CN115389002A - Pressure pulse measuring device and method of external shock wave lithotripter - Google Patents
Pressure pulse measuring device and method of external shock wave lithotripter Download PDFInfo
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- CN115389002A CN115389002A CN202211023867.XA CN202211023867A CN115389002A CN 115389002 A CN115389002 A CN 115389002A CN 202211023867 A CN202211023867 A CN 202211023867A CN 115389002 A CN115389002 A CN 115389002A
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
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Abstract
A pressure pulse measuring device and a method of an external shock wave lithotripter are provided, wherein the pressure pulse measuring device comprises a positioning mechanism, a needle type hydrophone, an oscilloscope, a driver and a controller. The controller includes a recording module, a planning module, and an analysis module. The needle type hydrophone is fixed on the positioning mechanism and is connected with the oscilloscope. The planning module is used for presetting a focal domain range and sending the focal domain range to the analysis module. The analysis module is used for analyzing and generating focal domain displacement information according to the focal domain range and the position information of the real focus and sending the focal domain displacement information to the driver. The driver is used for driving the positioning mechanism to move. The positioning mechanism is used for driving the needle type hydrophone to move so as to search a focal domain range point of the shock wave source. And after the focal domain range point is found, searching the next focal domain range point according to the focal domain range and the position information of the current focal domain range point. The designed pressure pulse measuring device can measure the pressure pulse in a more accurate, efficient and convenient mode.
Description
Technical Field
The application relates to the technical field of sound field characteristics and measurement of medical external shock wave lithotripters, in particular to a pressure pulse measuring device and method of an external shock wave lithotripter.
Background
At present, the pressure pulse measurement of the external shock wave lithotripter mainly adopts a three-dimensional moving device, and the three-dimensional moving device is moved manually to position a measurement space point. Specifically, three vernier calipers with the measuring range of 200mm are mechanically connected to form a coordinate positioning system capable of adjusting the position in the three directions of x-y-z, coordinates in the three directions of x-y-z are manually adjusted, then shock waves are released, and shock wave signals are collected to an oscilloscope through a hydrophone.
Generally, to better evaluate the performance of the shockwave, multiple focal domain range points need to be measured. At this time, although the hydrophone is moved by manually adjusting the coordinate positioning system, shock wave signals on a plurality of focal domain range points can be acquired, the hydrophone has the following defects: firstly, the reciprocating adjustment time is long, the efficiency is low, and the service life of the hydrophone can be influenced, or the hydrophone is damaged in the middle of measurement due to the overlong service time of the hydrophone, and the whole measurement data is incomplete, so that the condition that the measurement needs to be carried out again occurs. Secondly, the three-dimensional coordinates are manually adjusted, the debugging accuracy is not good, generally, a random direction is measured, focal domain range points on the whole plane cannot be measured, and the measurement on the same height plane cannot be guaranteed, so that the performance of the shock wave source is not well evaluated.
Disclosure of Invention
The application provides a pressure pulse measuring device and method of external shock wave lithotripter, and its main aim at carries out pressure pulse measurement with a more accurate, high-efficient, convenient mode.
According to a first aspect of the application, there is provided a pressure pulse measuring device of an extracorporeal shock wave lithotripter, comprising: the device comprises a positioning mechanism, a needle type hydrophone, an oscilloscope, a driver and a controller; the controller comprises a recording module, a planning module and an analysis module;
the needle type hydrophone is fixed on the positioning mechanism and is connected with the oscilloscope, and the needle type hydrophone is used for sending the acquired shock wave information to the oscilloscope;
the planning module is used for presetting a focal domain range and sending the focal domain range to the analysis module;
the analysis module is used for analyzing and generating focal domain displacement information according to the focal domain range and the position information of the real focal point and sending the focal domain displacement information to the driver;
the driver is used for driving the positioning mechanism to move according to the focal domain displacement information;
the positioning mechanism is used for driving the needle type hydrophone to move so as to search a focal domain range point of the shock wave source;
when the focal domain range point is found, the stylus hydrophone triggers the oscilloscope, and the triggered oscilloscope is used for sending the position information of the focal domain range point to the recording module; the recording module is used for receiving and recording the position information of the focal domain range points, and the recording module is also used for sending the position information of the focal domain range points to the analysis module; and after the analysis module receives the position information of the focal domain range point, the analysis module stops driving the positioning mechanism through the driver, the analysis module is used for analyzing and generating the next focal domain displacement information according to the focal domain range and the position information of the current focal domain range point, and the next focal domain displacement information is used for searching the next focal domain range point.
In one embodiment, the focal domain displacement information includes preset three-dimensional information that the needle hydrophone needs to move and a preset angle that the needle hydrophone needs to rotate.
In one embodiment, the planning module is further configured to send initial location information to the driver;
the driver is further used for driving the coordinate position of the positioning mechanism to be initialized and zeroed according to the initial position information, and the initial position information is used for enabling the needle end of the needle type hydrophone to be aligned with the needle end of the positioning needle on the shock wave source;
the planning module is further used for sending the initial position information to the analysis module;
the analysis module is also used for analyzing and generating focus displacement information according to the initial position information and sending the focus displacement information to the driver;
after the coordinate position of the positioning mechanism is initialized to zero, the driver is also used for driving the positioning mechanism to move according to the focal point displacement information;
the positioning mechanism is also used for driving the needle type hydrophone to move so as to search a real focus of the shock wave source;
when a real focus is found, the stylus hydrophone triggers the oscilloscope, the triggered oscilloscope is used for sending the position information of the real focus to the recording module, the recording module is used for receiving and recording the position information of the real focus, and the recording module is also used for sending the position information of the real focus to the analysis module; and after the analysis module receives the position information of the real focus, the analysis module stops driving the positioning mechanism through the driver, and the analysis module is used for analyzing and generating the focal domain displacement information according to the focal domain range and the position information of the real focus.
