CN214971278U - Focus positioning probe, focus positioning system and focused ultrasound treatment equipment - Google Patents
Focus positioning probe, focus positioning system and focused ultrasound treatment equipment Download PDFInfo
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- CN214971278U CN214971278U CN202023159171.9U CN202023159171U CN214971278U CN 214971278 U CN214971278 U CN 214971278U CN 202023159171 U CN202023159171 U CN 202023159171U CN 214971278 U CN214971278 U CN 214971278U
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Abstract
The utility model belongs to the technical field of ultrasonic therapy, the utility model discloses a focus positioning probe, focus positioning system and focus ultrasonic therapy equipment, including ultrasonic probe and at least one camera, the camera distributes planar one side or both sides are described to ultrasonic probe's fan to keep fixed with ultrasonic probe's relative position, just the central line of camera is on a parallel with ultrasonic probe's central line. The utility model discloses, utilize the supplementary ultrasonic probe of camera to fix a position, can realize fixing a position fast, reduce the location degree of difficulty, improve location focus efficiency, save operating time.
Description
Technical Field
The utility model belongs to the technical field of ultrasonic therapy, in particular to a focus positioning probe and focus positioning system focusing ultrasonic therapy equipment.
Background
The high-intensity focused ultrasound treatment technology can form high-intensity continuous ultrasonic energy on the focus by focusing ultrasonic waves, thereby generating transient high-temperature effect, cavitation effect, mechanical effect and acoustic effect, leading cell membranes and nuclear membranes to be ruptured and proteins to be solidified, and selectively leading focus tissues to be solidified and necrotized, so as to lead the focus to lose the capabilities of proliferation, infiltration and transfer.
In the treatment process of the existing ultrasonic treatment equipment, a B ultrasonic probe is often used for guiding and positioning a focus, and the B ultrasonic probe needs to be repeatedly moved for many times in the positioning process to help a doctor to imagine the surrounding anatomical structure of the focus and analyze and find the position of the focus, so that the operation process is complicated and consumes long time.
SUMMERY OF THE UTILITY MODEL
In view of the above disadvantages of the prior art, an object of the present invention is to provide a focus positioning probe, a focus positioning system focused ultrasound therapy apparatus, which is used to solve the problems of complicated focus positioning process, long time consumption, etc. in the prior art.
In order to achieve the above objects and other related objects, the present invention adopts the following technical solutions:
the utility model provides a focus positioning probe, including ultrasonic probe and at least one camera, the camera distributes planar one side or both sides are described to ultrasonic probe's fan to keep fixed with ultrasonic probe's relative position, just the central line of camera is on a parallel with ultrasonic probe's central line.
The number of the cameras is one, the cameras are distributed on one side of a fan-scanning plane of the ultrasonic probe, and the center line of each camera is located on the vertical plane of the fan-scanning plane.
Optionally, the number of the cameras is at least two, the cameras include a first camera and a second camera, the first camera and the second camera are distributed on two sides of a fan-scanning plane of the ultrasonic probe, and the height differences between the first camera and the ultrasonic probe, the height differences between the second camera and the ultrasonic probe are equal.
Optionally, the first camera and the second camera are symmetrically distributed on two sides of a fan-scanning plane of the ultrasonic probe, and a center line of the first camera and a center line of the second camera are both located on a vertical plane of the fan-scanning plane.
Optionally, the first camera and the second camera are distributed on two sides of a fan-scanning plane of the ultrasonic probe, and at least one of a center line of the first camera and a center line of the second camera deviates from a perpendicular plane of the fan-scanning plane of the ultrasonic probe.
Optionally, the focus positioning probe still includes the mount pad, ultrasonic probe with the camera is all integrated on the mount pad, ultrasonic probe with the camera all stretches out the mount pad, wherein, ultrasonic probe stretches out the height of stretching out of mount pad is than the camera stretches out the height of stretching out of mount pad is high.
Optionally, the lesion positioning probe further includes a casing for holding, the mounting seat is disposed at the front end of the casing, and the tail of the ultrasonic probe and the tail of the camera are inserted into the casing.
