CN111821589A - Ultrasonic treatment head motion control device with large-range target area focusing function and treatment method - Google Patents
Ultrasonic treatment head motion control device with large-range target area focusing function and treatment method Download PDFInfo
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- CN111821589A CN111821589A CN202010690249.5A CN202010690249A CN111821589A CN 111821589 A CN111821589 A CN 111821589A CN 202010690249 A CN202010690249 A CN 202010690249A CN 111821589 A CN111821589 A CN 111821589A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0004—Applications of ultrasound therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0052—Ultrasound therapy using the same transducer for therapy and imaging
Abstract
The invention discloses a motion control device and a treatment method of an ultrasonic treatment head focused in a large-range target area, and the motion control device comprises a swing control module and an ultrasonic imaging probe control module, wherein the swing control module consists of a vertical direction motion module, a left-right direction motion module and an axial motion module; the vertical direction movement module comprises a lifting cross arm, a first rotary table is mounted at the end of the lifting cross arm, and a power input end of the first rotary table is in driving connection with a first swing motor; compared with the prior art, the invention has the effects of simple structure, easy manufacture and cost reduction, realizes the irradiation treatment of different treatment units by swinging the treatment head, and has novelty and creativity.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a motion control device of an ultrasonic treatment head focusing on a large-range target area and a treatment method.
Background
Focused ultrasound is a technology for focusing ultrasonic waves with certain intensity, similar to concave lens focusing too sunlight, and the high sound intensity at the focal point of the focused ultrasonic waves can quickly generate irreversible denaturation, namely ablation, of tissues at the position.
The core hardware of the focused ultrasound system mainly comprises a mechanical moving part, a power amplification part and a treatment head. The actual treatment process requires the cooperation of different components.
The focused ultrasound tumor therapy equipment is developing more and more in the direction of portability and intelligence. For the external focused ultrasound system treatment head, the focusing mode can be divided into self-focusing and phase-controlled focusing. The phased focusing technology has the advantages of electronically deflecting a focus, simultaneously generating a plurality of focuses and the like, and as the cost and complexity of the phased focusing technology are reduced, the phased focusing ultrasound system is adopted more and more clinically.
According to different treatment modes, the treatment head of the external focusing ultrasonic system can be divided into an upper type and a lower type. Traditionally, an underneath system is used to secure the treatment head and mechanical moving parts in a sink inside the couch. The patient lies on the treatment bed in the prone position during treatment.
Compared with the prone position, the supine position is more comfortable, so that the upper-mounted system is more and more applied. The existing upper-mounted system is mainly divided into two types, one type of upper-mounted treatment head system is similar to the lower-mounted treatment head system, the movement of the transducer in treatment is controlled in a water tank erected by mechanical parts through multi-dimensional mechanical movement, and an acoustic membrane is arranged at the bottom of the water tank and is convenient for ultrasonic transmission. Such systems are bulky, heavy and inconvenient to use.
In addition, different systems adopt different treatment methods, and the electronic deflection range of the current in-vitro phase-control focusing ultrasonic equipment is not large enough to cover the pathological tissue. The combination of mechanical and phase control is thus a common solution, and the treatment method and mechanical moving parts should be considered at the same time in the system design.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a device for controlling the motion of an ultrasonic treatment head focused in a large-range target area and a treatment method, which have the advantages of simple structure, easy manufacture, cost reduction and the like, and solve the problems of large volume, heavy weight and inconvenient use of a focused ultrasonic tumor treatment device.
