Ultrasonic diagnostic and therapeutic equipment and control method

Abstract

The present invention relates to the technical field of ultrasonic diagnosis and treatment. The present invention provides an ultrasonic diagnosis and treatment device and a control method. The ultrasonic diagnosis and treatment device comprises: an ultrasonic transducer device, the ultrasonic transducer device comprises an ultrasonic imaging transducer and an ultrasonic stimulation transducer, the ultrasonic imaging transducer is used to perform ultrasonic imaging of a target area, and the ultrasonic stimulation transducer is used to perform ultrasonic stimulation on peripheral nerves or human epidermis; an ultrasonic electronic system connected to the ultrasonic transducer device, used to control the ultrasonic transducer device and realize ultrasonic imaging or ultrasonic stimulation regulation, the ultrasonic electronic system comprises an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation circuit module comprises a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging circuit module comprises an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; a mechanical arm is connected to the ultrasonic transducer device. Therefore, the present invention can realize the integrated design of peripheral ultrasonic diagnosis and treatment.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic diagnosis and treatment, and in particular relates to an ultrasonic diagnosis and treatment device and a control method. Background Art

[0002] With the development of society and the increasing aging rate, the incidence of various types of motor and sensory dysfunction remains high. Typical causes of motor and sensory dysfunction include stroke, spinal cord injury, cerebral palsy, Parkinson's disease, amputation, essential tremor, ataxia, etc. The neural stimulation and control technology based on various physical factors to assist motor and sensory rehabilitation has become the forefront and hot direction of international academic and applied research. As a new type of neural control method, peripheral focused ultrasound stimulation can accurately concentrate the acoustic energy within the millimeter or even submillimeter local range, and its penetration depth can reach more than 10cm. Compared with traditional electrical stimulation and other schemes, it has the advantages of non-invasiveness, large penetration depth, flexible target control, and image guidance. Unlike lower-intensity medical diagnostic ultrasound, the intensity range of peripheral focused ultrasound can be wider, both low-intensity and high-intensity ultrasound can be used, which can meet the needs from stimulation control to ablation. Focused ultrasound has good penetration and high spatial resolution, and can achieve non-invasive and precise deep biological tissue stimulation.

[0003] However, the ultrasonic diagnostic and treatment equipment in the prior art cannot realize the integrated design of peripheral ultrasonic diagnosis and treatment, and it is difficult to complete the image guidance, tracking, regulation and effect monitoring of the target area. Summary of the invention

[0004] The purpose of the present invention is to overcome at least one of the above-mentioned deficiencies of the prior art and to provide an ultrasonic diagnosis and treatment device and a control method, which can realize an integrated design of diagnosis and treatment.

[0005] The technical solution of the present invention is: an ultrasonic diagnosis and treatment equipment, comprising: an ultrasonic transducer device, the ultrasonic transducer device comprising an ultrasonic imaging transducer and an ultrasonic stimulation transducer, the ultrasonic imaging transducer is used to perform ultrasonic imaging of a target area, and the ultrasonic stimulation transducer is used to perform ultrasonic stimulation on peripheral nerves or human epidermis; an ultrasonic electronic system connected to the ultrasonic transducer device, used to control the ultrasonic transducer device and realize ultrasonic imaging or ultrasonic stimulation regulation, the ultrasonic electronic system comprising an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation circuit module comprises a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging circuit module comprises an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; a mechanical arm connected to the ultrasonic transducer device.

[0006] As a further improvement of the present technical solution, the ultrasonic diagnostic and treatment equipment also includes a control module, which is connected to the ultrasonic transducer, the ultrasonic electronic system and the robotic arm; the ultrasonic diagnostic and treatment equipment also includes a camera module connected to the control module, and the camera module is used to photograph and identify the user's target area, so that the control module drives the robotic arm to preliminarily adjust the position of the ultrasonic transducer.

[0007] As a further improvement of the present technical solution, the camera module includes a depth sensing unit and an inertial measurement unit; the depth sensing unit includes an RGB imaging component and a depth infrared imaging component; the inertial measurement unit includes an acceleration sensor, which is used to combine the motion information of the camera module to facilitate the capture and identification of the user's target area.

[0008] As a further improvement of the present technical solution, the ultrasonic diagnostic and treatment equipment also includes an acquisition module connected to the control module, the acquisition module includes at least one or more of an electromyography sensor, a muscle sound sensor, a blood flow sensor and a blood oxygen sensor, and the acquisition module is used to monitor and evaluate the user's physiological condition and stimulation effect.

