CN117180647A - Magnetic resonance guided high-intensity focused ultrasound treatment system and use method thereof - Google Patents

Abstract

The invention relates to a magnetic resonance guided high-intensity focused ultrasound treatment system and a use method thereof, wherein the treatment system comprises an ultrasound probe, a mammary gland manipulator and a radio frequency transceiver; the mammary gland manipulator is arranged on the radio frequency transceiver, and the free end of the mammary gland manipulator is connected with the ultrasonic probe; the ultrasonic probe extends into the radio frequency transceiver and is arranged towards the inside of the radio frequency transceiver. Compared with the prior art, the invention solves the problem that the prior art lacks a treatment system for treating breast diseases by adopting an MRI-HIFU technology, realizes the effective application of the MRI-HIFU technology in breast treatment, has higher safety and feasibility, and is expected to be a new choice for treating breast fibroadenoma.

Description

Magnetic resonance guided high-intensity focused ultrasound treatment system and use method thereof

Technical Field

The invention relates to an MRI-HIFU system, in particular to a treatment system of high-intensity focused ultrasound guided by magnetic resonance and a use method thereof.

Background

Common treatments for breast fibroadenomas include traditional surgery and cryoablation. In traditional surgery, fibroadenoma and surrounding tissue will be completely resected, leaving behind a scar after surgery. While cryoablation is the injection of extremely cold fluids into fibroadenomas to destroy tissue immediately, these fluids and destroyed cells will then be absorbed by the body within 6 months after surgery. However, both surgical excision and cryoablation present potential surgical risks and body hazards.

Magnetic resonance guided focused ultrasound (MRI-HIFU) therapy is a novel, non-invasive and effective treatment modality that images the treatment site by magnetic resonance, and then focuses the lesion area by high-energy ultrasound, based on cavitation and thermal effects of ultrasound, to kill the lesion, and eliminate the lesion. However, based on the search of the prior art, the application of magnetic resonance technology or ultrasound technology to the breast is only reflected in magnetic resonance scanning imaging and ultrasound guided penetration or ultrasound ablation, whereas clinically no combined treatment and suitable corresponding devices of both are seen. In view of the excellent effects of MRI-HIFU technology itself, it is desirable to develop a breast treatment system based on MRI-HIFU technology, which can provide non-invasive treatment and excellent therapeutic effects to patients in the treatment of breast.

Disclosure of Invention

The invention aims to solve at least one of the problems and provides a magnetic resonance guided high-intensity focused ultrasound treatment system and a use method thereof, so as to solve the problem that a treatment system for treating breast diseases by adopting an MRI-HIFU technology is lacked in the prior art, realize the effective application of the MRI-HIFU technology in breast treatment, have higher safety and feasibility, and are hopeful to become a new choice for treating breast fibroadenoma.

The aim of the invention is achieved by the following technical scheme:

the first aspect of the invention discloses a treatment system of magnetic resonance guided high-intensity focused ultrasound, which comprises an ultrasound probe, a mammary gland manipulator and a radio frequency transceiver;

the mammary gland manipulator is arranged on the radio frequency transceiver, and the free end of the mammary gland manipulator is connected with the ultrasonic probe; the ultrasonic probe extends into the radio frequency transceiver and is arranged towards the inside of the radio frequency transceiver.

Preferably, the radio frequency transceiver device comprises: the device comprises a mammary gland water sac, a mammary gland accommodating box, a mammary gland bracket and a mammary gland coil;

the mammary gland water bag is arranged in the mammary gland coil and limited by the mammary gland bracket, and the mammary gland accommodating box is arranged in the mammary gland water bag;

the ultrasonic probe is connected with the mammary gland water sac, and the ultrasonic probe is arranged towards the inside of the mammary gland accommodating box.

The radio frequency transceiver is mainly aimed at magnetic resonance positioning of the breast, when the radio frequency transceiver is used, the breast is placed in the breast accommodating box, the breast coil is used for carrying out magnetic resonance imaging on the breast to determine the position of a focus, and the breast manipulator is used for regulating and controlling the posture of the ultrasonic probe to enable the ultrasonic probe to be focused on the focus, and then ultrasonic treatment is carried out. The mammary gland bracket limits the mammary gland water sac and the mammary gland accommodating box, and the mammary gland water sac provides a conducting medium for ultrasonic waves.

Preferably, the ultrasonic probe is a phased array probe with a spherical crown structure; and/or the number of the groups of groups,

the ultrasonic probe is connected with a positioning structure and is used for assisting in acquiring a conversion matrix of a magnetic resonance coordinate system and an ultrasonic coordinate system; and/or the number of the groups of groups,

the ultrasonic probe is provided with a side outlet structure for intensively leading out the wire harness.

The ultrasonic probe with the spherical cap surface structure is convenient for controlling the orientation of a plurality of piezoelectric transducers which are assembled on the ultrasonic probe and used for generating ultrasonic waves to be always focused in the direction of the spherical center; the positioning structure is beneficial to the conversion between an ultrasonic coordinate system (mainly an ultrasonic probe) and a magnetic resonance coordinate system (mainly a breast coil) of the target point, so that the positioning accuracy is ensured; the side line outlet structure provides a specified access channel for lines connected to the piezoelectric transducer, so that entanglement and stacking between a large number of lines are avoided, normal movement of the ultrasonic probe is hindered, and carding is facilitated.

Further preferably, the ultrasonic probe comprises an ultrasonic base and a piezoelectric transduction assembly fitted within the ultrasonic base, the piezoelectric transduction assembly comprising a detachably linked piezoelectric transducer and ultrasonic transduction disc, the detachable connection comprising a threaded connection. The detachable connection can be used for quickly and independently replacing a single or partially damaged piezoelectric transducer, and compared with the adhesive connection in the prior art, the whole ultrasonic probe does not need to be abandoned; and the screw connection can determine key parameters such as assembly position, angle and the like, compared with the adhesive connection in the prior art, the problems of uneven ultrasonic field, large quality difference and the like caused by the problems of different using amounts of adhesives, uneven coating and the like are avoided.

Further preferably, the positioning structure is a positioning bracket, fixed to a side wall of the ultrasonic base, having a determined intersection point. The positioning support only relates to simple lines and planes when the conversion matrix is calculated, the equation is easy to obtain and the calculation is accurate, so that the conversion matrix is more accurate when the calculation is obtained, and the coordinate conversion between the ultrasonic coordinate system and the magnetic resonance coordinate system is more accurate.

Further preferably, the side wire outlet structure is a pair of symmetrically arranged wire outlets arranged on the side wall of the ultrasonic base and used for leading out a wire harness connected with the piezoelectric transducer, so that the movement obstruction of the tension of the wire harness to the mechanical structure is greatly slowed down, the ultrasonic probe is ensured to be adjusted to a required posture under the driving of the breast manipulator, and the reliability of the treatment system in the treatment process is improved.

