the target tissue through a first ultrasound transducer and a second ultrasound transducer; acquiring the gray scale change of an image of a focus area of a target tissue in real time through a B-ultrasonic probe; the upper computer analyzes the acquisition result of the storage module to obtain the actual ablation area; the upper computer adjusts the working parameters of each ultrasonic transducer according to the real-time gray level change of the image of the focus area and the actual ablation area, so that the damage to the normal area of the target tissue is avoided, and the treatment efficiency and the treatment safety are improved.
Drawings
Fig. 1 shows a block diagram of a focused ultrasound ablation system according to the present invention.
Fig. 2 is a schematic structural diagram of a focused ultrasound ablation system of the present invention.
Description of the element reference numerals
The ultrasonic therapy apparatus comprises a first ultrasonic transmitting device 10, a first control unit 11, a first driving unit 12, a first power generating unit 13, a first therapy head 14, a first ultrasonic transducer 141, a first power supply 15, a second ultrasonic transmitting device 20, a second control unit 21, a second driving unit 22, a second power generating unit 23, a second therapy head 24, a second ultrasonic transducer 241, a second power supply 25, a data acquisition device 30, an upper computer 31, a storage module 32, an image acquisition module 33 and an acoustic signal receiving module 34
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1-2, to achieve the above and other related objects, the present invention provides a focused ultrasound ablation system, which includes a first ultrasound emitting device 10, a second ultrasound emitting device, a data collecting device 30 and an upper computer 31; the first ultrasonic transmitting device 10 comprises a first control unit 11, a first driving unit 12 and a first power generating unit 13 which are respectively connected with the first control unit 11, a first therapeutic head 14 and a first ultrasonic transducer 141, wherein the first ultrasonic transducer 141 is connected with the first power generating unit 13, and the first ultrasonic transducer 141 is installed inside the first therapeutic head 14; the second ultrasonic transmitting device comprises a second control unit 21, a second driving unit 22 and a second power generating unit 23 which are respectively connected with the second control unit 21, a second therapeutic head 24 and a second ultrasonic transducer 241, wherein the second ultrasonic transducer 241 is connected with the second power generating unit 23, and the second ultrasonic transducer 241 is installed inside the second therapeutic head 24; the first treatment head 14 and the second treatment head 24 are arranged at a certain included angle; the data acquisition device 30 comprises a storage module 32, an image acquisition module 33 connected with the storage module 32 and used for acquiring image information, and an acoustic signal receiving module 34; the data acquisition device 30 is connected with the upper computer 31; the upper computer 31 is connected with the first control unit 11 and the second control unit 21.
It will be appreciated that the first treatment head 14 and the second treatment head 24 include at least one mounting hole therein for mounting an ultrasound transducer, and each treatment head is comprised of a concave spherical base and at least one transducer element.
In some embodiments, the first ultrasonic transducer 141 is disposed confocal with the second ultrasonic transducer 241; the beam axis of the first ultrasonic transducer 141 is perpendicular to the beam axis of the second ultrasonic transducer 241.
In some embodiments, the acoustic signal receiving module 34 is disposed in confocal with the first ultrasonic transducer 141 and the second ultrasonic transducer 241, and a beam axis of the acoustic signal receiving module 34 is perpendicular to a beam axis of the first ultrasonic transducer 141 or a beam axis of the second ultrasonic transducer 241; the region where the focal points of the acoustic signal receiving module 34, the first ultrasonic transducer 141, and the second ultrasonic transducer 241 act on the target tissue is a focusing region.
In certain embodiments, the acoustic signal receiving module 34 comprises a planar piezoelectric transducer; the acoustic signal receiving module 34 comprises a planar piezoelectric transducer; the acoustic signal receiving module is used for receiving acoustic emission and acoustic scattering information of a focusing region, the storage module 32 is used for recording the echo returned by the focusing region, and the upper computer 31 processes the echo and image information acquired by the image acquisition module 33 to obtain an actual ablation area of the focused ultrasound ablation system.
In some embodiments, the image acquisition module 33 may be a B-ultrasonic probe, and specifically, the upper computer 31 may process the echo and a gray scale change on a B-ultrasonic image acquired by the B-ultrasonic probe to obtain an actual ablation area of the focused ultrasound ablation system.
