CN111603691A - Multi-core MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe positioning device and using method thereof - Google Patents
Multi-core MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe positioning device and using method thereof Download PDFInfo
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Abstract
The invention provides a multi-element MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe positioning device and a use method thereof. The invention realizes the focusing probe fixed by the multi-degree-of-freedom mechanical arm driven by the ultrasonic motor, realizes the accurate positioning control of the degree of freedom of the focusing probe 6, namely the degree of freedom of movement along the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes, and has the advantages of large movement range, less interference on an MRI device, good treatment effect and the like.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a positioning device of a multi-core MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe and a using method thereof.
Background
High Intensity Focused Ultrasound (HIFU) therapy has shown great potential for research and application as an efficient, non-invasive technique for tumor thermal ablation. Based on the working principle that high-energy ultrasonic waves are focused in a target tissue area to enable the target area to generate high temperature, so that tissue coagulation necrosis is caused, accurate treatment on tumor tissues can be realized, and surrounding normal tissues are not damaged. The premise of realizing accurate treatment by the high-intensity focused ultrasound is to accurately position a focus in a body, accurately control the sound output of the HIFU system in time and space and monitor and guide the temperature change of a target tissue in real time in the whole process.
Compared with other imaging examination methods, Magnetic Resonance Imaging (MRI) has the advantages of no ionizing radiation, high sensitivity, high soft tissue resolution, multi-parameter imaging and the like, particularly has the advantages of three-dimensional real-time positioning imaging, real-time temperature monitoring in the treatment process and the like, and has important significance for accurate and efficient HIFU treatment, real-time monitoring of treatment curative effect and accurate judgment of tumor prognosis. Therefore, the HIFU therapy system based on MRI guidance is widely applied to clinical treatment of solid tumors such as uterine fibroids, bone tumors, prostate cancer, breast cancer and the like, and becomes a hot spot of research at home and abroad.
The positioning relationship between the HIFU focusing probe and the tumor site directly influences the safety and effectiveness of the treatment. The HIFU therapy system has the inherent defects of small focus, short single therapy time and the like, and the clinical application of the HIFU therapy system is limited by the factors of heterogeneity and heterogeneity of tumors, large position variability of tumors and the like. Therefore, it is urgently needed to develop a precise and multi-degree-of-freedom HIFU focusing probe control and positioning device.
In the prior art, an MRI-guided HIFU focusing probe control and positioning device mainly has the following disadvantages:
(1) the focusing ultrasonic therapy system of the underneath type therapy mode completes therapy through the matching of a focusing probe and an MRI device, needs to be positioned for many times, and has relatively complex and fussy process; and because of the limited movable space under the MRI treatment couch, the movement range of the focusing probe and the positioning device thereof is limited, thereby influencing the final treatment effect.
(2) Under the drive of the positioning control device, the movement form of the focusing probe is single, and the requirement of multiple directions during the treatment of tumors or other diseases cannot be met, so that the precise and efficient HIFU treatment cannot be realized.
(3) Although the handheld focusing probe can realize multi-degree-of-freedom positioning focusing, the handheld focusing probe needs manual operation and cannot accurately control a treatment focus and maintain treatment time, so that the requirement of clinical development cannot be fully met.
(4) Conventional motor-driven based positioning control devices currently installed in the bore of an MRI device can interfere with the magnetic field of the MRI system. In order to avoid the situation, the positioning control device is designed and processed in a non-magnetized mode with high requirements by a patent, or the positioning control device is placed outside a hole of an MRI device, so that the technical difficulty and the cost are increased, a large space is occupied, and certain limitations exist.
(5) The positioning device based on the mechanical arm is mostly made of metal materials, so that metal artifacts are easily generated, and finally, the images are interfered; in addition, the electromagnetic motor used as an actuator in the mechanical arm is limited by the operating principle and structure thereof, and is difficult to achieve the required standards of small volume, high response speed and high positioning accuracy.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-element MRI-guided HIFU focusing probe positioning device and a using method thereof, which are based on a focusing probe fixed by a multi-degree-of-freedom mechanical arm driven by an ultrasonic motor, realize the accurate positioning control of the degree of freedom of the focusing probe 6, namely the degree of freedom of movement along the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes, and have the advantages of large movement range, less interference to an MRI device, good treatment effect and the like. In addition, the HIFU treatment system based on multi-nuclide MRI guidance can realize accurate positioning before treatment, real-time temperature monitoring, early curative effect evaluation and accurate prognosis evaluation.
