CN111603691A - A multi-nuclide MRI-guided HIFU focusing probe positioning device and using method thereof - Google Patents

Abstract

The invention provides a multi-nuclide MRI-guided HIFU focusing probe positioning device and a method for using the same. The positioning device includes a multi-degree-of-freedom mechanical arm and a focusing probe. The other end of the fixed focusing probe is set on the lifting mechanism, and the lifting mechanism is slidably arranged on the treatment bed. The joint module includes an ultrasonic motor, and the ultrasonic motor is used to control the rotation angle of the corresponding mechanical arm. The invention realizes the fixed focusing probe based on the multi-degree-of-freedom mechanical arm driven by the ultrasonic motor, and realizes the precise positioning control of the focusing probe with 6 degrees of freedom, that is, the movement degrees of freedom along the directions of the three rectangular coordinate axes of x, y and z and The rotational degrees of freedom of these three coordinate axes have the advantages of a large range of motion, less interference with the MRI device, and good treatment effects.

Description

A multi-nuclide MRI-guided HIFU focusing probe positioning device and using method thereof

technical field

The invention relates to the technical field of medical devices, in particular to a multi-nuclide MRI-guided HIFU focusing probe positioning device and a use method thereof.

Background technique

High-intensity focused ultrasound (HIFU) therapy has shown great research potential as an efficient and non-invasive tumor thermal ablation technique. Based on the working principle that high-energy ultrasound is focused on the target tissue area to generate high temperature in the target area, resulting in tissue coagulation and necrosis, precise treatment of tumor tissue can be achieved without damaging surrounding normal tissue. The premise of high-intensity focused ultrasound to achieve precise treatment is the precise positioning of the lesions in the body, precise spatiotemporal control of the acoustic output of the HIFU system, and real-time monitoring and guidance of the temperature change of the target tissue.

Compared with other imaging methods, magnetic resonance imaging (MRI) has the advantages of no ionizing radiation, high sensitivity, high soft tissue resolution, and multi-parameter imaging, especially 3D real-time positioning imaging and real-time temperature monitoring during treatment. It is of great significance for the precise and efficient treatment of HIFU, real-time monitoring of therapeutic efficacy and accurate judgment of tumor prognosis. Therefore, MRI-guided HIFU treatment system has been widely used in the clinical treatment of solid tumors such as uterine fibroids, bone tumors, prostate cancer, and breast cancer, and has become a research hotspot at home and abroad.

The positioning relationship between the HIFU focusing probe and the tumor site directly affects the safety and efficacy of the treatment. The HIFU treatment system has inherent defects such as small focus and short single treatment time, and factors such as tumor heterogeneity, atypia, and tumor location variability limit its clinical application. Therefore, it is urgent to develop an accurate and multi-degree-of-freedom HIFU focusing probe control and positioning device.

In the prior art, the MRI-guided HIFU focusing probe control and positioning device mainly has the following shortcomings:

(1) The focused ultrasound treatment system of the under-mounted treatment method completes the treatment through the cooperation of the focusing probe and the MRI device, which requires multiple positioning, and the process is relatively complicated and tedious; and the limited movable space under the MRI treatment table limits the focusing probe and its positioning. The range of motion of the device affects the final treatment effect.

(2) Driven by the positioning control device, the movement of the focusing probe is single, which cannot meet the multi-directional requirements for the treatment of tumors or other diseases, so the precise and efficient treatment of HIFU cannot be achieved.

(3) Although the hand-held focusing probe can achieve multi-degree-of-freedom positioning and focusing, it requires manual operation, which cannot precisely control the treatment focus and maintain the treatment time, so it cannot fully meet the needs of clinical development.

(4) The traditional motor-driven positioning control device currently installed in the aperture of the MRI device will interfere with the magnetic field of the MRI system. In order to avoid the above situation, there are patents that require high-demand non-magnetization design and processing of the positioning control device, or place it outside the aperture of the MRI device, which will not only increase the technical difficulty and cost, but also occupy a large space. certain limitations.

