Multi-mode focused ultrasound treatment system and method for setting pulse emission parameters

Abstract

The invention belongs to the technical field of medical instruments, and provides a multi-modal focused ultrasound treatment system which comprises an image acquisition device and a multi-angle focused ultrasound treatment system, and the multi-angle focused ultrasound treatment system comprises a transmitting-receiving integrated focused ultrasound probe, a multi-degree-of-freedom moving device and a multi-modal treatment workstation. The system acquires an image of a region of interest through the image acquisition device, adjusts the position of the focused ultrasound probe by using the multi-degree-of-freedom moving device, receives and processes the image by the multi-modal treatment workstation, controls the focused ultrasound probe to emit various wave band pulses, generates a cavitation bubble cloud in a cavitation region, positions the cavitation region, and transmits the cavitation bubble cloud to the multi-modal treatment workstation. And performing cavitation / ablation / treatment on the tissue of the region of interest. The system adopts a high-intensity focused ultrasound multi-channel phased array probe, has a multi-mode phase control function, can overcome the reflection and refraction problems of ultrasound in tissues, accurately focuses a focus on a treatment area, realizes accurate treatment of target tissues, and improves the treatment effect and safety.

Description

Technical Field

[0001] The present invention relates to the field of focused ultrasound technology, and in particular to a multimodal focused ultrasound treatment system and a method for setting pulse emission parameters. Background Art

[0002] With the continuous advancement of medical technology, minimally invasive and non-invasive treatments are becoming increasingly important in clinical treatment. While traditional surgical treatments are effective, they can be invasive, slow to recover, and prone to complications, placing significant physical and mental burdens on patients. In recent years, high-intensity focused ultrasound (HIFU) technology, as a non-invasive treatment, has gained widespread clinical application due to its safety, effectiveness, and safety.

[0003] Existing focused ultrasound therapy systems have the following major problems: First, the limitation of a single treatment mode. Existing equipment only supports a single mode (such as thermal ablation) and cannot flexibly switch to multi-mode treatment according to the condition of the disease. Second, deep tissue treatment challenges. Ultrasound is easily affected by acoustic distortion (such as skull or rib obstruction) when penetrating deep tissue, resulting in focus shift or pressure attenuation. Third, intraoperative monitoring is insufficient. Traditional ultrasound imaging cannot monitor cavitation effects in real time in bone-obstructed areas, posing a risk of off-target damage. Fourth, system compatibility is poor. Traditional electronic drive circuits cannot simultaneously support high-voltage tissue fragmentation and low-power continuous wave therapy. Fifth, the single-channel physical superposition mode of traditional power amplifier systems leads to a large system size and limited integration of multi-channel power amplifiers. Therefore, there is an urgent need to develop a multimodal focused ultrasound therapy system that can overcome the above shortcomings. Summary of the Invention

[0004] In order to address the problems of large trauma and slow recovery caused by traditional surgery, as well as the limitations of existing non-invasive ultrasound treatment technologies such as a single treatment mode, challenges in deep tissue treatment, insufficient intraoperative monitoring, and poor system compatibility, and to achieve technical effects such as improved treatment accuracy, expanded clinical applicability, and reduced system costs, the present invention provides a multimodal focused ultrasound treatment system and a method for setting pulse emission parameters.

[0005] In the first aspect, the technical solution adopted by the present invention to solve its technical problems is: to provide a multimodal focused ultrasound treatment system, including an image acquisition device and a multi-angle focused ultrasound treatment system; the image acquisition device is used to acquire images of the area of ​​interest; the multi-angle focused ultrasound treatment system includes an integrated transceiver focused ultrasound probe, a multi-degree-of-freedom mobile device, and a multimodal treatment workstation, the transceiver focused ultrasound probe is respectively connected to the image acquisition device, the multi-degree-of-freedom mobile device, and the multimodal treatment workstation, and the multi-degree-of-freedom mobile device is connected to the multimodal treatment workstation; it is used to adjust the position of the focused ultrasound probe according to the area of ​​interest, receive images of the area of ​​interest, process the images, control the focused ultrasound probe to emit continuous waves or pulse waves of multiple bands, generate cavitation bubble clouds in the cavitation area, locate the cavitation area, and cavitate, ablate, and treat tissues in the area of ​​interest.

[0006] Preferably, the image acquisition device includes a two-dimensional / three-dimensional image acquisition device.

[0007] Preferably, the transceiver-integrated focused ultrasound probe is a high-intensity focused ultrasound multi-channel phased array probe, comprising a substrate, and a multi-channel transducer and an imaging system arranged inside the substrate, wherein the multi-channel transducer is evenly arranged on the substrate in the form of a circular array along the center of the substrate; the multi-channel transducer comprises multiple groups of transducer units, and the shape of the transmitting end of the transducer unit is fan-shaped, rectangular or trapezoidal; the imaging system is arranged on the substrate; and the filling layer is filled between the substrate and the multi-channel transducer.

[0008] Preferably, the multi-degree-of-freedom mobile device includes a 6-axis robotic arm that can move and rotate in the X, Y, and Z axes. The maximum payload of the robotic arm can reach 12.5 kg, the moving range can reach 1300 mm, and the repeatability accuracy can reach ±0.05 mm.