Preferably, the side wall of the mammary gland water sac is connected with an external connection port, and the ultrasonic probe is connected with the mammary gland water sac through the external connection port; and/or the number of the groups of groups,

the mammary gland water sac is filled with destemming water as an ultrasonic medium.

The external connection port provides a definite interface for the assembly of the ultrasonic probe, and simultaneously, the positioning of the ultrasonic probe is also formed; the steam removal water is water for removing bubbles, so that the influence on the ultrasonic wave transmission direction is reduced, and the loss of ultrasonic energy is reduced.

Preferably, the side wall of the mammary gland water sac is provided with a liquid cooling interface which is used for connecting with external temperature control equipment to control the constant temperature of the desuperheating water; and/or the number of the groups of groups,

the external connection port is connected to the side wall of the mammary gland water sac through a flexible water sac telescopic sleeve.

The liquid cooling interface can lead the desquamation water out of the mammary gland water sac to exchange heat and then return the desquamation water back into the mammary gland water sac, and the desquamation water is controlled to be constant temperature so as to provide heat dissipation for the skin surface and avoid the scald of a patient caused by the ultrasonic energy; the flexible water sac telescopic sleeve provides a sufficient movement range for the ultrasonic probe, and when the ultrasonic probe moves along with the mammary gland manipulator, the flexible water sac telescopic sleeve also deforms along with the movement, so that the ultrasonic probe is prevented from falling out of the external connecting port to affect normal treatment.

Preferably, an ultrasonic window is arranged on the side wall of one side of the mammary gland accommodating box, and the ultrasonic probe is arranged towards the ultrasonic window; and/or the number of the groups of groups,

the mammary gland accommodating box is detachably assembled in the mammary gland water sac.

The ultrasonic window provides convenience for the passing of ultrasonic waves, reduces energy loss, improves the transmittance and further can improve the treatment effect; the detachable breast accommodating box can be correspondingly replaced with a breast accommodating box with a proper size according to the breast size of a patient, so that the problems of breast movement, extrusion deformation and the like in the treatment process can be avoided under the proper size, the treatment effect can be further improved, and the accurate treatment is ensured.

Preferably, the ultrasonic window comprises a compressing mechanism and an acoustic membrane, and the compressing mechanism is connected with the mammary gland accommodating box so that the acoustic membrane is limited between the compressing mechanism and the mammary gland accommodating box. The sound-transmitting membrane provides an ultrasonic path for ultrasonic wave penetration, and the design of the pressing mechanism ensures that the ultrasonic window part is kept well fixed and sealed.

Preferably, the mammary gland bracket is provided with a first positioning mechanism, the mammary gland coil is provided with a second positioning mechanism matched with the first positioning mechanism, the mammary gland water sac is provided with a third positioning mechanism which is penetrated by the first positioning mechanism, and the first positioning mechanism penetrates through the third positioning mechanism and is matched with the second positioning mechanism to enable the mammary gland bracket to press the mammary gland water sac on the mammary gland coil; and/or the number of the groups of groups,

the mammary gland accommodating box is supported on the mammary gland bracket.

Through the cooperation and the combination of multiple positioning mechanisms, the mammary gland bracket can fix the mammary gland water sac on the mammary gland coil, and the inaccurate positioning caused by displacement in the treatment process is avoided.

Further preferably, the mammary gland water sac is provided with a main water sac wing and a side water sac wing which extend outwards, a larger lamination area is provided when the mammary gland bracket laminates the mammary gland water sac on the mammary gland coil, lamination failure is avoided, and meanwhile, the main water sac wing and the side water sac wing can also provide a certain positioning function for the assembly of the mammary gland water sac; and/or the number of the groups of groups,

The breast accommodating box is provided with a limiting table matched with a limiting groove formed in the breast bracket, so that the breast accommodating box is limited after being assembled on the breast bracket; and/or the number of the groups of groups,

the mammary gland accommodation box is provided with an accommodation box main wing, so that the mammary gland accommodation box is supported and positioned on the mammary gland bracket.

Preferably, the treatment system further comprises an animal fixing device for fixing the experimental animal during animal experiments, and the animal fixing device is assembled on the mammary gland coil. The multi-object use of the treatment system can be realized by additionally arranging an animal fixing device, and the application range is excellent; the animal fixation device should be sized for proper scaling according to the subject being acted upon.

Preferably, the animal fixing device comprises an animal platform and a locking mechanism connected to the animal platform, and the experimental animal is limited by the locking mechanism after being placed on the animal platform. The setting of locking mechanism avoids experimental animals to influence treatment effect in the disorder of test in-process.

Further preferably, the animal fixing device further comprises a placement table connected with the animal platform through a connecting mechanism, and the placement table is used for placing instruments, medicines and the like used in the experimental process; the connecting mechanism comprises connecting plates which are respectively connected below the object placing table and the animal platform, the connecting plates on the object placing table side are connected with the connecting plates on the animal platform side through limiting plates which are arranged at intervals, the connection of the object placing table and the animal platform is completed, the spacing between the limiting plates corresponds to the spacing between the openings of the mammary gland coil, the limiting plates can be assembled in the openings of the cavity of the mammary gland coil, and the whole animal fixing device is fixed on the mammary gland coil.

Further preferably, the locking mechanism comprises symmetrically arranged locking components, and the experimental animal is arranged between the locking components; the locking assembly comprises a base plate fixedly connected with the animal platform, guide posts perpendicular to the base plate are arranged at four corners of the base plate, pushing plates parallel to the base plate are sleeved on the guide posts, the pushing plates are connected with the pushing plates through the end parts (the end heads penetrate through the pushing plates), the rod parts are in threaded connection with the knob of the base plate, the pushing plates move along the guide posts, the experimental animals are clamped, and after the experimental animals move in place, a clamping spring is sleeved at the end heads of the knob attached to the surface of the pushing plates to complete limiting locking. When the clamp is used, the space between the pushing plates at two sides of the experimental animal is adjusted through rotating the knob so as to clamp the experimental animal, and after the clamping springs are sleeved respectively, the animal experiment can be started after the limit is finished.

Preferably, the treatment system further comprises: a quick release device;

the mammary gland manipulator is connected with the radio frequency transceiver through the quick release device. The quick release device can rapidly switch locking and unlocking states, so that the locking and unlocking of the mammary gland manipulator can be rapidly switched, the system assembly time is greatly saved, and the test efficiency can be improved.

Preferably, the quick-release device comprises a base connected with the radio frequency transceiver and a crankshaft assembled in the base;

And a locking mechanism is arranged on the crankshaft, and the locking and unlocking of the quick release device are realized by rotating the crankshaft in the base. The locking mechanism can be attached to the mammary gland manipulator or away from the mammary gland manipulator through rotation, the mammary gland manipulator is limited by the locking mechanism during attachment, and the locking mechanism releases the locking of the mammary gland manipulator during detachment.