[0009] As a further improvement of the present technical solution, the ultrasonic diagnosis and treatment equipment also includes a force sensor, which is arranged on the mechanical arm and is used to collect a force signal of the contact force between the ultrasonic transducer device and the user.

[0010] As a further improvement of the present technical solution, the ultrasonic stimulation transducer is a ring array or a surface array or a single array element or a linear array, the ultrasonic imaging transducer is a linear array or a surface array, the ultrasonic imaging transducer is embedded in the middle of the ultrasonic stimulation transducer, or the ultrasonic imaging transducer is embedded on one side of the ultrasonic stimulation transducer.

[0011] As a further improvement of the present technical solution, the ultrasonic transducer device further includes a coupling component, and the coupling component is arranged on the surfaces of the ultrasonic imaging transducer and the ultrasonic stimulation transducer facing the user.

[0012] The present invention also provides a control method for controlling any of the above-mentioned ultrasonic diagnostic and therapeutic equipment, the control method comprising the following steps:

[0013] Directing the ultrasonic transducer toward the user's target area;

[0014] The ultrasonic stimulation transducer of the ultrasonic transducer device performs ultrasonic stimulation on the peripheral nerves or human epidermis at the target area of ​​the user;

[0015] The ultrasonic imaging transducer of the ultrasonic transducer device monitors and evaluates the stimulation effect on the user's target area, and drives the mechanical arm to adjust the position of the ultrasonic transducer device through the control module, or / and adjusts the parameters of the ultrasonic stimulation transducer through the control module.

[0016] As a further improvement of the present technical solution, the step of pointing the ultrasonic transducer device toward the user's target area includes: enabling the control module to control the movement of the robotic arm so that the ultrasonic transducer device reaches the vicinity of the user's target area; enabling the camera module to complete the acquisition of image information of the user's target area, and the control module uses the control module to complete the trajectory planning of the robotic arm based on the obtained image information of the target area, and then preliminarily adjusts the position of the ultrasonic transducer device; enabling the ultrasonic imaging transducer to complete the acquisition of ultrasonic image information of the target area, and the force sensor completes the acquisition of the force signal of the contact force between the ultrasonic transducer device and the user, and the control module secondary adjusts the position of the ultrasonic transducer device based on the ultrasonic image information and the force signal.

[0017] As a further improvement of the present technical solution, the step of monitoring and evaluating the stimulation effect of the ultrasonic imaging transducer of the ultrasonic transducer device on the user's target area includes: the ultrasonic imaging transducer performs ultrasonic imaging on the user's target area, the acquisition module acquires the user's physiological condition information to monitor and evaluate the stimulation effect on the user's target area, and the control module implements closed-loop feedback control through the obtained ultrasonic imaging and user's physiological condition information, drives the robotic arm to adjust the position of the ultrasonic transducer device, or / and adjusts the parameters of the ultrasonic stimulation transducer and the ultrasonic imaging transducer of the ultrasonic transducer device.

[0018] The present invention provides an ultrasonic diagnosis and treatment device and a control method, wherein the ultrasonic diagnosis and treatment device comprises: an ultrasonic transducer device, wherein the ultrasonic transducer device comprises an ultrasonic imaging transducer and an ultrasonic stimulation transducer, wherein the ultrasonic imaging transducer is used to perform ultrasonic imaging of a target area, and the ultrasonic stimulation transducer is used to perform ultrasonic stimulation on peripheral nerves or human epidermis; an ultrasonic electronic system connected to the ultrasonic transducer device, and used to control the ultrasonic transducer device and realize ultrasonic imaging or ultrasonic stimulation regulation, wherein the ultrasonic electronic system comprises an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation electronic module comprises a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging electronic module comprises an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; a mechanical arm connected to the ultrasonic transducer device; and a control module connected to the ultrasonic transducer device and the mechanical arm. When in use, ultrasonic imaging and ultrasonic stimulation can be realized simultaneously, thereby realizing an integrated design for peripheral ultrasonic diagnosis and treatment, and combined with the ultrasonic image of the target area, the guidance, tracking, regulation and effect monitoring of ultrasonic stimulation can be realized. Optionally, the information collected by the ultrasound diagnosis and treatment equipment can be used for closed-loop feedback control and further adjust the parameters of the ultrasound stimulation and imaging system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a stereoscopic diagram of an ultrasonic diagnostic and therapeutic device provided by an embodiment of the present invention;