(5) The positioning device based on the robotic arm is mostly made of metal materials, which is prone to metal artifacts, which will eventually interfere with the image; in addition, the electromagnetic motor as the actuator in the robotic arm is limited by its working principle and structure It is difficult to achieve the required standards of small size, fast response speed and high positioning accuracy.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a multi-nuclide MRI-guided HIFU focusing probe positioning device and a method for using the same. The precise positioning control of the probe with 6 degrees of freedom, that is, the freedom of movement along the three rectangular coordinate axes of x, y, and z and the degree of freedom of rotation around these three coordinate axes, has a large range of motion, less interference with the MRI device and good treatment effect. In addition, the multinuclide MRI-guided HIFU treatment system can realize precise positioning before treatment, real-time temperature monitoring, early efficacy evaluation and precise prognosis evaluation.

The technical scheme of the present invention is realized as follows: a multi-nuclide MRI-guided HIFU focusing probe positioning device, including a multi-degree-of-freedom manipulator arm and a focusing probe, one end of the multi-degree-of-freedom manipulator arm is provided with a clamping device, and the clamping device uses The other end of the fixed focusing probe is set on the lifting mechanism, and the lifting mechanism is slidably set on the treatment bed. The multi-degree-of-freedom manipulator is a seven-axis manipulator, and each section of the seven-axis manipulator is provided with a joint module. The joint module includes an ultrasonic motor, and the ultrasonic motor is used to control the rotation angle of the corresponding mechanical arm.

Further, the seven-axis robotic arm includes a base, a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a sixth robotic arm, and between the base and the first robotic arm , between adjacent manipulators and at the end of the sixth manipulator are set with joint modules, and the joint modules are defined as the first joint module, the second joint module, the third joint module, the fourth joint module, the fifth joint module, the first joint module Six joint modules and seventh joint modules, the first joint module drives the rotation of the first robotic arm around the Z-axis, and the rotation angle ranges from 0 to 360°, and the second joint module can drive the second robotic arm to rotate around the Y-axis The rotation angle ranges from 0 to 90° to 120°; the third joint module can drive the third manipulator to rotate around the X-axis, and the rotation angle ranges from 0 to 120° to 150°; the fourth joint The module can drive the fourth manipulator to rotate around the Y-axis, and the rotation angle ranges from 0 to 120°～150°; the fifth joint module can drive the fifth manipulator to rotate around the X-axis, and the rotation angle ranges 0 to 90°～120°; the sixth joint module can drive the sixth manipulator to rotate around the Y-axis, and the rotation angle ranges from 0 to 90°～120°; the seventh joint module can drive the clamping device to fix The focusing probe is rotated around the X-axis direction and the Y-axis direction, and the rotation angle ranges from 0 to 40° to 90°.

Further, the arm length ratio of the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm and the sixth robotic arm is 3:2:5:5:2:1.

Further, sliding rails are provided on both sides of the treatment bed, the lifting mechanism includes a support plate connected with the seven-axis mechanical arm, both sides of the lower end of the support plate are provided with lifting telescopic rods, and the lower end of the lifting telescopic rod is provided with a ledge. The pulley on which the rail slides.

Further, the clamping device is a three-jaw manipulator.

Further, the front end of the focusing probe is connected with a collimator filled with degassed water.

Further, the seven-axis manipulator further includes a controller corresponding to the joint module one-to-one, the joint module is connected with the corresponding controller, and the controller is connected with the operation handle.

A method for using a multi-nuclide MRI-guided HIFU focusing probe positioning device, comprising the following steps:

(1) Initial MRI scan imaging to identify lesions requiring HIFU treatment;

(2) After the lesion is determined, adjust the seven-axis mechanical arm to the required height through the lifting mechanism, and the lifting mechanism moves along the slide rail to move the seven-axis mechanical arm parallel to the position of the lesion along the treatment bed;

(3) Preset the moving path of the focusing probe, input the preset path into each controller, and control the movement of the corresponding joint module through the controller: adjust the initial position of the seven-axis robotic arm by rotating the first joint module around the Z-axis direction , combined with the rotation of the second joint module, the fourth joint module, and the sixth joint module around the Y-axis direction and the rotation of the third joint module and the fifth joint module around the X-axis direction, and finally by adjusting the seventh joint module Rotate around the X-axis and Y-axis to determine that the focus of the focusing probe is at the center of the lesion, and drive the focusing probe to locate the target area for treatment of the lesion;

(4) In the stage of HIFU treatment of lesions, the MRI gradient echo sequence was used to monitor the focus temperature change map of the focusing probe in real time, and MRI T2 scan and T1 enhanced scan were performed after irradiation.

