CN1743026A - High-strength focus supersonic therapeutic system of hundred array-element composite material and controlling array by spherical-phase - Google Patents
High-strength focus supersonic therapeutic system of hundred array-element composite material and controlling array by spherical-phase Download PDFInfo
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Abstract
The hundred array-elements composite material spherical phased-array high-strength focusing ultrasonic therapeutic system includes the following several portions: therapeutic bed, hundred array-elements composite material spherical phased-array transducer, ultrasonic scanner probe, handred channels phased-array HIFU drive control system, shaft movement system and control system for controlling form of transducer, ultrasonic scanning probe and ultrasonic scanner and image acquisition device, water bag, deaerating water-purifying system and main control computer for respectively controlling action of the above-mentioned system. Said invention also provides the working principle of said system and its operation method.
Description
Technical field
The invention belongs to Biomedical Instruments and apparatus field, relate to the operating therapy system of a kind of high intensity focused ultrasound Noninvasive, relate in particular to array element sphere phase array high-strength focus supersonic therapeutic systems up to a hundred.
Background technology
High intensity focused ultrasound (High Intensity Focused Ultrasound, HIFU) be that ultrasonic energy is focused on human body deep destination organization, reach the selected destination organization of accurate thermal damage and do not injure the treatment that closes on normal structure at all, (ocused Ultrasound Surgery, FUS) the focus point peak value sound intensity of HIFU is hundreds of W/cm～thousands of W/cm now to be called the focus supersonic operation
2, only be several seconds (being generally 1-3S) action time, and make tissue temperature surpass 56 ℃ more than-60 ℃, and at this moment cell protein is solidified suddenly, and cavitation formation bubble forces cell and organizational structure to be destroyed in addition, and title tissue burning is melted or is melted.High intensity focused ultrasound has the accuracy of height, the characteristics of non-invasive and rapidity, uses aspect oncotherapy at present.
Many array element transducer of the non-phased direct stack cumulative that HIFU treatment transducer is formed by single array element transducer, phase array transducer with by several array elements.Single array element energy transducer focus fixes, simple in structure, the transducer material of employing is piezoelectric ceramics PZT.The topmost characteristics of phase array transducer are to produce flexible and changeable single focus and the multiple-point focusing focus mode of while that is fit to treatment, compare multiple spot focusing with the single focus of single array element and can increase the single therapy volume of focus, significantly reduce treatment time, accelerated the treatment speed of ultrasonic therapeutic.Having phased array can adopt the submatrix technology to avoid some barriers (as rib) again treats.
According to the data-searching that the applicant carried out, Chinese invention patent " high-intensity focus supersonic tumor scanning therapy system " ZL98100283.8 (discloses day on May 5th, 1999, publication number 1215616), and Chinese invention patent " extenal high-energy focusing ultrasonic treating apparatus " ZL01134485.7 (discloses day on April 3rd, 2002, publication number 1342503) two kinds of HIFU systems have been disclosed, all be to adopt the single array element transducer of HIFU, form by single array element transducer, B ultrasonic image and corresponding movement mechanism with multiple degrees of freedom.
The United States Patent (USP) 4 of authorizing, 865,042, inventor Umemura, denomination of invention has just disclosed a kind of phased array HIFU transducer for " Ultrasonicirradiation system " as far back as 1989, what it adopted is the spherical crown phase array transducer, just sphere annular phased array and sphere fan volute phased array; Utilization ring-type battle array phase angle modulator approach can produce many focuses of the annular spread of focal plane in the patent, and can not produce nonaxisymmetrical many focuses, thereby can not form three-dimensional many focus scanning.
Up to the present spherical crown remains the phase array transducer profile form that people generally adopt as the phase array transducer profile with how much Jiao Qu.We will adopt the version of rectangle array element in patent of the present invention, and the acoustic pressure fluctuation that the sound field waveform that rectangle array element phased array can form is good, secondary lobe is little, focus is wished is outward invariably arranged also compact on the structure.Transducer material adopts piezo-electricity composite material, transducer array element number greater than 100 at present, might realize technically; Such transducer form can produce meticulous, the flexible and changeable focus form that is fit to tumour ultrasonic therapy.This patent sphere rectangle array element structure is that 2D formation formula can be carried out the focus scanning of 3d space with relevant control method.Extensive array element phase array transducer requires advanced focusing controlling method to match, and will have channel power extensive, high-tech to drive simultaneously and control.
Summary of the invention
The object of the present invention is to provide a kind of hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system, adopting novel 1-3 piezo-electricity composite material (1-3Piezocomposite) and structure is array element sphere rectangle phase array transducers up to a hundred, thereby guarantees to be fit to the high-performance, high efficiency of external focusing ultrasonic therapeutic, flexible, changeable focal point control shape.