Further preferably, the base is provided with a communication hole for receiving the crankshaft and the locking mechanism to pass through. During locking, part of the locking mechanism is positioned in the communication hole, part of the locking mechanism is attached to the mammary gland manipulator, and the mammary gland manipulator is limited; and when the breast manipulator is unlocked, the locking mechanisms are all separated from the communication holes and are rotated to be separated from the breast manipulator, so that the unlocking is completed.

Preferably, the breast manipulator comprises a telescopic mechanism, a nodding mechanism and a swinging mechanism, wherein the telescopic mechanism is used for controlling telescopic movement of the ultrasonic probe along the z-axis, the nodding mechanism is used for controlling rotary movement of the ultrasonic probe around the x-axis, and the swinging mechanism is used for controlling rotary movement of the ultrasonic probe around the y-axis. The movement and rotation of the ultrasonic probe can be realized through the breast manipulator, the focusable range is enlarged, and more flexible treatment positions are provided.

Preferably, the telescopic mechanism controls telescopic movement along the z-axis by a driving motor; and/or the number of the groups of groups,

The nodding mechanism controls the rotary motion around the x axis through a first gearbox; and/or the number of the groups of groups,

the swing mechanism controls the rotation motion around the y axis through a second gearbox. The gearbox provides the speed change effect for the nodding mechanism and the swinging mechanism, and accurate regulation and control of the ultrasonic probe are achieved.

Further preferably, in the telescopic mechanism, the output of the driving motor is transmitted through a gear set, and the rotary motion is converted into linear motion through external threads on the screw rod; and/or the number of the groups of groups,

the first gearbox and the second gearbox are multi-stage reduction gearboxes, and have multi-stage reduction effects; and/or the number of the groups of groups,

the telescopic mechanism, the nodding mechanism and the swinging mechanism are connected in sequence, the telescopic mechanism directly acts on the nodding mechanism, the nodding mechanism directly acts on the swinging mechanism, and the swinging mechanism directly acts on the ultrasonic probe.

Preferably, the therapeutic system is made of a non-magnetic material.

The invention also discloses a method for using the magnetic resonance guided high-intensity focused ultrasound treatment system, wherein the radio frequency transceiver is used for magnetic resonance positioning, and the breast manipulator regulates and controls the posture of the ultrasound probe in the radio frequency transceiver to enable the ultrasound probe to focus towards a target point.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a magnetic resonance guided high-intensity focused ultrasound treatment system and a corresponding use method. The treatment mode does not need to leave scars on the skin, avoids the risk of cross infection, and has higher safety and feasibility. Based on guidance and imaging of magnetic resonance, temperature change and tissue damage condition can be detected in real time during ultrasonic focusing, so that real-time feedback can be provided for doctors, and treatment effect is further improved.

Compared with the traditional surgical excision and cryoablation, the treatment method of the magnetic resonance guided high-intensity focused ultrasound has fewer complications and risks, and is expected to become a new choice for treating breast diseases, especially breast fibroadenoma.

Drawings

FIG. 1 is a schematic exploded view of a therapeutic system during conventional treatment;

FIG. 2 is a schematic diagram of the therapeutic system in performing a small animal experiment;

FIG. 3 is a schematic diagram of the structure of an ultrasonic transducer in an ultrasonic probe;

FIG. 4 is a schematic view of the structure of a positioning structure in an ultrasonic probe;

FIG. 5 is a schematic view of a breast manipulator;

FIG. 6 is a schematic view of an exploded view of the quick release device;

FIG. 7 is a schematic view of a quick release device assembled to a breast coil;

fig. 8 is a schematic structural view of a breast manipulator assembled on a breast coil through a quick release device;

FIG. 9 is a schematic view of a breast water sac at one view angle;

FIG. 10 is a schematic view of a breast water sac at another view angle;

FIG. 11 is a schematic view of the sequential assembly of a breast water sac, a breast stent and a breast coil;

FIG. 12 is a schematic view of the assembled breast water sac, breast stent and breast coil;

FIG. 13 is a schematic view of the structure of the breast accommodating box;

FIG. 14 is a schematic view showing the structure of the mammary gland receiving box assembled to the mammary gland water sac;

FIG. 15 is a schematic view of the structure of an animal holding device;

FIG. 16 is a schematic view of the structure of an animal fixation device assembled to a breast coil;

in the figure:

100-an ultrasonic probe; 101-an ultrasonic base; 102-a piezoelectric transduction assembly; 103-wiring harness; 104-mounting holes; 105-connecting a bracket; 106-positioning structure; 107-side outlet structure;

200-mammary gland mechanical arm; 201-a telescoping mechanism; 202-a nodding mechanism; 203-a swing mechanism; 211-a manipulator support; 212-a motor mounting plate; 213-a drive motor; 214-a gear set; 215-driving a screw rod; 216-a guide bar; 217-a movement mechanism; 218-a first gearbox; 219-a second gearbox; 220-a clamping mechanism; 221-gearbox support; 222-a probe holder; 223-a first limit switch; 224-a first flip-flop; 225-a second limit switch; 226-a second flip-flop; 227-a third limit switch; 228—a third flip-flop; 229-a gearbox motor; 230-a transmission gear; 231-duplex gear; 232-a gearbox output shaft; 233-an encoder; 234-positioning the bumps; 235-locking the platform;

300-quick release device; 301-a base; 302-a crankshaft; 303-wedge-shaped connecting blocks; 304-a communication hole; 305-a support table; 306-locking stage; 307-rotating the base shaft; 308-rotating the handle;

400-mammary gland water sac; 401-water sac main wings; 402-water sac flanks; 403-a third positioning mechanism; 404-an external connection port; 405-water sac telescopic sleeves; 406-a liquid-cooled interface;

500-mammary gland accommodation box; 501-housing a main wing of the box; 502-a limiting table; 503-a pressing mechanism; 504-an acoustically transparent membrane;

600-mammary gland bracket; 601-a bracket through hole; 602-a first positioning mechanism; 603-a limit groove;

700-mammary gland coil; 701-a concave plane; 702-positioning grooves; 703-a second positioning mechanism;

800-an animal fixation device; 801-placing table; 802-a support bracket; 803-limiting plates; 804-connecting plates; 805-animal platform; 810-a locking mechanism; 811-a base plate; 812-guiding column; 813-a knob; 814-push plate; 815-clamp spring.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present application may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present application.

