CN211486278U - High-intensity focused ultrasound robot treatment equipment - Google Patents

Abstract

The utility model discloses a high strength focus supersound robot treatment facility, include: the device comprises an upper computer, a power source, a treatment head, a positioning system and a six-axis robot, wherein the treatment head is connected with the power source, and the power source, the six-axis robot and the positioning system are all connected with the upper computer. The upper computer controls the six-axis robot to drive the treatment head to move, the upper computer controls the power source to emit signals and then controls the treatment head to generate focused ultrasonic waves, and the upper computer controls the positioning system to position the treatment head, collect treatment information in real time and upload the imaging information to the upper computer. The utility model adopts six-axis robot to drive the treatment head to move, realizes the flexible movement of the treatment head, and is suitable for the treatment of a plurality of body position focuses; meanwhile, the treatment head can rotate 360 degrees, and the sagittal plane and the cross section of the focus can be monitored in the treatment process, so that the treatment process is more comprehensive and accurate; the whole ultrasonic therapy equipment can be flexibly moved and is convenient to use.

Description

High-intensity focused ultrasound robot treatment equipment

Technical Field

The utility model relates to a biomedical instrument and equipment technical field especially relate to a high strength focus supersound robot therapy equipment.

Background

An ultrasonic cavitation mechanical damage treatment technology based on a High Intensity Focused Ultrasound (HIFU) technology is a new non-invasive treatment technology which is started in recent years, and the principle of the technology is that ultrasonic waves are Focused to lesion tissues of a human body in vitro by utilizing penetrability and focusability of ultrasonic waves, and the human body is excited to generate a controllable cavitation effect by utilizing shorter pulse ultrasonic waves under the condition of not depending on exogenous cavitation bubbles under higher output power (sound pressure), so that mechanical damage of a homogenate sample (emulsion) is finally generated, and the purpose of treatment is achieved.

Since the high-intensity focused ultrasound therapy technology treats a lesion based on energy at a focus (focal region) in a treatment process, since the focus is generally small, a treatment site of the lesion needs to be treated point by moving a treatment head (or a transducer), and thus the moving mode of the treatment head (or the transducer) becomes an important issue of attention in the field. At present, various high-intensity focused ultrasound treatment equipment systems are classified according to the movement mode of a treatment head, and the treatment head can be divided into two types, wherein one type is that the treatment head carries out gradual ablation treatment on a focus in a mechanical displacement mode through the driving of a three-dimensional motor; the other is a phased array transducer-based treatment head which can move the focus by means of electronic excitation to perform gradual ablation treatment. In the treatment process, due to low flexibility, the built-in B-ultrasonic probe monitoring of the treatment head can only monitor the treatment process through one-way section movement, cannot perform overall evaluation on the cross section and the sagittal plane of a treatment layer after treating a single layer, and possibly influences the final treatment effect; the latter is generally monitored through magnetic resonance images at present, and the manufacturing cost is high. Meanwhile, the two types of treatment equipment are large in whole volume and not easy to move, and occupy more medical resources. In addition, the technical principle of the high-intensity focused ultrasound treatment system at present mainly utilizes focused heat ablation to enable tissues to achieve the purpose of coagulative necrosis so as to achieve treatment, the treatment effect on the focus tissues rich in blood supply is poor due to the fact that heat is not easy to deposit, and the disease needing to remove the tissues cannot be treated.

Therefore, the prior art is not sufficient and needs to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defects of the prior art and providing a high-intensity focused ultrasound robot treatment device.

The technical scheme of the utility model as follows: there is provided a high intensity focused ultrasound robotic treatment device comprising: the treatment head is connected with the power source, and the power source, the six-axis robot and the positioning system are connected with the upper computer.

The six-axis robot is used for receiving the instruction of the upper computer to drive the treatment head to move, and a rotating part is arranged at one end, connected with the treatment head, of the six-axis robot.

The power source is used for providing signals for the treatment head and driving and exciting the treatment head to generate focused ultrasonic waves corresponding to the signals under the guidance of the signals.