The technical solution adopted in the present invention is, a kind of hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system, and it is the solid location phased array high intensity focused ultrasound operative treatment system with the guiding of B ultrasonic image.It is characterized in that, this system comprises: the hundred array-element composite material and controlling array by spherical-phase transducer that places the therapeutic bed bottom, be coaxially installed with Ultrasonic-B probe in the probe of this hundred array-element composite material and controlling array by spherical-phase transducer, constitute coupling probe jointly with the probe of hundred array element composite sphere phase array transducers around central shaft rotation θ angle; Wherein Ultrasonic-B probe is connected with B ultrasonic instrument and image collecting device; The coaxial rotation of Ultrasonic-B probe in the treatment transducer can realize 3-D image monitoring, just can follow the tracks of and estimate the treatment damage status of therapeutic goal target tissue at three dimensions.The place ahead of the hundred array-element composite material and controlling array by spherical-phase transducer surface of emission is provided with water pocket, and this water pocket is connected with degassing water purification system, also is provided with in the water pocket and carries out the video camera that surface skin monitors;
System also includes main control computer, 6 axis motion systems and 6 kinetic control systems; Main control computer has been controlled hundred passage phased array HIFU and has been driven control and hundred array-element composite material and controlling array by spherical-phase HIFU transducer subsystem, 6 stereo-motion positioning control subsystems, B ultrasonic image acquisition subsystem and degassings subsystem of purifying waste water.Main control computer is connected with passage phased array HIFU driving control systems up to a hundred by high-speed bidirectional Data Transmission Controlling interface, main control computer also is communicated with 6 kinetic control systems by the bidirectional data transfers line simultaneously, be used for the control combination probe with 5DOF athletic posture location, and drive the Ultrasonic-B probe rotation; Main control computer also interconnects with image collecting device and degassing water purification system.
Because the present invention has adopted the hundred array-element composite material and controlling array by spherical-phase transducer, can produce the multiple focus mode that is fit to the external focusing ultrasonic therapeutic, and the focus form is meticulous, flexible and changeable, it is bigger than the single focus single therapy of single array element volume particularly can to produce the large focal spot of simultaneously many focuses formation, thereby reduced treatment time, improved efficient, simultaneously also can be can avoid the submatrix focus mode realization non-invasive therapy that rib blocks, this system is from the viewpoint angle of doctor's B ultrasonic image guiding intuitively, concrete condition according to focus is selected different focus shapes flexibly, carries out solid location and focus supersonic operation easily.
Description of drawings
Fig. 1 is a hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system schematic diagram of the present invention;
Fig. 2 is a sphere phase array transducer architecture sketch map among the present invention, and wherein a is a front view, and b is the side view of a;
Fig. 3 is passage phased array HIFU driving control system layer distributed structured flowcharts up to a hundred;
Fig. 4 is a kind of exemplary construction block diagram that passage phased array HIFU up to a hundred drive host computer in the control;
Fig. 5 is that passage phased array HIFU up to a hundred drive slave computer structured flowchart in the control;
Fig. 6 is passage phased array HIFU power drive channel power driver principles figure up to a hundred;
Fig. 7 is that passage phased array HIFU up to a hundred drive upper computer software state transition graph in the control;
Fig. 8 is that passage phased array HIFU up to a hundred drive slave computer software flow chart in the control;
Fig. 9 is HIFU work and B ultrasonic image acquisition sequential chart, and wherein, a is the dutycycle oscillogram of HIFU work, and b is the sequential chart of B ultrasonic imaging;
Figure 10 is a main control computer software flow pattern of the present invention.
Label shown in the figure is represented respectively: 1. therapeutic bed, 2. hundred array-element composite material and controlling array by spherical-phase transducer, 3.B super probe, 4.B super instrument and Ultrasonic-B probe line, 5.B super instrument, 6.B super instrument and image collecting device line, 7. image collecting device, 8. main control computer and image capture interface, 9. video camera, 10. water pocket, 11.6 axis motion system, 12.6 motions and motor control line, 13.6 kinetic control systems, 14. main control computer and 6 kinetic control system bidirectional data transfers lines, 15. main control computer, the connection cord of 16. array element phase array transducers up to a hundred and phased array HIFU driving control system, 17. passage phased array HIFU driving control systems up to a hundred, 18. the bidirectional data transfers control interface of main control computer and passage phased array HIFU driving control systems up to a hundred, 19. degassing water purification system, 20. rectangle array elements, 23. host computers, 24. self-defined internal bus, 25. slave computer, 26. channel power drivers, 31. debugging display, 32.ARM nuclear, 33.RS232 passage, 34. keyboards, 35.JTAG debug port, 36.CS8900 port, 37. power supply, 38.64MSDRAM controller, 39.64MNandFlash, 40.FPGA, 41. frequency synthesizer DDS, 42. drive and buffering, 44. host computers and slave computer communication channel, 45. two-port RAM, 46. clock signal, 48. digit phase shift generators, 49. 8 passage AD, 50. four-way DA, 51. the power magnitude signal, 52. digit phase shifting signals, 53. power measurements, 54. control signal, 56. the DC-DC power supply of digital amplitude control, 57.D/E class channel power amplifier, 58.PLL phase detectors, 59. harmonic filter, 60. match circuits.
Below in conjunction with the drawings and specific embodiments the present invention is further described in detail.
The specific embodiment
Referring to Fig. 1, wherein show a kind of schematic diagram of hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system.Total system is made up of hundred array-element composite material and controlling array by spherical-phase transducer 2, passage phased array HIFU driving control system 17 up to a hundred, Ultrasonic-B probe 3, B ultrasonic instrument 5, image collecting device 7,6 axis motion systems 11 and 6 kinetic control systems 13, main control computer 15, degassing water purification system 19, video camera 9, water pocket 10 and therapeutic bed 1.