Example 1

A treatment system of magnetic resonance guided high-intensity focused ultrasound, as shown in fig. 1-16, comprises an ultrasound probe 100, a breast manipulator 200 and a radio frequency transceiver, wherein the radio frequency transceiver is used for accommodating a patient's breast and providing magnetic resonance imaging, the breast manipulator 200 is used for adjusting the posture of the ultrasound probe 100, and the ultrasound probe 100 is arranged towards the inside of the radio frequency transceiver and is used for carrying out ultrasonic focusing treatment on a focus.

The radio frequency transceiver specifically includes a breast water sac 400, a breast containment box 500, a breast support 600 and a breast coil 700. The breast coil 700 is a base of the whole treatment system and has a magnetic resonance imaging function, a cavity is formed by the breast coil 700 in a partially hollow mode, and a pair of symmetrical open holes are formed on the corresponding upper surface. The breast water sac 400 is mounted inside the breast coil 700, and the breast support 600 presses the breast water sac 400 to be limited in the breast coil 700. The breast support 600 is provided with a support through hole 601 at a position corresponding to the breast water sac 400, the breast accommodating box 500 is assembled at the breast support through hole 601, and the breast accommodating box 500 penetrates through the breast support 600 and extends into the breast water sac 400. The ultrasonic probe 100 is connected to the breast water bladder 400 and is disposed toward the inside of the breast accommodating case 500, and the breast accommodating case 500 is used to load the breast of the patient.

The breast water sac 400, as shown in fig. 9, is a hollow structure with an open upper surface for accommodating an ultrasonic medium. An external connection port 404 is connected to the side wall of the mammary gland water sac 400 through a water sac telescopic sleeve 405, and the ultrasonic probe 100 is connected to the mammary gland water sac 400 through the external connection port 404, as shown in fig. 10, the ultrasonic probe 100 is substantially completely inserted into the external connection port 404. The water bag telescopic sleeve 405 is of a flexible structure and can deform to a certain extent along with the movement of the ultrasonic probe 100, so that the ultrasonic probe 100 can conveniently adjust a focusing point; the external connection port 404 and the ultrasonic probe 100 are bonded and fixed by adopting silica gel, and meanwhile, the silica gel can also play a role in sealing, so that ultrasonic medium is prevented from leaking from a gap between the external connection port 404 and the ultrasonic probe 100. Based on the flexible water bag telescopic sleeve 405, the moving range and the treatable range of the ultrasonic probe 100 are effectively enlarged.

A liquid cooling interface 406 is arranged on the side wall of the mammary gland water sac 400, which is not connected with the water sac telescopic sleeve 405 and the external connection port 404, and comprises a water sac water inlet and a water sac water outlet; the liquid cooling interface 406 is connected with an external temperature control device to lead out the ultrasonic medium in the mammary gland water sac 400 from the water sac water outlet to the temperature control device for constant temperature, and then the ultrasonic medium after constant temperature is returned into the mammary gland water sac 400 through the water sac water outlet. The circulation constant temperature use of the ultrasonic medium in the mammary gland water sac 400 provides a water bath effect for a treatment object, can provide a proper medium for the propagation of ultrasonic waves, and also provides a good conduction medium for the heat dissipation of the surface of the breast skin. In use, the breast water sac 400 can be filled with steam-removed water, and the removal of the steam bubbles greatly reduces the energy loss during ultrasonic wave propagation and provides a more accurate propagation path, thus being a good medium for ultrasonic wave propagation. The liquid cooling interface 406 and the pipeline joint can also be installed in an adhesive mode, so that the firm connection is ensured, and a certain sealing effect can be achieved. The structure of the breast water sac 400 ensures the movable capability of the breast ultrasonic probe 100 in the water sac, solves the problem that the probe cannot move in the water sac when treating breast fibroadenoma in an MRI-HIFU system in the prior art, and expands the treatable range of the MRI-HIFU system; but also solves the problem that water cooling circulation can not be carried out when treating mammary gland fibroadenoma in an MRI-HIFU system, improves the treatment safety, and has great significance for the application of the MRI-HIFU technology in mastadenoma diseases.

Around the upper surface opening of the mammary gland water sac 400, a water sac main wing 401 (on the same side as the external connection port 404) and a water sac side wing 402 are oppositely connected, and the whole is matched with the shape of the mammary gland coil 700 and the mammary gland bracket 600, so that after the mammary gland water sac 400 is assembled on the mammary gland coil 700, the mammary gland bracket 600 presses the water sac main wing 401 and the water sac side wing 402 on the surface of the mammary gland coil 700, and a positioning and limiting function is provided. The mammary gland bracket 600 is provided with a first positioning mechanism 602, the mammary gland coil 700 is provided with a second positioning mechanism 703 corresponding to the first positioning mechanism 602, the corresponding mammary gland water bag 400 is provided with a third positioning mechanism 403 at the water bag side wing 402, and the first positioning mechanism 602 passes through the third positioning mechanism 403 to be matched with the second positioning mechanism 703, so that the mammary gland bracket 600 is positioned and installed on the mammary gland coil 700, as shown in fig. 11. Specifically, the first positioning mechanism 602 may be a positioning insert, the second positioning mechanism 703 may be a positioning slot, and the third positioning mechanism 403 may be a positioning channel, where the positioning insert passes through the positioning channel and then is assembled with the positioning slot to form a clamping fit, and meanwhile, the positioning bracket presses the water sac main wing 401 and the water sac side wing 402 onto the breast coil 700, so that the breast water sac 400 completes positioning, limiting and assembling, as shown in fig. 12.

The breast receiving box 500, as shown in fig. 13, has a structure similar to that of the breast water bladder 400 and is a hollow cavity with an opening on the upper surface. The mammary gland accommodating box 500 is provided with an ultrasonic window on one side wall (the surface facing the external connection port 404) so as to facilitate the transmission of ultrasonic waves; the ultrasound window is composed of a pressing mechanism 503 and an acoustic membrane 504, the pressing mechanism 503 is a pressing plate, and is assembled and connected with the side wall of the mammary gland accommodating box 500, preferably, can be assembled and connected with the side wall of the mammary gland accommodating box 500 in a threaded connection mode. An acoustically transparent membrane 504 is disposed in clamping relationship between the compression mechanism 503 and the side wall of the breast receiving compartment 500.

As shown in fig. 14, the breast receiving box 500 is supported on the breast support 600 and the cavity extends into the breast water sac 400. A circle of convex limiting tables 502 are arranged around the opening edge of the upper surface of the mammary gland accommodating box 500 and are matched with limiting grooves 603 formed in the circumferential direction of the bracket through holes 601, so that the mammary gland accommodating box 500 can be assembled and limited after being placed into the bracket through holes 601 of the mammary gland bracket 600; and further, the main wing 501 of the accommodating box is formed to extend outwards at one side of the ultrasonic window, and the main wing 501 of the accommodating box is shaped to be matched with the breast coil 700, so that the breast accommodating box 500 can be stably assembled on the breast support 600. The breast accommodating box 500 is designed with a plurality of different specifications and sizes at the cavity part so as to be suitable for different cups and shapes of breasts of patients, provide support for the breasts and avoid the problem of inaccurate positioning and failure caused by breast movement or excessive extrusion deformation in the treatment process.