In some embodiments, the focused ultrasound ablation system further includes a communication module, the first control unit 11 and the second control unit 21 are connected to the upper computer 31 through the communication module, and the upper computer 31 sends an instruction to the first control unit 11 and the second control unit 21 according to the actual ablation area, so as to control the working states of the first ultrasound transducer 141 and the second ultrasound transducer 241.
It is understood that the controlling of the operation states of the first ultrasonic transducer 141 and the second ultrasonic transducer 241 includes controlling the irradiation time and the acoustic power of each transducer, and is not limited in particular.
In some embodiments, the storage module 32 and the image acquisition module 33 are disposed inside the first treatment head 14 or inside the second treatment head 24. It is understood that the image acquisition device may be a B-mode probe for acquiring B-mode images, and is not limited herein.
The storage module 32 includes a data acquisition card, the planar piezoelectric transducer is used for receiving ultrasonic echo, and the data acquisition card acquires the received planar wave and then analyzes the received planar wave by the upper computer 31. When the ultrasonic wave acts on the liquid medium, the micro bubble nucleus in the liquid medium is activated under the action of the ultrasonic wave, a series of processes such as oscillation, growth, compression, collapse and the like of the bubble nucleus can be shown, high temperature, high pressure and shock wave are triggered, the acoustic cavitation is called, and the occurrence of the cavitation shows rich acoustic information on a frequency spectrum: fundamental frequency, harmonic wave, subharmonic wave, ultraharmonic wave and broadband noise, the broadband noise can be used as an index of acoustic cavitation, and detection based on bubble acoustic emission and acoustic scattering information is mainly divided into Active Cavitation Detection (ACD) and Passive Cavitation Detection (PCD). The planar piezoelectric transducer used in the invention is equivalent to a passive cavitation detection probe for receiving acoustic information in a focal region, and the probe is stored by a data acquisition card and is processed and analyzed by an upper computer. Automatic real-time judgment of the planar piezoelectric transducer is superior to that of a radiologist, and cavitation feedback control can optimize treatment of a focused ultrasound ablation system. In some embodiments, the criterion for cavitation to occur is that its arrival time exceeds the time delay corresponding to the focal point of the focused ultrasound ablation system, and the signal amplitude exceeds the maximum amplitude of background noise
And (4) doubling. According to the invention, the ablation area of the focused ultrasound ablation system can be predicted on line through the gray scale change on the B-ultrasonic image and the real-time feedback of the acoustic signal detected by the planar piezoelectric transducer, so that the treatment of the focused ultrasound ablation system is optimized, and the safety and controllability of the treatment of the focused ultrasound ablation system can be improved.
In some embodiments, the first control unit 11 controls the first power generation unit 13 to emit continuous ultrasonic waves with the first ultrasonic control unit; the second control unit 21 controls the second power generation unit 23 and the second ultrasonic control unit to emit pulsed ultrasonic waves.
It can be understood that the first ultrasonic transducer 141 and the second ultrasonic transducer 241 are vertically disposed in a confocal manner, so that the overlap of the focal regions can be maximized, and a more effective ablation area can be obtained when the target tissue is ablated, and the B-ultrasonic probe is disposed inside the first treatment head 14 or inside the second treatment head 24, so that a focusing region with minimal shielding in the line of sight can be obtained, thereby facilitating an operator to observe the tissue change of the focusing region on the target tissue in real time through the upper computer 31, and adjust part of the working parameters of the ultrasonic transducers of the respective treatment heads according to the implementation change of the tissue of the focusing region.
In some embodiments, the first driving unit 12 comprises at least a three-axis mechanical motion mechanism for driving the first therapeutic head 14 to perform linear motion in direction X, Y, Z. (ii) a The second driving unit 22 at least comprises a three-axis mechanical motion mechanism for driving the second treatment head 24 to perform linear motion in the direction X, Y, Z.
It is understood that the three-axis mechanical motion mechanism is used to control each transducer to perform a focusing operation according to the focal length of each transducer, so that the first ultrasonic transducer 141, the second ultrasonic transducer 241 and the acoustic signal receiving module 34 operate vertically and confocally in pairs.
In some embodiments, the working frequency of the first ultrasonic transducer 141 is not equal to the working frequency of the second ultrasonic transducer 241, such as the working frequency of the first ultrasonic transducer 141 is 978kHz, the working frequency of the second ultrasonic transducer 241 is 429.5kHz, the first ultrasonic transducer 141 and the second ultrasonic transducer 241 have the same focal length, such as both focal lengths are 170mm, the first treatment head 14 and the second treatment head 24 respectively include concave spherical bases with diameters of 220mm, and the beam axes of the two focused ultrasonic transducers are fixed in a confocal manner at 90 ℃.