In one embodiment, the system further comprises a sending module, wherein the sending module is configured to receive initial position information sent by the planning module and send the initial position information to the driver; the sending module is further configured to receive the focal region displacement information or the focal point displacement information sent by the analyzing module, and send the focal region displacement information or the focal point displacement information to the driver.
In one embodiment, the system further comprises a key module, and the planning module is further configured to send the initial position information and the focal range to the key module; the recording module is further configured to send position information of the real focus or position information of the focus domain range point to the key module; the key module is used for inputting the focus displacement information to the driver according to the initial position information;
when the key module receives the position information of the real focus, the key module stops driving the positioning mechanism through the driver, the key module is used for analyzing and generating the focal domain displacement information according to the focal domain range and the position information of the real focus, and the key module is also used for sending the focal domain displacement information to the driver;
and after the key module receives the position information of the focal range point, the key module stops driving the positioning mechanism through the driver, the key module is used for analyzing and generating the next focal range displacement information according to the focal range and the position information of the current focal range point, and the key module is also used for sending the next focal range displacement information to the driver.
In one embodiment, the system further comprises a graph generation module, a focus domain deviation module and a display module; the planning module is further configured to send the focal domain range to the focal domain deviation module; the recording module is further configured to send both the position information of the real focus and the position information of the focus domain range point to the graph generating module and the focus domain deviation module; the image generation module is used for describing a focal region range image according to the position information of the real focal point and the position information of the focal region range point and sending the focal region range image to the display module; the focal domain deviation module is used for comparing the position information of the real focal point and the position information of the focal domain range point with a preset focal domain range to calculate a deviation value and sending the deviation value to the display module; the display module is used for displaying the focal region range graph and the deviation value.
In one embodiment, the positioning mechanism comprises a first positioning assembly, a second positioning assembly and a third positioning assembly, and the needle type hydrophone is fixed on the third positioning assembly;
the first positioning assembly is used for driving the second positioning assembly and the third positioning assembly to move along a first direction, the second positioning assembly is used for driving the third positioning assembly to move along a second direction, the third positioning assembly is used for driving the needle type hydrophone to move towards or away from one side of the shock wave source along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.
In one embodiment, the motors of the first positioning assembly, the second positioning assembly and the third positioning assembly are respectively connected with the driver.
In one embodiment, the positioning mechanism further comprises a plurality of position detection sensors, and each position detection sensor is arranged on each motor on the positioning mechanism; the position detection sensor is connected with the controller and used for feeding back position information to the controller; the controller is used for controlling the rotation of the transmission shaft on the motor through the driver according to the position information.
According to a second aspect of the present application, there is provided a pressure pulse measurement method of an extracorporeal shock wave lithotripter, comprising:
presetting a focal domain range, namely presetting a corresponding focal domain range according to a shock wave source;
generating focal domain displacement information, namely analyzing and generating focal domain displacement information according to the preset focal domain range and the position information of the real focus;
a step of searching focal region range points, in which a needle type hydrophone is fixed on a positioning mechanism, and the positioning mechanism drives the needle type hydrophone to move according to the focal region displacement information so as to search the focal region range points;
generating next focal domain displacement information, and after finding the focal domain range point, analyzing and generating the next focal domain displacement information according to the preset focal domain range and the position information of the current focal domain range point;
searching a next focal region range point, wherein the positioning mechanism drives the needle type hydrophone to move according to the next focal region displacement information so as to search the next focal region range point;
when the focal domain range point needs to be continuously searched after the next focal domain range point is found, continuously and sequentially executing the step of generating the next focal domain displacement information and the step of searching the next focal domain range point; the focal region displacement information comprises preset three-dimensional information that the needle type hydrophone needs to move and a preset angle that the needle type hydrophone needs to rotate.
According to the pressure pulse measuring device of the extracorporeal shock wave lithotripter in the embodiment, firstly, the planning module presets a focal region range, the focal region range is sent to the analysis module, the analysis module analyzes the focal region range and the position information of the real focus to generate focal region displacement information, the focal region displacement information is sent to the driver, the driver drives the positioning mechanism according to the focal region displacement information, and the positioning mechanism drives the needle type hydrophone on the positioning mechanism to move under the action of the focal region displacement information to find out focal region range points. Secondly, after the first focal domain range point is found, the analysis module can continue to analyze and generate new focal domain displacement information according to the focal domain range and the position information of the current focal domain range point, and the next focal domain range point is found through the focal domain displacement information. After the next focal domain range point is found, the next focal domain range point can be continuously found, and by analogy, a plurality of focal domain range points can be found. Through planning module and analysis module, can be fast, accurate analysis generates focus domain displacement information, and then can find a plurality of focus domain scope points fast for acquisition of focus domain scope point is more accurate, high-efficient, convenient, is showing to shorten pressure pulse measurement cycle, and can shorten the live time of needle type hydrophone, and then prolongs the life of needle type hydrophone, reduces measurement cost. Through the recording module, can be timely will seek a plurality of burnt domain scope point records that find, the burnt domain scope figure that the later stage research shock wave source of being convenient for produced also is convenient for and predetermines burnt domain scope comparison and obtain the deviation value, and then helps assessing the performance of shock wave source better.
Drawings
FIG. 1 is a schematic structural diagram of a pressure pulse measurement device according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a positioning mechanism according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a controller according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a controller according to another embodiment of the present application;
FIG. 5 is a schematic view of a partial structure of a pressure pulse measuring device according to an embodiment of the present application;
FIG. 6 is a diagram illustrating a preset focal range in an embodiment of the present application;
FIG. 7 is a focal domain range diagram according to an embodiment of the present application;
FIG. 8 is a deviation graph of the pre-set focal range and the focal range pattern in an embodiment of the present application.
