High-strength focusing ultrasonic treatment guiding and control system and method based on six-shaft mechanical arm

Abstract

The invention provides a high-strength focusing ultrasonic treatment guiding and control system and method based on a six-shaft mechanical arm. The system comprises a high-strength focusing ultrasonic energy transducer power driving module, a B-mode ultrasonic image acquisition module, a master control computer, a motion scanning module, a ring array focusing energy transducer and a B-mode ultrasonic diagnosis energy transducer. The motion scanning module is composed of an electric translation bench and the six-shaft mechanical arm. According to the invention, through connecting a composite probe which has an inner side provided with the B-mode ultrasonic diagnosis energy transducer and an outer side provided with the ring array focusing energy transducer with the six-shaft mechanical arm, at the time when a high-strength focusing ultrasonic treatment focus can be accurately monitored, accurate and controllable movement of the high-strength focusing ultrasonic treatment focus is ensured, the composite probe has a large-scope scanning space range and the freedom of a scanning path, and a sufficient motion scope is guaranteed for finishing scanning of all treatment focuses of high-strength focusing ultrasonic treatment at a time.

Description

technical field [0001] The invention belongs to the field of biomedical instruments and equipment, in particular to a high-intensity focused ultrasound therapy guidance and control system based on a six-axis mechanical arm. Background technique [0002] High-intensity focused ultrasound (HIFU), as a non-invasive ultrasound treatment technology, mainly utilizes the good tissue penetration and directionality of ultrasound to converge into a high-intensity sound field in the body tissue, through the transient high temperature effect of ultrasound. , cavitation effect and mechanical effect, etc., destroy the target tissue in the focal region, while the tissue on the acoustic path is not damaged, so that the purpose of non-invasive treatment or surgical resection of the lesion can be achieved. The focal size of high-intensity focused ultrasound is small, only 1.1mm×2.1mm×3.2mm, which is much smaller than the treatment focal area, and the single treatment time is only 1-3s, so the...

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Problems solved by technology

However, the HIFU treatment probes used in these systems are all installed under the treatment bed. Due to the limited space range, the movable scanning space of the HIFU treatment probes is limited. At the same time, the acoustic path emitted by HIFU must avoid ribs, intestines and other tissues during treatment. The focal point completely covers the entire treatment target area, so the system has incomplete scanning of the treatment focal area, etc. At the same time, the

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