(II) technical scheme
The invention provides the following technical scheme: a motion control device of an ultrasonic treatment head focusing on a large-range target area comprises a swing control module and an ultrasonic imaging probe control module, wherein the swing control module consists of a vertical direction motion module, a left-right direction motion module and an axial motion module;
the vertical direction movement module comprises a lifting cross arm, a first turntable is mounted at the end of the lifting cross arm, and a power input end of the first turntable is in driving connection with a first swing motor;
the left-right direction movement module comprises a metal connecting piece which is rotationally connected with the disc body of the first rotary disc, a second swing motor is arranged on one side of the metal connecting piece, and the output end of the second swing motor is in driving connection with the power input end of the second rotary disc;
the axial movement module comprises a metal base which is arranged on a second turntable body and is of a frame structure, a third turntable is arranged at an opening at the top of the metal base, a power input end of the third turntable is connected with an ultrasonic imaging probe rotation control motor in a driving mode, one side of the third turntable body is connected with an ultrasonic imaging probe fixing clamp in a rotating mode, the bottom of the ultrasonic imaging probe fixing clamp penetrates through a bottom plate of the metal base and is provided with a treatment head, and a water sac with good sound permeability is sleeved at the bottom of the treatment head;
the treatment head consists of a multi-array element phase-control focusing ultrasonic transducer and an ultrasonic imaging probe, and the ultrasonic imaging probe is arranged in an ultrasonic imaging probe fixing clamp.
Preferably, each path of the multi-array element phase-controlled focusing ultrasonic transducer can be independently controlled, the position of a focus of the ultrasonic imaging probe can be changed in a certain space range by controlling the excitation voltage and the phase signal of the multi-array element phase-controlled focusing ultrasonic transducer, and a rotating shaft of the ultrasonic imaging probe, a middle shaft of the ultrasonic imaging probe and the multi-array element focusing ultrasonic transducer are coaxially arranged.
Preferably, the left-right direction movement module of the swing control module and the rotating disc of the left-right direction movement module are perpendicular to each other, and the centers of the left-right direction movement module and the rotating disc are located on the same horizontal plane; and the intersection point of the rotating shafts of the two turntables is positioned on the straight line of the beam axis of the multi-array element focused ultrasonic transducer.
Preferably, the turntable of the swing control module and the turntable connected to the ultrasonic imaging probe are both provided with corresponding limit sensors for limiting the rotation range of the turntable.
Preferably, after the swing control module swings and drives the ultrasonic imaging probe, the distance between the position of the geometric focus and the beam axis of the multi-array element phased focusing ultrasonic transducer satisfies the following formula:
x1: x coordinates of the position of the geometrical focus after swinging;
y1: the y coordinate of the position of the geometrical focus after swinging;
d: the distance between the position of the geometrical focus after swinging and the beam axis of the multi-array element phase-control focusing ultrasonic transducer.
Preferably, after the swing control module swings and drives the ultrasonic imaging probe, the position coordinate of the geometrical focus after swinging meets the following formula:
r: the swing radius of the treatment head;
z1: and (5) swinging the z coordinate of the position of the geometric focus.
After the swing control module swings to drive the ultrasonic imaging probe, the swing angles in the left, right and front and back directions meet the following formula:
α: the left and right swing angles of the treatment head are adjusted;
beta: the therapeutic head swings back and forth.
Preferably, the first rotary table, the second rotary table and the third rotary table are all electric indexing rotary tables.
A treatment method, comprising the ultrasonic treatment head motion control device of any one of the above, and further comprising the following steps:
s1, dividing the target area into different treatment units;
s2, filling different treatment units with focus areas with set sizes;
and S3, swinging the treatment head, irradiating the positions of the planned focuses in different treatment units, and simultaneously rotating the ultrasonic imaging probe to observe the change of the gray scale of the ultrasonic image during irradiation for real-time monitoring.
Preferably, the treatment head is vertically moved and swung to enable the geometric center of the treatment head to be located at the center of the treatment unit, an imaging surface of the ultrasonic imaging probe penetrates through a current treatment point in the treatment unit, namely the position of the electronic deflection focus, when the corresponding planned focus is irradiated, the ultrasonic imaging probe is rotated to enable the imaging surface to penetrate through the point, and the ultrasonic image is observed during irradiation to monitor in real time.
Preferably, the size of the treatment unit is smaller than the electronic deflection range of the phased focused ultrasound transducer with multiple array elements, and the swing angle and the rotation angle of the ultrasound imaging probe are calculated according to the geometric center of the treatment unit and the current irradiation focus position in the treatment unit.