Description of reference numerals: 10. the device comprises a positioning mechanism, 20 needle type hydrophone controllers, 30 oscilloscopes, 40 drivers, 50 controllers, 60 shock wave generators, 70 water buckets, 80 position detection sensors, 11 first positioning assemblies, 12 second positioning assemblies, 13 third positioning assemblies, 111 first motors, 112 first lead screws, 113 first transmission blocks, 121 second motors, 122 second lead screws, 123 second transmission blocks, 51 recording modules, 52 planning modules, 53 analysis modules, 54 sending modules, 55 key modules, 56 graph generating modules, 57 focal region deviation modules and 58 display modules.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
In one embodiment, as shown in fig. 1-5, a pressure pulse measuring device of an extracorporeal shock wave lithotripter comprises: positioning mechanism 10, needle hydrophone 20, oscilloscope 30, driver 40, and controller 50. The controller 50 includes a recording module 51, a planning module 52, and a parsing module 53.
The pin type hydrophone 20 is fixed on the positioning mechanism 10, the pin type hydrophone 20 is connected with the oscilloscope 30, and the pin type hydrophone 20 is used for sending the acquired shock wave information to the oscilloscope 30.
The planning module 52 is configured to preset a focal range and send the focal range to the analysis module 53.
The analysis module 53 is configured to generate focal domain displacement information according to the focal domain range and the position information of the real focus, and send the focal domain displacement information to the driver 40.
The driver 40 is used for driving the positioning mechanism 10 to move according to the focal domain displacement information.
The positioning mechanism 10 is used for driving the needle hydrophone 20 to move so as to find the focal range point of the shock wave source.
When the focal domain range point is found, the stylus hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 is configured to send the position information of the focal domain range point to the recording module 51. The recording module 51 is configured to receive and record the position information of the focus domain range point, and the recording module 51 is further configured to send the position information of the focus domain range point to the parsing module 53. When the analysis module 53 receives the position information of the focus range point, the analysis module 53 stops driving the positioning mechanism 10 through the driver 40, and the analysis module 53 is further configured to analyze and generate next focus range displacement information according to the focus range and the position information of the current focus range point, where the next focus range displacement information is used to find the next focus range point.
With the pressure pulse measurement device (pressure pulse measurement device for short) of the extracorporeal shock wave lithotripter in the above embodiment, first, the planning module 52 presets the focal range, and sends the focal range to the analysis module 53, the analysis module 53 analyzes the focal range and the position information of the real focus to generate focal displacement information, and sends the focal displacement information to the driver 40, the driver 40 drives the positioning mechanism 10 according to the focal displacement information, and the positioning mechanism 10 drives the needle hydrophone 20 thereon to move under the action of the focal displacement information, so as to find the focal range point. Secondly, after finding the first focus domain range point, the analysis module 53 can continue to analyze and generate new focus domain displacement information according to the focus domain range and the position information of the current focus domain range point, and find the next focus domain range point through the focus domain displacement information. After the next focal domain range point is found, the next focal domain range point can be continuously found, and by analogy, a plurality of focal domain range points can be found. Through planning module 52 and analysis module 53, can be fast, accurate analysis generates focus domain displacement information, and then can find a plurality of focus domain scope points fast for the acquisition of focus domain scope point is more accurate, high-efficient, convenient, is showing to shorten pressure pulse measurement cycle, and can shorten the live time of needle type hydrophone 20, and then prolongs the life of needle type hydrophone 20, reduces measurement cost. Through the recording module 51, a plurality of focus domain range points which can be found can be timely recorded, focus domain range graphs generated by the shock wave source can be conveniently researched in the later stage, deviation values can be conveniently obtained by comparing with preset focus domain ranges, and therefore the performance of the shock wave source can be better evaluated.
The focal region displacement information includes preset three-dimensional information that the needle hydrophone 20 needs to move and a preset angle that the needle hydrophone needs to rotate. The preset three-dimensional information comprises three-dimensional fine adjustment information and a preset radius at the same height, the preset radius is determined according to a preset focal region range, and the preset focal region range is determined according to the adopted shock wave generator 60.
When the positioning mechanism 10 moves the needle type hydrophone 20 thereon, the needle type hydrophone 20 is moved to a preset radius position corresponding to the same height or the same horizontal plane, then the needle type hydrophone 20 is horizontally rotated to a preset angle position, and finally the position of the needle type hydrophone 20 is finely adjusted through three-dimensional fine adjustment information to find a focal region range point. In other embodiments, the needle hydrophone 20 may be moved to a predetermined radius at the same height after the needle hydrophone 20 is horizontally rotated by a predetermined angle.
For the first focus domain range point found, the preset angle is 0 °, and for the next focus domain range point, the preset angle is an angle which is increased by a fixed angle on the basis of the original preset angle, for example, 10 °, and then is rotated by 10 ° one by one, so as to obtain a plurality of focus domain range points on different circumferential positions.
Taking a preset radius of 6mm as an example, because a deviation exists between the target focus and the real focus, and a deviation exists between the current focal range and the actually generated focal range, the needle-type hydrophone 20 which reaches the position of the preset radius needs to be subjected to three-dimensional fine adjustment on the basis of the rotation preset angle. The three-dimensional fine adjustment information includes a fixed distance of forward and backward, left and right, and up and down movement, and the forward and backward, left and right, and up and down fine adjustment is performed, for example, in units of 1mm, and the movement is stopped until the focus range point is satisfied. Taking the front and back as an example, a movement unit of 1mm means a movement of +1mm forward or a movement of-1 mm backward, i.e., a movement interval of 2mm in the front-back direction. When aiming at detecting focus on the same planeWhen the focal range points are located, the moving distance in the up-down direction is set to 0mm, and a plurality of focal range points approximately distributed circumferentially on the same horizontal plane can be obtained by sequentially rotating the needle type hydrophones 20 according to a preset angle. The voltage value corresponding to the focal domain range point is less than and close to a half value (1/2U) of the maximum voltage value of the shock wave source max ) For example, voltage value and 1/2U measured when the needle type hydrophone 20 is used max Is not more than 1/2U max And when the voltage value is 10 percent, the position point corresponding to the measured voltage value is the focal domain range point.