Optionally, the ultrasonic probe has a flat head portion extending out of the mounting seat, and an avoiding structure for avoiding the acquisition range of the camera is arranged at the front end of the flat head portion, so that the flat head portion is completely avoided in the acquisition range of the camera or the acquisition range of the camera only covers part of the edge contour of the camera.
The utility model also provides a focus positioning system, include:
a focus positioning probe, wherein the focus positioning probe is any one of the focus positioning probes;
the reference image display device is used for displaying a reference image, the reference view is formed according to data acquired by the camera in real time, the size of the reference view is fixed for a numerical value, and a virtual mark point corresponding to the mark is formed in the reference view;
the processor is used for driving the focus positioning probe to move according to the position of the virtual marking point in the reference view and the actual position relation between the camera and the ultrasonic probe, so that the central line of the ultrasonic probe and an actual positioning track of the mark are superposed;
the input device is used for inputting a pre-positioning instruction to the processor, so that the image acquisition assembly moves to the position above the mark according to the pre-positioning instruction; and
and the execution mechanism is used for driving the focus positioning probe to move according to the preset position command input in the input device.
Wherein, the processor is respectively connected with the focus positioning probe, the input device, the actuating mechanism and the reference image display device.
Optionally, the reference view has a transverse axis, the center of the reference view corresponds to the center line of the camera, and the transverse axis corresponds to the midperpendicular of the fan-scanning plane of the ultrasound probe.
Optionally, a reference scale is arranged in the reference view or on the reference view display device, the reference scale is correspondingly provided with a scale value, and the scale value is converted into a size value of an actual acquisition area of the camera according to an imaging proportion and displayed.
Correspondingly, the utility model also provides a focused ultrasound treatment equipment, it includes the focused ultrasound treatment head, still includes any one of the above-mentioned focus positioning system, wherein, focus positioning probe with the relative position of focused ultrasound treatment head is fixed.
The utility model discloses, utilize the supplementary ultrasonic probe of camera to fix a position, can realize fixing a position fast, reduce the location degree of difficulty, improve location focus efficiency, save operating time.
Drawings
FIG. 1 is a schematic diagram of an exemplary configuration of an image capture assembly of the present invention employing a single camera;
FIG. 2 is a schematic view of the image capturing assembly of FIG. 1 in a position relative to a marking or lesion in a front view during positioning;
FIG. 3 shows a view of the image capturing assembly of FIG. 1 in a left side view;
FIG. 4 is a diagram showing a positional relationship of an ultrasound probe, a camera and a marker of the image acquisition assembly of FIG. 1 during a positioning process;
FIG. 5 illustrates an exemplary reference view formed using the acquisition assembly of FIG. 1;
FIG. 6 is a diagram showing the positional relationship between the image capturing assembly and the marking and lesion during the positioning process (symmetrical arrangement of cameras);
FIG. 7 is a diagram showing the positional relationship of the ultrasonic probe, the camera and the marker in FIG. 6;
FIG. 8 shows a first reference view correspondingly formed using the image capturing assembly of FIG. 6;
FIG. 9 shows a second reference view correspondingly formed using the image capturing assembly of FIG. 6;
FIG. 10 is a diagram showing the positional relationship between the image capturing assembly and the marking and lesion in three-dimensional space during the lesion localization process (camera asymmetric arrangement);
FIG. 11 is a diagram showing the positional relationship between the image capturing assembly and the marking and lesion in the main viewing direction during the lesion location process (camera asymmetric arrangement);
FIG. 12 is a diagram showing the positional relationship between the image capturing assembly and the marking and lesion in the left-view direction during the lesion localization process (camera asymmetric arrangement);
FIG. 13 is a schematic view of a coordinate system established with the ultrasound probe as an origin using the image acquisition assembly of FIG. 10;
FIG. 14 shows a first reference view correspondingly formed using the image capturing assembly of FIG. 10;
fig. 15 shows a second reference view correspondingly formed using the image capturing assembly of fig. 10.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
It should be understood that the terms "upper", "lower", "left", "right", "middle" and "one" used herein are for clarity of description, and are not intended to limit the scope of the invention, but rather the scope of the invention.