As shown in fig. 3, the ultrasonic probe 100 is assembled from an ultrasonic base 101 and a piezoelectric transducer assembly 102, and the piezoelectric transducer assembly 102 is further assembled from an ultrasonic transducer disc and a piezoelectric transducer. A plurality of mounting holes 104 are formed in the ultrasonic transduction disk at intervals, and each mounting hole 104 is correspondingly provided with a piezoelectric transducer to form a phased array probe; the mounting hole 104 is a threaded hole, external threads are correspondingly arranged on the side wall of the piezoelectric transducer, and the piezoelectric transducer is assembled in the mounting hole 104 in a threaded connection mode to form a detachable structure. The detachable form of connection allows individual replacement of individual or portions of the piezoelectric transducers in the ultrasound probe 100 without affecting the remaining piezoelectric transducers in the event of failure or damage. Compared with the existing method for bonding and fixing by adopting silica gel, the method can avoid the problem that when part of piezoelectric transducers have faults, namely the whole ultrasonic transduction disk is required to be abandoned and replaced, and effectively avoid resource waste; in addition, the problems of uneven sound field, large quality difference and the like caused by uneven gluing when the silica gel is used as a binder for bonding and fixing can be avoided, and the method has important significance for specified standards; in addition, the form of threaded connection enables the assembled position and angle to always maintain the design value, and even if the ultrasonic transducer is replaced or maintained, the direction and angle can be ensured to be consistent with the initial direction and angle, so that the maintenance of the ultrasonic probe 100 is facilitated. A handle or a rotary handle can be arranged on the back of the piezoelectric transducer, so that the piezoelectric transducer is convenient to screw and rotate. The ultrasonic transduction disk adopts a spherical cap surface structure, so that the piezoelectric transducer which is screwed on the ultrasonic transduction disk can be naturally focused at the spherical center position.

As shown in fig. 4, an ultrasonic transduction disk is assembled in the ultrasonic base 101, and positioning and limiting are realized between the ultrasonic transduction disk and the ultrasonic transduction disk through a plurality of groups of positioning columns and positioning grooves which are correspondingly arranged, so that the ultrasonic probe 100 can not rotate at will when in use; the positioning column is connected to the back surface of the ultrasonic transduction disk along the circumferential direction, and the positioning groove is formed in the ultrasonic base 101 along the circumferential direction. The outer side wall of the ultrasonic base 101 is provided with a connecting bracket 105 for being connected with a treatment system, a positioning structure 106 for assisting in calculating a conversion matrix between a magnetic resonance coordinate system and an ultrasonic coordinate system and a side wire outlet structure 107 for intensively leading out a wire harness 103 for supplying power to the piezoelectric transducer, the connecting bracket 105 and the side wire outlet structure 107 are symmetrically arranged in a pair, and the positioning bracket is arranged on a symmetrical axis and is of an axisymmetrical structure. The side wire outlet structure 107 is a wire outlet, the wire harness 103 is intensively led out according to the design, and the movement obstruction caused by the tension of the wire harness 103 is relieved; the positioning support has definite intersection points, and the coordinates of the positioning support in a magnetic resonance coordinate system and equations between the positioning support and the positioning support can be obtained through magnetic resonance imaging, so that only simple lines and planes are needed to be calculated when a conversion matrix is calculated, and compared with the existing calculation using a sphere as a positioning structure 106, the positioning support can be effectively simplified. When the probe is used, the image of the positioning structure 106 on the probe obtained by magnetic resonance scanning is obtained, and through manual marking, coordinate conversion of points to be positioned in an ultrasonic coordinate system and a magnetic resonance coordinate system is realized by utilizing a conversion matrix. The positioning structure 106 and the connecting bracket 105 are all installed in a bolt assembly mode.

Fig. 5 is a schematic structural diagram of a breast manipulator 200, which mainly includes a manipulator support 211, a telescopic mechanism 201 assembled on the manipulator support 211, and a nodding mechanism 202 and a nodding mechanism 203 connected in sequence, wherein the ultrasonic probe 100 is connected to an output end of the nodding mechanism 203. The breast coil 700 is formed with a concave plane 701 on a side surface thereof, and the manipulator support 211 is assembled by a set screw and a fastening screw, and the manipulator support 211 is formed in a U-shape, so that the ultrasonic probe 100 can be connected with the external connection port 404 of the breast water sac 400 from the inside of the U-shape. The mammary gland coil 700 is provided with a positioning groove 702 at the end of the concave plane 701, and the manipulator bracket 211 is correspondingly provided with a positioning lug 234, which are matched to complete the positioning assembly of the mammary gland manipulator 200. The telescopic mechanism 201 is used for controlling axial movement of the ultrasonic probe 100 along the z-axis direction of the manipulator support 211, the nodding mechanism 202 is used for controlling rotational movement of the ultrasonic probe 100 around the x-axis direction of the manipulator support 211, and the nodding mechanism 203 is used for controlling rotational movement of the ultrasonic probe 100 around the y-axis direction of the manipulator support 211.

The breast robot 200 more specifically:

the telescopic mechanism 201 comprises a driving motor 213, a gear set 214, a transmission screw 215, a guide rod 216 and a moving mechanism 217. The driving motor 213 is connected to the manipulator support 211 through a motor mounting plate 212, and an input gear in the gear set 214 is connected to an output shaft of the driving motor 213, so that the input gear can rotate along with the output shaft of the driving motor 213. The gear set 214 transmits power to an output gear sleeved outside the transmission screw 215 through gear engagement, and the output gear drives the transmission screw 215 to rotate. The guide rods 216 are symmetrically arranged on two sides of the transmission screw rod 215 from top to bottom, the guide rods 216 are parallel to the z-axis of the manipulator support 211, the moving mechanism 217 is respectively sleeved outside the guide rods 216 and the transmission screw rod 215, the center of the moving mechanism 217 coincides with the axis of the transmission screw rod 215, and the moving mechanism 217 is in threaded fit with the transmission screw rod 215. The rotation of the transmission screw 215 converts the transmitted rotation motion into linear motion, so that the moving mechanism 217 moves along the direction of the guide rod 216, and the nodding mechanism 202 directly connected to the side edge of the moving mechanism 217 moves together. In the structure, the telescopic mechanism 201 does not need to be arranged in a variable speed way, so that the gear set 214 can adopt the constant diameter gear for meshing transmission and only has a reversing function so as to improve the structural integration level; in other examples, a multi-stage gear-engaged gear set 214 may be employed to control the variable speed output to achieve different telescoping control effects with the present architecture.