[0021] Figure 2 is a stereoscopic diagram of the ultrasonic diagnosis and treatment device provided by an embodiment of the present invention from another perspective;

[0022] Figure 3a , Figure 3b and Figure 3c They are schematic diagrams of different arrangements of an ultrasonic imaging transducer and an ultrasonic stimulation transducer in an ultrasonic diagnosis and treatment device provided by an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the object of action of the ultrasonic diagnosis and treatment device provided by an embodiment of the present invention;

[0024] Figure 5 yes Figure 1 A partial enlarged view of the middle A;

[0025] Figure 6 is a schematic diagram of the interaction force between the ultrasonic transducer device and the human body in the ultrasonic diagnosis and treatment equipment provided by an embodiment of the present invention;

[0026] Figure 7 It is a working diagram of a control module, an ultrasonic electronic system and an ultrasonic transducer device in an ultrasonic diagnosis and treatment device provided by an embodiment of the present invention;

[0027] Figure 8 is a working diagram of the ultrasonic diagnosis and treatment equipment provided by an embodiment of the present invention;

[0028] Fig. 9 This is a working diagram of the ultrasonic diagnosis and treatment device provided by an embodiment of the present invention when acting on a human body;

[0029] Fig.10 is a flow chart of a control method provided by a second embodiment of the present invention;

[0030] Fig.11 is a flow chart of a control method provided by a third embodiment of the present invention;

[0031] Fig.12 is a flow chart of a control method provided by the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] It should be noted that the terms “setting” and “connection” should be understood in a broad sense. For example, it can be directly setting or connecting, or it can be indirectly setting or connecting through a central component or a central structure.

[0034] In addition, in the embodiments of the present invention, if there are terms indicating orientation or positional relationships such as "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., they are based on the orientation or positional relationships or conventional placement states or usage states shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure, feature, device or element referred to must have a specific orientation or positional relationship, nor must it be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0035] The various specific technical features and embodiments described in the specific implementation methods can be combined in any suitable manner unless there is any contradiction. For example, different implementation methods can be formed by combining different specific technical features / embodiments. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features / embodiments in the present invention will not be described separately.

[0036] First embodiment:

[0037] The present invention provides an ultrasonic diagnostic and therapeutic device, see Figures 1 to 9The ultrasonic diagnosis and treatment equipment 100 includes: an ultrasonic transducer device 10, the ultrasonic transducer device 10 includes an ultrasonic imaging transducer 11 and an ultrasonic stimulation transducer 12, the ultrasonic imaging transducer 11 is used to perform ultrasonic imaging of the target area, and the ultrasonic stimulation transducer 12 is used to perform ultrasonic stimulation on the peripheral nerves or the human epidermis; an ultrasonic electronic system 90, connected to the ultrasonic transducer device 10, used to control the ultrasonic transducer device and realize ultrasonic imaging or ultrasonic stimulation regulation, the ultrasonic electronic system 90 includes an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation circuit module includes a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging circuit module includes an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; a mechanical arm 20, connected to the ultrasonic transducer device 10. When the present invention is used, ultrasonic imaging and ultrasonic stimulation can be realized simultaneously, thereby realizing an integrated design of ultrasonic diagnosis and treatment of peripheral nerves, and combined with the ultrasonic image of the target area, it can realize the guidance, tracking, regulation and effect monitoring of ultrasonic stimulation.

[0038] It is understandable that the object of the ultrasonic diagnosis and treatment device 100 can be a human body, an animal, or an ex vivo tissue. The peripheral nerve can be a pre-set peripheral nerve related to motor and sensory functions, such as the sciatic nerve of the lower limb, the median nerve of the upper limb, the dorsal root ganglion, the vagus nerve, etc. (see Figure 4 ), the ultrasonic diagnosis and treatment device 100 can achieve effective intervention on the corresponding peripheral nerves, and the intervention can be used for functional evaluation, treatment or rehabilitation of various motor and sensory function diseases including but not limited to stroke, spinal cord injury, cerebral palsy, amputation, various pains, etc.; and by setting reasonable parameters, the ultrasonic diagnosis and treatment device 100 of the present invention can also achieve intervention on the superficial skin receptors of the human body, and complete the regulation of the receptor function. Optionally, the intervention can be used for intervention on various peripheral nerves and organs of the human body, to achieve intervention on deep organs such as kidneys and spleen, and to achieve effective intervention on endocrine, blood pressure, digestion and other functions.