Referring to fig. 1 to 15 in combination, the focus positioning probe of the present invention includes an ultrasonic probe 1 and at least one camera 2, wherein the cameras 2 are distributed on one side or both sides of a fan-scanning plane 11 of the ultrasonic probe 1, and are fixed to the relative position of the ultrasonic probe 1, that is, when the number of the cameras 2 is 1, the cameras 2 are distributed on one side of the fan-scanning plane 11 of the ultrasonic probe 1; when the number of the cameras 2 is greater than or equal to 2, the cameras 2 are distributed on both sides of the fan-sweeping plane 11. The central line 23 of the camera 2 is parallel to the central line 13 of the ultrasonic probe 1, and the camera 2 collects images to assist in realizing the positioning of the ultrasonic probe 1, so that the operation efficiency is improved.
The ultrasound probes described above and below may be B-ultrasound probes.
The above and the following focus locating probes are part of a focus locating system, which further comprises a reference image display device, a processor, an input device and an execution mechanism.
When the focus positioning system is used for positioning the focus 32, the focus 32 is positioned through the mark 31 of the positioning body surface, specifically:
firstly, forming a reference view 4 (including a case of having a single view or two views) according to the imaging scale of data acquired by the camera 2 in real time, and displaying the reference view 4 on a reference view 4 display device, wherein the size of the reference view 4 is a fixed size, and a virtual mark point 41 corresponding to the mark 31 is formed in the reference view 4; and determining an actual positioning track for enabling the central line 13 of the ultrasonic probe 1 to coincide with the mark 31 according to the position of the virtual mark point 41 in the reference view 4 and the actual position relationship between the camera 2 and the ultrasonic probe 1, and controlling the action of an actuating mechanism to enable the ultrasonic probe 1 in the focus positioning probe to move along the actual positioning track. The actual positioning track can be directly obtained through calculation, and certainly, in the actual implementation process, the actual positioning track also can be obtained without calculation, and a specific track is not obtained, but the center line 13 of the ultrasonic probe 1 is fused in the reference view 4 as a virtual projection point according to the actual position relationship between the camera 2 and the ultrasonic probe 1, and a movement direction corresponding to the superposition of the virtual projection point and the virtual mark point 41 is determined according to the position relationship between the virtual mark point 41 in the reference view 4 and the virtual projection point, and the movement of the ultrasonic probe 1 is controlled (that is, the movement of the image acquisition component is controlled) according to the movement direction until the virtual projection point and the virtual mark point 41 are superposed in the reference view 4. When the virtual projection point is formed by fusion in the reference view 4, the center line 23 of the camera 2 corresponds to the center position of the reference view on the reference view 4, the center line 23 of the ultrasonic probe 1 corresponds to the position of the center line of the camera 2 and the directions of the virtual projection point and the virtual mark point 41, and the position of the center line 23 of the ultrasonic probe 1 and the center line of the camera 2 and the distances between the virtual projection point and the virtual mark point 41 are determined according to the imaging proportion. According to the imaging principle of the existing camera 2, in the reference view 4, the central line 23 of the camera 2 is located at the center of the reference view 4, and the projection of the perpendicular plane 12 of the ultrasonic fanning plane 11 is taken as a horizontal axis of the reference view 4, and a direction perpendicular to the horizontal axis is taken as a longitudinal direction.
