WO2024055528A1

WO2024055528A1 - Direct-drive imaging and treatment device

Info

Publication number: WO2024055528A1
Application number: PCT/CN2023/078388
Authority: WO
Inventors: 张峰; 袁小鹤; 姚龙洋; 骆威
Original assignee: 以诺康医疗科技 (苏州) 有限公司
Priority date: 2022-09-13
Filing date: 2023-02-27
Publication date: 2024-03-21
Also published as: CN115445111A

Abstract

Disclosed in the present invention is a direct-drive imaging and treatment device, comprising a handle and a probe that are detachably connected. A driving mechanism is provided in the handle, and a transducer module is provided in the probe. The driving mechanism has a rotor, and the shaft of the rotor is hollow and is in threaded connection with a transmission rod. A connecting rod is arranged at the top of the transducer module. The transmission rod is coaxial with the connecting rod and is detachably connected to the connecting rod. The rotor, by means of rotation, drives the transmission rod to directly drive the transducer module to synchronously perform linear reciprocating motion. An imaging transducer and a treatment transducer are arranged at the end of the transducer module close to a transmission window of the probe. According to the present invention, the transmission rod and the connecting rod of the transducer module are detachably connected by means of magnetism, such that the driving mechanism is directly connected to the transducer module by means of the transmission rod to drive the transducer module to perform linear reciprocating motion without the need for additional transmission members, which can ensure the smoothness of driving the movement of the transducer module, avoiding unnecessary noise and abrasion caused by connection deviation.

Description

Direct drive imaging and therapy devices

Technical field

The present invention relates to the technical field of ultrasonic therapeutic instruments, and in particular to a direct-driven imaging and treatment device.

Background technique

Ultrasonic therapy devices commonly used in the market for skin treatment and conditioning use a transducer to focus ultrasonic waves on a single point to generate high energy, which acts on the dermis and fascia layers of the skin to stimulate the proliferation and reorganization of collagen and shrink the skin. Tightening contours, wrinkle removal and skin tightening. The therapeutic instrument usually consists of a handle and a probe, in which the therapeutic transducer in the probe can emit ultrasonic waves to treat the skin. Common ultrasonic therapy devices only have a treatment transducer and no imaging transducer, or the positions of the treatment transducer and the imaging transducer in the ultrasonic therapy device are different, making the image produced by the imaging transducer incompatible with the treatment transducer. At the same time, doctors cannot accurately judge the real situation under the skin during the treatment process, have difficulty controlling the energy and scope of treatment, and cannot achieve real-time and accurate treatment.

At the same time, in order to ensure the efficiency of treatment and reduce the workload of the user, some ultrasonic therapy instruments will set the treatment transducer to be movable. The driving part in the handle can drive the transducer to move, which can increase the radiation area of the ultrasonic wave. . However, in the existing technology, the driving motor and the transducer are not directly connected. Intermediate mechanisms such as guide rails are usually required for indirect connection, such as disclosed in Patent No. 202021319422.2, which results in easy deviations during the driving process and causes jamming. . In addition, the position of the transducer after movement cannot be accurately controlled, making it impossible to accurately position and use it. When it is used again after an interruption, the position of the transducer cannot be reset and needs to be re-adjusted, causing inconvenience.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the prior art and provide a direct drive imaging and treatment device.

The purpose of the present invention is achieved through the following technical solutions:

A direct drive imaging and treatment device includes a detachably connected handle and a probe, characterized in that: the handle has a built-in driving mechanism, the probe has a built-in transducer module, the driving mechanism has a rotor, and the rotor The shaft is hollow and is screwed with a transmission rod. The top of the transducer module has a connecting rod. The transmission rod is coaxial and detachably connected to the connecting rod. The rotor drives the transmission through rotation. The rod directly drives the transducer module to perform linear reciprocating motion simultaneously, and an imaging transducer and a treatment transducer are provided on the end of the transducer module close to the transmission window of the probe.

Preferably, the ends of the connecting rod and the transmission rod are each provided with a permanent magnet, and the connecting rod and the transmission rod are magnetically connected.

Preferably, the probe is provided with a guide rod whose extension direction is consistent with the moving direction of the transducer module, and the transducer module is slidably sleeved on the guide rod.

Preferably, the cross section of the guide rod is rectangular.