[0039] Preferably, please combine Figures 1 to 5 , the ultrasonic stimulation transducer 12 can be a ring array or a surface array or a single array element or a linear array, etc., the ultrasonic imaging transducer 11 can be a linear array or a surface array, the ultrasonic imaging transducer 11 is embedded in the middle of the ultrasonic stimulation transducer 12, or the ultrasonic imaging component is embedded in one side of the ultrasonic stimulation component or other suitable positions, so that ultrasonic imaging and ultrasonic stimulation can be realized simultaneously to achieve integrated diagnosis and treatment. Of course, the ultrasonic imaging transducer 11 and ultrasonic stimulation transducer 12 of the present invention are not limited to the above-mentioned positions and array element arrangements. The ultrasonic imaging transducer 11 and ultrasonic stimulation transducer 12 can not only be a linear array, a ring array, or a two-dimensional surface array, but also a hemispherical array element, a curved array element, a plane array element, a circular ring (please refer to Figure 3b and Figure 3c ), rectangular ring (see Figure 3a ) or a diamond ring, etc. For example, the ultrasonic imaging transducer 11 can be arranged on one side of the ultrasonic stimulation transducer 12. For example, the ultrasonic stimulation transducer 12 can be composed of a multi-element array, which can realize rapid switching of multiple preset stimulation depths and stimulation focus sizes, and even realize variable depth stimulation, so as to broaden the actual usage scenarios.

[0040] See also Figure 7 , the ultrasonic electronic system 90 includes two circuits for controlling the ultrasonic transducer device and realizing imaging or stimulation regulation, etc. The ultrasonic stimulation circuit module may include a pulse generating circuit, a power amplifying circuit, a matching circuit, etc. The control module may control the pulse generating circuit to emit an electrical signal, and the electrical signal is converted into an ultrasonic stimulation signal after passing through the power amplifying circuit and the matching circuit, and the ultrasonic stimulation signal is emitted to the corresponding peripheral nerve and muscle tissue for the target area, so that pulse stimulation or continuous stimulation can be emitted to the human body, so as to focus low-energy (or high-energy) ultrasonic waves through multiple layers of human tissue in the human body, and complete the intervention of peripheral nerves and muscles. In practical applications, by controlling and adjusting the corresponding parameters of the pulse generating circuit (such as duty cycle, energy, pulse repetition frequency, etc.), the ultrasonic stimulation transducer 12 can emit different ultrasonic stimulation signals.

[0041] Preferably, the ultrasonic imaging circuit module may include an imaging phased array transmitting unit and a receiving unit, so that pulse stimulation can be transmitted to the human body and ultrasonic reflected echoes can be received and imaged. The ultrasonic imaging circuit module includes an image processing unit and a system control unit, etc., so that functions such as echo amplification, filtering, analog-to-digital conversion and system control can be realized respectively to improve the quality of ultrasonic imaging. The ultrasonic imaging parameters of the ultrasonic imaging circuit module can be adjusted according to actual needs. The ultrasonic imaging circuit module may include B-ultrasound, color ultrasound, ultrasonic Doppler and other modalities, and can complete the imaging of nerve displacement, microblood flow and the like.

[0042] When the prior art realizes peripheral nerve stimulation to the user's target area, the ligaments, blood vessels, bone tissues, etc. near the target area are easy to interfere with the stimulation and cause off-target accidental injury. The prior art lacks effective guidance, monitoring and functional evaluation, making it difficult to complete the accurate identification and reconstruction of the target area, and it is even more impossible to achieve path planning and interaction, resulting in difficulties in positioning, diagnosis, stimulation monitoring, etc. The ultrasonic imaging transducer 11 can be used for ultrasonic imaging of the user's target area, which can help complete the accurate identification and reconstruction of the target area, thereby completing the motion planning, interaction and guidance of the ultrasonic stimulation transducer 12, reducing the possibility of the ultrasonic transducer device 10 off-target and accidentally injuring surrounding human tissues, increasing the scope of clinical application, and realizing the monitoring of the user's target area during ultrasonic stimulation, and further feedback on the ultrasonic stimulation effect, so that the parameters of the ultrasonic stimulation can be adjusted accordingly.

[0043] In practical applications, in order to meet the needs of ultrasonic stimulation and real-time imaging of peripheral nerves at different locations, depths, and thicknesses, the frequency range of the ultrasonic imaging transducer 11 and the ultrasonic stimulation transducer 12 can be between 0.3 and 10 MHz, and the frequency range can also be expanded as needed.