Hundred array-element composite material and controlling array by spherical-phase transducer 2 of the present invention is installed on the below of therapeutic bed 1, in the centre bore of hundred array-element composite material and controlling array by spherical-phase transducer 2 probes, be coaxially installed with Ultrasonic-B probe 3, Ultrasonic-B probe 3 forms coupling probe with it, Ultrasonic-B probe 3 can be around central shaft rotation θ angle, and Ultrasonic-B probe 3 is connected with image collecting device 7 with B ultrasonic instrument 5.The driving of hundred array-element composite material and controlling array by spherical-phase transducer 2 is finished by passage phased array HIFU driving control systems 17 up to a hundred, and the solid location of its attitude is controlled by 6 axis motion systems 11 and 6 kinetic control systems 13.Porose at therapeutic bed 1 center, the place ahead of the surface of emission of hundred array-element composite material and controlling array by spherical-phase transducer 2 also is provided with water pocket 10, be connected with circulation, homothermic de aerated water that degassing water purification system 19 provides in the water pocket 10, de aerated water is done the ultransonic coupling liquid of treatment on the one hand, in addition-aspect can cooling sound window in surface skin, burn for preventing that surface skin is overheated in the window, also be provided with the video camera 9 that places water pocket, carry out the supervision of surface skin in the window.Main control computer 15 drives hundred array-element composite material and controlling array by spherical-phase transducer 2 emission focused ultrasound beams then and treats by high-speed bidirectional Data Transmission Controlling interface 18 controls passage phased array HIFU driving control systems 17 up to a hundred; Main control computer 15 is simultaneously also by 6 kinetic control systems 13 of bidirectional data transfers line 14 control, and then controls 6 axis motion systems 11 and make coupling probe with 5DOF athletic posture locating therapy, and makes Ultrasonic-B probe 3 rotations; Main control computer 15 is also controlled the image collecting device 7 of B ultrasonic image and the water cycle of degassing water purification system 19.
The structure of hundred array-element composite material and controlling array by spherical-phase transducer 2 is array element sphere rectangle phased array up to a hundred, from Fig. 2, can see, the rectangle 20 of the projected area of each array element for equating, the such structure compactness of arranging, array number helps producing meticulous, flexible and changeable focus form at most.The operating frequency of transducer is 0.5-4MHz.The material that adopts is a novel 1-3 piezo-electricity composite material (1-3Piezocomposite), it is thickness mode that the 1-3 piezo-electricity composite material utilizes its principal oscillation pattern, suppress other direction modes, reduce parasitic secondary lobe, thereby the sphere transducer of 1-3 piezo-electricity composite material only there is the smooth distribution of focus place acoustic pressure.The 1-3 piezo-electricity composite material can directly be made sphere, need not acoustic lens, thereby has reduced the acoustic attenuation that acoustic lens brings, and also has the characteristic of broadband, high s/n ratio and low acoustic impedance.
Passage phased array HIFU driving control systems 17 up to a hundred can be transferred to hundred array-element composite material and controlling array by spherical-phase transducer 2 with being fit to the drive control signal that three-dimensional single focus of oncotherapy, three-dimensional many focuses, combination switch focus and can avoid the submatrix focus mode that rib blocks.General focused ultrasound therapy transducer dimensions is bigger, its window is blocked by rib or barrier easily, single array element transducer can only remove blocking rib when treating, and phased array focusing ultrasonic transducer is in this method that just can adopt submatrix under the situation of being blocked by rib, allow the transducer array element part of being blocked by rib not work exactly, all the other array elements work.Thereby the Ultrasonic-B probe 3 of hundred array-element composite material and controlling array by spherical-phase transducer 2 centre bores can be judged which part array element is blocked by rib and determine not worked by rib shield portions array element, so just realize non-invasive procedures.
For producing the multiple focus mode that is fit to tumor, control method is absolutely necessary, and what match with hundred array-element composite material and controlling array by spherical-phase transducer 2 is passage phased array HIFU driving control systems 17 up to a hundred.The driving signal of corresponding each array element of focus form of control method design, the driving signal of all focus mode correspondences forms library and is stored in the memorizer of passage phased array HIFU driving control systems 17 up to a hundred, the instant driving signal that takes out corresponding focus mode is realized the driving of hundred array-element composite material and controlling array by spherical-phase transducer 2 is controlled by passage phased array HIFU driving control systems 17 up to a hundred when HIFU treats, be the power control that each array element is wanted a corresponding passage, all array elements and driving passage are all worked simultaneously during treatment, and the power magnitude of the channels drive of each array element and phase place are all independent controlled.