The nodding mechanism 202 is a first gearbox 218, and an output shaft of the first gearbox 218 is disposed parallel to an x-axis direction of the manipulator support 211, so that the nodding mechanism 203 connected to the output shaft of the first gearbox 218 can rotate around the x-axis of the manipulator support 211. The first gearbox 218 is a multi-stage reduction gearbox, specifically a four-stage reduction gearbox, and comprises a gearbox motor 229, a transmission gear 230, a duplex gear 231, a gearbox output shaft 232 and an encoder 233, wherein the transmission gear 230 is connected with the output shaft of the gearbox motor 229, the transmission gear 230 is meshed with the duplex gear 231, the effect of coaxial different speeds is achieved through the combination of the three-stage duplex gears 231 (the first-stage duplex gear 231 is coaxial with the third-stage duplex gear 231, the second-stage duplex gear 231 is coaxial with the transmission gear 230 on the output shaft of the gearbox motor 229, and forms three-axis linkage with the gearbox output shaft 232), and finally is meshed with the transmission gear 230 sleeved on the gearbox output shaft 232, so that the rotation after the four-stage reduction is output. The reduction ratio of each stage of reduction in the present structure is controlled to be 1-3, so that the first gearbox 218 can achieve a reduction ratio of up to 81 to achieve a torque increase of 81 times. An encoder 233 is further connected to the transmission output shaft 232 for measuring the rotation angle of the output and feeding back to the control end.

The swing mechanism 203 is a second gearbox 219, an output shaft of the second gearbox 219 is disposed parallel to the y-axis direction of the manipulator support 211, and the ultrasonic probe 100 connected to the output shaft of the second gearbox 219 can rotate around the y-axis of the manipulator support 211. The clamping mechanism 220 is arranged outside the output shaft of the first gearbox 218 in a clamping manner, the clamping mechanism 220 can rotate along with the output shaft of the first gearbox 218, the clamping mechanism 220 is further connected with the gearbox support 221, the second gearbox 219 is mounted on the gearbox support 221, and the second gearbox 219 is consistent with the first gearbox 218 in structure. The output shaft of the second gearbox 219 is directly connected to the probe holder 222 and is in turn connected to the ultrasound probe 100 via the probe holder 222.

In summary, in the breast manipulator 200, the telescopic mechanism 201 directly drives the nodding mechanism 202 to move along the z-axis of the manipulator support 211, and further drives the swinging mechanism 203 and the ultrasonic probe 100 to move along the z-axis of the manipulator support 211; the nodding mechanism 202 directly drives the swinging mechanism 203 to rotate around the x axis of the manipulator support 211, and further drives the ultrasonic probe 100 to rotate around the x axis of the manipulator support 211; the swing head mechanism 203 directly drives the ultrasonic probe 100 to rotate around the y axis of the manipulator support 211. The connection position of the manipulator support 211 may be adjusted as needed to achieve rotation of the ultrasonic probe 100 about the diameter as a central axis or to take off-axis rotation.

Still further, the telescopic mechanism 201, the nodding mechanism 202 and the swinging mechanism 203 are respectively provided with corresponding limit switches and triggers for determining the starting point of the movement.

Telescoping mechanism 201: the first limit switch 223 is connected to the top of the moving mechanism 217, and the first trigger 224 is disposed on the motor mounting plate 212 corresponding to the first limit switch 223 and is located on the moving path of the first limit switch 223; when the first limit switch 223 moves to contact with the first trigger 224, the first limit switch 223 feeds back a signal to the control end to record the current position as the starting point of the telescopic movement.

The click mechanism 202: the second limit switch 225 is disposed on the outer sidewall of the first gearbox 218, the second trigger 226 is disposed on the gearbox support 221 corresponding to the second limit switch 225, and the second limit switch 225 is located on the moving path of the second trigger 226; when the second trigger 226 moves to contact with the second limit switch 225, the second limit switch 225 feeds back a signal to the control end to record the current position as the starting point of the nod movement.

Swing mechanism 203: the third limit switch 227 is arranged on the outer side wall of the second gearbox 219, the third trigger 228 is arranged on the probe bracket 222 corresponding to the third limit switch 227, and the third limit switch 227 is positioned on the moving path of the third trigger 228; when the third trigger 228 moves to contact with the third limit switch 227, the third limit switch 227 feeds back a signal to the control end to record the current position as the starting point of the head-swinging movement.

The breast manipulator 200 expands the movement range of the ultrasonic probe 100 to the greatest extent through 1 movement and 2 rotations, and the driving motor 213 and the gearbox motor 229 are arranged outside the magnetic resonance imaging range according to the structural design, so that the interference of the electric signals on the magnetic resonance imaging in the movement process can be effectively reduced.

The control end is an external control device for receiving signals, processing data and sending instructions, and can be processed by a computer generally, and the control end is electrically connected with an external energy supply end (such as a power supply) of the ultrasonic probe 100 and an external temperature control device (such as a heat exchanger) for constant-temperature conducting medium (removing steam and water) besides the electrical connection relation with the breast manipulator 200, and performs data receiving and transmitting through an I/O interface, so that overall adjustment of system operation is completed.

The treatment system further includes a quick release device 300, as shown in fig. 6-8, by which the quick release device 300 can achieve quick release between the breast manipulator 200 and the breast coil 700 to greatly save assembly time and improve overall efficiency. Specifically, the main body of the quick release device 300 is composed of a base 301 and a crankshaft 302, as shown in fig. 6, the base 301 is assembled on the side wall of the breast coil 700 and below the breast manipulator 200 by bolts, and is used for bearing the crankshaft 302; locking and unlocking of the breast robot 200 is accomplished by rotation of the crankshaft 302. The crankshaft 302 includes a rotation base shaft 307 and a locking mechanism disposed thereon, the locking mechanism further includes a support stand 305 and a locking stand 306, the support stand 305 and the locking stand 306 are disposed at two ends of the rotation base shaft 307 in axisymmetric manner, and the support stand 305 is located at the outer side and the locking stand 306 is located at the inner side. The base 301 is provided with a communication hole 304 at two ends, the communication hole 304 can allow the crankshaft 302 to pass through integrally, a wedge-shaped connecting block 303 is arranged above the communication hole 304, and the wedge-shaped connecting block 303 is attached to the manipulator support 211 and is fixedly assembled with the breast coil 700 through bolts. The intervals of the support tables 305 correspond to the intervals of the communication holes 304, so that when one side of the support table 305 is positioned in the communication hole 304, the other side of the support table 305 is also positioned in the communication hole 304; and the distance between the supporting table 305 and the locking table 306 is slightly larger than the width of the communication hole 304, so that the communication hole 304 can rotate when being between the supporting table 305 and the locking table 306. To facilitate rotation of the crankshaft 302, a rotary handle 308 is connected to one end of the rotary base shaft 307. To match the locking mode of the quick release device 300, an outward extending locking platform 235 is disposed under the manipulator support 211, and generally the lower bottom surface of the locking platform 235 is close to the upper surface of the locking platform 306 in the locked state (the gap between the locking platform 235 and the locking platform 306 is smaller than the depth of the positioning protrusion 234 inserted into the positioning groove 702), so that the locking platform 235 is blocked by the locking platform 306 when the breast manipulator 200 is disassembled, and the disassembly cannot be completed.