[0009] Preferably, the multimodal treatment workstation includes: a main body, a control system and an electronic drive system, wherein the control system and the electronic drive system are arranged in the main body; the control system is connected to the electronic drive system, the integrated transceiver focused ultrasound probe, and the imaging system, and the electronic drive system is connected to the integrated transceiver focused ultrasound probe and the multi-degree-of-freedom mobile device, and is used to drive the integrated transceiver focused ultrasound probe to transmit continuous waves or pulse waves and drive the multi-degree-of-freedom mobile device to move; the control system is used to control the imaging system to scan the image of the area of ​​interest in real time, and receive information fed back by the integrated transceiver focused ultrasound probe and the imaging system.

[0010] Preferably, the multimodal treatment workstation further comprises a display and a control component, and the control component and the display are connected to a control system.

[0011] Preferably, the electronic drive system includes: a data acquisition device, a control device, a phase synchronization management device, a power amplifier integrated device, and a pulse voltage regulation device arranged on an integrated circuit board;

[0012] The data acquisition device is used to acquire medical image data and pulse emission feedback data sent by the image acquisition device;

[0013] The control device is connected to the data acquisition device, the pulse voltage adjustment device, and the phase synchronization management device, and is used to set the following parameters, including tissue fragmentation spatial reconstruction, transmission frequency, digital isolation, heat dissipation, digital-to-analog conversion, voltage detection, current detection, temperature detection, and phase management;

[0014] The pulse voltage regulating device is used to start either a continuous wave or a pulse wave driving mode according to the command of the control device;

[0015] The power amplifier integration module is connected to the pulse voltage regulation device, and is used to complete the integration of 8 to 128 power amplifiers, receive synchronization trigger information, and output a start transmission pulse signal to the multi-angle focused ultrasound therapy system;

[0016] The phase synchronization management module is responsible for the communication interface with the user end and the transmission function of phase information, and at the same time completes the synchronization function of multi-channel integrated modules. The phase of each channel is independently adjustable.

[0017] Preferably, the phase synchronization management module includes: a microprocessor, a phase distribution module, a power management module, a power status detection module and an upstream and downstream device communication module. The microprocessor is connected to the upstream and downstream device communication module, the power status detection module and the phase distribution module, and the power management module is arranged on the integrated circuit board.

[0018] Preferably, universal wheels are provided at the bottom of the body.

[0019] Preferably, a power supply is provided inside the body, and the power supply is connected to the electronic drive system.

[0020] Preferably, armrests are provided on both the main body and the transceiver-in-one focused ultrasound probe.

[0021] Preferably, the base includes a connecting rod and a scanning head, the connecting rod is connected to the multi-degree-of-freedom moving device; the bottom of the scanning head is a bare structure, and a plurality of mounting mechanisms arranged in an array are evenly arranged inside the scanning head, and the multi-channel transducer is arranged in the mounting mechanism.

[0022] Preferably, the multi-channel transducer includes: 64 to 1024 transducer units, and the number of the transducer units is an even number.

[0023] Preferably, the inner surface of the bare structure of the scanning head is a self-focusing arc surface.

[0024] Preferably, the imaging system includes: an image collector, a clamp, and a linear rotation motion mechanism connected in sequence, the image collector passes through the center of the scanning head, an elastic sealing structure is provided between the scanning head and the image collector, and the linear rotation motion mechanism is connected to the electronic drive system.

[0025] Preferably, the transducer unit includes: a shell, a piezoelectric ceramic substrate, a backing layer, a signal transmission unit and a multi-layer acoustic impedance matching layer, and the shell is connected to the mounting structure, an opening is provided at the bottom of the shell, the piezoelectric ceramic substrate is provided in the middle of the shell, the multi-layer acoustic impedance matching layer is provided on the surface of the piezoelectric ceramic substrate facing the opening, and the backing layer is provided on the surface of the piezoelectric ceramic substrate away from the opening. The piezoelectric ceramic substrate is connected to the signal transmission unit and is used to emit pulses.

[0026] Preferably, the control system includes a multi-channel signal generator, a multi-channel power amplifier, a multi-channel impedance matching network, a multi-channel delay controller and a central processing unit. The central processing unit and the tuning circuit are connected to the multi-channel signal generator, the multi-channel power amplifier, the multi-channel impedance matching network, and the multi-channel delay controller to control the ultrasonic frequency, amplitude, phase, continuous wave, emission pulse time and pulse repetition frequency emitted by the transducer unit.

[0027] In a second aspect, the present invention further provides a method for setting pulse emission parameters of a multimodal focused ultrasound therapy system, comprising:

[0028] Get the original image of the area of ​​interest;

[0029] According to the original image, adjusting the multi-degree-of-freedom mobile device so that the transceiver-integrated focused ultrasound probe reaches the target position;

[0030] The imaging system scans the target position image, and after multiple reciprocating position corrections based on the horizontal and rotational movements of the region of interest and the target position, the transceiver-integrated focused ultrasound probe is aligned with the region of interest;

[0031] Performing image registration and fusion of the acquired original image of the region of interest with the real-time image obtained by the imaging system to locate the treatment area;

[0032] The pulse transmission parameters of the transceiver-integrated focused ultrasound probe are set, including pulse transmission energy, transmission depth, frequency, and the number of transmissions of the transducer unit.