Preferably, a first elastic body and a second elastic body are respectively provided on both sides of the top of the transducer module, and the extension direction of the first elastic body and the second elastic body is the same as the moving direction of the transducer module. The first elastic body and the second elastic body are consistent, and the surfaces of the first elastic body and the second elastic body are formed with wavy wrinkles, so that the first elastic body and the second elastic body expand and contract synchronously with the movement of the transducer module.

Preferably, the second elastic body is sleeved on the connecting rod.

Preferably, a bracket is provided in the handle, the driving mechanism is arranged on the bracket, and the driving mechanism is provided with a A detection mechanism for detecting the moving position of the transmission rod is provided.

Preferably, the detection mechanism includes a linear code disk, an encoder, a sliding member and a controller, the linear code disk is fixed on the sliding member, and the sliding member is fixedly connected to the tail end of the transmission rod. The linear encoder moves synchronously with the transmission rod. The encoder is installed on the bracket and electrically connected to the controller. The controller controls the operation of the driving mechanism. The linear encoder The disk is slidably clamped in the encoder, and both ends of the linear code disk are respectively provided with marking lines. The encoder controls the reciprocating movement of the transmission rod by detecting the marking lines.

Preferably, the sliding member is provided with at least one chute, and the bracket is fixed with a positioning block that matches the chute, and the positioning block is slidably locked in the chute.

Preferably, the detection mechanism includes an electrically connected photoelectric sensor and a controller, the photoelectric sensor is fixed on the bracket, and the transmission rod passes between the light emitting end and the light receiving end of the photoelectric sensor. , and the transmission rod is located on the same horizontal line as the light emitting end and the light receiving end. The transmission rod is provided with a set of through holes along its extension direction that can allow the light beam emitted by the light emitting end to pass through. The control rod The controller controls the operation of the drive mechanism.

The beneficial effects of the present invention are mainly reflected in:

1. The connecting rod of the transmission rod and the transducer module is magnetically detachably connected. On the one hand, it can be easily assembled and disassembled. On the other hand, the driving mechanism can be directly connected to the transducer module through the transmission rod to drive the transducer module in a straight line. Reciprocating motion, without the need for other transmission parts, can ensure the smooth movement of the drive transducer module and avoid unnecessary noise and wear caused by deviations in the connection. At the same time, the radial movement of the directly driven transmission rod is compared with The reduction of indirect drive ensures that the motor-driven transducer remains in a straight line during high-speed reciprocating motion, allowing the transducer to collect image signals and apply treatment at the same level and depth of the patient's skin;

2. The transducer module is equipped with an imaging transducer and a treatment transducer at the same time, so that imaging can be performed simultaneously during treatment. A detection mechanism is set up to detect the position of the transmission rod in real time to ensure that the imaging transducer is imaging during the acceleration and deceleration section of the driving mechanism. Consistency improves the overall quality of imaging, helps users determine the imaging location, facilitates accurate positioning during use, and facilitates restoration to the original position.

Description of drawings

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings:

Figure 1: Schematic diagram of the first embodiment of the present invention;

Figure 2: Cross-sectional view of the first embodiment of the present invention;

Figure 3: Schematic diagram of the detection mechanism in the first embodiment of the present invention;

Figure 4: Cross-sectional view of the detection mechanism in the second embodiment of the present invention;

Figure 5: Schematic diagram of the detection mechanism in the second embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention. Structural, method, or functional changes made by those of ordinary skill in the art based on these embodiments are all included in the protection scope of the present invention.

In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", " The orientations or positional relationships indicated by "inner", "outside", etc. are based on the orientations or positional relationships shown in the drawings, and are only for convenience and simplicity of description, and do not indicate or imply that the device or element referred to must have a specific orientation. , are constructed and operated in specific orientations and therefore should not be construed as limitations of the invention. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. And, in the description of the plan, Taking the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

As shown in Figures 1 to 5, the present invention discloses a direct-driven imaging and treatment device, which includes a detachably connected handle 1 and a probe 2. The handle 1 has a built-in driving mechanism 3, and the probe 2 has a built-in drive mechanism 3. There is a transducer module 5. The driving mechanism 3 has a rotor 301. The axis of the rotor 301 is hollow and has a transmission rod 302 screwed to it. The top of the transducer module 5 has a connecting rod 503. The rod 302 is coaxial and detachably connected to the connecting rod 503. The rotor 301 directly drives the transducer module 5 to perform synchronous linear reciprocating motion by rotating the transmission rod 302. The transducer module 5 An imaging transducer 501 and a treatment transducer 502 are disposed near the end of the transmission window 201 of the probe 2 . The projection window is located at the bottom of the probe 2, and the vertical projection of the window position completely or partially coincides with the treatment transducer 502 and the imaging transducer 501. The treatment transducer 502 is located in the middle of the transducer module 5. The imaging transducer 501 is evenly distributed around the treatment transducer 502 in a radiation surrounding structure. It can be a bowl-shaped structure, an annular structure, or a regionally spaced distribution. The imaging array structure, the imaging transducer 501 and the treatment transducer 502 are set in positions that can ensure that during the treatment process of the treatment transducer 502, the imaging transducer 501 can focus on the same treatment position when starting, so that the treatment Imaging can be performed simultaneously to assist the user in accurately judging the actual subcutaneous conditions during the treatment process, and to facilitate control of the energy and scope of the treatment.