(III) advantageous effects
Compared with the prior art, the invention provides a motion control device of an ultrasonic treatment head focusing on a large-range target area and a treatment method, and the motion control device has the following beneficial effects:
(1) compared with the prior art, the motion control device of the ultrasonic treatment head for focusing in the large-range target area has the advantages of simple structure, easiness in manufacturing and capability of reducing cost.
(2) The treatment method provided by the invention realizes irradiation treatment of different treatment units by swinging the treatment head, and has novelty and creativity.
(3) The treatment method provided by the invention enables the treatment head and the target area to be stable, and is beneficial to increasing the treatment safety.
Drawings
FIG. 1 is a schematic structural diagram of a motion control device of an ultrasonic treatment head focusing on a large-scale target region according to the present invention;
FIG. 2 is a schematic view of the movement of the treatment head according to the present invention
Fig. 3 is a schematic view of a treatment surface reconstructed from an imaging surface of an ultrasonic imaging probe according to the present invention;
FIG. 4 is a projection of an ultrasound imaging plane onto a focal plane in accordance with the present invention;
fig. 5 is a flow chart of irradiation and real-time monitoring of the treatment surface according to the present invention.
In the figure: 1. a lifting cross arm; 2. a first swing motor; 3. a first turntable; 4. a second swing motor; 5. a second turntable; 6. the ultrasonic imaging probe rotates to control the motor; 7. a third turntable; 8. fixing a clamp for the ultrasonic imaging probe; 9. a metal base; 10. a treatment head; 11. a water bladder; 12. and (3) a metal connecting piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a motion control device for an ultrasonic treatment head focusing on a large-scale target region comprises a swing control module and an ultrasonic imaging probe control module, wherein the swing control module comprises a vertical direction motion module, a left-right direction motion module and an axial motion module, and the three motion modules respectively control the probe control module 10 to swing along a front-back degree of freedom, a left-right degree of freedom and rotate axially and perform ultrasonic image making on the target region;
the vertical direction movement module comprises a lifting cross arm 1, a first rotary table 3 is mounted at the end of the lifting cross arm 1, and a power input end of the first rotary table 3 is connected with a first swing motor 2 in a driving mode;
the left-right direction movement module comprises a metal connecting piece 12 which is rotationally connected with the disc body of the first rotary disc 3, one side of the metal connecting piece 12 is provided with a second swing motor 4, and the output end of the second swing motor 4 is in driving connection with the power input end of the second rotary disc 5;
the axial movement module comprises a metal base 9 which is installed on a disc body of the second rotary disc 5 and is of a frame structure, a third rotary disc 7 is installed at an opening at the top of the metal base 9, a power input end of the third rotary disc 7 is connected with an ultrasonic imaging probe rotating control motor 6 in a driving mode, one side of the disc body of the third rotary disc 7 is rotatably connected with an ultrasonic imaging probe fixing clamp 8, the bottom of the ultrasonic imaging probe fixing clamp 8 penetrates through a bottom plate of the metal base 9 and is provided with a treatment head 10, and a water sac 11 with good sound permeability is sleeved at the bottom of the treatment head 10;
the treatment head 10 is composed of a multi-array element phased focusing ultrasonic transducer and an ultrasonic imaging probe, and the ultrasonic imaging probe is arranged in the ultrasonic imaging probe fixing clamp 8.
Specifically, as shown in fig. 1, the first swing motor 2 drives the first rotary table 3 to rotate, the first rotary table 3 can drive the therapeutic head 10 to swing vertically, the second swing motor 4 drives the second rotary table 5 to rotate, the second rotary table 5 can drive the therapeutic head 10 to swing leftwards and rightwards, the ultrasonic imaging probe rotation control motor 6 drives the third rotary table 7 to rotate, and drives the ultrasonic imaging probe fixing clamp 8 and the therapeutic head 10 to rotate 180 degrees around the central axis thereof, so that the multi-dimensional swing of the therapeutic head 10 is realized, the miniaturization of the whole device is realized, and the manufacturing cost is low.