The treatment head is used for generating focused ultrasonic waves under the driving of signals emitted by the power source, the treatment head can move in multiple dimensions under the driving of the six-axis robot, and the treatment head is connected to the rotating part and can rotate for 360 degrees on a horizontal plane under the driving of the rotating part.

The positioning system is used for guiding the treatment head to be positioned at a focus part before treatment; in the treatment process, the treatment information is collected in real time and is used for monitoring the treatment process in real time; and uploading the imaging information obtained in the treatment process to the upper computer.

The upper computer is a control center of the treatment equipment and is used for controlling signal emission of the power source, giving an instruction to the six-axis robot so as to drive the six-axis robot to move and controlling the positioning system to position the treatment head; and meanwhile, the upper computer can receive and display the iconography information transmitted by the positioning system and adjust the output parameters of the power source according to the received iconography information.

Further, the six-axis robot includes: industrial computer, six arms, converter, the industrial computer passes through the converter with the host computer links to each other, six arms are close to the one end of treatment head is equipped with rotary part.

The positioning system includes: the ultrasonic diagnosis system comprises a B ultrasonic host, a B ultrasonic probe connected with the B ultrasonic host and a video acquisition module arranged in the B ultrasonic host, wherein the video acquisition module is connected with an upper computer.

The treatment head comprises: water bag jar, locate transducer in the water bag jar, locate the water bag membrane of water bag tank bottoms portion and overlap in the first shell of treatment in the water bag jar outside, the transducer with the power source is connected, B ultrasonic probe locates in the transducer, the transducer with rotary part connects, the transducer can carry out 360 rotations under rotary part's the drive, the top of treating first shell is equipped with an apron, the apron with rotary part's shell is fixed together.

Furthermore, a through hole is formed in the center of the transducer, the B-ultrasonic probe is embedded into the front end of the through hole, and a driving wire of the B-ultrasonic probe is led out from the rear end of the through hole and connected to the B-ultrasonic host.

The rotating part is a rotating motor, and the energy converter is connected to an output shaft of the rotating motor.

Further, the water bag tank is of a cylindrical structure, and the water bag membrane is circular. The outer side of the treatment head shell is provided with a plurality of handles.

Further, the power source includes: the signal source receives a signal sent by an instruction of the upper computer, transmits the signal to the power amplification circuit for power amplification, and then carries out impedance conversion through the matching circuit to obtain a processed signal which can excite the therapeutic head to operate and emit focused ultrasonic waves.

The ultrasonic coupling device comprises a water treatment device and a water feeding pipe communicated with the water treatment device, wherein the water feeding pipe penetrates through the treatment head shell to be communicated with the water sac tank.

Further, the ultrasonic coupling medium is deaerated water.

Further, the treatment device further comprises a power module and a movable support.

Further, the power module is a voltage-stabilized direct-current power supply, and the voltage-stabilized direct-current power supply provides a power supply with adjustable voltage for the power source.

The movable support is divided into four layers, and the two adjacent layers are separated by the electromagnetic interference prevention partition plate.

By adopting the scheme, the treatment head is driven to move by the six-axis robot, so that the treatment head can move flexibly and is suitable for treating various body position lesions; meanwhile, the treatment head can rotate 360 degrees, and the sagittal plane and the cross section of the focus can be monitored in the treatment process, so that the treatment process is more comprehensive and accurate; the whole ultrasonic therapy equipment can be flexibly moved and is convenient to use; the transducer can output high peak negative pressure and short pulse focused ultrasound to realize mechanical damage, and can be used for treating more diseases, particularly the diseases needing to remove tissues compared with the conventional thermal ablation treatment equipment.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the present invention;

FIG. 3 is a schematic structural view of the therapeutic head of the present invention;

fig. 4 is a schematic diagram of the power source of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The utility model provides a high intensity focus ultrasonic cavitation treatment robot equipment, include: host computer, power source, treatment head, positioning system, six robots. The treatment head is assembled on the six-axis robot, the treatment head is connected with the power source, and the power source, the six-axis robot and the positioning system are all connected with the upper computer.