The planning module 52 is also operable to send initial position information to the drive 40. The driver 40 is further configured to drive the coordinate position of the positioning mechanism 10 to initialize the zero based on the initial position information, which is used to align the needle end of the needle hydrophone 20 with the needle end of the positioning needle on the shockwave source, i.e., to align the needle end of the needle hydrophone 20 with the needle tip of the positioning needle when the needle hydrophone 20 is moved to the initial position information.
The target focus is typically set by aligning the needle end of the needle hydrophone 20 with the tip of the locator needle, which is on the shock wave generator 60. However, because there is a deviation between the real focus and the target focus, the planning module 52 is also used to send initial position information to the parsing module 53. The analyzing module 53 is further configured to analyze and generate the focal point displacement information according to the initial position information, and send the focal point displacement information to the driver 40. After the coordinate position of the positioning mechanism 10 is initialized to zero, the driver 40 is further configured to drive the positioning mechanism 10 to move according to the focal point displacement information. The positioning mechanism 10 is also used to move the needle hydrophone 20 to find the true focus of the shock wave source.
When the real focus is found, the stylus hydrophone 20 triggers the oscilloscope 30, the triggered oscilloscope 30 is configured to send the position information of the real focus to the recording module 51, the recording module 51 is configured to receive and record the position information of the real focus, and the recording module 51 is further configured to send the position information of the real focus to the analyzing module 53. When the analysis module 53 receives the position information of the real focus, the analysis module 53 stops driving the positioning mechanism 10 through the driver 40, and the analysis module 53 is further configured to analyze and generate the focal range displacement information according to the focal range and the position information of the real focus.
The needle end of the needle hydrophone 20 and the tip of the positioning needle can be aligned by the planning module 52, the driver 40 and the positioning mechanism 10 to find the target focus. By further analyzing and generating the focal point displacement information and combining the driver 40 and the positioning mechanism 10, the needle hydrophone 20 can be accurately and quickly assisted to find the real focal point, and the pressure pulse measurement period is shortened. In other embodiments, aligning the needle end of the needle hydrophone 20 with the tip of the alignment needle may also be accomplished manually.
Preferably, a sending module 54 is further included, and the sending module 54 is configured to receive the initial position information sent by the planning module 52 and send the initial position information to the driver 40. The sending module 54 is further configured to receive the focal length displacement information or the focal length displacement information sent by the analyzing module 53, and send the focal length displacement information or the focal length displacement information to the driver 40.
As shown in fig. 3, the recording module 51 is connected to the planning module 52, the planning module 52 is connected to the analysis module 53, the analysis module 53 is connected to the transmission module 54, and the transmission module 54 is connected to the driver 40. Alternatively, as shown in fig. 4, the recording module 51 is connected to the planning module 52 and the analysis module 53, the analysis module 53 is connected to the planning module 52 and the sending module 54, and the planning module 52 may be indirectly connected to the sending module 54 through the analysis module 53, or the planning module 52 is directly connected to the sending module 54.
As shown in fig. 3, the system further includes a key module 55, and the planning module 52 is further configured to send the initial position information and the focal range to the key module 55. The recording module 51 is further configured to send the position information of the real focus point or the position information of the focus range point to the key module 55. The key module 55 is used to input focus displacement information to the actuator 40 according to the initial position information.
When the key module 55 receives the position information of the real focus, the key module 55 stops driving the positioning mechanism 10 through the driver 40, the key module 55 is further configured to generate focus domain displacement information according to the focus domain range and the position information of the real focus, and the key module 55 is further configured to send the focus domain displacement information to the driver 40.
When the key module 55 receives the position information of the focal range point, the key module 55 stops driving the positioning mechanism 10 through the driver 40, the key module 55 is further configured to generate the next focal range displacement information by analyzing according to the focal range and the position information of the current focal range point, and the key module 55 is further configured to send the next focal range displacement information to the driver 40.
The key module 55 is a spare module, and when the analysis module 53 fails, the key module 55 may manually send corresponding information to the driver 40, for example, send initial position information to the driver 40 through the key module 55, so that the driver 40 drives the positioning mechanism 10 to act to align the needle end of the needle type hydrophone 20 with the needle tip of the positioning needle. As shown in fig. 3, the key module 55 is connected to the recording module 51, the planning module 52 and the sending module 54, and the key module 55 indirectly sends corresponding information to the driver 40 through the sending module 54. In other embodiments, the parsing module 53 may not be provided, and the function of the parsing module 53 may be replaced by the key module 55.
As shown in fig. 3-4, a graph generation module 56, a focus domain deviation module 57, and a display module 58 are also included. The focus domain deviation module 57 is connected to the recording module 51 and the display module 58, respectively, the graph generation module 56 is connected to the recording module 51 and the display module 58, respectively, and the focus domain deviation module 57 is directly connected to the planning module 52 or indirectly connected to the planning module 52 through the recording module 51 and the planning module 52.
The planning module 52 is also configured to send the focal domain range to the focal domain deviation module 57. The recording module 51 is further configured to send the position information of the real focus and the position information of the focus range point to the graph generating module 56 and the focus range deviation module 57. The graphic generation module 56 is configured to render a focus area range graphic according to the position information of the real focus point and the position information of the focus area range point, and send the focus area range graphic to the display module 58. The focus domain deviation module 57 is configured to compare the position information of the real focus and the position information of the focus domain range point with a preset focus domain range to calculate a deviation value, and send the deviation value to the display module 58. The display module 58 is used for displaying the focus area range graph and the deviation value.