Specifically, the top of the transducer module 5 has a connecting rod 503. The connecting rod 503 is integrally formed with the transducer module 5 to ensure the consistency of transmission. Such a structure allows the driving mechanism 3 to be directly connected to the transducer module 5 through the transmission rod 302 to drive the transducer module 5 to perform linear reciprocating motion. Such a direct drive structure can simplify the internal structure without converting it into linear movement through other components, so that there is a high consistency between the transmission rod 302 and the transducer module 5, which can ensure the driving of the transducer module. 5. Smooth movement, avoiding unnecessary noise and wear due to deviations or stucks in connection. The transmission rod 302 only needs to add grease to its threaded surface connection to reduce the friction coefficient, reduce the wear between it and the rotor itself, and improve the service life; in addition, direct drive can make the driving mechanism 3 and the transmission The rods 302 are on the same horizontal line, so that the radial movement of the transmission rod 302 is smaller than that of indirect driving, which can ensure that the transducer module 5 remains on a straight line during high-speed reciprocating motion, so that the transducer module 5 It can collect image signals and apply treatment at the same level and depth of the patient's skin.

In a preferred embodiment, the end of the connecting rod 503 and the end of the transmission rod 302 are each provided with a permanent magnet 6, and the connecting rod 503 and the transmission rod 302 are magnetically connected. The connecting rod 503 and the transmission rod 302 are detachably connected through magnetism. In other possible embodiments, the connecting rod 503 and the transmission rod 302 can also be detachably connected through other feasible methods known to those skilled in the art, such as providing buckles for buckling.

Furthermore, the probe 2 is provided with a guide rod 7 whose extension direction is consistent with the moving direction of the transducer module 5 , and the transducer module 5 is slidably sleeved on the guide rod 7 . The setting of the guide rod 7 can limit the moving direction of the transducer module 5. The cross section of the guide rod 7 is preferably rectangular to prevent the transducer module 5 from shaking or deflecting and ensure that the transducer module 5 is moved. The imaging transducer 501 and the treatment transducer 502 at the end of the transducer module 5 are kept facing the transmission window 201 of the probe 2 . In other possible embodiments, the cross section of the guide rod 7 may also be other non-circular structures such as triangles and polygons.

As shown in Figure 2, a first elastic body 8 and a second elastic body 9 are respectively provided on both sides of the top of the transducer module 5. The extending directions of the first elastic body 8 and the second elastic body 9 are consistent with the The transducer module 5 moves in the same direction, and the surfaces of the first elastic body 8 and the second elastic body 9 are formed with wavy wrinkles, so that the first elastic body 8 and the second elastic body 9 follow each other. The movement of the transducer module 5 is synchronized with expansion and contraction. The first elastic body 8 and the second elastic body 9 are preferably bellows made of silicone material to generate elastic force on the transducer module 5 through deformation, so as to facilitate the rapid movement of the transducer module 5 Reset and ensure the stability of the movement of the transducer module 5.

Both ends of the first elastic body 8 are disposed between the inner wall of the handle 1 and the top of the transducer module 5 , and the second elastic body 9 is disposed between the top of the transducer module 5 and the top of the transducer module 5 . The rear end of the connecting rod 503, and the second elastic body 9 is sleeved on the connecting rod 503, can save space on the one hand, and can protect the connecting rod 503 on the other hand.

The handle 1 is provided with a bracket 10, and the driving mechanism 3 is arranged on the bracket 10. The driving mechanism 3 is preferably a fixed-axis stepper motor, and the driving mechanism 3 is provided with a transmission rod that detects the transmission rod. 302 motion position detection mechanism 4. The detection mechanism 4 controls the movement of the driving mechanism 3 by detecting the position of the transmission rod 302 in real time to achieve precise positioning of the transducer module 5 .