When the quick release device 300 is used, a crankshaft 302 passes through the communication hole 304 and keeps the supporting table 305 positioned in the communication hole, and the distance between the top surface of the locking table 306 and the locking platform 235 of the manipulator support 211 is smaller than the height of the positioning protruding block 234 on the manipulator support 211, as shown in fig. 7, the positioning protruding block 234 of the breast manipulator 200 cannot be taken out from the positioning groove 702 of the breast coil 700, so that the breast manipulator 200 cannot be disassembled and is in a locking state; and moving the crankshaft 302 to enable the communication hole 304 to be arranged between the supporting table 305 and the locking table 306, rotating the crankshaft 302 towards a direction away from the breast manipulator 200 to enable the locking table 306 to be away from the locking platform 235, wherein the locking platform 235 is not blocked, the positioning protruding block 234 can be taken out from the positioning groove 702, and the breast manipulator 200 can be disassembled to be in an unlocking state.

In addition, the treatment system can also be used for small animal experiments, and the animal fixing device 800 is additionally assembled correspondingly to fix experimental animals. The animal fixing device 800 is shown in fig. 15, and is formed by connecting a holding table 801 and an animal platform 805 through a connecting mechanism, and a locking mechanism 810 is further installed on the animal platform 805 for fixing an experimental animal, as shown in fig. 16. Support brackets 802 are connected below the ends of the object placing table 801 and the animal platform 805, and provide additional support when the animal fixing device 800 is mounted on the breast coil 700; the object placing table 801 is mainly used for placing instruments and reagents used for experiments; animal platform 805 is then used to house laboratory animals via locking mechanism 810. The locking mechanisms 810 are symmetrically arranged in a pair, and experimental animals are arranged between the locking mechanisms 810 to be fixed. The locking mechanism 810 is composed of a base plate 811, a guide post 812, a knob 813, a push plate 814 and a clamp spring 815. The base plate 811 is vertically and fixedly connected to the animal platform 805, the guide posts 812 are distributed at four corners of the base plate 811 in a threaded connection manner, and the guide posts 812 are disposed perpendicular to the base plate 811. The push plate 814 is sleeved on the guide column 812 and can slide along the guide column 812, and the push plate 814 is parallel to the base plate 811; knob 813 passes through base plate 811 (both threaded together) and is connected end to push plate 814 (end to end through push plate 814) to control movement of push plate 814 along guide post 812. When the experimental animal is fixed, after the push plate 814 is adjusted in place, the limit can be formed by sleeving a clamp spring 815 on one side of the push plate 814 attached to the end part of the knob 813. The separation form of the locking mechanism 810 also forms a hollow structure, which can facilitate observation of the condition of the fixed experimental animal and reduce the mass to a certain extent.

The connection structure between the object placing table 801 and the animal platform 805 is, as shown in fig. 15 and 16, composed of a connection plate 804 and a limit plate 803, wherein the connection plate 804 is connected below the object placing table 801 and the animal platform 805, and the limit plate 803 is used for connecting the connection plate 804 of the object placing table 801 and the connection plate 804 of the animal platform 805. The limiting plates 803 are in a spaced arrangement such that the limiting plates 803 can be inserted into two openings of the breast coil 700, respectively, and the corresponding connecting plates 804 are also in a spaced arrangement to accommodate assembly. Referring to fig. 15, it can be seen that the connection board 804 on the animal platform 805 side is divided into a left connection board 804 and a right connection board 804, the connection board 804 on the object placing table 801 side is also divided into a left connection board 804 and a right connection board 804, the limiting board 803 is divided into a left limiting board 803 and a right limiting board 803, the left limiting board 803 is connected with the left connection board 804 on the animal platform 805 side and the left connection board 804 on the object placing table 801 side, the right limiting board 803 is connected with the right connection board 804 on the animal platform 805 side and the right connection board 804 on the object placing table 801 side, so that a through channel is formed between the two limiting boards 803, which is just matched with the structure of the breast coil 700, and the animal fixing device 800 can be fixed on the breast coil 700. Through the arrangement of the animal fixing device 800, experimental animals can be stably fixed in the experimental process, and the influence on the accuracy, the effectiveness and the reliability of the experiment caused by the disorder of the experimental animals is avoided; the animal fixing device 800 is also made of a non-magnetic material in consideration of safety and compatibility in a magnetic resonance environment.

All devices, components and the like in the treatment system are made of nonmagnetic materials so as to meet the requirements of magnetic resonance environment.

The treatment system is used when:

for patients: as shown in fig. 1, the corresponding breast accommodating box 500 is selected according to the size and shape of the patient's breast, and the breast accommodating box 500 is assembled and limited on the breast support 600, and the breast accommodating box 500 passes through the support through hole 601 of the breast support 600 and protrudes into the breast water sac 400 located in the breast coil 700. The patient lies on the breast coil 700 and puts the breast into the breast accommodating box 500 correspondingly, and the breast accommodating box 500 holds the breast to keep the breast stably fixed. The breast coil 700 performs magnetic resonance imaging to locate the lesion position, and the breast manipulator 200 adjusts the posture of the ultrasonic probe 100 according to the magnetic resonance locating position (via coordinate system conversion) so that each piezoelectric transducer on the ultrasonic probe 100 can be focused at the lesion position. The circulating constant temperature aerated water filled in the mammary gland water sac 400 is used as an ultrasonic conduction medium and also provides a heat dissipation effect for the skin of the breast, and the ultrasonic medium is used and combined with the sound-transmitting film 504 at the side wall of the mammary gland accommodating box 500, so that the ultrasonic waves emitted by the ultrasonic probe 100 can be smoothly transmitted, and the energy loss is reduced.

For experimental animals: after the animal fixing device 800 is assembled on the breast coil 700, as shown in fig. 2, the experimental animal is placed between the locking mechanisms 810, and the push plates 814 on both sides are brought close to each other by the adjusting knob 813 and clamped and fixed. Subsequently, animal experiment steps can be performed, including: magnetic resonance positioning of the breast coil 700, posture adjustment of the breast manipulator 200 to the ultrasonic probe 100, and ultrasonic focusing treatment of the ultrasonic probe 100.