The image generation module 56 is arranged, so that the focal region range image can be quickly and accurately acquired. The focal domain deviation module 57 is arranged, so that deviation values between focal domain range graphs corresponding to the multiple focal domain range points and a preset focal domain range can be calculated conveniently and accurately, and the performance of the shock wave source can be better evaluated through the deviation values. The shock wave source information is acquired by a mechanical automation mode instead of manual work, so that the method is more efficient. The shock wave source information comprises a focal domain range graph and a deviation value. And the obtained focal region range graph and the deviation value are more visually displayed by combining the display module 58, so that the research and the evaluation of the performance of the shock wave source are facilitated.
As shown in fig. 1-2, the positioning mechanism 10 includes a first positioning assembly 11, a second positioning assembly 12, and a third positioning assembly 13, and the needle hydrophone 20 is fixed to the third positioning assembly 13. The first positioning assembly 11 is used for driving the second positioning assembly 12 and the third positioning assembly 13 to move along a first direction, the second positioning assembly 12 is used for driving the third positioning assembly 13 to move along a second direction, the third positioning assembly 13 is used for driving the needle type hydrophone 20 to move close to or far away from one side of the shock wave source along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The first positioning assembly 11, the second positioning assembly 12 and the third positioning assembly 13 form a three-dimensional coordinate positioning mechanism, so that the position adjustment of the needle type hydrophone 20 is facilitated.
The motors on the first positioning assembly 11, the second positioning assembly 12 and the third positioning assembly 13 are respectively connected with the driver 40. Specifically, the first positioning assembly 11 includes a first motor 111, a first lead screw 112 and a first transmission block 113, the second positioning assembly 12 includes a second motor 121, a second lead screw 122 and a second transmission block 123, and the third positioning assembly 13 includes a third motor, a third lead screw and a third transmission block. The transmission shaft of the first motor 111 is connected with the first screw rod 112, the first transmission block 113 is sleeved on the first screw rod 112, and the first transmission block 113 is connected with the second motor 121. The transmission shaft of the first motor 111 rotates to synchronously drive the first screw rod 112 to rotate, and the first screw rod 112 drives the first transmission block 113 to move towards the direction close to or far away from the first motor 111. The first transfer block 113313, the second positioning assembly 12, the third positioning assembly 13, and the pin hydrophone 20 move synchronously. The transmission shaft of the second motor 121 is connected with the second screw 122, the second transmission block 123 is sleeved on the second screw 122, and the second transmission block 123 is connected with the third motor. The transmission shaft of the second motor 121 rotates to synchronously drive the second screw 122 to rotate, and the second screw 122 drives the second transmission block 123 to move towards the direction close to or away from the second motor 121. The second actuator block 123313, the third positioning assembly 13, and the needle hydrophone 20 move in synchronism. The needle hydrophone 20 is fixed on the third transmission block on the third positioning assembly 13 and moves along with the third transmission block relative to the third screw rod.
The first motor 111, the second motor 121 and the third motor are respectively connected with the driver 40, and the corresponding motors can be driven to work through the driver 40. As shown in fig. 5, the first motor 111 is taken as an example, and the first motor 111 is schematically connected to the driver 40. The driver 40 drives the transmission shaft of the first motor 111 to rotate forwards or backwards for a certain number of turns, so as to achieve the purpose of positioning the movable needle type hydrophone 20.
As shown in fig. 5, the positioning mechanism 10 further includes a plurality of position detection sensors 80, and one position detection sensor 80 is disposed on each motor of the positioning mechanism 10. The position detection sensor 80 is connected to the controller 50, and the position detection sensor 80 feeds back position information of the corresponding motor to the controller 50. The controller 50 is used to control the rotation of the transmission shaft on the motor through the driver 40 according to the position information. Taking the first motor 111 as an example, after the position detection sensor 80 on the first motor 111 acquires the position information corresponding to the first motor 111, the position information is fed back to the planning module 52, and the planning module 52 can send more accurate initial position information to the driver 40 or the analysis module 53 through the fed-back position information corresponding to the first motor 111.
The driver 40 adopted in the present application can specifically select a direct current servo driver, the controller 50 adopted can specifically select a servo controller, the motor in the positioning mechanism 10 can select a stepping motor, and the oscilloscope 30 is a digital storage dual-trace oscilloscope (the storage sampling frequency is not less than 100 MHz).
A pressure pulse measuring method of an external shock wave lithotripter comprises the following steps:
and presetting a focal domain range, namely presetting a corresponding focal domain range according to the shock wave source.
And generating focal domain displacement information, namely analyzing and generating focal domain displacement information according to a preset focal domain range and the position information of the real focus.
And a step of searching focal domain range points, in which the needle type hydrophone 20 is fixed on the positioning mechanism 10, and the positioning mechanism 10 drives the needle type hydrophone 20 to move according to the focal domain displacement information so as to search the focal domain range points.
And generating next focal domain displacement information, and analyzing and generating the next focal domain displacement information according to the position information of the preset focal domain range and the current focal domain range point after the focal domain range point is found.
And in the step of searching the next focal region range point, the positioning mechanism 10 drives the needle type hydrophone 20 to move according to the displacement information of the next focal region so as to search the next focal region range point.
And when the focal domain range point needs to be continuously searched after the next focal domain range point is found, continuously and sequentially executing the step of generating the next focal domain displacement information and the step of searching the next focal domain range point.
The focal domain displacement information includes preset three-dimensional information that the needle hydrophone 20 needs to move and a preset angle that needs to rotate.
A pressure pulse measuring method of an extracorporeal shock wave lithotripter is executed by the pressure pulse measuring device, and comprises the following steps:
and S1, searching a real focus.
And S2, searching focal domain range points.
In step S1, the step of finding a real focus specifically includes the following steps:
step S11, as shown in FIG. 1, a shock wave generator 60 is arranged at the bottom of the water tank 70, the end face of the shock wave generator 60 is vertically upward, a positioning pin is vertically arranged at the geometric center of the shock wave generator 60, and the positioning pin is used for positioning the target focus. The placing direction of the positioning needle is the z-axis direction, the in-vitro shock wave is described according to the 7 th measurement procedure in the GB/T16407-2006 standard, an x-y-z coordinate system is used, the z-axis direction is the sound beam axis direction, and the spatial characteristics of the wave beam are measured. Wherein the water bucket 70 is a hollow cylindrical bucket with a diameter of 200mm, a height of 300mm and a wall thickness of 8mm, and the water bucket 70 is made of organic glass material.