Further, in step (1), the specific steps of the initial MRI scanning imaging are as follows: the patient is placed on the treatment couch of the MRI device, so that the patient's lesion is located in the magnetic resonance imaging area, the MRI coil is used to receive the imaging information, and the received The information is transmitted to the imaging information receiving unit on the magnetic resonance bed, and finally the imaging information receiving unit transmits the information to the information processing unit for processing. After processing by the information processing unit, the two-dimensional image created by the lesion requiring HIFU treatment is passed through the display. presented to the operator.

The beneficial technical effects reached by the present invention are as follows:

(1) At the end of the multi-degree-of-freedom manipulator, the focusing probe realizes precise positioning control with 6 degrees of freedom, that is, the freedom of movement along the three rectangular coordinate axes of x, y, and z and the freedom of rotation around these three coordinate axes It can meet the needs of multi-faceted treatment, so as to achieve accurate and efficient treatment. In addition, the multi-degree-of-freedom manipulator has a compact overall structure, good stability, strong kinetic energy, small footprint, no conflict with the placement of magnetic resonance coils, and a wide range of applications.

(2) The positioning control device driven by the ultrasonic motor is installed in the aperture of the MRI device. All components are made of non-magnetic materials. The device has the advantages of small size, fast response speed, high positioning accuracy, large movement range and less interference with the MRI device. and good treatment effect.

(3) The lifting mechanism can drive the focusing probe fixed by the multi-degree-of-freedom mechanical arm to move parallel to the direction of the MRI treatment table, so as to realize the whole body treatment from the head to the foot; at the same time, the lifting mechanism realizes the entire positioning control by lifting the telescopic rod. The device moves along the Z direction to meet the treatment needs of patients of different body types.

(4) The HIFU treatment system guided by multinuclide MRI can realize precise positioning before treatment, real-time temperature monitoring, early efficacy evaluation and precise prognosis evaluation.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic structural diagram of a positioning device of the present invention;

FIG. 2 is a schematic diagram of the work flow of the positioning device of the present invention;

3 is a schematic structural diagram of a multi-degree-of-freedom manipulator of the present invention;

Fig. 4 is the structural representation of the ultrasonic motor of the present invention;

5 is a schematic structural diagram of a three-jaw manipulator of the present invention;

Fig. 6 is the structural representation of the lifting mechanism of the present invention;

FIG. 7 is a schematic structural diagram of the jacking telescopic rod of the present invention.

1—MRI device, 2—treatment table, 3—treatment bed, 4—slide rail, 5—pulley, 6—lifting telescopic rod, 7—support plate, 8—base, 9—first robotic arm, 10— The second manipulator, 11—the third manipulator, 12—the fourth manipulator, 13—the fifth manipulator, 14—the sixth manipulator, 15—the three-claw manipulator, 16—the focusing probe, 17—the motor stator, 18 —motor rotor, 19—piezoelectric ceramics, 20—pressure cylinder, 21—piston rod, 22—piston, 23—seal guide sleeve, 24—filler, 25—controllable gas spring, 26—collimator, J1— The first joint module, J2-the second joint module, J3-the third joint module, J4-the fourth joint module, J5-the fifth joint module, J6-the sixth joint module, J7-the seventh joint module.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

As shown in FIG. 1, a multi-nuclide MRI-guided HIFU focusing probe positioning device includes a multi-degree-of-freedom mechanical arm, a joint module, an ultrasonic motor, a lifting mechanism, a clamping device, and a focusing probe 16. The multi-degree-of-freedom mechanical The arm is a seven-axis robotic arm, and a joint module is arranged between each of the robotic arms of the seven-axis robotic arm. The joint module includes an ultrasonic motor, and the ultrasonic motor is used to control the rotation angle of the corresponding mechanical arm. One end of the mechanical arm is installed on the lifting mechanism, and the other end is installed with the clamping device. The clamping device is used to fix the focusing probe 16. The bottom of the lifting mechanism is slidably arranged on the treatment couch 3 to make it Moving in a direction parallel to the treatment couch 3, the treatment couch 3 is placed on the treatment table 2, and all the components are made of non-magnetic materials.