In this embodiment: each path of the multi-array element phase-control focusing ultrasonic transducer can be independently controlled, the position of a focus of the ultrasonic imaging probe can be changed in a certain space range by controlling the excitation voltage and the phase signal of the multi-array element phase-control focusing ultrasonic transducer, and a rotating shaft of the ultrasonic imaging probe, a middle shaft of the ultrasonic imaging probe and the multi-array element focusing ultrasonic transducer are coaxially arranged.
In particular, the coaxial rotation of the ultrasonic imaging probe and the multi-array element focusing ultrasonic transducer can be ensured when swinging.
In this embodiment, the left and right movement module of the swing control module and the turntable of the left and right movement module are perpendicular to each other, and the centers thereof are located on the same horizontal plane; and the intersection point of the rotating shafts of the two turntables is positioned on the straight line of the beam axis of the multi-array element focusing ultrasonic transducer.
Specifically, as shown in fig. 2, the multi-array element phased focused ultrasound transducer is distributed on a concave spherical surface (but not limited to this type). The treatment head 10 can swing around the normal focuses of the first rotating disc 3 and the second rotating disc 5 in the rotating disc figure 2 by taking the normal focuses as the circle center similarly to a simple pendulum, the position from the geometric center of the treatment head 10 to the circle center is a radius swing, and the positions of different focuses can be focused by electronic deflection.
In the embodiment, the turntable of the swing control module and the turntable connected to the ultrasonic imaging probe are both provided with limit sensors which correspond to and limit the rotation range of the ultrasonic imaging probe.
Specifically, the rotation angle of the turntable can be sensed through the mounted limit sensor, so that the control mechanism controls the motor to drive the turntable to rotate within a certain range.
In this embodiment: after the swing control module swings and drives the ultrasonic imaging probe, the distance between the position of the geometric focus and the beam axis of the multi-array element phase-controlled focusing ultrasonic transducer meets the following formula:
x1: x coordinates of the position of the geometrical focus after swinging;
y1: the y coordinate of the position of the geometrical focus after swinging;
d: the distance between the position of the geometrical focus after swinging and the beam axis of the multi-array element phase-control focusing ultrasonic transducer.
Specifically, the distance between the position of the geometric focus and the beam axis of the multi-array element phased focusing ultrasonic transducer can be calculated through the formula (1).
In this embodiment: after the swing control module swings and drives the ultrasonic imaging probe, the position coordinate of the geometrical focal point after swinging meets the following formula:
r: the swing radius of the treatment head 10;
z1: and (5) swinging the z coordinate of the position of the geometric focus.
Specifically, a treatment surface map is reconstructed from the imaging surface of the ultrasound imaging probe, as shown in fig. 3, wherein the centers of the different treatment units can be obtained from the coordinates on the plane. In fact, the geometric center position of the treatment head also varies in the vertical direction after the oscillations of different precision;
the swing radius R is the distance between the normal focal points of the two rotating discs for controlling the swing of the treatment head and the geometric center of the treatment head. In the oscillating halfDiameter is far greater than d time z1Close to R, the focus position is approximately constant in the vertical direction during the oscillation, so that the entire treatment unit is distributed in the set plane. This approximation is not necessarily required and different implementations may be possible in different embodiments.
In this embodiment: after the swing control module swings and drives the ultrasonic imaging probe, the swing angles in the left, right and front and back directions meet the following formula:
α: the therapeutic head 10 swings left and right by an angle;
beta: the therapeutic head 10 swings back and forth.
The first turntable 3, the second turntable 5 and the third turntable 7 are all electric indexing turntables.
Specifically, R is determined by the treatment head and the movement device to be unchanged, and the swing angles alpha and beta of the treatment head in the left-right direction and the front-back direction can be automatically calculated according to the coordinate of the center of the treatment unit. When different focuses in the irradiation treatment unit are irradiated, the ultrasonic imaging probe rotates within-90 degrees so as to monitor the irradiation condition of the current treatment position in real time.