Step S12, the positioning mechanism 10 includes a first positioning assembly 11, a second positioning assembly 12, and a third positioning assembly 13, and the needle type hydrophone 20 is fixed on the third positioning assembly 13. The needle hydrophone 20 is moved by the positioning mechanism 10, the needle hydrophone 20 is placed directly above the positioning needle, and the needle end of the needle hydrophone 20 and the needle tip of the positioning needle are aligned. Initial position information of the needle hydrophone 20 at this time is acquired by the position detection sensor 80, and the initial position information is sent to the planning module 52.
And S13, horizontally and radially moving the needle type hydrophone 20 to the edge of the water bucket 70, removing the positioning needle, fixing the acoustic lens, and adding water into the water bucket 70 until the target focal point is higher than the target focal point by 2cm. After adding water, the planning module 52 sends the initial position information to the driver 40, and the driver 40 drives the positioning mechanism 10 according to the initial position information to move the needle hydrophone 20 to the target focus.
The position detection sensor 80 may also send position information of the current needle hydrophone 20 located at the edge of the bucket 70 to the planning module 52, the planning module 52 sends the initial position information and the position information of the edge of the bucket 70 to the analysis module 53, and the analysis module 53 analyzes and generates recovery displacement information to move the needle hydrophone 20 to the target focus again.
And S14, setting parameters of the oscilloscope 30, selecting a single-trigger mode, triggering the shock wave once to capture the waveform of the shock wave, and recording parameters such as the rising edge of the shock wave, the pulse width, the maximum voltage value and the minimum voltage value.
Step S15, taking the setting of the 16kV energy level as an example, starts the shock wave generator 60 to turn on the shock wave source, releases the shock wave, and observes the sound pressure pulse waveform using the oscilloscope 30. The planning module 52 sends the initial position information to the analysis module 53, the analysis module 53 analyzes the initial position information to generate focus displacement information, and sends the focus displacement information to the driver 40, and the driver 40 drives the positioning mechanism 10 to act according to the focus displacement information to move the needle hydrophone 20 to find a real focus. The focus displacement information includes unit displacement information along a first direction, a second direction, and a third direction, the first direction, the second direction, and the third direction being perpendicular to each other, the third direction being along a vertical direction or a z-axis direction.
Taking the unit displacement information of 1mm as an example, the positioning mechanism 10 moves 1mm on the horizontal plane in the first direction or the direction opposite to the first direction, and the position at the time of the voltage maximum value in the first direction is taken and recorded. The positioning mechanism 10 is moved 1mm in the second direction or the reverse direction of the second direction on the horizontal plane, and the position at the time of the voltage maximum in the second direction is taken and recorded. The positioning mechanism 10 is moved 1mm in the third direction or the reverse direction of the third direction on the horizontal plane, and the position at the time of the voltage maximum in the third direction is taken and recorded. And determining the position of the real focus on the horizontal plane through the position points recorded in the first direction and the second direction, determining the position information of the real focus on the space through the three position points recorded in the three directions, and recording the waveform maximum value and the waveform minimum value parameters at the real focus on the space. At the position of the real focus (corresponding to the real focus on the space) there is a maximum voltage value Umax.
The positioning needle is usually placed at a position 1-2mm away from the geometric center of the shock wave source, that is, the target focus to be searched is not a real focus, so that step S15 is required to search for the real focus, so as to accurately evaluate the performance of the shock wave source at a later stage.
In step S2, the step of finding the focal range point specifically includes the following steps:
and S21, presetting a focal range. The planning module 52 presets a corresponding focal range according to the shock wave source, and sends the focal range to the analysis module 53.
Step S22, focal domain displacement information is generated. When the real focus is found, the stylus hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the real focus to the recording module 51. The recording module 51 receives and records the position information of the real focus, and the recording module 51 sends the position information of the real focus to the parsing module 53. The analysis module 53 converts the focal range and the position information of the real focal point into digital signals through AD conversion, inputs the digital signals into a Micro Control Unit (MCU), converts the digital signals into focal range displacement information centered on the real focal point through the MCU, and sends the focal range displacement information to the driver 40.
And step S23, searching focal domain range points. The driver 40 drives the positioning mechanism 10 to move according to the focal domain displacement information, and the positioning mechanism 10 starts to act under the action of the driver 40 to drive the needle hydrophone 20 to move so as to search for a focal domain range point. The focal domain displacement information includes preset three-dimensional information that the needle hydrophone 20 needs to move and a preset angle that needs to rotate. The preset three-dimensional information comprises three-dimensional fine adjustment information and a preset radius at the same height, the preset radius is determined according to a preset focal region range, and the preset focal region range is determined according to the adopted shock wave generator 60.
Take the focus area range with a preset radius of 6mm as an example. Firstly, the needle type hydrophone 20 is moved to a position 6mm away from the real focus point to carry out primary measurement on a voltage value corresponding to a shock wave waveform, and the voltage value is compared with 1/2U max And (6) comparing. When the measured voltage value is less than 1/2U max And 1/2U max Is not more than a predetermined range (e.g., 1/2U) max 10%) the measured position point is the focal range point, and there is no need to move the needle hydrophone 20. If the measured voltage value does not meet the requirement of the focal domain range point, the needle type hydrophone 20 needs to be moved through the three-dimensional fine adjustment information, and the focal domain range point is continuously searched. For example, the unit of the three-dimensional fine adjustment information is set to 1mm, and the needle hydrophone 20 is moved back and forth, left and right, and up and down until the measured voltage value meets the voltage requirement of the focal range point, and the position of the measurement point is the focal range point.