[0033] In a third aspect, the present invention provides a computer storage medium, characterized in that when the computer program is executed by a processor, a method for setting pulse emission parameters of a multimodal focused ultrasound therapy system is implemented.

[0034] The beneficial effects of the solution provided by the embodiments of the present application include at least:

[0035] 1. Significantly Improved Treatment Precision: This invention utilizes a multi-channel phased array transducer (64-1024 elements) and precise electronic phasing technology to control the focal size of tissue fragmentation to subwavelength levels (approximately half the beamwidth). The positioning error of deep target areas is less than 0.5 mm, significantly superior to traditional ultrasound therapy devices. Furthermore, the multi-channel focused ultrasound probe monitors the cavitation threshold in real time, and the imaging system detects cavitation location in real time, effectively avoiding non-target damage and improving treatment safety.

[0036] 2. Significantly Expanded Clinical Applicability: This invention utilizes phase correction technology to effectively penetrate acoustic barriers such as the skull and ribs, enabling the system to be applied to treat intra-abdominal diseases such as liver cancer, kidney cancer, and pancreatic cancer, as well as brain disorders such as Parkinson's disease, essential tremor, glioma, epilepsy, and depression. Furthermore, its multimodal synergistic therapy capability enables the system to initially utilize high-intensity ultrasound to generate cavitation and fragment tissue to ablate the core area of ​​liver cancer, followed by low-intensity ultrasound combined with drug delivery to treat the infiltrated periphery, achieving precise zonal treatment.

[0037] 3. Significantly Reduced System Costs: Compared to traditional solutions that require multiple devices (such as LIFU + HIFU + tissue fragmentation), this present invention integrates multiple treatment modes into one, with adjustable energy configuration parameters, flexible switching, and a power supply compatible with a wide range of 110V / 220V AC, significantly reducing equipment investment and maintenance costs for medical institutions.

[0038] 4. Significant advantages over traditional HIFU therapy: This method utilizes mechanical rather than thermal effects to fragment tissue, effectively avoiding thermal diffusion, overheating in the front and rear fields, and thermal damage to non-target areas. Only tissue exceeding the cavitation threshold is fragmented. Furthermore, cavitation is tissue-selective, sparing tissues with high elastic moduli, such as blood vessels and bile ducts, making the treatment safer.

[0039] 5. Improved real-time imaging and accuracy: Using real-time ultrasound guidance and CT / MR image registration, CT / MR images are scanned before surgery and fused with ultrasound images through image feature points. This improves accuracy compared to traditional ultrasound guidance and real-time imaging compared to MR-guided HIFU treatment, while also reducing the use of medical resources such as MR.

[0040] 6. Reduced treatment time: This invention utilizes high-intensity short-pulse excitation in tissue fragmentation, generating a bubble cloud with extremely high negative acoustic pressure. As the bubbles generate and collapse, they form homogenized tissue fragments. Compared to traditional HIFU continuous-wave methods, this method accumulates heat over time, raising the tissue temperature to above 57°C, causing protein coagulative necrosis, and then allowing the temperature to cool. This shortens treatment time by over 30%.

[0041] 7. Modular innovation advantages of the power amplifier system: This invention solves the problem of limited number of integrated channels of multi-channel power amplifiers, realizes multi-channel modular multiplexing and high-density integration, and synchronizes the phases between multiple channels, improving the phase control accuracy. At the same time, it realizes the adjustment of independent channel frequency, power, phase delay, and pulse repetition frequency. The system is highly integrated, the volume is significantly reduced, and it is flexible and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0043] Figure 1 Schematic diagram of the structure of a multimodal focused ultrasound therapy system;

[0044] Figure 2 Schematic diagram of the structure of the multi-angle focused ultrasound treatment system 100;

[0045] Figure 3-6 This is a structural diagram of a transceiver-integrated focused ultrasound probe 110;

[0046] Figure 7 is a cross-sectional view of a transceiver-integrated focused ultrasound probe 110;

[0047] Figure 8 is a schematic structural diagram of the imaging system 113;

[0048] Figure 9 It is a structural diagram of the linear rotary motion mechanism;

[0049] Figure 10 Schematic diagram of the structure of the transducer unit 1121;

[0050] Figure 11 is a structural block diagram of the electronic drive system 133;

[0051] Figure 12 is a labeled diagram of the inner diameter of the annular array;

[0052] Figure 13 Schematic diagram of the structure of the piezoelectric ceramic substrate 11213;

[0053] The following are explanations of the reference numerals:

[0054] Multi-angle focused ultrasound therapy system 100, transceiver integrated focused ultrasound probe 110, base 111, central circular hole 1111, connecting rod 1112, scanning head 1113, mounting mechanism 1114, positioning hole 11141, multi-channel transducer 112, transducer unit 1121, positioning post 11211, housing 11212, piezoelectric ceramic base 11213, piezoelectric ceramic element 112131, piezoelectric ceramic filling layer 112132, piezoelectric ceramic base 112133, backing layer 11214, signal transmission unit 11215, Multilayer acoustic impedance matching layer 11216, high impedance matching layer 61, medium impedance matching layer 62, low impedance matching layer 63, imaging system 113, image acquisition device 1131, clamp 1132, left clamp 1, right clamp 2, upper cover 3, lower cover 4, linear rotation motion mechanism 1133, servo motor 5, servo electric push rod 6, hollow shaft ball spline shaft 7, filling layer 114, multi-degree-of-freedom mobile device 120, multimodal treatment workstation 130, main body 131, control system 132, electronic drive system 133, data acquisition device 31 0, filter 311, amplifier 312, sampler 313, first analog-to-digital converter 314, control device 320, FPGA development board 321, FPGA chip 3211, clock generation module 3212, clock distribution module 3213, cavitation space reconstruction module 322, phase generation module 323, digital isolation module 324, communication management module 325, heat dissipation module 326, voltage detection module 327, current detection module 328, temperature detection module 329, second analog-to-digital converter 3210, phase synchronization management device 33 0, microprocessor 331, phase distribution module 332, power management module 333, power status detection module 334, upstream and downstream device communication module 335, pulse voltage regulation device 340, pulse wave voltage output module 341, third digital-to-analog converter 3411, pulse wave voltage analog output module 3412, continuous wave voltage output module 342, fourth digital-to-analog converter 3421, continuous wave voltage analog output module 3422, power amplifier integration device 350, harmonic matching module 360, high-frequency filtering module 370, image acquisition device 200. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] The following diagrams illustrate various embodiments of the present invention. For clarity, many practical details are included in the following description. However, it should be understood that these practical details are not intended to limit the present invention. In other words, in some embodiments of the present invention, these practical details are not essential. Furthermore, to simplify the drawings, some commonly used structures and components are depicted in simplified schematic form.

[0057] Example 1:

[0058] like Figure 1 As shown, a multimodal focused ultrasound therapy system includes an image acquisition device 200 and a multi-angle focused ultrasound therapy system 100. The image acquisition device 200 is used to acquire images of a region of interest. The image acquisition device 200 includes a two-dimensional / three-dimensional image acquisition device 200, capable of capturing comprehensive images of the patient's region of interest, providing accurate positioning for subsequent treatment. The multi-angle focused ultrasound therapy system 100 includes an integrated transceiver focused ultrasound probe 110, a multi-degree-of-freedom mobile device 120, and a multimodal therapy workstation 130. The integrated transceiver focused ultrasound probe 110 is connected to the image acquisition device 200, the multi-degree-of-freedom mobile device 120, and the multimodal therapy workstation 130, respectively. The multi-degree-of-freedom mobile device 120 is connected to the multimodal therapy workstation 130. The system adjusts the position of the focused ultrasound probe according to the region of interest, receives images of the region of interest, processes the images, and controls the focused ultrasound probe to emit continuous waves or pulsed waves in multiple wavelength bands, generating a cavitation bubble cloud in the cavitation region, locating the cavitation region, and performing cavitation, ablation, and treatment on tissue in the region of interest.

[0059] like Figure 1-7 As shown, the transceiver-integrated focused ultrasound probe 110 is a high-intensity focused ultrasound multi-channel phased array probe, comprising a substrate 111, and a multi-channel transducer 112 and an imaging system 113 arranged inside the substrate 111. The multi-channel transducer 112 is evenly arranged on the substrate 111 in the form of a circular array along the center of the substrate 111; the multi-channel transducer 112 includes multiple groups of transducer units 1121, and the shape of the transmitting end of the transducer unit 1121 is fan-shaped, rectangular or trapezoidal; the imaging system 113 is arranged on the substrate 111, and preferably, the imaging system 113 passes through the central circular hole 1111 of the substrate 111; a filling layer 114 is filled between the substrate 111 and the multi-channel transducer 112 to reduce energy loss during sound wave propagation and improve sound wave transmission efficiency. The transducer base is made of aluminum alloy or stainless steel, which has the properties of corrosion resistance, high strength, and good thermal conductivity. Guide columns and retaining spring grooves are processed on the shell to fix the transducer unit 1121 on the transducer base.

[0060] The base 111 includes a connecting rod 1112 and a scanning head 1113. The connecting rod 1112 is connected to the multi-degree-of-freedom motion device 120. The bottom of the scanning head 1113 is a bare structure. Multiple mounting mechanisms 1114 are evenly arranged in an array inside the scanning head 1113. The multi-channel transducer 112 is mounted within the mounting mechanisms 1114. The inner surface of the bare structure of the scanning head 1113 is a self-focusing curved surface, which facilitates the focusing and propagation of ultrasound. The design of the mounting mechanism 1114 ensures that the transducer unit 1121 can be firmly fixed to the base 111, while also facilitating maintenance or replacement when necessary.

[0061] like Figure 7 As shown, the imaging system 113 includes: an image collector 1131, a clamp 1132, and a linear rotation motion mechanism 1133 connected in sequence. The image collector 1131 passes through the central circular hole 1111 of the scanning head 1113. An elastic sealing structure 1134 is provided between the scanning head 1131 and the image collector 1131. The linear rotation motion mechanism 1133 is connected to the electronic drive system 133.

[0062] like Figure 8 As shown, image collector 1131 is an abdominal ultrasound probe capable of capturing 2D / 3D images. Holder 1132 comprises a left clamp 1, a right clamp 2, an upper cover 3, and a lower cover 4, which together secure image collector 1131. The left and right clamps 1 and 2 have two sealing grooves on their outer circumferences, and the lower cover can be fitted with a waterproof gland, which together form a seal.