Example 2:

As shown in FIG. 3 , the seven-axis robotic arm includes a base 8 , a first robotic arm 9 , a second robotic arm 10 , a third robotic arm 11 , a fourth robotic arm 12 , a fifth robotic arm 13 and a sixth robotic arm 14 . Joint modules are arranged between the base and the first robotic arm, between adjacent robotic arms and at the end of the sixth robotic arm. Specifically, the base 8 is connected to the first robot arm 9 through the first joint module J1, the first robot arm 9 is connected to the second robot arm 10 through the second joint module J2, and the second robot arm 10 is connected to the third joint module J3 Connected to the third robotic arm 11, the third robotic arm 11 is connected to the fourth robotic arm 12 through the fourth joint module J4, the fourth robotic arm 12 is connected to the fifth robotic arm 13 through the fifth joint module J5, and the fifth robotic arm 13 is connected with the sixth mechanical arm 14 through the sixth joint module J6, and the end of the sixth mechanical arm 14 is connected with the seventh joint module J7. As shown in FIG. 1 , the base 8 is mounted on the upper end of the lifting mechanism.

The seven-axis robotic arm is a multi-joint, multi-degree-of-freedom robotic arm with many movements and flexible changes. The seven-axis manipulator has more "movement degrees of freedom". The first joint module J1 of the multi-degree-of-freedom manipulator can drive the first manipulator 9 to rotate around the Z-axis, and the rotation angle ranges from 0 to 360° °; the second joint module J2 of the multi-degree-of-freedom manipulator can drive the second manipulator 10 to rotate around the Y-axis, and the rotation angle ranges from 0 to 90° to 120°; the third joint of the multi-degree-of-freedom manipulator The module J3 can drive the third manipulator 11 to rotate around the X-axis, and the rotation angle ranges from 0 to 120°～150°; the fourth joint module J4 of the multi-degree-of-freedom manipulator can drive the fourth manipulator 12 to revolve The rotation movement in the Y-axis direction, the rotation angle range is 0 to 120°～150°; the fifth joint module J5 of the multi-degree-of-freedom manipulator can drive the fifth manipulator 13 to rotate around the X-axis direction, and the rotation angle range is 0 to 90°～120°; the sixth joint module J6 of the multi-degree-of-freedom manipulator can drive the sixth manipulator 14 to rotate around the Y-axis direction, and the rotation angle ranges from 0 to 90°～120°; The seventh joint module J7 of the robotic arm can drive the focusing probe 16 fixed by the clamping device to rotate around the X-axis direction and the Y-axis direction, and the rotation angle ranges from 0° to 40° to 90°. To sum up, at the end of the seven-axis robotic arm, the focusing probe 16 realizes precise positioning control with 6 degrees of freedom, that is, the freedom of movement along the three rectangular coordinate axes of x, y, and z and the freedom of rotation around these three coordinate axes. It can meet the needs of multi-faceted treatment, so as to achieve accurate and efficient treatment.

Arm lengths of the first robotic arm 9 , the second robotic arm 10 , the third robotic arm 11 , the fourth robotic arm 12 , the fifth robotic arm 13 and the sixth robotic arm 14 The ratio is 3:2:5:5:2:1; the mechanical arm of this ratio can ensure sufficient arm length and coverage, and also ensure the overall flexibility of the mechanical arm and the accuracy of completing complex actions, and can also improve the The application effect of the robotic arm in a narrow space.

The overall structure of the multi-degree-of-freedom manipulator is simple and compact, accurate positioning, quiet, good stability, strong kinetic energy, small footprint, no conflict with the placement of the magnetic resonance coil, and has the characteristics of flexibility, wide application range, and can achieve high performance. Accurate, highly flexible positioning control.

As shown in FIG. 4 , the first to seventh joint modules J1 - 7 include an ultrasonic motor, and the ultrasonic motor includes a motor stator 17 and a motor rotor 18 . The seventh joint module J7 is a two-degree-of-freedom spherical ultrasonic motor, which is mainly composed of two stators and a spherical rotor. Each stator can drive the spherical rotor to rotate around the X and Y axes. The motor stator 17 includes an elastic body and piezoelectric ceramics 19 . The ultrasonic motor uses the inverse piezoelectric effect of the piezoelectric ceramics 19 to make the stator 17 vibrate in the ultrasonic frequency band, and obtain motion and torque through the friction between the stator 17 and the rotor 18. Driven by the ultrasonic motor, the robot arm can be controlled arbitrarily. angular movement. The ultrasonic motor has the advantages of simple structure, small volume, light weight, large bearing capacity, high movement precision, stable movement and high transmission efficiency.