The breast manipulator 200 is locked by the quick release device 300 during use, and can be removed after the quick release device 300 is unlocked during maintenance and cleaning of the breast manipulator 200.

The MRI-HIFU treatment system adopts an advanced magnetic resonance guiding technology, can monitor temperature change and tissue damage condition in the treatment process in real time, and provides important treatment feedback for clinicians; can realize non-invasive mammary gland fibroadenoma ablation treatment, and has higher safety and feasibility. In addition, the system has excellent compatibility, can be in seamless butt joint with the existing magnetic resonance imaging equipment, and is convenient for a clinician to operate. Compared with the traditional surgical excision and cryoablation methods, the MRI-HIFU treatment system has fewer complications and risks and is expected to be a new choice for treating mammary fibroadenoma.

The foregoing description is merely illustrative of the present application, and the scope of the present application is not limited thereto, and any equivalent modifications or substitutions will be apparent to those skilled in the art within the scope of the present application, and are intended to be included within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. The treatment system of the high-intensity focused ultrasound guided by magnetic resonance is characterized by comprising an ultrasound probe (100), a mammary gland manipulator (200) and a radio frequency transceiver device;

the mammary gland manipulator (200) is arranged on the radio frequency transceiver, and the free end of the mammary gland manipulator (200) is connected with the ultrasonic probe (100); the ultrasonic probe (100) stretches into the radio frequency transceiver and is arranged towards the inside of the radio frequency transceiver.

2. A magnetic resonance guided high intensity focused ultrasound therapy system as claimed in claim 1, wherein said radio frequency transceiver means comprises: a mammary gland water sac (400), a mammary gland accommodating box (500), a mammary gland bracket (600) and a mammary gland coil (700);

the mammary gland water bag (400) is arranged in the mammary gland coil (700) and limited by the mammary gland bracket (600), and the mammary gland accommodating box (500) is arranged in the mammary gland water bag (400);

The mammary gland water sac (400) is filled with ultrasonic medium;

the ultrasonic probe (100) is connected with the mammary gland water sac (400), and the ultrasonic probe (100) is arranged towards the inside of the mammary gland accommodating box (500).

3. A magnetic resonance guided high intensity focused ultrasound therapy system according to claim 2, wherein the ultrasound probe (100) is a phased array probe of spherical cap configuration; and/or the number of the groups of groups,

the ultrasonic probe (100) is connected with a positioning structure (106) for assisting in acquiring a conversion matrix of a magnetic resonance coordinate system and an ultrasonic coordinate system; and/or the number of the groups of groups,

the ultrasonic probe (100) is provided with a side wire outlet structure (107) for intensively leading out the wire harness.

4. The magnetic resonance guided high-intensity focused ultrasound treatment system of claim 2, wherein a liquid cooling interface (406) is provided on the side wall of the breast water sac (400) for connecting an external temperature control device to control the ultrasound medium to be at a constant temperature; and/or the number of the groups of groups,

the side wall of the mammary gland water sac (400) is connected with an external connection port (404), the ultrasonic probe (100) is connected with the mammary gland water sac (400) through the external connection port (404), and the external connection port (404) is connected with the side wall of the mammary gland water sac (400) through a flexible water sac telescopic sleeve (405); and/or

The mammary gland water sac (400) is filled with destemming water as an ultrasonic medium.

5. The magnetic resonance guided high intensity focused ultrasound therapy system of claim 2, wherein an ultrasound window is provided on a side wall of the breast accommodating box (500), and the ultrasound probe (100) is disposed toward the ultrasound window; and/or the number of the groups of groups,

the mammary gland accommodating box (500) is detachably assembled in the mammary gland water bag (400);

the ultrasonic window comprises a pressing mechanism (503) and an acoustic membrane (504), wherein the pressing mechanism (503) is connected to the mammary gland accommodating box (500) so that the acoustic membrane (504) is limited between the pressing mechanism (503) and the mammary gland accommodating box (500).

6. The magnetic resonance guided high-intensity focused ultrasound treatment system according to claim 2, wherein the breast support (600) is provided with a first positioning mechanism (602), the breast coil (700) is provided with a second positioning mechanism (703) matched with the first positioning mechanism (602), the breast water sac (400) is provided with a third positioning mechanism (403) through which the first positioning mechanism (602) passes, and the first positioning mechanism (602) passes through the third positioning mechanism (403) and is matched with the second positioning mechanism (703) to enable the breast support (600) to press the breast water sac (400) on the breast coil (700); and/or the number of the groups of groups,

The mammary gland accommodating box (500) is supported on the mammary gland bracket (600).

7. A magnetic resonance guided high intensity focused ultrasound treatment system according to claim 2, further comprising an animal fixation device (800) for fixation of an experimental animal during an animal experiment, said animal fixation device (800) being fitted to the breast coil (700);

the animal fixing device (800) comprises an animal platform (805) and a locking mechanism (810) connected to the animal platform (805), and the experimental animal is limited by the locking mechanism (810) after being placed on the animal platform (805).

8. The magnetic resonance guided high intensity focused ultrasound therapy system of claim 1, further comprising: a quick release device (300);

the mammary gland manipulator (200) is connected with the radio frequency transceiver through the quick release device (300);

the quick release device (300) comprises a base (301) connected with the radio frequency transceiver and a crankshaft (302) assembled in the base (301);

the crankshaft (302) is provided with a locking mechanism, and the quick release device (300) is locked and unlocked by rotating the crankshaft (302) in the base (301).

9. The magnetic resonance guided high intensity focused ultrasound therapy system of claim 1, wherein the breast manipulator (200) comprises a telescoping mechanism (201), a nodding mechanism (202) and a nodding mechanism (203), the telescoping mechanism (201) for controlling telescoping movement of the ultrasound probe (100) along the z-axis, the nodding mechanism (202) for controlling rotational movement of the ultrasound probe (100) about the x-axis, the nodding mechanism (203) for controlling rotational movement of the ultrasound probe (100) about the y-axis;

the telescopic mechanism (201) controls telescopic movement along the z axis through a driving motor (213); and/or the number of the groups of groups,

the nodding mechanism (202) controls rotational movement about an x-axis through a first gearbox (218); and/or the number of the groups of groups,

the swing mechanism (203) controls rotational movement about the y-axis through a second gearbox (219).

10. A method of using a magnetic resonance guided high intensity focused ultrasound therapy system as claimed in any one of claims 1-9,

performing magnetic resonance positioning through a radio frequency transceiver;

the breast manipulator (200) regulates and controls the gesture of the ultrasonic probe (100) in the radio frequency transceiver according to the magnetic resonance positioning position, so that the ultrasonic probe (100) focuses towards the target point.