High accuracy, each channel phases that contains LOCAL FEEDBACK and power can independently be controlled, the system of the control of computer layering and distribution management and high speed data transfer control interface is the framework of the present invention's passage phased array up to a hundred HIFU driving control system 17.The layer distributed structured flowchart of passage phased array HIFU driving control systems 17 as can be seen from Figure 3 up to a hundred; Passage phased array HIFU driving control systems 17 up to a hundred among the present invention are designed to a typical distribution formula computer control system, each the channel power driver 26 that is divided into HIFU driving governor host computer 23 and the slave computer 25 that distributes and distributes.Main control computer 15 is by bidirectional data transfers control interface 18 and host computer 23 both-way communication transmission commands.Host computer 23 can be a single board computer or embedded-type ARM-linux system, host computer 23 drives the distributed slave computer 25 of control by self-defined internal bus 24, slave computer 25 is a single-chip microcomputer, 4 or 8 or 16 channel power drivers 26 of each slave computer control, the quantity of slave computer 25 is taken as 4,8,16 multiple in such distributed frame, and the analog line driver 26 of each slave computer 25 control also is taken as 4,8,16 multiple equally.
The power control of the corresponding passage of each array element, array element HIFU phased array up to a hundred require the power driving controller of passages up to a hundred to drive the emission ultrasound wave; The power of each passage, phase signal can independently be controlled, and the phase controlling scope of continuous wave is 0-360 °, and the phase place of all passages is the phase places with respect to a basis reference frequency clock signal.The major function that phased array HIFU drives the control realization is exactly that order and the treatment data that receive main control computer 15 are resolved, change into the signal of telecommunication that comprises each channel phases, amplitude information front end input signal as power channels, information by feeding back in the real-time monitoring power amplification passage work process simultaneously, duty to each passage is monitored in real time, thus functions such as realization safe self-locking.
Fig. 4 is a kind of example block diagram that passage phased array HIFU up to a hundred drive host computer in the control.The host computer 23 of present embodiment has adopted embedded-type ARM-linux system, adopts the ARM+FPGA+DDS+Driver+TFT structure on the hardware, adopts system's implementation of built-in Linux+MiniGUI+ host computer functional software on the software.Outer being with at microcontroller ARM nuclear 32:
Two passage RS23233, passage are used for that 34, one passages of external connection keyboard are used for and main control computer 15 is communicated with;
A NANDFlash controller is used for external 64MNandFlash 39, is used for storing bootloader, kernel, root file system, host computer procedure etc.;
64MSDRAM controller 38 is used for doing Installed System Memory;
On-site programmable gate array FPGA (Field Prorammable Gates Array) 40 adopts the medium-scale chip of Altera to do the generation of various control signals;
Frequency synthesizer DDS (Direct Digital Synthesizer) the 41st is used for producing the reference frequency clock signal, can adopt the AD9850 frequency synthesizer of U.S. AD company.
LCD liquid crystal display 31: the system test debugging shows;
JTAG debug port 35: be used for the system test debugging;
CS8900 port 36: in the debug phase, can be used as the debug port of system,, be used for the upper computer software design in the commercialization stage;
Drive with buffering 42 and transfer data to self-defined internal bus 24
Systems soft ware mainly refers to built-in Linux and MiniGUI.Operation bootloader after the system energising, the various CPU running environment of initialization also load kernel, and kernel starts with the rear mount root file system, and the MiniGUI that brings into operation then moves the functional software of host computer 23.
The agreement of self-defined in the present embodiment and main control computer communication and control, host computer 23 follow that native system is self-defining mainly finishes following function with communication and control protocol main control computer:
Produce the required reference frequency clock signal of whole phased array HIFU driving governor, consistent as the operating frequency of reference frequency clock signal in the present embodiment and transducer is 1.2MHz.
Receive treatment order and data that main control computer is sent, carry out pretreatment.
Control signals such as treatment mode signal take place according to the order that receives.
Drive signals at different levels,, signal is sent to slave computer carry out specific implementation with the slave computer communication.
Each signalling channel of monitoring is done corresponding safe handling in real time.
Fig. 5 is a kind of example block diagram that passage phased array HIFU up to a hundred drive the slave computer that distributes in the control among the present invention.At first the hardware designs of slave computer 25 has selected for use single-chip microcomputer as the core processor of realizing the next each function, and single-chip microcomputer 25 is responsible for scheduling, is managed the co-ordination of each functional module.Single-chip microcomputer 25 carries out bidirectional data transfers with two-port RAM 45; Slave computer 25 carries out both-way communication by two-port RAM 45 and host computer 23 by inner host computer and slave computer communication channel 44, receives treatment data and control information that host computer 23 sends, and in time uploads passage detection information such as power.Single-chip microcomputer 25 is digit phase data and the digital power amplitude data of the treatment data decomposition that receives for each passage, control signal 54 is sent to channel power driver 26 on one side then, on one side the digit phase data are sent to digit phase shift generator 48.Digit phase shift generator 48 is accepted two signal controlling: one is the 8 bit digital phase-shift phases that single-chip microcomputer 25 is given, another is the transducer reference frequency clock signal 46 that directly passes over by inner host computer and slave computer communication channel 44 from host computer 23, carries out phase place time-delay back generation digital phase-shifting technique signal 52 according to these two signal digital phase shift generators 48 and passes to channel power driver 26.The digital power amplitude data that single-chip microcomputer 25 obtains decomposition sends to four-way DA 50 and changes, and the power magnitude signal 51 with conversion passes to channel power driver 26 then, and the power magnitude control of present embodiment is 8 Accuracy Figure amounts.During operation, each passage of channel power driver 26 all is provided with the detection that each array element drives electrical power, also has the reference point voltage detecting; Single-chip microcomputer 25 control eight passage AD 49 become digital signal with the power of four passages with voltage transitions by power measurement 53, carry, be stored in the two-port RAM 45, so that host computer 23 inquiries.Judge according to the power of each passage and the detection data of voltage whether the duty of each channel power driver is normal,, close this passage at once if undesired.