As shown in FIG. 5 , preferably, the clamping device is installed at the end of the seventh joint module J7 of the multi-degree-of-freedom manipulator, and the clamping device is a three-jaw manipulator 15 that can wrap around the seventh joint module J7 Rotating, the seven-axis robotic arm also includes a controller corresponding to the joint module one-to-one, the joint module is connected to the corresponding controller, the controller is connected to the operating handle, and the controller controls and drives the focusing probe 16 to move along a preset trajectory.

Preferably, the clamping device is used to fix the focusing probe 16, and the front end of the focusing probe 16 is connected with a collimator 26 device filled with degassed water.

Preferably, all the components are made of non-magnetic materials.

Example 3:

As shown in Figures 1 and 6, slide rails 4 are installed on both sides of the treatment couch 3, the lifting mechanism includes a support plate 7 connected with the base 8, and both sides of the lower end of the support plate 7 are provided with lifting telescopic rods 6, A pulley 5 that slides along the slide rail 4 is installed at the lower end of the jacking telescopic rod 6 .

As shown in FIG. 7 , the jacking telescopic rod 6 is a liftable hydraulic telescopic cylinder, and the jacking telescopic rod 6 includes a pressure cylinder 20, a piston rod 21, a piston 22, a sealing guide sleeve 23, a filler 24 ( inert gas or oil-air mixture) and a controllable gas spring 25.

The lifting mechanism can drive the focusing probe 16 fixed by the multi-degree-of-freedom mechanical arm to move parallel to the direction of the MRI treatment table, so as to realize the whole body treatment from the head to the foot; meanwhile, the lifting mechanism can realize the entire positioning by lifting the telescopic rod 6 The movement of the control device along the Z direction meets the treatment needs of patients with different body types.

Embodiment 4

As shown in FIG. 2 , the method for using the HIFU focusing probe positioning device guided by the multinuclide MRI described in Embodiments 1 to 3 includes the following steps:

(1) Initial MRI scanning imaging stage: the patient is placed on the treatment bed of the MRI device, so that the patient's lesion is located in the magnetic resonance imaging area, the MRI coil is used to receive the imaging information, and the received information is transmitted to the magnetic resonance bed. Finally, the imaging information receiving unit transmits the information to the information processing unit for processing. After processing, the information processing unit presents the two-dimensional image of the lesion that needs HIFU treatment to the operator through the display.

(2) Precise positioning control stage: After the lesion is determined, the multi-degree-of-freedom mechanical arm placed on the lifting mechanism is adjusted to the approximate horizontal plane where the lesion is located by sliding the pulley 5 and lifting the telescopic rod 6, and according to the mechanical arm The position of the length adjustment support device on the treatment couch 3, and then the positioning operation: preset the moving path of the focusing probe 16, input the preset path into the controller, and adjust the mechanical arm through the rotation of the first joint module J1 around the Z-axis direction The initial position of , combined with the rotation of the second joint module J2, the fourth joint module J4, and the sixth joint module J6 around the Y-axis direction and the rotation of the third joint module J3 and the fifth joint module J5 around the X-axis direction, Finally, by adjusting the rotation of the seventh joint module J7 around the X axis and the Y axis, it is determined that the focus of the focusing probe 16 is located at the center of the lesion. Based on the ultrasonic motor in each joint module, the robotic arm is controlled to drive the focusing probe 16 to the target area for treatment of the lesion at an appropriate angle, moving step, and attitude.

(3) HIFU treatment stage and MRI temperature monitoring stage: the high-intensity focused ultrasound transducer power drive module drives the focused transducer to emit high-intensity focused ultrasound to start HIFU treatment of lesions; at the same time, the MRI gradient echo sequence is used to implement real-time monitoring The focal temperature change map, MRI T2 scan and T1 enhanced scan after irradiation are of great significance for guiding the treatment plan and accurately judging the prognosis.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (9)