[0063] like Figure 9 As shown, the linear rotational motion mechanism 1133 includes: a servo motor 5, a servo electric push rod 6 and a hollow shaft ball spline shaft 7. The servo motor 5 is connected to the servo electric push rod 6 and the hollow shaft ball spline shaft 7 respectively. The servo motor 5 is used to control the translation of the hollow shaft ball spline shaft 7 along the spline groove. The servo motor 5 is used to drive the hollow shaft ball spline shaft 7 to rotate. One end of the hollow shaft ball spline shaft 7 is connected to the clamp 1132. As set above, the electronic drive system 133 can simultaneously realize the linear motion and 360° rotational motion of the image collector 1131 by driving the servo motor 5.

[0064] The multi-channel transducer 112 comprises multiple groups of transducer units 1121, each of which is evenly arranged on the substrate 111 in a circular array along the center of the substrate 111. Each group of transducer units 1121 forms an independent communication channel, and the radius of the circular array formed by each group of transducer units 1121 varies. This design enables the probe to achieve multi-focal and multi-depth ultrasound focusing, improving the accuracy and efficiency of tissue fragmentation.

[0065] Mounting mechanism 1114 is a groove for securing transducer unit 1121. The groove's depth is 0.8-1.2 times the thickness of transducer unit 1121, and its width is substantially the same as the diameter of transducer unit 1121, utilizing a gap connection. The spacing between the grooves is 1.5-2 times the diameter of transducer unit 1121. To facilitate positioning and installation, transducer unit 1121 is provided with a positioning post 11211, and a positioning hole 11141 is provided adjacent to the groove. The positioning post 11211 is inserted into the positioning hole 11141 for connection.

[0066] The surface of the substrate 111 is coated with a sound absorbing coating, and the thickness of the sound absorbing coating is 0.5-1 mm.

[0067] like Figure 11 As shown, transducer unit 1121 includes a housing 11212, a piezoelectric ceramic substrate 11213, a backing layer 11214, a signal transmission unit 11215, and a multi-layer acoustic impedance matching layer 11216. Housing 11212 is connected to a mounting structure and has an opening at its bottom. Piezoelectric ceramic substrate 11213 is positioned in the center of housing 11212. Multi-layer acoustic impedance matching layers 11216 are provided on the surface of piezoelectric ceramic substrate 11213 facing the opening, while a backing layer 11214 is provided on the surface of piezoelectric ceramic substrate 11213 facing away from the opening. Piezoelectric ceramic substrate 11213 is connected to signal transmission unit 11215 for pulse transmission. Signal transmission unit 11215 serves as a signal transmission cable, while backing layer 11214 serves as an acoustic attenuation layer. This layer effectively absorbs back-directed sound waves, preventing reflection interference and enhancing the directional transmission of ultrasonic waves.

[0068] Multilayer acoustic impedance matching layer 11216 includes a high impedance matching layer 61, a medium impedance matching layer 62, and a low impedance matching layer 63. These layers are arranged sequentially along the piezoelectric ceramic substrate 11213 toward the opening. This multilayer acoustic impedance matching structure reduces acoustic impedance layer by layer, minimizing energy loss during the transmission of sound waves from the piezoelectric ceramic substrate 11213 to human tissue, thereby improving acoustic energy utilization efficiency.

[0069] The shape of the transducer unit 1121 can be fan-shaped or rectangular. In a preferred embodiment, the transducer unit 1121 adopts a fan-shaped design, which enables the transducer units 1121 to be better arranged along the circumferential direction to form a complete annular array, thereby improving the focusing effect of the sound waves.

[0070] If the transducer unit is circular, the diameter is Φ10 circular element, and the base area is 46639mm 2 , then the effective emission area is 20410mm 2, the effective emission area accounts for 43.8%; if the square array element has a side length of 10.4mm, the base area is 46639mm 2 , effective emission area 28121.6mm 2 , the effective emission area accounts for 60.3%; if the fan array elements are fully arrayed, the base area is 46639mm 2 , the effective emission area is 30996.3mm 2 , the effective emission area accounts for 66.5%. It can be seen that the effective emission area of ​​the fan-shaped transducer unit is larger and the treatment effect is better. Since it is necessary to ensure that the circular area of ​​each group of transducer units is the same, the inventor needs to pay creative labor, which is not common knowledge and customary technical means in this field.

[0071] The annular areas of each group of transducer units 1121 are the same or similar, with an error of ≤1%. This design ensures that the sound wave energy emitted by each transducer unit 1121 is evenly distributed, avoiding energy unevenness caused by area differences and improving the stability and consistency of focused ultrasound.

[0072] like Figure 12 As shown, when the shape of the transducer unit 1121 is fan-shaped, the inner diameter of the annular array formed by each group of transducer units 1121 is calculated as follows:

[0073] S=α[(H+φ / 2) 2 -(φ / 2) 2 ];

[0074] α=360 / N;

[0075] Wherein, S represents the sector area, H represents the sector width, α represents the sector angle of a single transducer, N represents the number of transducer units 1121 in each group, and φ represents the inner diameter of each transducer unit 1121 .