Since the driving mechanism 3 is a fixed-axis stepper motor, the movement mode of the driving mechanism 3 is acceleration-constant speed-deceleration, which causes the transducer module 5 to operate without the control of the detection mechanism 4 At this time, the imaging and treatment points of the transducer module 5 will be densely packed on both sides and sparse in the middle. The setting of the detection mechanism 4 allows the driving mechanism 3 to control the transmission rod 302 to drive the transducer module 5 to move to a designated point through the monitoring of the detection mechanism 4. The entire stroke can be divided into several equidistant points, and fixed-point pulse imaging and treatment can be performed by detecting feedback from different points, thereby ensuring that the pulse imaging and treatment points of the transducer module 5 are in the acceleration section and the uniform speed section. , deceleration section are consistent to achieve the purpose of improving the quality of imaging and treatment, helping the user to judge the imaging part, and also facilitates accurate positioning or restoration of the original position during use or after interruption.

Specifically, Figures 1-3 show the first embodiment of the detection mechanism 4. The detection mechanism 4 includes a linear code wheel 401, an encoder 402, a slider 403 and a controller 404. The linear code wheel 401 Fixed on the sliding member 403, the sliding member 403 is fixedly connected to the tail end of the transmission rod 302, so that the linear encoder 401 and the transmission rod 302 move synchronously, and the encoder 402 is provided on The bracket 10 is electrically connected to the controller 404. The controller 404 controls the operation of the driving mechanism 3. The linear encoder 401 is slidably mounted in the encoder 402, and the Marking lines 405 are respectively provided at both ends of the linear code wheel 401. The encoder 402 controls the reciprocating movement of the transmission rod 302 by detecting the marking lines 405.

The linear code wheel 401 is a standard linear code tape with various resolutions and lengths. The material is polyester film material. The encoder 402 matches the linear code wheel 401. In the When the linear encoder 401 reciprocates in a straight line, its position is detected in real time and its position output signal is sent to the controller 404. The controller 404 controls the operation of the driving mechanism 3. When the encoder 402 detects two When the mark line 405 is at the end, the controller 404 controls the driving mechanism 3 to operate in reverse direction to realize the reciprocating linear motion of the transmission rod 302 . Such a structure can preset the position of the transducer module 5 and accurately control the positioning of the transducer module 5 at the preset position before performing imaging and treatment. At the same time, when the imaging or treatment function is completed or the device is unexpectedly powered off, the driving mechanism 3 can be controlled to return to the initial position by detecting the mark line 405 on the linear code disk 401.

Further, the sliding member 403 is provided with at least one chute 406, and the bracket 10 is fixed with a positioning block 407 that matches the chute 406, and the positioning block 407 is slidably clamped in the chute. Within 406. In the illustrated embodiment, two sets of slide grooves 406 and positioning blocks 407 are provided on the sliding member 402 to enhance the smoothness of movement of the sliding member 403. The positioning block 407 can be any block that can match the slide groove 406. In the preferred embodiment, the positioning block 407 is a shoulder bolt to facilitate assembly and disassembly. The sliding member 403 is made of a material with good lubricity. For example, Teflon is added to polyoxymethylene to reduce friction noise and wear between the sliding member 403 and the positioning block 407 to ensure that the sliding member 403 slides. smoothness and bass.

As shown in Figures 4-5, the second embodiment of the detection mechanism 4 is shown. In the second embodiment, the detection mechanism 4 includes an electrically connected photoelectric sensor 408 and a controller 404. The photoelectric sensor 408 is fixed on the bracket 10. The transmission rod 302 is inserted between the light emitting end 409 and the light receiving end 410 of the photoelectric sensor 408, and the transmission rod 302 is located on the same horizontal line as the light emitting end 409 and the light receiving end 410. The transmission rod 302 A set of through holes 303 through which the light beam emitted by the light emitting end 409 can pass is provided along its extension direction, and the controller 404 controls the operation of the driving mechanism 3 .

Its working principle is: when the driving mechanism 3 drives the transmission rod 302 to make a reciprocating linear motion, and when the through hole 303 on the transmission rod 302 is directly opposite to the light emitting end 409, the light emitting end The light beam emitted by 409 will pass through the through hole 303 to the light receiving end 410. At this time, the light receiving end 410 will send a position signal to the controller 404 after receiving the light beam. By judging the number of received light beams To determine the number of through holes 303 passing through, the displacement of the transmission rod 302 is determined to determine the position of the transducer module 5 .