In some embodiments, the acoustic power of the first ultrasonic transducer 141 is 30w, the irradiation time is 60s, and the duty ratio is 100%; the acoustic power of the second ultrasonic transducer 241 is 150w, 400w and 600w, the irradiation time is 60s, and the duty ratio is 4%; the acoustic signal receiving module 34 is disposed in confocal perpendicular to the first ultrasonic transducer 141 and the second ultrasonic transducer 241, and has a focal length of 40 mm.
In some embodiments, the focused ultrasound ablation system of the present invention further comprises a power module referring to fig. 2, the power module comprises the first power source 15 of the first ultrasound transmission device 10, the second power source 25 of the second ultrasound transmission device, and the power source in the data acquisition device 30. The first ultrasonic transducer 141 and the second ultrasonic transducer 241 are controlled by the power supply module to irradiate the target tissue at the same time, so that the storage module 32 records an acoustic signal, namely an echo signal, emitted from a focal region, and the echo signal is subjected to fast Fourier transform by the upper computer 31 to obtain a frequency spectrum of the echo signal; the upper computer 31 selects a characteristic signal of the transient cavitation according to the frequency spectrogram, processes the characteristic signal and the image information acquired by the image acquisition module 33, and obtains the actual ablation area under each irradiation condition by combining with the gray scale change on the B ultrasonic image.
In some embodiments, the image acquisition module 33 may be a B-mode ultrasound probe, and specifically, the upper computer 31 may process the characteristic signal and the gray scale variation on the B-mode ultrasound image acquired by the B-mode ultrasound probe to obtain the actual ablation area of the focused ultrasound ablation system under each irradiation condition.
The invention also provides a control method of the focused ultrasound ablation system, which comprises the steps of controlling the driving unit to drive the first treatment head 14 of the first ultrasound transmitting device 10 with different working frequencies and the second treatment head 24 of the second ultrasound transmitting device 20 to be in confocal and vertical arrangement through the control unit; the upper computer 31 controls the acoustic signal receiving module 34 to be confocal and vertically arranged with the first treatment head 14 and the second treatment head 24.
In some embodiments, the control method of the focused ultrasound ablation system further includes controlling the first treatment head 14 to emit continuous ultrasound waves and controlling the second treatment head 24 to emit pulsed ultrasound waves by the control unit.
As described above, the focused ultrasound ablation system of the present invention performs an ablation process on a lesion region of a target tissue by emitting ultrasound waves to the target tissue through the first and second ultrasound transducers 141 and 241; the gray scale change of the image of the focus area of the target tissue is obtained in real time through a B-ultrasonic probe, and the actual ablation area is obtained by analyzing the acquisition result of the storage module 32 in combination with the upper computer 31; the upper computer 31 adjusts the working parameters of each ultrasonic transducer according to the real-time actual ablation area, so that the damage to the normal area of the target tissue is avoided, and the treatment efficiency and the treatment safety are improved.
The first ultrasonic transmitter 10, the second ultrasonic transmitter 20 and the upper computer provided in this embodiment are all electronic terminals, each electronic terminal includes a processor, a memory, a transceiver and a communication interface, the memory and the communication interface are connected with the processor and the transceiver and complete mutual communication, the memory is used for storing a computer program, the communication interface is used for communication, and the processor and the transceiver are used for operating the computer program, so that the electronic terminal executes each step as in the above method.