[0076] The inner diameter φ1 and width H1 of the innermost ring are obtained through measurement. Based on this inner diameter φ1, the width H1 of the innermost ring element can be calculated. The inner diameter φ2 of the outermost ring is determined by adding the assembly gap l1 between the rings to the innermost ring element width H1. Similarly, the sector width H and inner diameter φ of all rings are calculated using the above calculation method. This calculation method ensures that the transducer units 1121 in each ring array have a consistent area, ensuring uniform distribution of acoustic wave energy.

[0077] The multi-channel transducer 112 includes 64 to 1024 transducer units 1121, with the number of transducer units 1121 being an even number. In a preferred embodiment, the multi-channel transducer 112 includes 256 transducer units 1121, distributed across four annular arrays, each containing 64 transducer units 1121. This configuration enables high-precision acoustic wave focusing control, meeting the needs of tissue fragmentation at varying depths and sizes.

[0078] like Figure 13 The piezoelectric ceramic substrate 11213 shown includes a piezoelectric ceramic element 112131, a piezoelectric ceramic filling layer 112132 and a piezoelectric ceramic base 112133. The piezoelectric ceramic element 112131 is made of lead zirconate titanate (PZT)-based piezoelectric ceramic material. The PZT-based piezoelectric ceramic is selected from PZT-4 or PZT-8. The thickness of the piezoelectric ceramic element 112131 is 0.5-1.5 mm; the filling layer 112132 is made of epoxy resin or active polymer and has a thickness of 2-3 mm; the piezoelectric ceramic base 112133 adopts a 1-3 type connection structure and has a thickness of 0.5-1 mm. m; the thickness of the high impedance layer is 10-14MRayl, the thickness of the medium impedance layer is 6-8MRayl, and the thickness of the low impedance layer is 2MRayl; the thickness of the backing layer 11214 is 8-12MRayl; the adjustment range of the double-ended multi-stage LC tuning circuit is 1-3MHz; as described above, the 1-3 type piezoelectric composite material is used as the piezoelectric ceramic base 112133, and the piezoelectric ceramic element 112131 is combined with a passive polymer of epoxy resin or active polymer to prepare a piezoelectric composite material to form a piezoelectric ceramic matrix 11213, so as to achieve lower acoustic impedance and higher coupling coefficient.

[0079] During operation, the focused ultrasound tissue fragmentation probe transmits electrical signals of varying phases to each transducer unit 1121 via the control system 132. The piezoelectric ceramic substrate 11213, stimulated by these signals, generates ultrasonic waves. Multi-layer acoustic impedance matching layers 11216 ensure efficient transmission of ultrasonic waves. The annular array design of the multi-channel transducer 112 enables the ultrasonic waves to form a focal point at a specific depth, generating sufficient acoustic energy density to fragment the target tissue. By adjusting the phase difference between the different annular arrays, the position and shape of the focal point can be altered, enabling precise fragmentation of tissues at varying depths and sizes.

[0080] The multi-degree-of-freedom motion device 120 includes a robotic arm capable of movement and rotation along the X, Y, and Z axes. This design enables the focused ultrasound probe to approach the treatment area from any angle, greatly improving treatment flexibility and precision. The robotic arm is driven by a high-precision stepper motor with dual encoder feedback, ensuring accurate positioning of each movement and rotation.

[0081] The multimodal treatment workstation 130 includes a main body 131, a control system 132, and an electronic drive system 133. The control system 132 and electronic drive system 133 are disposed within the main body 131. The control system 132 is connected to the electronic drive system 133, the transceiver focused ultrasound probe 110, and the imaging system 113. The electronic drive system 133 is connected to the transceiver focused ultrasound probe 110 and the multi-degree-of-freedom motion device 120. The control system 132 is used to drive the transceiver focused ultrasound probe 110 to transmit pulse waves and to drive the multi-degree-of-freedom motion device 120 to move. The control system 132 is used to control the imaging system 113 to capture images of the region of interest and to receive feedback from the transceiver focused ultrasound probe 110 and the imaging system 113.

[0082] Control system 132 includes a multi-channel signal generator, a multi-channel power amplifier, a multi-channel impedance matching network, a multi-channel delay controller, and a central processing unit. The central processing unit and tuning circuit are connected to the multi-channel signal generator, multi-channel power amplifier, multi-channel impedance matching network, and multi-channel delay controller to control the frequency, amplitude, phase, continuous wave or pulse duration, and pulse repetition frequency of ultrasound transmitted by transducer units 1121. This design enables the system to precisely control the operating state of each transducer unit 1121, realizing complex focusing patterns and treatment plans.

[0083] The electronic drive system 133 includes a data acquisition device 310 , a control device 320 , a phase synchronization management device 330 , a power amplifier integrated device 350 , and a pulse voltage regulation device 340 , which are arranged on an integrated circuit board.

[0084] The data acquisition device 310 is used to collect medical imaging data and pulse emission feedback data sent by the imaging acquisition device. The data acquisition device 310 includes a filter 311, an amplifier 312, a sampler 313, and a first analog-to-digital converter 314, which are connected in sequence. The first analog-to-digital converter 314 is connected to the control device 320. The filter 311 is a bandpass filter 311, which filters out unwanted frequency signals and retains only signals within a specific frequency band. The amplifier 312 is a gain amplifier 312, which amplifies weak signals to an amplitude suitable for processing. The sampler 313 is a high-speed sampler 313, capable of sampling signals at a high frequency to ensure signal integrity. The first analog-to-digital converter 314 is a high-speed analog-to-digital converter, which converts analog signals into digital signals for processing by the control device 320.