In the process of forming the reference view 4, firstly, inputting a pre-positioning instruction by using an input device, enabling an image acquisition assembly to move to the position above the mark 31 according to the pre-positioning instruction, enabling the ultrasonic probe 1 and the camera 2 to be located at the pre-positioning height above the mark 31, enabling the acquisition range of the camera 2 to cover the mark 31, then, controlling the ultrasonic probe 1 to move in an actual positioning track in a preset plane corresponding to the pre-positioning height under the driving of an execution mechanism according to the reference view 4, wherein the virtual displacement of a virtual mark point 41 in the reference view 4 corresponds to the displacement of the camera 2 in an actual space, and the preset plane is a plane which is perpendicular to a central line 13 of the ultrasonic probe and corresponds to the pre-positioning height. The center position of the reference view 4 is the corresponding position of the center line 23 of the camera 2 in the reference view 4, and the projection line corresponding to the vertical plane 12 in the ultrasound probe 1 is projected in the reference view 4. In a specific operation, whether the current view is moved to the predetermined position height can be judged by observing whether the corresponding virtual mark point 41 is displayed in the current view, and after the virtual mark point 41 is displayed in the current view, the corresponding current view is used as the reference view 4. The predetermined height may be a fixed value or a height range, as long as the camera 2 is allowed to capture the mark 31. Of course, in the actual implementation process, when the pre-positioning height is located, the ultrasound probe 1 is also required to be capable of acquiring the mark 31, so that the numerical value of the pre-positioning height can be directly acquired according to the data acquired by the ultrasound probe 1, the size of the actual acquisition area is calculated according to the numerical value of the pre-positioning height and the acquisition angle range parameter of the camera 2, and then the actual acquisition area is converted to obtain the imaging ratio forming the reference view 4. Of course, in order to obtain the imaging scale, the installation position of the camera 2 may be changed, so that part of the side edge profile 43 of the ultrasound probe 1 is always present in the current view acquired by the camera 2 (see fig. 8 and 9), and when the imaging scale is established, the imaging scale may be calculated by the actual distance from the center line 23 of the camera 2 to the side edge profile 43 and the reference distance in the reference view 4.
Referring to fig. 1, focus location probe still includes the mount pad, and ultrasonic probe 1 and camera 2 are all integrated on mount pad 3, and wherein, ultrasonic probe 1 and camera 2 all stretch out mount pad 3, and the height that stretches out that ultrasonic probe 1 stretches out the mount pad is higher than the height that stretches out that camera 2 stretches out the mount pad, and ultrasonic probe 1 and body surface contact back during this kind of mode of setting makes the treatment, and camera 2 still can gather the image.
Referring to fig. 1, the lesion positioning probe further includes a housing 4 for holding, the mounting base 3 is disposed at the front end of the housing 4, and the tail of the ultrasonic probe 1 and the tail of the camera 2 are inserted into the housing 4.
With reference to fig. 1 and 2, the ultrasonic probe 1 has a flat head extending out of the mounting base, and an avoiding structure for avoiding the acquisition range of the camera is arranged at the front end of the flat head, so that the flat head is completely avoided in the acquisition range of the camera or the acquisition range of the camera only covers part of the edge profile of the camera. Specifically, the width of the front end of the flat head part is gradually reduced, so that the acquisition range of the camera is avoided.
The following embodiments describe how to calculate the actual positioning trajectory:
with combined reference to fig. 1-5, in some embodiments, the number of cameras 2 is one, the cameras 2 are distributed on one side of the fanning plane 11 of the ultrasound probe 1, and the center line 23 of the cameras 2 is located on the median plane 12 of the fanning plane 11. When the focus positioning probe adopting the mode is adopted, the virtual transverse displacement in the reference view 4 is calculated, and then the actual transverse displacement is obtained according to the virtual transverse displacement and the imaging proportion; the virtual longitudinal displacement is the distance from the mark 31 point to the horizontal axis, and can be directly obtained by referring to the view 4, and then the actual longitudinal displacement is obtained according to the reference proportion.
The calculation formula of the virtual transverse displacement satisfies:
wherein L is0Is a virtual transverse displacement component, a is the center distance between the ultrasonic probe 1 and the camera 2, and h1Is the height distance h between the ultrasonic probe 1 and the camera 22For the predetermined position height, θ is a visible angle of the acquisition region of the camera 2 in the transverse direction, and L is a view width of the reference view 4 in the transverse direction.
In some embodiments, a reference scale 42 with a fixed position and a fixed shape is arranged corresponding to the reference view, a scale value is correspondingly arranged on the reference scale 42, and the scale value is converted into a size value corresponding to an actual acquisition area of the camera according to an imaging proportion for display, in fig. 5, the reference scale 42 is fused with the reference scale 42 to form a reference scaleIn view 4, the reference scale 42 does not change position with the image movement in the display window, nor change with the change of the imaging proportion, so that the actual transverse displacement can be visually observed according to the scale 42, and if the predetermined height h is set2The preset value is a fixed value, the displayed scale value is a fixed value, the reference scale can be formed in the reference view, and the scale can also be arranged on a device for displaying the reference view, such as a display screen.