The technical scheme of the invention is realized as follows: the multi-element MRI-guided HIFU focusing probe positioning device comprises a multi-degree-of-freedom mechanical arm and a focusing probe, wherein one end of the multi-degree-of-freedom mechanical arm is provided with a clamping device, the clamping device is used for fixing the focusing probe, the other end of the multi-degree-of-freedom mechanical arm is arranged on a lifting mechanism, the lifting mechanism is arranged on a treatment bed in a sliding mode, the multi-degree-of-freedom mechanical arm is a seven-shaft mechanical arm, a joint module is arranged between each section of the seven-shaft mechanical arm and comprises an ultrasonic motor.
Furthermore, the seven-axis mechanical arm comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, joint modules are arranged between the base and the first mechanical arm, between adjacent mechanical arms and at the end of the sixth mechanical arm, and are sequentially defined as a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, a sixth joint module and a seventh joint module, wherein the first joint module drives the first mechanical arm to rotate around the Z-axis direction, the rotation angle range is 0-360 degrees, the second joint module can drive the second mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-90-120 degrees; the third joint module can drive the third mechanical arm to rotate around the X-axis direction, and the rotation angle range is 0-120-150 degrees; the fourth joint module can drive the fourth mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-120-150 degrees; the fifth joint module can drive the fifth mechanical arm to rotate around the X-axis direction, and the rotation angle range is 0-90-120 degrees; the sixth joint module can drive the sixth mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-90-120 degrees; 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 rotating angle range is 0-40-90 degrees.
Further, the arm length ratio of the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm is 3:2:5:5:2: 1.
Furthermore, the two sides of the treatment bed are provided with slide rails, the lifting mechanism comprises a supporting plate connected with the seven mechanical arms, the two sides of the lower end of the supporting plate are provided with jacking telescopic rods, and the lower ends of the jacking telescopic rods are provided with pulleys sliding along the slide rails.
Further, the clamping device is a three-jaw manipulator.
Furthermore, the front end of the focusing probe is connected with a collimator filled with degassed water.
Furthermore, the seven-axis mechanical arm further comprises controllers in one-to-one correspondence with the joint modules, the joint modules are connected with the corresponding controllers, and the controllers are connected with the operating handle.
A method for using a multi-element MRI-guided HIFU focusing probe positioning device comprises the following steps:
(1) performing initial MRI scanning imaging, and determining a focus needing HIFU treatment;
(2) after the focus is determined, the seven-axis mechanical arm is adjusted to the required height through the lifting mechanism, the lifting mechanism moves along the slide rail, and the seven-axis mechanical arm moves to the position close to the focus in parallel along the treatment bed;
(3) presetting a moving path of the focusing probe, inputting the preset path into each controller, and controlling the motion of the corresponding joint module through the controllers: the initial position of the seven-axis mechanical arm is adjusted through rotation of the first joint module in the Z-axis direction, rotation of the second joint module, the fourth joint module and the sixth joint module in the Y-axis direction and rotation of the third joint module and the fifth joint module in the X-axis direction are combined, and finally, the focus of the focusing probe is determined to be positioned at the center of the focus through adjustment of rotation of the seventh joint module in the X-axis direction and the Y-axis direction, and the focusing probe is driven to be positioned to a focus treatment target area;
(4) in the stage of treating the focus by the HIFU, a focus temperature change diagram of a focusing probe is monitored in real time by using an MRI gradient echo sequence, and MRI T2 scanning and T1 enhanced scanning are carried out after irradiation.
Further, in the step (1), the specific steps of initial MRI scan imaging are as follows: the patient is settled on the treatment couch of MRI device, makes the focus of patient be located magnetic resonance imaging region, utilizes the MRI coil to accept imaging information to transmit the imaging information receiving element on the magnetic resonance bed body with the information received, and imaging information receiving element transmits this information to the information processing unit at last and handles, and the information processing unit handles the back, presents the two-dimensional image that needs the focus of carrying out the HIFU treatment and establish for the operator through the display.