[0044] In some embodiments, see Figure 5 and Figure 6 The ultrasonic transducer device 10 further includes a coupling component 13, which can be disposed on the user-facing surfaces of the ultrasonic imaging transducer 11 and the ultrasonic stimulation transducer 12. The coupling component 13 can not only effectively conduct ultrasonic waves to ensure the accuracy of imaging and treatment, but also has good biocompatibility, can be in good contact with biological tissues, and reduce discomfort.

[0045] In some embodiments, see Figure 7 and Figure 8 The ultrasonic diagnosis and treatment device 100 also includes a control module, which is connected to the ultrasonic transducer device 10, the ultrasonic electronic system 90 and the mechanical arm 20 to control the ultrasonic transducer device 10, the ultrasonic electronic system 90 and the mechanical arm 20. Further, the control module can also realize the overall control and interaction of the ultrasonic transducer device 10, the ultrasonic electronic system 90, the mechanical arm 20, the camera module 30, the force sensor 40 and the acquisition module, realize the effective integration of ultrasonic imaging and ultrasonic stimulation, realize the automatic path planning and guidance of the ultrasonic stimulation transducer 12 of the ultrasonic transducer device 10, the stimulation effect monitoring and function evaluation, realize high-precision and high-reliability peripheral focused ultrasonic stimulation, and realize stable and good contact between the ultrasonic transducer device 10 and the human body by controlling the mechanical arm 20.

[0046] In some embodiments, the ultrasonic diagnosis and treatment device 100 further includes a camera module 30 connected to the control module, and the camera module 30 is used to photograph and identify the user target area, so that the control module drives the mechanical arm 20, preliminarily adjusts the position of the ultrasonic transducer device 10, and realizes the planning and interaction of the path of the ultrasonic transducer device 10. The camera module 30 can realize high-resolution imaging and monitoring of the target area (user target area). The camera module 30 can be arranged on the mechanical arm 20, and the fixing method of the camera module 30 can be permanent, semi-permanent or detachable.

[0047] Preferably, the camera module 30 includes a depth sensing unit and an inertial measurement unit; the depth sensing unit includes an RGB imaging component and a depth infrared imaging component, which can be used to capture the target area (user target area); the inertial measurement unit may include an acceleration sensor, which is used to combine the motion information of the camera module 30 to achieve effective capture of the target area (user target area) during movement, so as to facilitate the photography and identification of the user target area.

[0048] In some embodiments, please combine Figure 6 , Figure 8 and Fig. 9 , the ultrasonic diagnosis and treatment equipment 100 also includes an acquisition module connected to the control module, and the acquisition module may include at least one or more of an electromyographic sensor, a muscle sound sensor, a blood flow sensor and a blood oxygen sensor, and the acquisition module is used to realize the monitoring and evaluation of the user's physiological condition. During the application process, the focused ultrasound intervention of the peripheral nerves can trigger responses such as peripheral nerves, and cause changes in peripheral blood flow, blood oxygen, electromyography, muscle sound, brain nerve signals, etc. These signals can be received by the acquisition module, and then the stimulation effect is monitored. Preferably, the acquisition module can be either a stimulation in situ acquisition, or it can be a certain distance from the stimulation area as needed. Preferably, the acquisition module can be collected separately by a variety of different sensors (not limited to the above sensors), or the same group of highly integrated multifunctional integrated sensors can be used to complete information integration. The acquisition module can be a hard structure; it can also be a flexible structure to improve the user's sense of use.

[0049] In some embodiments, please combine Figure 1 and Figure 6The ultrasonic diagnosis and treatment equipment 100 also includes a force sensor 40, which is arranged on the mechanical arm 20, and the force sensor 40 is used to collect the force signal of the contact force between the ultrasonic transducer device 10 and the user. The force sensor 40 can also be directly arranged on the ultrasonic transducer device 10, as long as it can collect the force signal of the contact force between the ultrasonic transducer device 10 and the user. Preferably, the force sensor 40 can be a three-dimensional force sensor or a six-dimensional force sensor. The force sensor 40 can be a hard structure; it can also be a flexible structure to improve the user's feeling of use.

[0050] In some embodiments, the ultrasonic diagnostic and treatment equipment 100 also includes a base 50, the robotic arm 20 can be disposed on the base 50, and the control module can be disposed in the base 50 to facilitate the setting of the robotic arm 20 and the control module. The control module can also be integrated with the host and the display 60.