The upper computer is a control center of the treatment equipment and is used for controlling signal emission of the power source, controlling the six-axis robot to drive the treatment head to move, and simultaneously controlling the positioning system to accurately position the treatment head.

After receiving the instruction of the upper computer, the power source provides a signal for the treatment head and drives and excites the treatment head to generate corresponding focused ultrasonic waves, and the generated focused ultrasonic waves can generate ultrasonic cavitation mechanical damage to achieve the purpose of treatment. Specifically, the principle of ultrasonic cavitation mechanical damage treatment is as follows: the transducer in the treatment head is a strong focusing transducer, a wafer of the transducer is designed to be the strong focusing transducer, under the driving of a signal with high power, short pulse and low duty ratio of a power source, the transducer can generate higher sound field peak negative pressure in a focal zone to trigger endogenous cavitation bubbles and further generate mechanical damage, and compared with the conventional thermal ablation treatment equipment, the device can be used for treating more diseases, particularly the diseases needing tissue removal.

The B-ultrasonic probe part of the positioning system is positioned in the treatment head, and the B-ultrasonic main machine part is in communication connection with the upper computer. The positioning system is used for guiding the treatment head to be positioned at a focus part before treatment; in the treatment process, the treatment information is collected in real time and is used for monitoring the treatment process in real time; and the imaging information obtained in the treatment process is uploaded to an upper computer. At the moment, the upper computer receives the imaging information uploaded by the positioning system, and can modulate the signal output parameter of the power source according to the information, and further control the ultrasonic wave generated by the treatment head, so that the characteristic parameter of the ultrasonic wave is adjusted, and a better treatment effect is achieved.

The six-axis robot receives the instruction of host computer and drives the treatment head and carry out multi-dimensional motion, realizes that the treatment head removes in a flexible way, is applicable to the treatment of multiple position focus, controls the treatment head simultaneously and carries out 360 rotary motion on the horizontal plane, can realize monitoring sagittal plane and the cross section of focus in the treatment process, makes the treatment process control more comprehensive accurate.

And simultaneously, the utility model discloses an ultrasonic therapy equipment complete machine can remove convenient to use in a flexible way.

Hereinafter, the detailed description will be given with reference to specific examples.

Referring to fig. 1 to 4, the present invention provides a high intensity focused ultrasound cavitation treatment robot device, including: host computer 1,power source 2,treatment head 3,positioning system 4, sixaxis robot 5, auxiliary assembly 6,movable support 7 andpower module 8. Thetreatment head 3 is assembled on the six-axis robot 5, thetreatment head 3 is connected with thepower source 2, and thepower source 2, the six-axis robot 5 and thepositioning system 4 are connected with the upper computer 1. The six-axis robot 5 is used for receiving the instruction of the upper computer 1 and driving thetreatment head 3 to move. Thetherapeutic head 3 is used for focused ultrasound emission, and the generated focused ultrasound can generate ultrasonic cavitation mechanical damage so as to achieve the purpose of treatment. Thetreatment head 3 can perform multidimensional movement under the driving of the six-axis robot 5, can rotate 360 degrees on a horizontal plane, and can monitor the sagittal plane and the cross section of a focus in the treatment process. Thepower source 2 is used for providing signals for thetreatment head 3 and driving and exciting thetreatment head 3 to generate focused ultrasonic waves corresponding to the signals under the direction of the signals. Thepositioning system 4 is used for guiding thetreatment head 3 to be positioned at a focus part before treatment; in the treatment process, the treatment information is collected in real time and is used for monitoring the treatment process in real time; and uploading the imaging information obtained in the treatment process to the upper computer 1. The upper computer 1 is a control center of the treatment equipment and is used for controlling signal emission of thepower source 2 and controlling the six-axis robot 5 to move and control thepositioning system 4 to position the treatment head and receive and display the imaging information transmitted by thepositioning system 4, and the upper computer 1 adjusts the output parameters of thepower source 2 according to the received imaging information so as to achieve better treatment.