The invention achieves the following beneficial technical effects:
(1) the focusing probe is arranged at the tail end of the multi-freedom-degree mechanical arm, so that the accurate positioning control of 6 degrees of freedom is realized, namely the moving freedom degree along the directions of three orthogonal coordinate axes of x, y and z and the rotating freedom degree around the three coordinate axes meet the requirement of multidirectional treatment, and the accurate and efficient treatment is realized. In addition, the multi-degree-of-freedom mechanical arm is compact in overall structure, good in stability, strong in kinetic energy, small in occupied space, free of conflict with the magnetic resonance coil arrangement, and wide in application range.
(2) The positioning control device based on ultrasonic motor drive is arranged in a hole of the MRI device, all components are made of nonmagnetic materials, and the device has the advantages of small volume, high response speed, high positioning precision, large movement range, less interference to the MRI device, good treatment effect and the like.
(3) The lifting mechanism can drive the focusing probe fixed by the multi-degree-of-freedom mechanical arm to move in a direction parallel to the MRI treatment bed, so that the whole body range treatment from the head to the foot is realized; meanwhile, the lifting mechanism realizes the movement of the whole positioning control device along the Z direction through the jacking telescopic rod, and the treatment requirements of patients with different body types are met.
(4) The HIFU treatment system based on multi-nuclide MRI guidance can realize accurate positioning before treatment, real-time temperature monitoring, early curative effect evaluation and accurate prognosis evaluation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a positioning device according to the present invention;
FIG. 2 is a schematic view of the operation of the positioning device of the present invention;
FIG. 3 is a schematic structural diagram of the multi-degree-of-freedom mechanical arm of the present invention;
FIG. 4 is a schematic structural diagram of an ultrasonic motor according to the present invention;
FIG. 5 is a schematic structural view of a three-jaw robot of the present invention;
FIG. 6 is a schematic structural diagram of the lifting mechanism of the present invention;
fig. 7 is a schematic structural view of the jacking telescopic rod of the present invention.
1-MRI apparatus, 2-treatment table, 3-treatment bed, 4-slide rail, 5-pulley, 6-jacking telescopic rod, 7-support plate, 8-base, 9-first mechanical arm, 10-second mechanical arm, 11-third mechanical arm, 12-fourth mechanical arm, 13-fifth mechanical arm, 14-sixth mechanical arm, 15-three-jaw mechanical arm, 16-focusing probe, 17-motor stator, 18-motor rotor, 19-piezoelectric ceramic, 20-pressure cylinder, 21-piston rod, 22-piston, 23-sealing guide sleeve, 24-filler, 25-controllable gas spring, 26-collimator, J1-first joint module, J2-second joint module, J3-third joint module, J4-fourth joint module, J5-fifth joint module, J6-sixth joint module, J7-seventh joint module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1:
as shown in fig. 1, a multi-element 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, where the multi-degree-of-freedom mechanical arm is seven mechanical arms, the joint module is disposed between each of the seven mechanical arms, the joint module includes an ultrasonic motor, the ultrasonic motor is used to control a rotation angle of the corresponding mechanical arm, one end of the seven mechanical arms is mounted on the lifting mechanism, the other end of the seven mechanical arms is mounted with the clamping device, the clamping device is used to fix the focusing probe 16, the bottom of the lifting mechanism is slidably disposed on a treatment couch 3, so that the lifting mechanism moves in a direction parallel to the treatment couch 3, the treatment couch 3 is disposed on a treatment table 2, and all components.