With combined reference to fig. 6 to 15, the number of the cameras 2 is two, and the cameras include a first camera 21 and a second camera 22, the first camera 21 and the second camera 22 are distributed on two sides of the fanning plane 11 of the ultrasonic probe 1, and the height differences between the first camera 21 and the ultrasonic probe 1 and the height differences between the second camera 22 and the ultrasonic probe 1 are equal. At this time, the first camera 21 forms a first reference view 4a in the reference view 4 display device, and the second camera 22 forms a second reference view 4b in the reference view 4 display device.
With combined reference to fig. 6 to 9, the first camera 21 and the second camera 22 are symmetrically distributed on two sides of the fanning plane 11 of the ultrasound probe 1, and the center line of the first camera 21 and the center line of the second camera 22 are both located on the perpendicular plane 12 of the fanning plane 11. In the case of the lesion localization probe in this manner, the actual longitudinal displacement is calculated based on the virtual longitudinal displacement reference ratio of the distance from the marker 31 point to the horizontal axis in the first reference view 4a and the second reference view 4b, and then the actual lateral displacement is calculated based on the position of the marker 31 point in the first reference view 4a and the second reference view 4 b.
Specifically, the calculation formula of the actual lateral displacement satisfies:
wherein y is the actual transverse displacement component, a is the center distance between the ultrasonic probe 1 and each camera 2, and L1Is the lateral distance of the virtual marker point 41 from the view center in the first reference view 4 a; l is2Is the lateral distance of the virtual marker point 41 from the view center in the second reference view 4 b; first camera 21 and second cameraThe visible angles of the collected images of the camera 22 in the transverse direction are all theta; the preset view widths of the first reference view 4a and the second reference view 4b are both L.
With reference to fig. 10 to 15, the first camera 21 and the second camera 22 are distributed on two sides of the sweeping plane 11 of the ultrasonic probe 1, and at least one of the center line of the first camera and the center line of the second camera deviates from the perpendicular plane of the sweeping plane of the ultrasonic probe, so that the first camera 21 and the second camera 22 can be arranged at any position on two sides of the ultrasonic probe 1, and the installation manner of the cameras 2 is more flexible and diversified. When the lesion positioning probe in this way is adopted, the virtual transverse displacement and the virtual longitudinal displacement are calculated according to the positions of the mark 31 points in the first reference view 4a and the second reference view 4b, and then the actual transverse displacement and the actual longitudinal displacement are calculated according to the imaging proportion.
Specifically, when the virtual transverse displacement and the virtual longitudinal displacement are calculated, a coordinate system is established by taking the virtual projection point of the center line 13 of the ultrasound probe 1 as an origin, the virtual fan-scan projection line of the fan-scan plane 11 of the ultrasound probe 1 as a Y-axis, and the virtual perpendicular projection line of the perpendicular middle plane 12 of the fan-scan plane 11 of the ultrasound probe 1 as an X-axis, and a coordinate calculation formula group of the virtual mark point 41 is established according to the positions of the virtual mark point 41 in the first reference view 4a and the second reference view 4 b:
y1＝(tanθ1)x1+b1-a1tanθ1；
y1＝(tanθ2)x1+b2-a2tanθ2；
wherein the coordinate of the virtual mark point 41 is (x)1，y1)，θ1The angle between the virtual mark point 41 in the first reference view 4a and the sweeping plane 11 (corresponding to the X axis) of the ultrasound probe 1 is (a)1，b1) The coordinate position of the second camera 22 is (a)2，b2)，θ2Is the angle of the virtual marker point 41 in the second reference view 4b with the fan-scan plane 11 (corresponding to the X-axis) of the ultrasound probe 1.
By solving the set of equations, the virtual lateral displacement x can be obtained1And virtual longitudinal displacement y1The numerical value of (c).
At this time, at least two groups of camera groups can be formed by grouping the cameras, each group of camera group comprises one or two cameras, an actual positioning track to be verified is formed according to a reference view formed by the collection of one group of camera group, and a final actual positioning track is obtained through verification according to at least two actual positioning tracks to be verified.