1. a HIFU focusing probe positioning device guided by multi-nuclide MRI, is characterized in that: comprise a multi-degree-of-freedom mechanical arm and a focusing probe, one end of the multi-degree-of-freedom mechanical arm is provided with a clamping device, and the clamping device is used to fix the focusing probe , the other end is arranged on the lifting mechanism, the lifting mechanism is slidably arranged on the treatment bed, the multi-degree-of-freedom robotic arm is a seven-axis robotic arm, and a joint module is arranged between each mechanical arm of the seven-axis robotic arm, and the joint module includes Ultrasonic motor, the ultrasonic motor is used to control the rotation angle of the corresponding mechanical arm. 2. The HIFU focusing probe positioning device guided by a multi-nuclide MRI according to claim 1, wherein the seven-axis robotic arm comprises a base, a first robotic arm, a second robotic arm, a third robotic arm, The fourth robotic arm, the fifth robotic arm and the sixth robotic arm, joint modules are set between the base and the first robotic arm, between adjacent robotic arms and at the end of the sixth robotic arm, and the joint modules are sequentially defined as the first robotic arm. The joint module, the second joint module, the third joint module, the fourth joint module, the fifth joint module, the sixth joint module and the seventh joint module, the first joint module drives the rotational movement of the first manipulator around the Z-axis direction, The rotation angle ranges from 0 to 360°. The second joint module can drive the second manipulator to rotate around the Y-axis. The rotation angle ranges from 0 to 90° to 120°; the third joint module can drive the third manipulator. Rotate around the X-axis, and the rotation angle ranges from 0 to 120°～150°; the fourth joint module can drive the fourth manipulator to rotate around the Y-axis, and the rotation angle ranges from 0 to 120°～150° °; the fifth joint module can drive the fifth manipulator to rotate around the X-axis, and the rotation angle ranges from 0 to 90°～120°; the sixth joint module can drive the sixth manipulator to rotate around the Y-axis Movement, the rotation angle range is 0 to 90°～120°; the seventh joint module can drive the focusing probe fixed by the clamping device to rotate around the X-axis direction and the Y-axis direction, and the rotation angle range is 0 to 40°～90° °. 3. A multi-nuclide MRI-guided HIFU focusing probe positioning device according to claim 2, characterized in that: the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm The arm length ratio of the arm and the sixth robotic arm is 3:2:5:5:2:1. 4. The HIFU focusing probe positioning device guided by a multi-nuclide MRI according to claim 1, characterized in that: both sides of the treatment couch are provided with sliding rails, and the lifting mechanism comprises a support plate that is connected to a seven-axis mechanical arm and both sides of the lower end of the support plate are provided with lifting telescopic rods, and the lower end of the lifting telescopic rod is provided with a pulley that slides along the slide rail. 5 . The multi-nuclide MRI-guided HIFU focusing probe positioning device according to claim 1 , wherein the clamping device is a three-jaw manipulator. 6 . 6 . The multi-nuclide MRI-guided HIFU focusing probe positioning device according to claim 1 , wherein a collimator filled with degassed water is connected to the front end of the focusing probe. 7 . 7. The HIFU focusing probe positioning device guided by a multi-nuclide MRI according to claim 1 or 2, wherein the seven-axis robotic arm further comprises a controller corresponding to the joint module one-to-one, and the joint module corresponds to the corresponding The controller is connected, and the controller is connected with the operation handle. 8. the using method of the HIFU focusing probe positioning device of the multinuclide MRI guidance described in one of claim 1-7, is characterized in that, comprises the following steps: (1) Initial MRI scan imaging to identify lesions requiring HIFU treatment; (2) After the lesion is determined, adjust the seven-axis mechanical arm to the required height through the lifting mechanism, and the lifting mechanism moves along the slide rail to move the seven-axis mechanical arm parallel to the position of the lesion along the treatment bed; (3) Preset the moving path of the focusing probe, input the preset path into each controller, and control the movement of the corresponding joint module through the controller: adjust the initial position of the seven-axis robotic arm by rotating the first joint module around the Z-axis direction , combined with the rotation of the second joint module, the fourth joint module, and the sixth joint module around the Y-axis direction and the rotation of the third joint module and the fifth joint module around the X-axis direction, and finally by adjusting the seventh joint module Rotate around the X-axis and Y-axis to drive the focusing probe to locate the target area for treatment of the lesion, and confirm that the focus of the focusing probe is at the center of the lesion; (4) In the stage of HIFU treatment of lesions, the MRI gradient echo sequence was used to monitor the focus temperature change map of the focusing probe in real time, and MRI T2 scan and T1 enhanced scan were performed after irradiation. 9. The method according to claim 8, wherein in step (1), the initial MRI scan imaging specific steps are as follows: the patient is placed on the treatment couch of the MRI device, so that the patient's lesion is located in the magnetic resonance imaging area , use the MRI coil to receive the imaging information, and transmit the received information to the imaging information receiving unit on the MRI bed, and finally the imaging information receiving unit transmits the information to the information processing unit for processing. A two-dimensional image of the lesion requiring HIFU treatment is presented to the operator through a monitor.

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