Example 2:
as shown in fig. 3, the seven-axis robot includes a base 8, a first robot 9, a second robot 10, a third robot 11, a fourth robot 12, a fifth robot 13, and a sixth robot 14. Joint modules are arranged between the base and the first mechanical arm, between adjacent mechanical arms and at the end part of the sixth mechanical arm. Specifically, the pedestal 8 is connected to the first robot arm 9 through a first joint module J1, the first robot arm 9 is connected to the second robot arm 10 through a second joint module J2, the second robot arm 10 is connected to the third robot arm 11 through a third joint module J3, the third robot arm 11 is connected to the fourth robot arm 12 through a fourth joint module J4, the fourth robot arm 12 is connected to the fifth robot arm 13 through a fifth joint module J5, the fifth robot arm 13 is connected to the sixth robot arm 14 through a sixth joint module J6, and the end of the sixth robot arm 14 is connected to a seventh joint module J7. As shown in fig. 1, the base 8 is mounted on the upper end of the elevating mechanism.
The seven-axis mechanical arm is a multi-joint and multi-degree-of-freedom mechanical arm, and has multiple actions and flexible change. The seven-axis mechanical arm has more action degrees of freedom, and a first joint module J1 of the multi-degree-of-freedom mechanical arm can drive a first mechanical arm 9 to rotate around the Z-axis direction, wherein the rotation angle range is 0-360 degrees; the second joint module J2 of the multi-degree-of-freedom mechanical arm can drive the second mechanical arm 10 to perform rotary motion around the Y-axis direction, and the range of the rotary angle is 0-90 degrees-120 degrees; the third joint module J3 of the multi-degree-of-freedom mechanical arm can drive the third mechanical arm 11 to perform rotary motion around the X-axis direction, and the range of the rotary angle is 0-120-150 degrees; the fourth joint module J4 of the multi-degree-of-freedom mechanical arm can drive the fourth mechanical arm 12 to perform rotary motion around the Y-axis direction, and the range of the rotary angle is 0-120-150 degrees; the fifth joint module J5 of the multi-degree-of-freedom mechanical arm can drive the fifth mechanical arm 13 to perform rotary motion around the X-axis direction, and the range of the rotary angle is 0-90-120 degrees; the sixth joint module J6 of the multi-degree-of-freedom mechanical arm can drive the sixth mechanical arm 14 to perform rotary motion around the Y-axis direction, and the range of the rotary angle is 0-90 degrees-120 degrees; the seventh joint module J7 of the multi-degree-of-freedom mechanical arm can drive the focusing probe 16 fixed by the clamping device to perform rotational motion around the X-axis direction and the Y-axis direction, and the rotational angle ranges from 0 to 40 degrees to 90 degrees. In conclusion, the focusing probe 16 realizes accurate positioning control with 6 degrees of freedom at the tail end of the seven-axis mechanical arm, namely, the degree of freedom of movement in the directions of three orthogonal coordinate axes of x, y and z and the degree of freedom of rotation around the three coordinate axes, so that the multidirectional treatment requirement is met, and accurate and efficient treatment is realized.
The arm length ratio of the first mechanical arm 9, the second mechanical arm 10, the third mechanical arm 11, the fourth mechanical arm 12, the fifth mechanical arm 13 and the sixth mechanical arm 14 is 3:2:5:5:2: 1; the mechanical arm with the proportion can ensure enough arm length and coverage, meanwhile, the overall flexibility of the mechanical arm and the accuracy of completing complex actions are also ensured, and the application effect of the mechanical arm in a narrow space can be improved.
The multi-degree-of-freedom mechanical arm is simple and compact in overall structure, accurate in positioning, silent, good in stability, strong in kinetic energy, small in occupied space, free of conflict with magnetic resonance coil placement, flexible, wide in application range and capable of achieving high-precision and high-flexibility positioning control.
As shown in fig. 4, the first to seventh joint modules J1-7 include an ultrasonic motor including a motor stator 17 and a motor rotor 18. The seventh joint module J7 is a two-degree-of-freedom spherical ultrasonic motor, which mainly comprises two stators and a spherical rotor, wherein each stator can drive the spherical rotor to rotate around the axis X, Y. The motor stator 17 includes an elastic body and a piezoelectric ceramic 19. The ultrasonic motor utilizes the inverse piezoelectric effect of the piezoelectric ceramic 19 to enable the stator 17 to generate vibration in an ultrasonic frequency band, obtains movement and torque through friction between the stator 17 and the rotor 18, and can control the movement of the mechanical arm at any angle through the driving of the ultrasonic motor. The ultrasonic motor has the advantages of simple structure, small volume, light weight, large bearing capacity, high movement precision, stable movement, high transmission efficiency and the like.