A treatment method comprising the ultrasonic treatment head motion control device of any one of the above, further comprising the following steps:
s1, dividing the target area into different treatment units;
s2, filling different treatment units with focus areas with set sizes;
s3, the treatment head 10 is swung to irradiate the position of the planned focus in different treatment units, and the ultrasonic imaging probe is rotated to observe the change of the gray scale of the ultrasonic image during irradiation for real-time monitoring.
The treatment head 10 is vertically moved and swung to make the geometric center thereof located at the center of the treatment unit, the imaging surface of the ultrasonic imaging probe passes through the current treatment point in the treatment unit, namely the position of the electronic deflection focus, when the corresponding planned focus is irradiated, the ultrasonic imaging probe is rotated to make the imaging surface pass through the point, and the ultrasonic image is observed during irradiation to monitor in real time.
The size of the treatment unit is smaller than the electronic deflection range of the phased focusing ultrasonic transducer with the multiple array elements, and the swing angle and the rotation angle of the ultrasonic imaging probe are obtained through calculation according to the geometric center of the treatment unit and the current irradiation focus position in the treatment unit.
Specifically, θ in FIG. 4(a)1And theta2Respectively, indicate that the ultrasound imaging probe 10 is rotated about its rotational axis to a specific angle so that when the HIFU focus is electrically deflected away from the transducer geometric center O, it is still on the ultrasound imaging plane obtained by the ultrasound probe being rotated to a certain angle.
And obtaining the corresponding HIFU phased array coordinate according to the angle of the ultrasonic imaging probe 10 and the position of the target point in the imaging plane. Because the rotating shaft is coincident with the imaging middle shaft, the ultrasonic probe can image the whole 3D space by rotating 180 degrees. Fig. 4(b) shows the projection of the ultrasound imaging plane on the focal plane. According to the relationship between the angle of the ultrasonic probe and the coordinate axis of the HIFU phased array, the HIFU phased array coordinate of the point a located in the shadow area in fig. 4(b) on a certain focal plane can be represented by formula (4).
r is the distance AO from the point A to the rotating shaft of the ultrasonic probe;
theta is the angle of the imaging surface of the ultrasonic probe when passing through the point A;
x: coordinates of point a in the x direction;
y: coordinates of point a in the y direction;
the HIFU phased array coordinates of the point B located on the other side of the medial axis of the ultrasound image on the imaging plane can be represented by the following formula (5) because it is different from the point a by 180 ° with respect to the rotation axis:
r' is the distance BO from the point B to the rotating shaft of the ultrasonic probe;
x': coordinates of point B in the x direction;
y': the coordinates of point B in the y direction.
The point A and the point B are always respectively positioned on the left side and the right side of the ultrasonic image under different ultrasonic probe angles theta. The geometric center O of the HIFU phased array is used as the origin of coordinates, the point O is simultaneously positioned on the central axis of the ultrasonic image, and the position can be marked according to the scales on the ultrasonic image. Therefore, the HIFU coordinate value of the target point on the z-axis can be determined according to the distance between the target point on the image and the marked HIFU origin along the vertical direction. Therefore, the coordinates of the HIFU focus can be determined according to the rotation angle theta of the ultrasonic probe and the position of the target point on the ultrasonic image.
Referring to fig. 5 again, the treatment of each treatment unit is performed independently, the focus arrangement and the irradiation parameter setting are performed according to different treatment units, and meanwhile, the ultrasonic imaging probe is selected during irradiation, so that the current irradiation position is monitored in real time.