[0051] In some embodiments, the ultrasonic diagnosis and treatment device 100 further includes a host and a display 60, and the host and the display 60 are connected to the control module. When in use, the images, signals or information collected by the camera module 30, the force sensor 40, the ultrasonic imaging transducer 11 and the acquisition module can be processed by the control module and displayed on the host and the display 60 in a visual manner such as text, pattern, chart, curve or animation. The host and the display 60 can be arranged on the base 50 for easy observation.

[0052] In some embodiments, the ultrasonic diagnosis and treatment device 100 further includes a moving wheel 70, which is disposed at one end of the base 50 to facilitate movement of the base 50. Preferably, a fixing structure that can fix the moving wheel 70 is also disposed between the base 50 and the moving wheel 70, for example, the fixing structure can be an electric latch lock, and after power is turned on, the electromagnet generates a magnetic field to cause the latch to leave the latch hole disposed on the moving wheel 70, and after the current stops, the latch is reinserted into the latch hole to achieve fixation, thereby enabling the user to conveniently move or fix the base 50.

[0053] In some embodiments, the ultrasonic diagnosis and treatment device 100 further includes an operation table 80 , and a user can sit or lie on the operation table 80 to facilitate diagnosis and treatment of the user.

[0054] Second embodiment:

[0055] Please combine Figures 1 to 9 The present invention provides a control method, which is used to control the ultrasonic diagnosis and treatment device 100 described above. The control method is as follows Fig.10 As shown, the following steps are included:

[0056] S101: Direct the ultrasonic transducer 10 toward the user's target area;

[0057] S102: The ultrasonic stimulation transducer 12 of the ultrasonic transducer device 10 performs ultrasonic stimulation on the peripheral nerves or human epidermis at the target area of ​​the user;

[0058] S1013: The ultrasonic imaging transducer 11 of the ultrasonic transducer device 10 monitors and evaluates the stimulation effect on the user's target area, and drives the mechanical arm 20 to adjust the position of the ultrasonic transducer device 10 through the control module, or / and adjusts the parameters of the ultrasonic stimulation transducer 12 through the control module.

[0059] Third embodiment:

[0060] The present invention provides a control method, the control method is as follows Fig.11 As shown, the control method is used to control the ultrasonic diagnosis and treatment device 100 described above. The control method provided in the second embodiment is different from the second embodiment in that the step of directing the ultrasonic transducer device 10 toward the user's target area further includes:

[0061] S1011: enabling the control module to control the mechanical arm 20 to move so that the ultrasonic transducer device 10 reaches the vicinity of the user's target area;

[0062] S1012: enabling the camera module 30 to complete the acquisition of image information of the user's target area, and the control module uses the control module to complete the trajectory planning of the robot arm 20 according to the obtained image information of the target area, and then preliminarily adjusts the position of the ultrasonic transducer device 10;

[0063] S1013: The ultrasonic imaging transducer 11 completes the acquisition of ultrasonic image information of the target area, and the force sensor 40 completes the acquisition of the force signal of the contact force between the ultrasonic transducer device 10 and the user. The control module adjusts the position of the ultrasonic transducer device 10 for a second time according to the ultrasonic image information and the force signal.

[0064] First, the parameters of the ultrasonic transducer device 10 and the approximate position of the target area (user target area) can be set through the control module, and the collaborative robot arm 20 can be driven to move automatically or semi-automatically according to user instructions. At the same time, the robot arm 20 drives the ultrasonic transducer device 10, force sensor 40, camera module 30, etc. to reach the vicinity of the user target area.

[0065] The camera module 30 completes the acquisition of the image information of the user's target area, and the control module preliminarily adjusts the position of the ultrasonic transducer device 10 according to the obtained image information of the target area. The steps may be: first, the coordinate systems of the base 50, the end of the mechanical arm 20 (one end of the ultrasonic transducer device 10), the ultrasonic transducer device 10, the force sensor 40, the camera module 30 and the user's target area are aligned to the global coordinate system with the mechanical arm 20 as the core. Among them, the coordination of the coordinate system of the end of the mechanical arm with the coordinate system of the base 50 can be solved by forward kinematics, and the coordination of the coordinate system of the camera module 30 with the coordinate system of the base 50 can be completed by hand-eye calibration based on the calibration substrate, and the conversion of the coordinate system of the user's target area to the coordinate system of the camera module 30 can be completed by the point cloud model. In addition, the coordinate system conversion between the coordinate systems of the force sensor 40, the camera module 30, and the probe of the ultrasonic transducer device 10 can be obtained by the relative positions of them at the end of the mechanical arm 20.