As shown in fig. 5, preferably, the clamping device is mounted at the end of the seventh joint module J7 of the multi-degree-of-freedom mechanical arm, the clamping device is a three-jaw manipulator 15 and can rotate around the seventh joint module J7, the seven-axis mechanical arm further includes controllers corresponding to the joint modules one to one, the joint modules are connected to the corresponding controllers, and the controllers are connected to the operating handle and control and drive the focusing probe 16 to move along a preset track through the controllers.
Preferably, the holding device is used for fixing the focusing probe 16, and the collimator 26 device filled with degassed water is connected to the front end of the focusing probe 16.
Preferably, all of the components are constructed of non-magnetic materials.
Example 3:
as shown in fig. 1 and 6, the two sides of the treatment couch 3 are both provided with slide rails 4, the lifting mechanism comprises a support plate 7 connected with a base 8, the two sides of the lower end of the support plate 7 are both provided with a jacking telescopic rod 6, and the lower end of the jacking telescopic rod 6 is provided with a pulley 5 sliding along the slide rails 4.
As shown in fig. 7, the lifting telescopic rods 6 are hydraulic telescopic cylinders capable of lifting, and the lifting telescopic rods 6 include a pressure cylinder 20, a piston rod 21, a piston 22, a sealing guide sleeve 23, a filler 24 (inert gas or oil-gas 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 in a direction parallel to the MRI treatment bed, so that the whole body range treatment from the head to the foot is realized; meanwhile, the lifting mechanism realizes the movement of the whole positioning control device along the Z direction through the jacking telescopic rod 6, and the treatment requirements of patients with different body types are met.
Example four
As shown in fig. 2, the method for using the multi-nuclear MRI-guided HIFU focusing probe positioning apparatus according to the first to third embodiments includes the following steps:
(1) initial MRI scan imaging phase: the patient is settled on the treatment couch of MRI device, makes the focus of patient be located magnetic resonance imaging region, utilizes the MRI coil to accept imaging information to transmit the imaging information receiving element on the magnetic resonance bed body with the information received, and imaging information receiving element transmits this information to the information processing unit at last and handles, and the information processing unit handles the back, presents the two-dimensional image that needs the focus of carrying out the HIFU treatment and establish for the operator through the display.
(2) And (3) a precise positioning control stage: after the focus is determined, the multi-degree-of-freedom mechanical arm arranged on the lifting mechanism is adjusted to be on the approximately horizontal plane where the focus is located through the sliding of the pulley 5 and the lifting of the lifting telescopic rod 6, the position of the supporting device on the treatment bed 3 is adjusted according to the length of the mechanical arm, and then the positioning operation is carried out: the moving path of the focusing probe 16 is preset, the preset path is input into the controller, the initial position of the mechanical arm is adjusted through the rotation of the first joint module J1 around the Z-axis direction, 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 are combined, and finally the focus of the focusing probe 16 is determined to be located at the center of the focus through the adjustment of the rotation of the seventh joint module J7 around the X-axis direction and the Y-axis direction. Based on the ultrasonic motors in the joint modules, the mechanical arm is controlled to drive the focusing probe 16 to be positioned to the focus treatment target area at a proper angle, a proper moving step length and a proper posture.
(3) HIFU treatment phase and MRI temperature monitoring phase: the power driving module of the high-intensity focused ultrasonic transducer drives the focused ultrasonic transducer to emit high-intensity focused ultrasonic waves, and the stage of treating the focus by the HIFU is started; meanwhile, an MRI gradient echo sequence is used for monitoring a focus temperature change diagram in real time, and MRI T2 scanning and T1 enhanced scanning are carried out after irradiation, so that the method has important significance for guiding a treatment scheme and accurately judging prognosis.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A multi-core MRI-guided HIFU focusing probe positioning device is characterized in that: the multi-degree-of-freedom mechanical arm comprises a multi-degree-of-freedom mechanical arm and a focusing probe, wherein one end of the multi-degree-of-freedom mechanical arm is provided with a clamping device, the clamping device is used for fixing the focusing probe, the other end of the multi-degree-of-freedom mechanical arm is arranged on a lifting mechanism, the lifting mechanism is arranged on a treatment bed in a sliding mode, the multi-degree-of-freedom mechanical arm is a seven-axis mechanical arm, joint modules are arranged among all sections of the seven-.
2. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 1, wherein: the seven-axis mechanical arm comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, joint modules are arranged between the base and the first mechanical arm, between adjacent mechanical arms and at the end of the sixth mechanical arm, the joint modules are sequentially defined as a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, a sixth joint module and a seventh joint module, the first joint module drives the first mechanical arm to rotate around the Z-axis direction, the rotation angle range is 0-360 degrees, the second joint module can drive the second mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-90-120 degrees; the third joint module can drive the third mechanical arm to rotate around the X-axis direction, and the rotation angle range is 0-120-150 degrees; the fourth joint module can drive the fourth mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-120-150 degrees; the fifth joint module can drive the fifth mechanical arm to rotate around the X-axis direction, and the rotation angle range is 0-90-120 degrees; the sixth joint module can drive the sixth mechanical arm to rotate around the Y-axis direction, and the rotation angle range is 0-90-120 degrees; 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 rotating angle range is 0-40-90 degrees.
3. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 2, wherein: the arm length ratio of the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm and the sixth mechanical arm is 3:2:5:5:2: 1.
4. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 1, wherein: the both sides of treatment bed all are provided with the slide rail, and elevating system includes the backup pad that links to each other with seven arms, and the both sides of backup pad lower extreme all are provided with jacking telescopic link, and jacking telescopic link's lower extreme is provided with along the gliding pulley of slide rail.
5. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 1, wherein: the clamping device is a three-jaw manipulator.
6. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 1, wherein: the front end of the focusing probe is connected with a collimator filled with degassed water.
7. A multi-polynucleotide MRI-guided HIFU focusing probe positioning apparatus according to claim 1 or 2, wherein: the seven-axis mechanical arm further comprises controllers in one-to-one correspondence with the joint modules, the joint modules are connected with the corresponding controllers, and the controllers are connected with the operating handle.
8. A method of using the multi-polynucleotide MRI guided HIFU focusing probe positioning apparatus of any of claims 1 to 7, comprising the steps of:
(1) performing initial MRI scanning imaging, and determining a focus needing HIFU treatment;
(2) after the focus is determined, the seven-axis mechanical arm is adjusted to the required height through the lifting mechanism, the lifting mechanism moves along the slide rail, and the seven-axis mechanical arm moves to the position close to the focus in parallel along the treatment bed;
(3) presetting a moving path of the focusing probe, inputting the preset path into each controller, and controlling the motion of the corresponding joint module through the controllers: the initial position of the seven-axis mechanical arm is adjusted through rotation of the first joint module in the Z-axis direction, the rotation of the second joint module, the fourth joint module and the sixth joint module in the Y-axis direction and the rotation of the third joint module and the fifth joint module in the X-axis direction are combined, finally, the focusing probe is driven to be positioned to a focus treatment target area through adjusting the rotation of the seventh joint module in the X-axis direction and the Y-axis direction, and the focus of the focusing probe is determined to be positioned at the center of a focus;
(4) in the stage of treating the focus by the HIFU, a focus temperature change diagram of a focusing probe is monitored in real time by using an MRI gradient echo sequence, and MRI T2 scanning and T1 enhanced scanning are carried out after irradiation.
9. The use method according to claim 8, wherein in the step (1), the specific steps of the initial MRI scan imaging are as follows: the patient is settled on the treatment couch of MRI device, makes the focus of patient be located magnetic resonance imaging region, utilizes the MRI coil to accept imaging information to transmit the imaging information receiving element on the magnetic resonance bed body with the information received, and imaging information receiving element transmits this information to the information processing unit at last and handles, and the information processing unit handles the back, presents the two-dimensional image that needs the focus of carrying out the HIFU treatment and establish for the operator through the display.
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