With upper machine communication, accept various control signals.
The treatment data that host computer is sent become the transducer amplitude information by the DA transducer, and send to corresponding power amplification passage.
Signal produces each channel phases information through delay circuit, and sends to the corresponding power amplification channel.
According to the treatment mode data that host computer provides, realize control to the various working methods of power amplification passage.
Monitor the duty of each power amplification passage in real time and be converted to digital signal, send to host computer.
Fig. 6 is passage phased array HIFU power drive passage schematic diagrams up to a hundred among the present invention.What show among the figure is the driving that channel power drives a passage in 26.The power magnitude of passage and phase place are independent control, the amplitude control mode have two kinds available: a kind of is the voltage control mode of voltage feedback, and another kind is the power control mode of Feedback of Power, and they are directly controlled by single-chip microcomputer 25.Because the array element 20 of phase array transducer 2 its electrical impedance when work can change, thereby adopt the power control mode of Feedback of Power to make the stable and influence that not changed by electrical impedance of output.The Amplifier Design that channel power drives adopts D/E class channel power amplifier 57, and D/E class channel power amplifier 57 is operated on off state, is the cycle square wave here, thereby efficient is than A/B class A amplifier A Gao Keda 90%, and volume is little; The phase place of the power drive signal that D/E class channel power amplifier 57 produces and amplitude are the results by single-chip microcomputer 25 controls: at first the square-wave signal that moves of the digital delay volume production looks that sends by single-chip microcomputer 25 of digit phase shift generator 48 reference clock square-wave signal that host computer 23 is produced is sent into D/E class channel power amplifier 57 and is carried out phase controlling, and meanwhile the square wave amplitude that amplifies of the D/E class channel power amplifier 57 digital amplitude signal that sent by single-chip microcomputer 25 is controlled by the amplitude realization amplitude of DA 50 control DC-DC power supplys 56.The DC-DC power supply 56 of digital amplitude control is actually the adjustable pulsed D C-DC power supply of pulsewidth, its efficient Gao Keda 85%.The square-wave signal of D/E class channel power amplifier 57 outputs is delivered to hundred array-element composite material and controlling array by spherical-phase transducer 2 with the sine wave signal of operating frequency through the coaxial shielding cable through L-C match circuit 60 through 2 times again and is driven its array element after harmonic filter 59 filtering of operational frequency bandwidth.The power measurement 53 of present embodiment is realized with hardware multiplier and integrator fully.The power signal of hard-wired power measurement 53 when power control mode as feedback signal.The phase shift that each link of amplification channel produces can be carried out the compensation of phase feedback by phase-locked loop pll phase detectors 58.The power measurement 53 of passage and the detection limit of voltage are sent into single-chip microcomputer 25 after eight passage AD (49) conversion, single-chip microcomputer 25 judges according to the power of each passage and the detection data of voltage whether the duty of each channel power driver is normal, if undesired, close this passage at once by enabling control.
The function upper computer software state transition graph that will finish according to host computer is referring to Fig. 7, system boot promptly moves the bootloader program that is positioned at assigned address, set up after the linux kernel running environment, load linux kernel, the root file system that carry needs in the kernel running, after system start-up was finished, operation moved the host computer functional software based on the graphical user interface of MiniGUI on the MiniGUI graphic interface.The host computer functional software is concrete parts of realizing the various functions of host computer, at first need the initialization system software and hardware, comprise control corresponding word among the FPGA (40), the reset initialization of DDS (41), serial communication interface, and the various flag bits in the software etc., initialization is handled by the different command frame that receives accordingly by promptly entering the Infinite Cyclic pattern later on.
When receiving configuration order, passage phased array HIFU driving control system parameters up to a hundred need be set, the transducer operating frequency is set, the channel correcting factors up to a hundred and System self-test etc. are set.When communication makes mistakes, need reinitialize serial ports, empty relief area, carry out error handling processing.When receiving querying command, need the query facility sign, inquiry power amplifier state value, inquiry channel power detected value.When replying querying command, need send reply data to main control computer, comprise device identification, the system mode value.When receiving the begin treatment order, enter into treatment mode cycle state, HIFU pattern (on) sends the treatment pulse, and HIFU pattern (off) is closed the treatment pulse.In this therapeutic process, all need the inquiry system state, if find that system signal not in the pre-set threshold scope, stops treatment automatically, carry out error analysis, if system's operate as normal, and the HIFU mode cycle finishes, mean that some treatment finishes, normally stop treatment.