It is 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, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The motion control device of the ultrasonic treatment head for focusing in a large-range target area is characterized by comprising a swing control module and an ultrasonic imaging probe control module, wherein the swing control module consists of a vertical direction motion module, a left-right direction motion module and an axial motion module, and the three motion modules respectively control the probe control module (10) to swing along a front-back degree of freedom, a left-right degree of freedom and rotate axially and perform ultrasonic imaging in the target area;
the vertical direction movement module comprises a lifting cross arm (1), a first rotary table (3) is mounted at the end of the lifting cross arm (1), and a power input end of the first rotary table (3) is in driving connection with a first swing motor (2);
the left-right direction movement module comprises a metal connecting piece (12) which is rotationally connected with a disc body of the first rotary disc (3), a second swing motor (4) is installed on one side of the metal connecting piece (12), and the output end of the second swing motor (4) is in driving connection with the power input end of the second rotary disc (5);
the axial movement module comprises a metal base (9) which is installed on a second turntable (5) body and is of a frame structure, a third turntable (7) is installed at an opening at the top of the metal base (9), a power input end of the third turntable (7) is connected with an ultrasonic imaging probe rotation control motor (6) in a driving mode, one side of the third turntable (7) body is rotatably connected with an ultrasonic imaging probe fixing clamp (8), the bottom of the ultrasonic imaging probe fixing clamp (8) penetrates through a bottom plate of the metal base (9) and is provided with a treatment head (10), and a water sac (11) with good sound permeability is sleeved at the bottom of the treatment head (10);
the treatment head (10) consists of a multi-array element phased focusing ultrasonic transducer and an ultrasonic imaging probe, and the ultrasonic imaging probe is arranged in an ultrasonic imaging probe fixing clamp (8).
2. The motion control device of the ultrasonic treatment head with the focus of the large-scale target area according to claim 1, wherein: each path of the multi-array element phase-control focusing ultrasonic transducer can be independently controlled, the focus position of the ultrasonic imaging probe can be changed in a certain space range by controlling the excitation voltage and the phase signal of the multi-array element phase-control focusing ultrasonic transducer, and the rotating shaft of the ultrasonic imaging probe, the middle shaft of the ultrasonic imaging probe and the multi-array element focusing ultrasonic transducer are coaxially arranged.
3. The ultrasonic treatment head motion control device and the ultrasonic treatment head motion control method focusing on the large-range target area according to claim 1, is characterized in that: the left-right direction movement module of the swing control module is vertical to the rotary table of the left-right direction movement module, and the centers of the left-right direction movement module and the rotary table are positioned on the same horizontal plane; and the intersection point of the rotating shafts of the two turntables is positioned on the straight line of the beam axis of the multi-array element focused ultrasonic transducer.
4. The motion control device of the ultrasonic treatment head with the focus of the large-scale target area according to claim 1, wherein: and the turntable of the swing control module and the turntable connected to the ultrasonic imaging probe are both provided with corresponding limit sensors for limiting the rotation range of the ultrasonic imaging probe.
5. The motion control device of the ultrasonic treatment head with the focus of the large-scale target area according to claim 1, wherein: after the swing control module swings and drives the ultrasonic imaging probe, the distance between the position of the geometric focus and the beam axis of the multi-array element phase-control focusing ultrasonic transducer meets the following formula:
x1: x coordinates of the position of the geometrical focus after swinging;
y1: the y coordinate of the position of the geometrical focus after swinging;
d: the distance between the position of the geometrical focus after swinging and the beam axis of the multi-array element phase-control focusing ultrasonic transducer.
After the swing control module swings to drive the ultrasonic imaging probe, the position coordinate of the geometrical focus after swinging meets the following formula:
r: the swing radius of the treatment head (10);
z1: and (5) swinging the z coordinate of the position of the geometric focus.
6. The motion control device of the ultrasonic treatment head with the focus of the large-scale target area according to claim 1, wherein: after the swing control module swings to drive the ultrasonic imaging probe, the swing angles in the left, right and front and back directions meet the following formula:
α: the therapeutic head (10) swings left and right by an angle;
beta: the therapeutic head (10) swings back and forth by an angle.
7. The motion control device of the ultrasonic treatment head with the focus of the large-scale target area according to claim 1, wherein: the first rotary table (3), the second rotary table (5) and the third rotary table (7) are all electric indexing rotary tables.
8. A treatment method comprising the ultrasonic treatment head movement control device according to any one of claims 1 to 8, characterized by further comprising the steps of:
s1, dividing the target area into different treatment units;
s2, filling different treatment units with focus areas with set sizes;
s3, swinging the treatment head (10), irradiating the positions of the planned focuses in different treatment units, and simultaneously rotating the ultrasonic imaging probe to observe the change of the gray scale of the ultrasonic image during irradiation for real-time monitoring.