Referring to fig. 1 and fig. 2, in particular, in the present embodiment, thepositioning system 4 includes: the ultrasonic B host 42, locate ultrasonic B probe on the ultrasonic B host, locate the video acquisition module in theultrasonic B host 41,positioning system 4's function includes: (1) before treatment, thetreatment head 3 is guided to be positioned at a focus part; (2) and in the treatment process, the treatment information is collected in real time and is used for monitoring the treatment process in real time. (3) The imaging information obtained in the treatment process is uploaded to the upper computer 1, and parameters of the output signal of thepower source 2 are adjusted according to the instruction of the upper computer 1, so that the ultrasonic wave output by thetreatment head 3 is adjusted, and better treatment is achieved. The B-ultrasonic probe is used for collecting ultrasonic information in the treatment process in real time, the ultrasonic information is processed by the B-ultrasonic host 41 to form a B-ultrasonic image, and the formed B-ultrasonic influence is finally transmitted to the upper computer 1 through the video collecting module and is displayed on a display interface of the upper computer 1. Specifically, in this embodiment, the video capture module is a video capture card.

Referring to fig. 1 to 3, in the embodiment, thetherapy head 3 directly contacts with the human body, and may contain an ultrasonic coupling medium (degassing water) therein to provide a propagation medium for the ultrasonic wave to be efficiently transmitted to the human body. Thetreatment head 3 comprises:water bag jar 32,locate transducer 31 in thewater bag jar 32, locate thewater bag membrane 33 ofwater bag jar 32 bottom and cover in thetreatment head shell 34 in thewater bag jar 32 outside,transducer 31 withpower source 2 is connected, the B ultrasonic probe is located in thetransducer 31. Specifically, thetransducer 31 in this embodiment is a strong focused ultrasound cavitation transducer, which is used to emit high intensity focused ultrasound, and can generate high peak negative pressure, short pulse ultrasound under the driving of thepower source 2, and can generate the mechanical destruction effect of ultrasound cavitation at the focal point, which can be used for the treatment of more diseases, especially the treatment of diseases requiring tissue removal, compared with the conventional thermal ablation treatment apparatus. The center oftransducer 31 is equipped with a through-hole 35, can hold B ultrasonic probe, B ultrasonic probe embedding the front end of through-hole 35, B ultrasonic probe is used for guiding before thetreatment transducer 31 is located the focus position, can carry out real-time acquisition to treatment information simultaneously in the treatment process and be used for monitoring treatment process. The top of thewater bag tank 32 is located inside thetherapy head shell 34, the bottom of thewater bag tank 32 is located outside thetherapy head shell 34, and the therapy head shell 34 seals the top of thewater bag tube 32 to prevent air from oxidizing the ultrasound coupling medium. Specifically, in this embodiment, thewater bag tank 32 is a cylindrical structure, thewater bag membrane 33 is circular, thewater bag membrane 33 is assembled at the bottom of thewater bag tank 32, and thewater bag tank 32 forms a closed cylindrical structure for accommodating the ultrasonic coupling medium (deairing water), and thetherapeutic head 3 is through thewater bag membrane 33 directly contacts with the human body. Meanwhile, the number of the handles 36 is two, and the two handles are symmetrically arranged on the outer side wall of thetreatment head shell 34, so that the position of thetreatment head 3 can be manually adjusted.

Referring to fig. 1, fig. 2 and fig. 4, thepower source 2 includes: a signal source 21, a power amplifying circuit 22 and a matching circuit 23, wherein the main function of thepower source 2 is to provide a signal to thetransducer 31 and to drive and excite thetransducer 31 to generate a focused ultrasonic wave corresponding to the signal under the direction of the signal. The connection mode in the treatment equipment is as follows: the upper computer 1 is connected with thepower source 2, and thepower source 2 is connected with theenergy converter 31. The internal operation mode is that after the signal source 21 in thepower source 2 receives the signal of the upper computer 1, the power is amplified through the power amplifying circuit, impedance conversion is carried out through the matching circuit 22, and finally the processed signal excites thetransducer 31 to operate and emit focused ultrasonic waves.