The function slave computer software flow process that will finish according to slave computer 23 is referring to Fig. 8, and passage phased array HIFU driving control system slave computers 23 up to a hundred are Single-chip Controlling, after system powers on, carry out every initial work, for program is provided with running environment.After the system initialization success, corresponding state is set keeps supplying a machine check, open data and send interruption, so that can receive the treatment data from host computer.Next whether the check system work clock is normal, if clock is made mistakes, the clock error status is set; If clock is normal, the work clock correct status is set, read current each passage duty, state byte is set checks for host computer 23.Whether next check has passage in running order, if have, then gathering 20 groups of power, magnitudes of voltage is stored in the dual port RAM (45), and put the intact flag bit of data acquisition, wait for that host computer carries out date processing, if the host computer date processing is finished, judge that passage is normal, just can enable control byte and respective channel is set by readout power
In order to allow focus supersonic focus in the body from external arbitrary orientation and short focal length, adopt 6 axis motion systems 11 and 6 kinetic control systems 13 to carry out the attitude of transducer, implement three-dimensional locating therapy.Wherein 3 degree of freedom be x axle, y axle, the orthogonal rectilinear motion of z axle and 2 around the axle swing, it is the rotation of Ultrasonic-B probe 3 that one degree of freedom is arranged again.X axle, y axle, the orthogonal rectilinear motion of z axle adopt driven by servomotor ball screw or nut to make it do rectilinear motion along line slideway, 2 swings around two vertical axises then are to adopt the two pendulum ship structures that move both vertically mutually to swing around its vertex of a cone, adopt the driven by servomotor ball screw to make its nut do rectilinear motion, be converted into arc swing again; Two swinging structure compactnesses, high accuracy and pivot angle and Electric Machine Control are linear.And the present invention the motion of one degree of freedom is arranged again is to allow do in the coaxial centre bore that is loaded on hundred array-element composite material and controlling array by spherical-phase transducer 2 probes of Ultrasonic-B probe 3 ± 90 ° rotation; Can monitor three-dimensional not suprafacial treatment damage status like this.The motion of 6 axles all adopts driven by servomotor to realize high-precision motion closed loop control.6 axis motion systems 11 of the present invention and 6 kinetic control systems 13 are located with the attitude motion control and the solid of compact and done with high accuracy 6DOF.PMAC (Programmable Multiaxes Controller) the multiaxis control card that the motion of 6DOF has adopted U.S. DelatTau company the to produce control that links.
Array element sphere phase arrays up to a hundred can be realized the focus scanning of 3d space, thereby the fan sweeping face of the damage B ultrasonic picture control of focused ultrasound therapy also answers Danone to find the treatment impaired loci at 3d space.Ultrasonic-B probe 3 just can find the treatment impaired loci at 3d space in the rotation of phased array treatment transducer centre bore among the present invention, also can carry out the 3D imaging.
The therapy system of patent of the present invention adopts guiding of B ultrasonic image and monitoring focused ultrasound therapy, and main control computer software can be controlled B ultrasonic image acquisition and monitoring and be quasi real time picture control, promptly carries out the B ultrasonic image acquisition in the empty period of treatment duty cycle.In the time period of general HIFU work is the working method that adopts dutycycle, promptly periodically is interrupted work; The dutycycle waveform of HIFU work is seen Fig. 9 a, and the B ultrasonic imaging is to carry out in the time period of the sky of HIFU, and to prevent the strong jamming of HIFU, the sequential of B ultrasonic imaging is seen Fig. 9 b.Such mode is exactly the accurate enforcement monitoring of B ultrasonic imaging.
Water pocket 10 is controlled same as the prior art with being connected of degassing water purification system 19.
Figure 10 has expressed embodiment of the invention array element sphere phase array up to a hundred high-strength focus supersonic therapeutic system main control computer software flow, and main control computer software manages the stereotactic focused ultrasound therapy and the treatment damage image that have realized the image guiding to each subsystem and shows.Behind the main control computer running software, at first check the state of degassing water purification system 19,17,6 kinetic control systems 13,11 of passage phased array HIFU driving control systems up to a hundred and inner each parts, guide 6 telecontrol equipment playback; Then show the patient data inputting interface, import patient data, so that the validity check when being written into other image documents by the doctor.The navigational tool that the doctor utilizes main control computer software to provide is sought the lesion tissue position, can be written into simultaneously the three-dimensional check image of other mode by the DICOM file interface, by interactively method, carry out the registration of each modal data and current treatment position, carry out the three-dimensional visualization demonstration by the various processing methods that main control computer software provides, observing the situation of lesion tissue intuitively, is that treatment planning is formulated on the basis with the face.Start subsystem co-ordinations such as treatment back main control computer software control degassing water purification system 19,17,6 kinetic control systems 13 of passage phased array HIFU driving control systems up to a hundred, image collecting device 7.At first carry out prescan one time, carry out work according to the desired position of treatment planning sound window, power and mode of operation then, the ultrasonoscopy before and after the record treatment simultaneously is used for the treatment of effect assessment.After all therapeutic goals were finished, the seance process finished, and main control computer software is responsible for resetting of 6 kinetic control systems 13, degassing water purification system 19.In the therapeutic process, main control computer software is monitored in real time for the temperature of system water temperature, hundred array-element composite material and controlling array by spherical-phase transducer 2, the key parameters such as each channel status of passage phased array HIFU driving control systems 17 up to a hundred, guarantees the therapeutic process equipment safety operation.