[0066] Since the skin tissue structure on the human body surface has a relatively complex shape, the three-dimensional reconstruction of the surface structure of the user target area can be completed based on the camera module 30 and the point cloud model. Based on this, in a three-dimensional environment, the position of the target area (user target area) is located, and the motion trajectory planning of the robot arm 20 is completed in combination with the camera module 30 according to the target area (user target area). According to the coordinate difference between the real-time three-dimensional position coordinates of the robot arm 20 and the predetermined three-dimensional position coordinates, the corresponding position deviation vector is determined, and the acceleration information, the displacement information of the robot arm 20, etc. are comprehensively considered to dynamically adjust the relevant motion parameters, wherein the preset movement mode of the robot arm 20 includes a lateral movement mode, a vertical movement mode, or a spiral movement mode, etc. The motion trajectory planning needs to avoid the human limb area to ensure a safe area to prevent harm to the human body.

[0067] After the ultrasonic transducer device 10 moves to the target area, because the skin tissue is easily deformed, the information collected by the force sensor 40 can be used to enable the control module to control the coupling component 13, and / or the operator can use the ultrasonic coupling agent to effectively couple the ultrasonic transducer device 10 with the human body. Considering the scanning resistance caused by tissue deformation, the tissue deformation caused by the ultrasonic transducer device 10 under different three-dimensional direction angles is studied and statistically analyzed, so as to establish a regression model between contact force and tissue deformation. Based on the regression model, the change in contact force caused by the ultrasonic transducer device 10 is corrected. Preliminary information about the surrounding area of ​​the user's target area is obtained, and the ultrasonic transducer device 10 is controlled to move around the user's target area in a preset moving mode, and acceleration information, force information and ultrasonic image information are collected until the entire target area (user target area) is traversed, and then the user's target area for peripheral focused ultrasound stimulation is identified.

[0068] In order to ensure that the ultrasonic transducer device 10 can be in stable and reliable contact with the human body for a long time, the control strategy of the force-velocity hybrid control model can be used to effectively control the robot arm 20. Among them, the force-velocity hybrid control model is mainly based on the force information of the contact force between the ultrasonic transducer device 10 and the human skin measured by the force sensor 40 of the robot arm 20. The directional normal force generated by the contact between the force sensor 40 and the human body can be used for the admittance control of the human body. Combined with trajectory planning, the correction and impedance control of the force sensor 40 trajectory can be completed, thereby achieving stable and reliable ultrasonic imaging and stimulation.

[0069] Fourth embodiment:

[0070] The present invention provides a control method, the control method is as follows Fig.12 As shown, the control method is used to control the ultrasonic diagnosis and treatment device 100 described above. The control method provided in the fourth embodiment is different from that in the second embodiment in that the ultrasonic imaging transducer 11 of the ultrasonic transducer device 10 monitors and evaluates the stimulation effect on the user's target area, further comprising:

[0071] S1031: The ultrasonic imaging transducer 11 performs ultrasonic imaging of the user's target area, and the acquisition module acquires the user's physiological condition information to monitor and evaluate the stimulation effect on the user's target area. The control module implements closed-loop feedback control through the obtained ultrasonic imaging and user's physiological condition information, and drives the robotic arm 20 to adjust the position of the ultrasonic transducer device 10, or / and adjust the parameters of the ultrasonic stimulation transducer 12 and the ultrasonic imaging transducer 11 of the ultrasonic transducer device 10.

[0072] The ultrasonic imaging acquired by the ultrasonic imaging transducer 11 and the user's physiological condition information acquired by the acquisition module can be processed and analyzed by the control module, and then transmitted to the host and the display 60, and displayed by the host and the display 60. According to the analysis results of the stimulation effect, the parameters of the ultrasonic stimulation transducer 12 can be further adjusted.