In the second embodiment, the through holes 303 are evenly distributed on the transmission rod 302 with the same size. In other feasible embodiments, the diameters of the through holes 303 may be inconsistent, and the through holes 303 The through holes 303 can be arranged at unequal intervals. The diameter and shape of the through holes 303 are inconsistently arranged to change the intensity of the passing light beam, so that the light receiving end 410 can determine which position of the through hole 303 is located after receiving it, thereby determining the location of the through hole 303. The position of the transmission rod 302.

It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should take the specification as a whole and distinguish each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.

Claims

A direct drive imaging and treatment device includes a detachably connected handle (1) and a probe (2), which is characterized in that: the handle (1) has a built-in driving mechanism (3), and the probe (2) has a built-in Transducer module (5), the driving mechanism (3) has a rotor (301), the axis of the rotor (301) is hollow and has a transmission rod (302) screwed to it, the transducer module (5) The top of the rotor has a connecting rod (503). The transmission rod (302) is coaxial and detachably connected to the connecting rod (503). The rotor (301) directly drives the transmission rod (302) by rotating The transducer module (5) is driven to perform synchronous linear reciprocating motion. An imaging transducer (501) is provided on the end of the transducer module (5) close to the transmission window (201) of the probe (2). ) and therapy transducer (502).
The direct drive imaging and treatment device according to claim 1, characterized in that: both the end of the connecting rod (503) and the end of the transmission rod (302) are provided with a permanent magnet (6), so The connecting rod (503) and the transmission rod (302) are magnetically connected.
The direct drive imaging and treatment device according to claim 2, characterized in that: the probe (2) is provided with a guide rod (7) whose extension direction is consistent with the moving direction of the transducer module (5). , the transducer module (5) is slidably sleeved on the guide rod (7).
The direct drive imaging and treatment device according to claim 3, characterized in that the cross section of the guide rod (7) is rectangular.
The direct drive imaging and treatment device according to claim 3, characterized in that: a first elastic body (8) and a second elastic body (9) are respectively provided on both sides of the top of the transducer module (5). , the extension direction of the first elastic body (8) and the second elastic body (9) is consistent with the moving direction of the transducer module (5), and the first elastic body (8) and the second elastic body The surface of the body (9) is formed with wavy wrinkles, so that the first elastic body (8) and the second elastic body (9) expand and contract synchronously with the movement of the transducer module (5).
The direct drive imaging and treatment device according to claim 5, characterized in that the second elastic body (9) is sleeved on the connecting rod (503).
The direct drive imaging and treatment device according to any one of claims 1 to 6, characterized in that: a bracket (10) is provided in the handle (1), and the driving mechanism (3) is arranged on the bracket (10). 10), the driving mechanism (3) is provided with a detection mechanism (4) for detecting the movement position of the transmission rod (302).
The direct drive imaging and treatment device according to claim 7, characterized in that: the detection mechanism (4) includes a linear encoder (401), an encoder (402), a slider (403) and a controller (404 ), the linear code disk (401) is fixed on the sliding part (403), and the sliding part (403) is fixedly connected to the tail end of the transmission rod (302), so that the linear code disk ( 401) moves synchronously with the transmission rod (302), the encoder (402) is arranged on the bracket (10) and is electrically connected to the controller (404), and the controller (404) controls During the operation of the driving mechanism (3), the linear code disk (401) is slidably clamped in the encoder (402), and mark lines (405) are provided at both ends of the linear code disk (401). ), the encoder (402) controls the reciprocating movement of the transmission rod (302) by detecting the mark line (405).
The direct drive imaging and treatment device according to claim 8, characterized in that: the sliding member (403) is provided with at least one slide groove (406), and the bracket (10) is fixedly connected with the sliding groove. The positioning block (407) matches the groove (406), and the positioning block (407) is slidably clamped in the chute (406).
The direct drive imaging and treatment device according to claim 7, characterized in that: the detection mechanism (4) includes an electrically connected photoelectric sensor (408) and a controller (404), and the photoelectric sensor (408) fixed on said branch On the frame (10), the transmission rod (302) is inserted between the light emitting end (409) and the light receiving end (410) of the photoelectric sensor (408), and the transmission rod (302) and the The light emitting end (409) and the light receiving end (410) are located on the same horizontal line. The transmission rod (302) is provided with a set of through holes (302) along its extension direction that allow the light beam emitted by the light emitting end (409) to pass through. 303), the controller (404) controls the operation of the driving mechanism (3).