When the focal range point is found, the stylus hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the focal range point to the recording module 51. The recording module 51 receives and records the position information of the focus range point, and the recording module 51 sends the position information of the focus range point to the analysis module 53.
And step S24, generating next focal region displacement information. When the focal range point is found, the analysis module 53 converts the position information of the focal range and the current focal range point into a digital signal through AD conversion, inputs the digital signal into a Micro Control Unit (MCU), converts the digital signal into the next focal range displacement information centered on the real focal point through the MCU, and sends the focal range displacement information to the driver 40.
And S25, searching the range point of the next focal region. The driver 40 drives the positioning mechanism 10 to move according to the focal domain displacement information, and the positioning mechanism 10 starts to act under the action of the driver 40 to drive the needle hydrophone 20 to move so as to find the next focal domain range point.
When the next focal domain range point is found, the stylus hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the next focal domain range point to the recording module 51. The recording module 51 receives and records the position information of the next focal range point, and the recording module 51 sends the position information of the next focal range point to the parsing module 53. When searching for the next focal range point, the needle hydrophone 20 is rotated by a predetermined angle, for example, 5 ° or 10 °.
After step S25, if it is necessary to continue searching for the focus domain range point, step S24 and step S25 are continuously repeated. The circumferential interval angle of adjacent focal range points is a fixed value, for example, the interval angle is 10 °, so when the focal range points are measured, the focal range points are sequentially rotated by 10 ° and rotated by one circle, and 37 focal range points can be obtained.
And S26, generating a focus range graph and an offset value. The planning module 52 sends the focal domain range to the focal domain deviation module 57. The recording module 51 sends both the position information of the real focus point and the position information of the focus range point to the graph generating module 56, and the recording module 51 also sends both the position information of the real focus point and the position information of the focus range point to the focus range deviation module 57. The image generating module 56 is used for drawing the focal range image according to the position information of the real focal point and the position information of the focal range point, and sending the focal range image to the display module 58. The focal region deviation module 57 compares the position information of the real focal point and the position information of the focal region range point with a preset focal region range, and obtains a deviation value by grid subdivision, and sends the deviation value to the display module 58. And displaying the focus range graph and the graph corresponding to the deviation value through the display module 58. As shown in fig. 6, a graphic of the preset focus area range is displayed for the display module 58. As shown in fig. 7, a focal region range graph corresponding to the actual shock wave source is displayed by the display module 58. As shown in fig. 8, the display module 58 displays a deviation pattern between the preset focus area range pattern and the actual focus area range pattern.
When focal domain range points at different heights need to be measured, the needle type hydrophone 20 is moved upwards or downwards through the third positioning assembly 13 on the positioning mechanism 10, and after the movement, if the focal domain range points need to be measured again and corresponding graphs are produced, the operation of the step 2 is carried out again.
The pressure pulse measuring device and the pressure pulse measuring method of the external shock wave lithotripter are mainly used for measuring the pressure pulse of the external shock wave lithotripter. In the process of searching for a real focus, three-dimensional movement can be performed in a coherent manner by analyzing the generated focus displacement information. And the individual tests are not carried out manually, so that the efficiency is higher. And through three-dimensional movement, the measurement can be comprehensively carried out to obtain the maximum voltage value, so that a more accurate real focus can be found, and a good foundation is laid for subsequent evaluation of the performance of the shock wave source. On the basis that the preset focal domain range corresponds, the measurement on the same radius can be guaranteed, and the three-dimensional fine adjustment is carried out on the same radius, so that the accurate focal domain range point can be found conveniently. By rotating the fixed angle at intervals, a plurality of focus domain range points which are uniformly distributed on the same circumference can be obtained. In the process of searching for different focal domain range points by the movable needle type hydrophone 20, the same height or the same horizontal plane can be well guaranteed. The method can obtain a plurality of focal domain range points, provide sufficient data for researching the shock wave source and ensure the accuracy of the result of researching the shock wave source. And moreover, the measured focal domain range graph corresponding to the focal domain range point and the graph corresponding to the deviation value can be visually displayed through the display module 58, so that the research on the performance of the shock wave source is facilitated. In summary, the pressure pulse measuring device or the pressure pulse measuring method of the extracorporeal shock wave lithotripter designed by the application can be used for researching the shock wave source performance more conveniently, efficiently and accurately with less interference, and can reduce the service time of the needle type hydrophone 20, thereby saving the service cost of the needle type hydrophone 20.
The present application has been described with reference to specific examples, which are provided only to facilitate the understanding of the present application and are not intended to limit the present application. Numerous simple deductions, modifications or substitutions may also be made by those skilled in the art to which the present application pertains, according to the idea of the present application.
Claims (10)
1. A pressure pulse measuring device of an external shock wave lithotripter is characterized by comprising: the device comprises a positioning mechanism, a needle type hydrophone, an oscilloscope, a driver and a controller; the controller comprises a recording module, a planning module and an analysis module;
the needle type hydrophone is fixed on the positioning mechanism and is connected with the oscilloscope, and the needle type hydrophone is used for sending the acquired shock wave information to the oscilloscope;
the planning module is used for presetting a focal domain range and sending the focal domain range to the analysis module;
the analysis module is used for analyzing and generating focal domain displacement information according to the focal domain range and the position information of the real focus and sending the focal domain displacement information to the driver;
the driver is used for driving the positioning mechanism to move according to the focal domain displacement information;
the positioning mechanism is used for driving the needle type hydrophone to move so as to search a focal domain range point of the shock wave source;
when the focal domain range point is found, the stylus hydrophone triggers the oscilloscope, and the triggered oscilloscope is used for sending the position information of the focal domain range point to the recording module; the recording module is used for receiving and recording the position information of the focal domain range points, and the recording module is also used for sending the position information of the focal domain range points to the analysis module; and after the analysis module receives the position information of the focal domain range point, the analysis module stops driving the positioning mechanism through the driver, the analysis module is used for analyzing and generating next focal domain displacement information according to the focal domain range and the position information of the current focal domain range point, and the next focal domain displacement information is used for searching the next focal domain range point.