[0073] The present invention provides an ultrasonic diagnosis and treatment device and a control method. The ultrasonic diagnosis and treatment device 100 includes: an ultrasonic transducer device 10, wherein the ultrasonic transducer device 10 includes an ultrasonic imaging transducer 11 and an ultrasonic stimulation transducer 12, wherein the ultrasonic imaging transducer 11 is used to perform ultrasonic imaging of a target area, and the ultrasonic stimulation transducer 12 is used to perform ultrasonic stimulation on peripheral nerves or human epidermis; an ultrasonic electronic system 90, connected to the ultrasonic transducer device 10, used to control the ultrasonic transducer device 10 and realize ultrasonic imaging or ultrasonic stimulation regulation, wherein the ultrasonic electronic system includes an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation circuit module includes a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging circuit module includes an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; and a mechanical arm 20, connected to the ultrasonic transducer device 10. The present invention can realize ultrasonic imaging and ultrasonic stimulation at the same time, thereby realizing an integrated design for peripheral ultrasonic diagnosis and treatment, and can realize the guidance, tracking, regulation and effect monitoring of ultrasonic stimulation in combination with the ultrasonic image of the target area.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An ultrasonic diagnostic and therapeutic device, characterized in that: include: An ultrasonic transducer device, the ultrasonic transducer device comprising an ultrasonic imaging transducer and an ultrasonic stimulation transducer, the ultrasonic imaging transducer is used to perform ultrasonic imaging of the target area, and the ultrasonic stimulation transducer is used to perform ultrasonic stimulation on peripheral nerves or human epidermis; An ultrasonic electronic system, connected to the ultrasonic transducer device, used to control the ultrasonic transducer device and realize ultrasonic imaging or ultrasonic stimulation regulation, wherein the ultrasonic electronic system includes an ultrasonic imaging circuit module and an ultrasonic stimulation circuit module, wherein the ultrasonic stimulation circuit module includes a pulse generating circuit, a power amplifying circuit and a matching circuit, and the ultrasonic imaging circuit module includes an imaging phased array transmitting unit, a receiving unit, an image processing unit and a system control unit; A mechanical arm connected to the ultrasonic transducer; The ultrasonic diagnosis and treatment equipment further includes a control module, which is connected to the ultrasonic transducer device, the ultrasonic electronic system and the mechanical arm; the ultrasonic diagnosis and treatment equipment further includes a camera module connected to the control module, which is used to photograph and identify the user's target area, so that the control module drives the mechanical arm to preliminarily adjust the position of the ultrasonic transducer device; The camera module includes an inertial measurement unit, and the inertial measurement unit includes an acceleration sensor, which is used to combine the motion information of the camera module to facilitate the camera and identification of the user's target area; The ultrasonic diagnosis and treatment equipment further comprises a force sensor, which is arranged on the mechanical arm and is used to collect a force signal of the contact force between the ultrasonic transducer device and the user; The ultrasonic transducer device further comprises a coupling component, and the coupling component is arranged on the surfaces of the ultrasonic imaging transducer and the ultrasonic stimulation transducer facing the user.

2. The ultrasonic diagnostic and therapeutic equipment according to claim 1, characterized in that: The camera module includes a depth sensing unit; the depth sensing unit includes an RGB imaging component and a depth infrared imaging component.

3. The ultrasonic diagnostic and therapeutic equipment according to claim 1, characterized in that: The ultrasonic diagnosis and treatment equipment also includes an acquisition module connected to the control module, and the acquisition module includes at least one or more of an electromyography sensor, a muscle sound sensor, a blood flow sensor and a blood oxygen sensor. The acquisition module is used to monitor and evaluate the user's physiological condition.

4. The ultrasonic diagnostic and therapeutic device according to any one of claims 1 to 3, characterized in that: The ultrasonic stimulation transducer is a ring array or a surface array or a single array element or a linear array, the ultrasonic imaging transducer is a linear array or a surface array, the ultrasonic imaging transducer is embedded in the middle of the ultrasonic stimulation transducer, or the ultrasonic imaging transducer is embedded on one side of the ultrasonic stimulation transducer.

5. A control method, characterized in that: Used to control the ultrasonic diagnostic and therapeutic equipment according to any one of claims 1 to 4, the control method comprises the following steps: The control module controls the movement of the mechanical arm so that the ultrasonic transducer device reaches the vicinity of the user's target area; The camera module completes the acquisition of image information of the user's target area, and the control module completes the trajectory planning of the robot arm according to the obtained image information of the target area, and then preliminarily adjusts the position of the ultrasonic transducer device; The ultrasonic imaging transducer completes the acquisition of ultrasonic image information of the target area, the force sensor completes the acquisition of the force signal of the contact force between the ultrasonic transducer device and the user, and the control module adjusts the position of the ultrasonic transducer device for a second time according to the ultrasonic image information and the force signal.

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