In this embodiment, the Memory and the storage module may include a Random Access Memory (RAM) or may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. A focused ultrasound ablation system is characterized by comprising a first ultrasound transmitting device, a second ultrasound transmitting device, a data acquisition device and an upper computer;
wherein the first ultrasonic transmitting device comprises a first control unit and a second control unit respectively connected with the first control unit
The ultrasonic treatment device comprises a first driving unit, a first power generation unit, a first treatment head and a first ultrasonic transducer which are connected, wherein the first ultrasonic transducer is connected with the first power generation unit and is arranged inside the first treatment head;
the second ultrasonic transmitting device comprises a second control unit and a second ultrasonic transmitting device which is respectively connected with the second control unit
The second ultrasonic transducer is connected with the second power generation unit and is arranged inside the second treatment head;
the first control unit controls the first power generation unit and the first treatment head to transmit continuous ultrasonic waves;
the second control unit controls the second power generation unit and the second treatment head to transmit pulsed ultrasonic waves;
the first treatment head and the second treatment head are arranged at a certain included angle, and the first treatment head and the second treatment head are arranged at a certain included angle and are confocal and vertical to each other;
the data acquisition device comprises a storage module and a data acquisition unit connected with the storage module and used for acquiring image information
The image acquisition module and the acoustic signal receiving module;
the data acquisition device is connected with the upper computer;
the upper computer is connected with the first control unit and the second control unit and used for processing echo returned by a focusing area and image information acquired by the image acquisition module to obtain an actual ablation area of the focused ultrasound ablation system and sending an instruction to the first control unit and the second control unit according to the actual ablation area so as to control the working states of the first ultrasonic transducer and the second ultrasonic transducer;
the first driving unit at least comprises a three-axis mechanical motion mechanism which is used for driving the first treatment head to perform linear motion in the direction X, Y, Z; the second driving unit at least comprises a three-axis mechanical motion mechanism which is used for driving the second treatment head to perform linear motion in the direction X, Y, Z.
2. The focused ultrasound ablation system of claim 1, wherein the first ultrasound transducer is disposed confocally with the second ultrasound transducer; the beam axis of the first ultrasonic transducer is perpendicular to the beam axis of the second ultrasonic transducer.
3. The focused ultrasound ablation system of claim 2, wherein the acoustic signal receiving module is disposed confocal to the first and second ultrasound transducers, a beam axis of the acoustic signal receiving module being perpendicular to a beam axis of the first ultrasound transducer or a beam axis of the second ultrasound transducer; the region where the focal points of the acoustic signal receiving module, the first ultrasonic transducer and the second ultrasonic transducer act on the target tissue is a focusing region.
4. The focused ultrasound ablation system of claim 3, wherein the acoustic signal receiving module comprises a planar piezoelectric transducer; the acoustic signal receiving module is used for receiving acoustic emission and acoustic scattering information of a focusing area, and the storage module is used for recording echoes returned by the focusing area.
5. The focused ultrasound ablation system according to claim 4, further comprising a communication module, wherein the first control unit and the second control unit are connected with the upper computer through the communication module.
6. The focused ultrasound ablation system of claim 1, wherein the storage module and the image acquisition module are disposed inside the first treatment head or inside the second treatment head.
7. A control method of a focused ultrasound ablation system, which is applied to the focused ultrasound ablation system as claimed in any one of claims 1 to 6, and comprises the following steps:
the control unit controls the driving unit to drive the first treatment head of the first ultrasonic transmitting device and the second treatment head of the second ultrasonic transmitting device which have different working frequencies to be confocal and vertically arranged;
an upper computer is used for controlling an acoustic signal receiving module to be in confocal and vertical arrangement with the first treatment head and the second treatment head, an echo returned by a focusing area and image information collected by the image collecting module are processed by the upper computer to obtain an actual ablation area of the focused ultrasound ablation system, and an instruction is sent to the first control unit and the second control unit according to the actual ablation area so as to control the working states of the first ultrasonic transducer and the second ultrasonic transducer;
the control unit controls the first treatment head to transmit continuous ultrasonic waves and controls the second treatment head to transmit pulse ultrasonic waves;
the driving unit comprises a first driving unit and a second driving unit, the first driving unit at least comprises a three-axis mechanical motion mechanism, and the three-axis mechanical motion mechanism is used for driving the first treatment head to perform linear motion in the direction X, Y, Z; the second driving unit at least comprises a three-axis mechanical motion mechanism which is used for driving the second treatment head to perform linear motion in the direction X, Y, Z.
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| CN113893468B (en) * | 2020-06-22 | 2023-03-21 | 飞依诺科技(苏州)有限公司 | Method and device for adjusting therapeutic ultrasonic waves, computer equipment and storage medium |
| CN113332620B (en) * | 2021-07-12 | 2023-03-14 | 重庆融海超声医学工程研究中心有限公司 | Ultrasonic medical equipment |
| CN115708933A (en) * | 2021-08-23 | 2023-02-24 | 复旦大学 | Focused ultrasound therapy system based on ultrasound imaging |
| CN113633372B (en) * | 2021-10-18 | 2022-03-01 | 北京智愈医疗科技有限公司 | Ablation tool array device for tissue ablation and control method thereof |
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