9. A method of treatment according to claim 8, wherein: the treatment head (10) is vertically moved and swung to enable the geometric center of the treatment head to be located at the center of the treatment unit, and the imaging surface of the ultrasonic imaging probe penetrates through the current treatment point in the treatment unit, namely the position of the electronic deflection focus.
10. A method of treatment according to claim 8, wherein: and when the corresponding plan focus is irradiated, rotating the ultrasonic imaging probe to enable an imaging surface to pass through the point, observing an ultrasonic image during irradiation to monitor in real time, wherein the size of the treatment unit is smaller than the electronic deflection range of the phased focusing ultrasonic transducer with the multiple array elements, and the swing angle and the rotation angle of the ultrasonic imaging probe are obtained by calculation according to the geometric center of the treatment unit and the current irradiation focus position in the treatment unit respectively.
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| PCT/CN2021/106448 WO2022012619A1 (en) | 2020-07-17 | 2021-07-15 | Motion control device of ultrasonic treatment head for large-range target area focusing |
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| WO2022012619A1 (en) * | 2020-07-17 | 2022-01-20 | 中惠医疗科技（上海）有限公司 | Motion control device of ultrasonic treatment head for large-range target area focusing |
| CN114082115A (en) * | 2021-12-27 | 2022-02-25 | 南京麦澜德医疗科技股份有限公司 | Automatic organ wriggling ultrasonic treatment equipment for relieving postpartum uterine contraction pain |
| WO2022126896A1 (en) * | 2020-12-17 | 2022-06-23 | 上海沈德医疗器械科技有限公司 | Five-degree-of-freedom therapeutic focus positioning device for magnetic resonance guidance |
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| CN102019044B (en) * | 2010-12-09 | 2012-07-04 | 上海交通大学 | Tumor treating system fusing phased high intensity focused ultrasound (PHIFU) and magnetic resonance |
| US10098539B2 (en) * | 2015-02-10 | 2018-10-16 | The Trustees Of Columbia University In The City Of New York | Systems and methods for non-invasive brain stimulation with ultrasound |
| CN106730428B (en) * | 2016-12-13 | 2024-01-23 | 中惠医疗科技（上海）有限公司 | Tumor ablation treatment mechanical device with force position control and protection functions |
| US20210196229A1 (en) * | 2018-05-30 | 2021-07-01 | The Johns Hopkins University | Real-time ultrasound monitoring for ablation therapy |
| CN110559565A (en) * | 2019-10-16 | 2019-12-13 | 无锡海鹰医疗科技股份有限公司 | Ultrasonic spherical curved surface scanning three-dimensional body treatment device and using method thereof |
| CN111821589B (en) * | 2020-07-17 | 2021-03-26 | 中惠医疗科技（上海）有限公司 | Ultrasonic treatment head motion control device with large-range target area focusing |
-
2020
- 2020-07-17 CN CN202010690249.5A patent/CN111821589B/en active Active
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2021
- 2021-07-15 WO PCT/CN2021/106448 patent/WO2022012619A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022012619A1 (en) * | 2020-07-17 | 2022-01-20 | 中惠医疗科技（上海）有限公司 | Motion control device of ultrasonic treatment head for large-range target area focusing |
| WO2022126896A1 (en) * | 2020-12-17 | 2022-06-23 | 上海沈德医疗器械科技有限公司 | Five-degree-of-freedom therapeutic focus positioning device for magnetic resonance guidance |
| CN114082115A (en) * | 2021-12-27 | 2022-02-25 | 南京麦澜德医疗科技股份有限公司 | Automatic organ wriggling ultrasonic treatment equipment for relieving postpartum uterine contraction pain |
| CN114082115B (en) * | 2021-12-27 | 2023-10-27 | 南京麦澜德医疗科技股份有限公司 | Automatic ultrasonic therapy equipment for relieving postpartum uterine pain through organ peristalsis |
Also Published As
| Publication number | Publication date |
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| WO2022012619A1 (en) | 2022-01-20 |
| CN111821589B (en) | 2021-03-26 |
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