In the foregoing embodiments, the number of the cameras is two:
in some embodiments, the number of the cameras is at least two, and the cameras include a first camera and a second camera, the first camera and the second camera are symmetrically distributed on two sides of a fan-scanning plane of the ultrasonic probe, center lines of the first camera and the second camera are located on a perpendicular plane of the fan-scanning plane of the ultrasonic probe, height differences between the first camera, the second camera and the ultrasonic probe are equal, when a lesion is located, a first actual location track is calculated according to a reference view correspondingly formed by the first camera or the second camera, a second actual location track is calculated according to a reference view correspondingly formed by the first camera and the second camera, and a final actual location track is determined according to the first location track and the second location track.
In other embodiments, the number of the cameras is at least two, and the cameras include a first camera and a second camera, the first camera and the second camera are distributed on two sides of a fan-scanning plane of the ultrasonic probe, a center line of the first camera is located on a vertical plane of the fan-scanning plane of the ultrasonic probe, a center line of the second camera deviates from the vertical plane of the fan-scanning plane of the ultrasonic probe, height differences between the first camera, the second camera and the ultrasonic probe are equal, when a lesion is located, a first actual location track is calculated according to a reference view correspondingly formed by the first camera, a second actual location track is calculated according to the reference view correspondingly formed by the two cameras, and a final actual location track is determined according to the first location track and the second location track.
In the actual implementation process, the number of the cameras can be more than two, and then:
in some embodiments, the number of the cameras is at least three, and the cameras includes a first camera, a second camera and a third camera, the first camera and the third camera are distributed on one side of the ultrasonic probe fan-scanning plane, the second camera is distributed on the other side of the ultrasonic probe fan-scanning plane, the center line of the third camera is located on the vertical plane of the ultrasonic probe fan-scanning plane, the center line of the first camera and the center line of the second camera are both deviated from the vertical plane of the ultrasonic probe fan-scanning plane, the height differences between the first camera, the second camera and the third camera and the ultrasonic probe are equal, when the focus is located, calculating a first actual positioning track according to the reference view correspondingly formed by the third camera, calculating a second actual positioning track according to the reference view correspondingly formed by the first camera and the second camera, determining a final actual positioning track according to the first positioning track and the second positioning track;
in some embodiments, the number of the cameras is at least four, including a first camera, a second camera, a third camera and a fourth camera, the first camera and the second camera are symmetrically distributed on two sides of the fan-sweep plane of the ultrasonic probe, the central lines of the first camera and the second camera are both positioned on the middle vertical plane of the fan-scanning plane of the ultrasonic probe, the third camera and the fourth camera are distributed on two sides of the fan-scanning plane of the ultrasonic probe, and the central lines of the third camera and the fourth camera deviate from the central vertical plane of the fan-scanning plane of the ultrasonic probe, calculating a first actual positioning track according to the reference views correspondingly formed by the first camera and the second camera, calculating a second actual positioning track according to the reference views correspondingly formed by the third camera and the fourth camera, determining a final actual positioning track according to the first positioning track and the second positioning track;
in some embodiments, the number of the cameras is at least four, and the cameras includes a first camera, a second camera, a third camera and a fourth camera, the first camera and the second camera are symmetrically distributed on two sides of a fan-scanning plane of the ultrasonic probe, center lines of the first camera and the second camera are both located on a vertical plane of the fan-scanning plane of the ultrasonic probe, the third camera and the fourth camera are distributed on two sides of the fan-scanning plane of the ultrasonic probe, and center lines of the third camera and the fourth camera are both deviated from the vertical plane of the fan-scanning plane of the ultrasonic probe, a first actual positioning track is calculated according to a reference view correspondingly formed by the first camera and the second camera, a second actual positioning track is calculated according to a reference view correspondingly formed by the third camera and the fourth camera, and a third actual positioning track is calculated according to a reference view correspondingly formed by the first camera or the second camera, and determining a final actual positioning track according to the first positioning track, the second positioning track and the third actual positioning track.
Correspondingly, the utility model discloses a focus positioning system can be applied to in the focus ultrasonic therapy equipment, and it includes focus ultrasonic therapy head and any kind of focus positioning system of the aforesaid, focus positioning probe with focus ultrasonic therapy head's relative position is fixed.