[0085] The control device 320 is connected to the data acquisition device 310, the pulse voltage regulator 340, and the phase synchronization management device 330. It is used to set the following parameters, including tissue fragmentation space reconstruction, transmission frequency, digital isolation, heat dissipation, digital-to-analog conversion, voltage detection, current detection, temperature detection, and phase management. The control device 320 includes an FPGA development board 321, a cavitation space reconstruction module 322, a phase generation module 323, a digital isolation module 324, a communication management module 325, a heat dissipation module 326, a voltage detection module 327, a current detection module 328, a temperature detection module 329, and a second analog-to-digital converter 3210. The FPGA development board 321 is connected to the cavitation space reconstruction module 322, the phase generation module 323, the digital isolation module 324, the communication management module 325, and the heat dissipation module 326. The communication management module 325 is connected to the phase synchronization management module. The voltage detection module 327 , the current detection module 328 , the temperature detection module 329 and the second analog-to-digital converter 3210 are all arranged on the integrated circuit board, and the voltage detection module 327 , the current detection module 328 , the temperature detection module 329 are all connected to the second analog-to-digital converter 3210 .

[0086] FPGA development board 321 includes an FPGA chip 3211, a clock generation module 3212, and a clock distribution module 3213, all of which are installed on an integrated circuit board. FPGA chip 3211, clock generation module 3212, and clock distribution module 3213 are connected in sequence. FPGA chip 3211 processes various digital signals and control logic. Clock generation module 3212 generates the reference clock signal required by the system. Clock distribution module 3213 distributes the clock signal to various parts of the system that require synchronization, ensuring that the entire system operates in the same clock domain and synchronized signal processing.

[0087] The pulse voltage regulator 340 is used to activate either continuous wave or pulse wave drive modes based on commands from the control device 320. Pulsed wave mode can be selected for tissue fragmentation therapy, while continuous wave mode can be selected for thermal ablation therapy. This flexible mode switching can meet different treatment needs.

[0088] The power amplifier integration device 350 is connected to the pulse voltage regulator 340 and is used to integrate 8 to 128 power amplifiers, receive synchronization trigger information, and output a start-transmission pulse signal to the multi-angle focused ultrasound therapy system 100. The pulse voltage regulator 340 includes a pulse wave voltage output module 341 and a continuous wave voltage output module 342, both of which are connected to the control device 320. The pulse wave voltage output module 341 includes a third digital-to-analog converter 3411 and a pulse wave voltage analog output module 3412, and the third digital-to-analog converter 3411 is connected to the control device 320 and the pulse wave voltage analog output module 3412 respectively. The continuous wave voltage output module 342 includes a fourth digital-to-analog converter 3421 and a continuous wave voltage analog output module 3422, and the fourth digital-to-analog converter 3421 is connected to the control device 320 and the continuous wave voltage analog output module 3422 respectively. The third digital-to-analog converter 3411 and the fourth digital-to-analog converter 3421 convert the digital signal output by the control device 320 into an analog signal, which is amplified by the pulse wave voltage analog output module 3412 and the continuous wave voltage analog output module 3422 respectively, and finally output to the focused ultrasound probe.

[0089] The phase synchronization management device 330 is responsible for communicating with the user end and transmitting phase information, while also synchronizing multiple integrated modules. Each channel's phase is individually adjustable. The phase synchronization management device 330 includes a microprocessor 331, a phase distribution module 332, a power management module 333, a power status detection module 334, and an upstream and downstream device communication module 335. The microprocessor 331 is connected to the upstream and downstream device communication module 335, the power status detection module 334, and the phase distribution module 332. The power management module 333 is located on an integrated circuit board. The microprocessor 331 processes commands from the user end and converts them into phase control signals. The phase distribution module 332 distributes phase information to each channel. The power management module 333 ensures a stable power supply for the system. The power status detection module 334 monitors the power status in real time to ensure safe system operation. The upstream and downstream device communication module 335 is responsible for exchanging data with the user end and other devices.

[0090] The focused ultrasound electronic drive system 133 also includes a harmonic matching module 360, connected to the power amplifier integrated device 350. This module matches the impedance between the power amplifier output and the ultrasonic transducer, reducing signal reflections and improving energy transmission efficiency. Furthermore, the system includes a high-frequency filtering module 370, connected to the harmonic matching module 360 ​​and the focused ultrasound transducer. This module filters out high-frequency noise and harmonics, ensuring the purity of the output signal and reducing interference with surrounding electronic devices.