Referring to fig. 1 and 2, the six-axis robot 5 includes:industrial computer 51, sixarms 52, converter,industrial computer 51 can drive in the treatmentprocess treatment head 3. The industrialpersonal computer 51 is connected with the upper computer 1 through the converter, and drives the six-axismechanical arm 52 to move after receiving a signal instruction of the upper computer 1, so as to drive thetreatment head 3 loaded on the industrial personal computer to move to treat the whole focus. Thetreatment head 3 not only can carry out multidimensional movement under the drive of the six-axis robot 5, but also can move on the horizontal plane, thetreatment head 3 can rotate 360 degrees and can drive the B-ultrasonic probe to move, so that the B-ultrasonic probe can detect a plurality of sections of a focus treatment part in the treatment process, the single section of the focus which can only be detected by the traditional three-dimensional movement mode is improved, and the monitoring of the whole treatment process is more comprehensive and accurate. Specifically, the end of the six-axismechanical arm 52 close to the treatment head 3 (i.e. the last stage of the six-axis mechanical arm 52) is provided with a rotating part, the rotating part is arotating motor 53, the top of thetreatment head housing 34 is provided with acover plate 37, thecover plate 37 is fixed on the housing of therotating motor 53, anoutput shaft 54 of therotating motor 53 is connected with thetransducer 31 in thetreatment head 3, and when therotating motor 53 works, thetransducer 31 can be driven to further drive the B-ultrasonic probe to realize the rotation of 180 degrees in the positive direction and the negative direction. The utility model discloses in adopt sixrobots 5 to drive 3 motion of treatment head combines the mode motion flexibility ratio of 360 degrees rotations oftreatment head 3 self is higher, in the time of not changing patient's position, adaptable patient's position is treated, simultaneously, the treatment of multiple position focus can be applied to this kind of motion.

Referring to fig. 2 and 3, theauxiliary device 7 includes a water treatment device and a water supply pipe connected to the water treatment device, and mainly functions to provide an ultrasonic propagation medium (degassing water) for thetransducer 31 in thetreatment head 3. An opening is formed at the top of thetherapy head housing 34 to extend the water supply pipe into thewater sac tank 32. The water treatment equipment prepares the deaerated water, the deaerated water is injected into thewater bag tank 32 of thetreatment head 3 through the water feeding pipe, and the deaerated water injected into thewater bag tank 32 is discharged through the water feeding pipe after the treatment is finished.

Referring to fig. 1 and fig. 2, in the present embodiment, thepower module 8 is a regulated dc power supply, and the regulated dc power supply provides power for thepower source 2 and has an adjustable voltage. The movable support is divided into four layers, the lower three layers are divided by electromagnetic interference prevention clapboards, and thepower module 8, thepower source 2, the industrialpersonal computer 51 and the B-ultrasonic host 41 are respectively arranged. The design mode reduces electromagnetic interference on one hand, and on the other hand, the whole machine is small in size, movable and high in practical flexibility.

In summary, the treatment head is driven to move by the six-axis robot, so that the treatment head can move flexibly and is suitable for treating various body position lesions; meanwhile, the treatment head can rotate 360 degrees, and the sagittal plane and the cross section of the focus can be monitored in the treatment process, so that the treatment process is more comprehensive and accurate; the whole ultrasonic therapy equipment can be flexibly moved and is convenient to use; the transducer can output high peak negative pressure and short pulse focused ultrasound to realize mechanical damage, and can be used for treating more diseases, particularly the diseases needing to remove tissues compared with the conventional thermal ablation treatment equipment.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A high intensity focused ultrasound robotic treatment device, comprising: the device comprises an upper computer, a power source, a treatment head, a positioning system and a six-axis robot, wherein the treatment head is connected with the power source, the six-axis robot and the positioning system are all connected with the upper computer,

the six-axis robot is used for receiving an instruction of the upper computer to drive the treatment head to move, and a rotating part is arranged at one end of the six-axis robot, which is connected with the treatment head;