Therapy system main control computer software function is:
Passage phased array HIFU driving control systems up to a hundred, 6 kinetic control systems, B ultrasonic image collecting device and degassing water purification systems are controlled and managed.
The doctor can adopt different focus mode and position according to the difference of treatment focus: single focus on the axle, from axle list focus, many focuses, the synthetic large focal spot of many focuses; Many focuses have treatment speed faster than single focus, and flexible and changeable focus mode has enlarged therapeutic domain simultaneously.
The doctor can determine transducer according to the B ultrasonic image, and which is partly blocked by obstacles such as ribs, thereby selects corresponding submatrix for use, and the submatrix that promptly is blocked is not worked, its array element work; Having stored 32 kinds of submatrixs in the system can select, from but truly non-invasive procedures.
The doctor can direct up, down, left, right, before and after operation carrying out focused ultrasound therapy solid locate on the B ultrasonic image.
Visual sound window, focus adjustment technology make that the formulation speed of treatment planning is faster, more accurate.
Treatment power, time, focus mode, focus switch mode etc. can be set, and can puts and treatment planning such as sweep, line is swept, and be provided with and sweep into professional etiquette in advance to draw scheme definite.
The DICOM file imports other diagnostic images in recent focus zone, and can under doctor's intervention, carry out registration, can overcome the insufficient shortcoming of B ultrasonic picture quality, be convenient to the doctor understands area for treatment in therapeutic process situation, take the proper treatment scheme, avoid the accidental injury of normal structure.
By the B ultrasonic monitoring image tissue is scanned, adopt object plotting method to obtain three-dimensional reconstruction image.
The B ultrasonic pictorial display.
B ultrasonic rotation tomography technology can be observed the all-directional ultrasonic image of area for treatment rather than the direction of some qualifications, makes that ultrasonography monitoring is more accurate for the understanding in focus zone more comprehensively.
Photographic head can the inclined to one side skin histology in direct observation sound window position state.
The work process of hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system of the present invention is as follows: therapeutic process of the present invention is actually the solid location focus supersonic operative treatment under the guiding of B ultrasonic image, and the operation of total system is to carry out on the main control computer software of main control computer 15.Generally at first be to determine disease sites, the doctor is based on the B ultrasonic view and carries out three-dimensional scanning, at this moment 6 kinetic control systems 13 of main control computer 15 controls are controlled the motion of Ultrasonic-B probe 3 by 6 axis motion systems 11, thereby the motion of B ultrasonic fan sweeping face obtains each tangent plane picture, and the three-dimensional visualization processing that provides with main control computer software obtains organ-tissue inside and disease sites 3-D view; Also available DICOM file interface is written into other MRI or the CT image is determined disease sites as registration, and can carry out three-dimensionalreconstruction and graphical analysis to the image of each mode of being written into.The B ultrasonic image acquisition is by obtaining at image collecting device 7 under the main control computer software control of main control computer 15.The HIFU of tumor treatment need focus on irradiation by single-point, by forming line, forms face by line more again, and a plurality of (multilamellars) then form the treatment of certain volume.The treatment that general point, line, surface are formed draws near in proper order, can make corresponding treatment planning during medical treatment.During treatment according to the three-dimensional locating therapy of sound window: be to control hundred array-element composite material and controlling array by spherical-phase transducer 2 attitudes by 6 kinetic control systems 13 of main control computer 15 controls by 6 axis motion systems 11 based on the B ultrasonic view by the doctor to carry out three-dimensional locating therapy, treatment Shi doctor can adopt corresponding focus mode: as single focus, synthetic big Jiao of many focuses, combination is switched focus and can be avoided the submatrix focus mode of obstacle such as rib, and selection transmitting power, parameters such as emission duration, main control computer 15 is ordered passage phased array HIFU driving control systems 17 control hundred array-element composite material and controlling array by spherical-phase transducers 2 up to a hundred to launch High Intensity Focused Ultrasound by the 18 transmission treatments of bidirectional data transfers control interface and is treated.Main control computer software can carry out prescan before treatment so that the determining of therapeutic scheme.Treated a bit or corresponding zone, available B ultrasonic view is observed the contrast therapy effect, Ultrasonic-B probe can autobiography so that seek the position of treatment damaged tissue and to the three-dimensional imaging of treatment damage status at three dimensions.Assistant subsystem in the treatment. degassing water purification system 19 is also by main control computer 15 main control computer software controls.