During treatment, after an ultrasonic probe of the focus positioning probe is aligned with the mark, the alignment mark of the focused ultrasonic treatment head is controlled according to the position relationship between the focus positioning probe and the focused ultrasonic probe, so that treatment is carried out.
In an actual implementation process, the Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (12)
1. A lesion localization probe, comprising: the ultrasonic scanning device comprises an ultrasonic probe and at least one camera, wherein the cameras are distributed on one side or two sides of a fan-scanning plane of the ultrasonic probe, and are kept fixed relative to the ultrasonic probe, and the central line of the camera is parallel to the central line of the ultrasonic probe.
2. The lesion localization probe of claim 1, wherein: the number of the cameras is one, the cameras are distributed on one side of a fan-scanning plane of the ultrasonic probe, and the center line of each camera is located on the vertical plane of the fan-scanning plane.
3. The lesion localization probe of claim 1, wherein: the quantity of camera is two at least, including first camera and second camera, first camera and second camera distribute in the fan of ultrasonic probe sweep planar both sides, and first camera, second camera and ultrasonic probe's difference in height are equal.
4. The lesion localization probe of claim 3, wherein: the first camera and the second camera are symmetrically distributed on two sides of a fan-scanning plane of the ultrasonic probe, and the center line of the first camera and the center line of the second camera are both located on the vertical plane of the fan-scanning plane.
5. The lesion localization probe of claim 3, wherein: the first camera and the second camera are distributed on two sides of a fan-scanning plane of the ultrasonic probe, and the central line of at least one of the first camera and the second camera deviates from the median plane of the fan-scanning plane of the ultrasonic probe.
6. The lesion localization probe of claim 1, wherein: still include the mount pad, ultrasonic probe with the camera is all integrated on the mount pad, ultrasonic probe with the camera all stretches out the mount pad, wherein, ultrasonic probe stretches out the height ratio of stretching out of mount pad the camera stretches out the height of stretching out of mount pad is high.
7. The lesion localization probe of claim 6, wherein: the ultrasonic probe comprises a shell for holding, wherein the mounting seat is arranged at the front end of the shell, and the tail of the ultrasonic probe and the tail of the camera penetrate into the shell.
8. The lesion localization probe of claim 6, wherein: the ultrasonic probe is provided with a flat head extending out of the mounting seat, the front end of the flat head is provided with an avoiding structure avoiding the acquisition range of the camera, so that the flat head is completely avoided in the acquisition range of the camera or the acquisition range of the camera only covers partial edge contour of the camera.
9. A lesion localization system, comprising:
a lesion positioning probe according to any one of claims 1 to 8;
the reference image display device is used for displaying a reference view, the reference view is formed according to data collected by the camera in real time, the size of the reference view is fixed for a numerical value, and virtual mark points corresponding to marks are formed in the reference view;
the processor is used for driving the focus positioning probe to move according to the position of the virtual marking point in the reference view and the actual position relation between the camera and the ultrasonic probe, so that the central line of the ultrasonic probe and an actual positioning track of the mark are superposed;
the input device is used for inputting a pre-positioning instruction to the processor, so that the image acquisition assembly moves to the position above the mark according to the pre-positioning instruction; and
an actuating mechanism for driving the focus positioning probe to move according to the pre-positioning instruction input by the input device,
wherein, the processor is respectively connected with the focus positioning probe, the input device, the actuating mechanism and the reference image display device.
10. The lesion localization system of claim 9, wherein: the reference view has a transverse axis, the center of the reference view corresponds to the center line of the camera, and the transverse axis corresponds to the middle vertical plane of the fan scanning plane of the ultrasonic probe.
11. The lesion localization system of claim 9, wherein: and a reference scale is arranged in the reference view or on the reference view display device, a scale value is correspondingly arranged on the reference scale, and the scale value is converted into a size value of an actual acquisition area of the camera according to an imaging proportion and displayed.
12. A focused ultrasound treatment device comprising a focused ultrasound treatment head characterized in that: the lesion localization system of any one of claims 9 to 11, wherein the relative position of the lesion localization probe and the focused ultrasound treatment head is fixed.
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