2. The apparatus of claim 1, wherein the focal zone displacement information comprises a predetermined three-dimensional information of the needle hydrophone that needs to be moved and a predetermined angle of rotation.
3. The pressure pulse measuring device of an extracorporeal shock wave lithotripter of claim 1,
the planning module is further used for sending initial position information to the driver;
the driver is further used for driving the coordinate position of the positioning mechanism to be initialized and zeroed according to the initial position information, and the initial position information is used for enabling the needle end of the needle type hydrophone to be aligned with the needle end of the positioning needle on the shock wave source;
the planning module is further configured to send the initial location information to the parsing module;
the analysis module is also used for analyzing and generating focus displacement information according to the initial position information and sending the focus displacement information to the driver;
after the coordinate position of the positioning mechanism is initialized to zero, the driver is also used for driving the positioning mechanism to move according to the focal point displacement information;
the positioning mechanism is also used for driving the needle type hydrophone to move so as to search a real focus of the shock wave source;
when a real focus is found, the stylus hydrophone triggers the oscilloscope, the oscilloscope after being triggered is used for sending the position information of the real focus to the recording module, the recording module is used for receiving and recording the position information of the real focus, and the recording module is also used for sending the position information of the real focus to the analysis module; when the analysis module receives the position information of the real focus, the analysis module stops driving the positioning mechanism through the driver, and the analysis module is used for analyzing and generating the focal domain displacement information according to the focal domain range and the position information of the real focus.
4. The apparatus of claim 3, further comprising a transmitter module for receiving the initial position information from the planning module and transmitting the initial position information to the driver; the sending module is further configured to receive the focal region displacement information or the focal point displacement information sent by the analyzing module, and send the focal region displacement information or the focal point displacement information to the driver.
5. The apparatus of claim 3, further comprising a key module, wherein the planning module is further configured to send the initial position information and the focal zone range to the key module; the recording module is further configured to send position information of the real focus or position information of the focus domain range point to the key module; the key module is used for inputting the focus displacement information to the driver according to the initial position information;
when the key module receives the position information of the real focus, the key module stops driving the positioning mechanism through the driver, the key module is used for analyzing and generating the focal domain displacement information according to the focal domain range and the position information of the real focus, and the key module is also used for sending the focal domain displacement information to the driver;
and after the key module receives the position information of the focal range point, the key module stops driving the positioning mechanism through the driver, the key module is used for analyzing and generating the next focal range displacement information according to the focal range and the position information of the current focal range point, and the key module is also used for sending the next focal range displacement information to the driver.
6. The pressure pulse measurement device of an extracorporeal shock wave lithotripter of any one of claims 1-5, further comprising a graph generation module, a focal domain deviation module, and a display module; the planning module is further configured to send the focal domain range to the focal domain deviation module; the recording module is further configured to send both the position information of the real focus and the position information of the focus domain range point to the graph generating module and the focus domain deviation module; the image generating module is used for depicting a focal region range image according to the position information of the real focus and the position information of the focal region range point and sending the focal region range image to the display module; the focal domain deviation module is used for comparing the position information of the real focal point and the position information of the focal domain range point with a preset focal domain range to calculate a deviation value and sending the deviation value to the display module; the display module is used for displaying the focal region range graph and the deviation value.
7. The apparatus of claim 1, wherein the positioning mechanism comprises a first positioning assembly, a second positioning assembly, and a third positioning assembly, the needle hydrophone being secured to the third positioning assembly;
the first positioning assembly is used for driving the second positioning assembly and the third positioning assembly to move along a first direction, the second positioning assembly is used for driving the third positioning assembly to move along a second direction, the third positioning assembly is used for driving the needle type hydrophone to move towards or away from one side of the shock wave source along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.
8. The apparatus of claim 7, wherein the motors of the first positioning assembly, the second positioning assembly, and the third positioning assembly are coupled to the respective drivers.
9. The apparatus for measuring pressure pulses of an extracorporeal shock wave lithotripter of claim 8, further comprising a plurality of position detecting sensors, one of the position detecting sensors being disposed on each of the motors on the positioning mechanism; the position detection sensor is connected with the controller and used for feeding back position information to the controller; the controller is used for controlling the rotation of the transmission shaft on the motor through the driver according to the position information.
10. A pressure pulse measuring method of an external shock wave lithotripter is characterized by comprising the following steps:
presetting a focal domain range, namely presetting a corresponding focal domain range according to a shock wave source;
generating focal domain displacement information, namely analyzing and generating focal domain displacement information according to the preset focal domain range and the position information of the real focus;
a step of searching focal domain range points, in which a needle type hydrophone is fixed on a positioning mechanism, and the positioning mechanism drives the needle type hydrophone to move according to the focal domain displacement information so as to search the focal domain range points;
generating next focal domain displacement information, and analyzing and generating the next focal domain displacement information according to the preset focal domain range and the position information of the current focal domain range point after the focal domain range point is found;
searching a next focal region range point, wherein the positioning mechanism drives the needle type hydrophone to move according to the next focal region displacement information so as to search the next focal region range point;
when the focal domain range point needs to be continuously searched after the next focal domain range point is found, continuously and sequentially executing the step of generating the next focal domain displacement information and the step of searching the next focal domain range point; the focal region displacement information comprises preset three-dimensional information that the needle type hydrophone needs to move and a preset angle that the needle type hydrophone needs to rotate.
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| US20220018896A1 (en) * | 2020-07-20 | 2022-01-20 | Tektronix, Inc. | Test and measurement instrument accessory with reconfigurable processing component |
| US11815548B2 (en) * | 2020-07-20 | 2023-11-14 | Tektronix, Inc. | Test and measurement instrument accessory with reconfigurable processing component |
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