Claims (18)
1. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system, it is characterized in that, this system comprises: the hundred array-element composite material and controlling array by spherical-phase transducer (2) that places therapeutic bed (1) bottom, be coaxially installed with Ultrasonic-B probe (3) in the probe of hundred array-element composite material and controlling array by spherical-phase transducer (2), constitute coupling probe jointly with the probe of hundred array element composite sphere phase array transducers (2) around central shaft rotation θ angle; Wherein, hundred array-element composite material and controlling array by spherical-phase transducer (2) is connected with passage phased array HIFU driving control systems up to a hundred (17); Ultrasonic-B probe (3) is connected with B ultrasonic instrument (5) and image collecting device (7); The place ahead at hundred array-element composite material and controlling array by spherical-phase transducer (2) surface of emission is provided with water pocket (10), and this water pocket (10) is connected with degassing water purification system (19), also is provided with in the water pocket (10) and carries out the video camera (9) that surface skin monitors;
System also includes main control computer (15), 6 axis motion systems (11) and 6 kinetic control systems (13); Main control computer has main control computer software in (15), and the B ultrasonic image that is used for back-up system guides stereotactic focused ultrasound therapy; Main control computer (15) is connected with passage phased array HIFU driving control systems up to a hundred (17) by high-speed bidirectional Data Transmission Controlling interface (18); Main control computer (15) also is communicated with 6 kinetic control systems (13) by bidirectional data transfers line (14) simultaneously, and be connected with 6 axis motion systems (11) by 6 kinetic control systems (13), be used for the control combination probe with 5DOF athletic posture location, and drive Ultrasonic-B probe (3) rotation; Main control computer (15) also interconnects with image collecting device (7) and degassing water purification system (19).
2. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, the structure of described hundred array-element composite material and controlling array by spherical-phase transducer (2) is array element sphere rectangle phased array up to a hundred, the material that adopts is that novel 1-3 piezo-electricity composite material is directly made sphere, the rectangle of the projected area of each array element for equating, its operating frequency is 0.5-4MHz.
3. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, described master computer (15) control passage phased array HIFU driving control systems up to a hundred (17), and then driving hundred array-element composite material and controlling array by spherical-phase transducer (2) emission focus supersonic, control 6 kinetic control systems (13) simultaneously, coupling probe is located with the 5DOF athletic posture, and the 3-D image monitoring of Ultrasonic-B probe (3) rotation formation, also control the image collecting device (7) of B ultrasonic image and the water cycle of degassing water purification system (19).
4. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, the power magnitude of the channels drive of each array element and phase place are independent controlled in the described passage phased array HIFU driving control systems up to a hundred (17), and the phase controlling scope of continuous wave is 0-360 °.
5. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, described passage phased array HIFU driving control systems up to a hundred (17) are the layer distributed structure, comprise host computer (23) and the slave computer (25) that distributes and each the channel power driver (26) that distributes.
6. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5 is characterized in that, described host computer (23) is embedded-type ARM-Linux control hardware structure.
7. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5 is characterized in that, described host computer (23) is provided with communication and the control protocol with main control computer (15).
8. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5, it is characterized in that, described host computer (23) adopts frequency synthesizer DDS (41) to produce the reference frequency clock signal of all passages, thus control signal phase place accurately.
9. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5, it is characterized in that, described distributed slave computer (25) adopts the bidirectional data transfers structure of two-way RAM (45), and is used for each channel power driver (26) is implemented digit phase time-delay control and digital amplitude control.
10. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5, it is characterized in that, described distribution channel analog line driver (26) adopts the D/E power-like amplifier of high electrical efficiency, has also adopted the DC-DC power supply architecture of digital amplitude control simultaneously.
11. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5 is characterized in that, power detection and Feedback of Power control that described distribution channel analog line driver (26) has adopted hardware multiplier to realize.
12. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 5, it is characterized in that, the phase feedback that described distribution channel analog line driver (26) has adopted digital phase shifter and phase-locked loop pll to realize, thus guaranteed the accuracy that channel phases is controlled.
13. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, the library that has the driving signal formation of focus mode correspondence in the memorizer of described passage phased array HIFU driving control systems up to a hundred (17), the driving signal of the corresponding focus mode of instant taking-up drives control to each array element of hundred array-element composite material and controlling array by spherical-phase transducer (2) when HIFU treats.
14. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, the motion of described 6 axis motion systems (11) and 6 kinetic control systems (13) is: 3 degree of freedom be x axle, y axle, the orthogonal rectilinear motion of z axle and 2 around the axle swing, it is the rotation of Ultrasonic-B probe 3 that one degree of freedom is arranged again; Each has all adopted driven by servomotor to realize high-precision closed loop control.
15. hundred array-element composite material and controlling array by spherical-phase high-strength focus supersonic therapeutic system as claimed in claim 1, it is characterized in that, described main control computer software includes the visualization processing of 3-D view, the tangent plane picture of the B ultrasonic fan sweeping face motion that is used to provide constitutes the 3-D view of the treatment damage status of organ-tissue inside and therapeutic goal target tissue, and carries out the solid location based on the B ultrasonic view.
16. according to the described hundred array element composite sphere phased array high-strength focus supersonic therapeutic systems of claim 1, it is characterized in that, the image that described Ultrasonic-B probe (3) obtains can judge which part array element blocked by rib, thereby determines by the idle submatrix working method of rib shield portions array element.
17. according to the described hundred array element composite sphere phased array high-strength focus supersonic therapeutic systems of claim 1, it is characterized in that, described main control computer software can be written into the DICOM image file, can carry out the multi-modality images registration under doctor's intervention, and can carry out three-dimensionalreconstruction and graphical analysis to the image of each mode of being written into.
18. according to the described hundred array element composite sphere phased array high-strength focus supersonic therapeutic systems of claim 1, it is characterized in that, described main control computer software has quasi real time control function of B ultrasonic image, promptly carries out the collection of B ultrasonic image in the empty period of treatment duty cycle.
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