the power source is used for providing signals for the treatment head and driving and exciting the treatment head to generate focused ultrasonic waves corresponding to the signals under the guidance of the signals;

the treatment head is used for generating focused ultrasonic waves under the driving of signals emitted by the power source, the treatment head can move in multiple dimensions under the driving of the six-axis robot, and the treatment head is connected to the rotating component and can rotate 360 degrees on a horizontal plane under the driving of the rotating component;

the positioning system is used for guiding the treatment head to be positioned at a focus part before treatment; in the treatment process, the treatment information is collected in real time and is used for monitoring the treatment process in real time; uploading the imaging information obtained in the treatment process to the upper computer;

the upper computer is a control center of the treatment equipment and is used for controlling signal emission of the power source, giving an instruction to the six-axis robot so as to drive the six-axis robot to move and controlling the positioning system to position the treatment head; and meanwhile, the upper computer can receive and display the iconography information transmitted by the positioning system and adjust the output parameters of the power source according to the received iconography information.

2. The high intensity focused ultrasound robotic treatment device according to claim 1, wherein the six-axis robot comprises: the industrial personal computer is connected with the upper computer through the converter, and the rotating part is arranged at one end, close to the treatment head, of the six-axis mechanical arm;

the positioning system includes: the ultrasonic diagnosis system comprises a B ultrasonic host, a B ultrasonic probe connected with the B ultrasonic host and a video acquisition module arranged in the B ultrasonic host, wherein the video acquisition module is connected with the upper computer;

the treatment head comprises: water bag jar, locate transducer in the water bag jar, locate the water bag membrane of water bag tank bottoms portion and overlap in the first shell of treatment in the water bag jar outside, the transducer with the power source is connected, B ultrasonic probe locates in the transducer, the transducer with rotary part connects, the transducer can carry out 360 rotations under rotary part's the drive, the top of treating first shell is equipped with an apron, the apron with rotary part's shell is fixed together.

3. The therapeutic apparatus of claim 2, wherein the center of the transducer is provided with a through hole, the B-mode ultrasonic probe is embedded into the front end of the through hole, and the driving wire of the B-mode ultrasonic probe is led out from the rear end of the through hole and connected to the B-mode ultrasonic host;

the rotating part is a rotating motor, and the energy converter is connected to an output shaft of the rotating motor.

4. The high intensity focused ultrasound robotic therapy device according to claim 3, wherein the top of said water bladder tank is located inside the therapy head housing, the bottom of said water bladder tank is located outside the therapy head housing, and said water bladder membrane is in direct contact with the human body.

5. The high intensity focused ultrasound robotic treatment device of claim 4, wherein the water bladder tank is a cylindrical structure, the water bladder membrane is circular;

the outer side of the treatment head shell is provided with a plurality of handles.

6. The high intensity focused ultrasound robotic therapy device according to any of claims 1 to 5, wherein the power source comprises: the signal source receives a signal sent by an instruction of the upper computer, transmits the signal to the power amplification circuit for power amplification, and then carries out impedance conversion through the matching circuit to obtain a processed signal which can excite the therapeutic head to operate and emit focused ultrasonic waves.

7. The therapeutic apparatus of any one of claims 2 to 5, further comprising an auxiliary apparatus for preparing an ultrasonic coupling medium, wherein the auxiliary apparatus comprises a water treatment apparatus and a water supply pipe communicated with the water treatment apparatus, and the water supply pipe is communicated with the water sac tank through the therapeutic head housing.

8. The high intensity focused ultrasound robotic treatment device according to claim 7, wherein the ultrasound coupling medium is de-aerated water.

9. The high intensity focused ultrasound robotic treatment device according to claim 6, wherein the treatment device further comprises a power module and a movable support.

10. The hifu robotic therapy device of claim 9, wherein the power module is a regulated dc power supply that provides a voltage adjustable power supply to the power source;

the movable support is divided into four layers, and the two adjacent layers are separated by the electromagnetic interference prevention partition plate.

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