[0091] During system operation, the data acquisition device 310 first collects medical imaging data and feedback data, which are then filtered, amplified, sampled, and converted to analog-to-digital. The control device 320 then sets parameters based on this data. After processing via the FPGA development board 321, the control device 320 controls the pulse voltage regulator 340 to select the appropriate operating mode. The power amplifier integrated device 350, based on instructions from the control device 320, generates the required drive signals through the corresponding digital-to-analog converters and voltage output modules. The phase synchronization management device 330 ensures phase synchronization of the multi-channel signals. After signal processing by the harmonic matching module and high-frequency filtering module, the drive signals are ultimately output to the multi-angle focused ultrasound therapy system 100, enabling precise ultrasound focused therapy. Compared to conventional single-transmitting transducers, the transceiver-integrated focused ultrasound probe 110 has a wider frequency bandwidth than conventional single-transmitting transducers, which have a narrower bandwidth. By utilizing the broadband characteristics of the transceiver, cavitation detection can be performed. After processing by the spatial reconstruction algorithm, the cavitation position can be spatially located. Even if the B-ultrasound image is blocked by the ribs, the cavitation location can still ensure the process safety. In terms of system processing mechanism, such as Figure 8 The functions shown are divided into a receiving array and a transmitting array. Since the cavitation signal has a low-amplitude fixed-frequency characteristic, it is now necessary to perform bandpass filtering to select the characteristic frequency signal. The characteristic frequency signal is amplified to meet the amplitude characteristics of its high-speed sampling. The high-speed AD quantizes and encodes the cavitation signal and sends it to the cavitation space reconstruction unit through a high-speed interface to complete the spatial positioning of the cavitation position.

[0092] The transmitting array is compatible with both continuous wave (CWD) and pulse wave (PWD) driving modes in terms of transmission characteristics. Compared with existing conventional transmitters that can only support one driving mode, the present invention is designed with both driving CWD and HVPWD (high voltage) starting modes. The implementation of CWD and HVPWD is the basis for multimodal applications. In the design, the physical driving mode switching of CWD and HWD is completed through different application scenarios. The voltage DA adjustment can achieve infinite voltage amplification, and the pulse wave and continuous wave I / V can be amplified. A high-efficiency Class D power amplifier (theoretical efficiency 100%) is used to drive the transducer in the design. The output signal of the transducer power amplifier needs to pass through a resonant matching two-port network to achieve maximum power transmission.

[0093] The system achieves precise spatial regulation of focused ultrasound energy through independent multi-channel phase control, can flexibly switch working modes according to different treatment needs, and is suitable for a variety of ultrasound treatment scenarios. At the same time, a complete detection and protection mechanism ensures the safe and stable operation of the system. The multimodal treatment workstation 130 also includes a display and a control component, which is connected to the display. The display is used to display the image and treatment parameters of the treatment area in real time. The control component includes buttons, a keyboard, a mouse and a screen to facilitate the operator to operate and adjust parameters. Universal wheels are provided at the bottom of the main body 131 to facilitate the movement and positioning of the entire system. A power supply is provided inside the main body 131, and the power supply is connected to the electronic drive system 133 to provide a stable power supply for the entire system. Armrests are provided on both the main body 131 and the transceiver-integrated focused ultrasound probe 110 to facilitate medical staff to operate and move the equipment.

[0094] During use, the image acquisition device 200 first scans the patient's area of ​​interest, acquiring a two-dimensional or three-dimensional image. The control system 132 of the multimodal treatment workstation 130 then processes the acquired image to locate the area requiring treatment. The multi-degree-of-freedom motion device 120 then adjusts the position and angle of the focused ultrasound probe to align it with the treatment area. Finally, the control system 132 directs the focused ultrasound probe to emit continuous or pulsed waves within a specific wavelength band, generating a cavitation bubble cloud in the target area, achieving precise tissue cavitation, ablation, or treatment.

[0095] Throughout the treatment process, the system monitors treatment effectiveness in real time and adjusts treatment parameters as needed to ensure treatment safety and effectiveness. The design of the multimodal focused ultrasound therapy system makes ultrasound therapy more precise and efficient, significantly reducing damage to surrounding healthy tissue and improving treatment safety and patient comfort.

[0096] Example 2:

[0097] This embodiment provides a method for setting pulse transmission parameters of a multimodal focused ultrasound treatment system, the method comprising the following steps:

[0098] Step S001: Obtain the original image of the region of interest, specifically:

[0099] The image acquisition device 200 described in Example 1 is used to scan the patient's area of ​​interest to obtain a two-dimensional or three-dimensional original image. The image acquisition device 200 can be a two-dimensional / three-dimensional image acquisition device 200, which can perform comprehensive image acquisition of the patient's area of ​​interest, providing accurate positioning for subsequent treatment.

[0100] Step S002: Based on the original image, the multi-degree-of-freedom mobile device is adjusted to make the transceiver focused ultrasound probe reach the target position; the imaging system scans the target position image, and after multiple reciprocating position corrections based on the horizontal and rotational movements of the region of interest and the target position, the transceiver focused ultrasound probe is aligned with the region of interest; the original image of the region of interest obtained is fused with the real-time image obtained by the imaging system to locate the treatment area, specifically:

[0101] Based on the image of the region of interest acquired in S001, the control system 132 of the multimodal treatment workstation 130 controls the multi-degree-of-freedom mobile device 120 to adjust the position and angle of the transceiver-focused ultrasound probe 110. The multi-degree-of-freedom mobile device 120 includes a robotic arm that can move and rotate along the X, Y, and Z axes. This design allows the focused ultrasound probe to approach the treatment area from any angle, ensuring that the probe is accurately aligned with the region of interest.

[0102] In this step, the control system 132 of the multimodal treatment workstation 130 registers the original image acquired in step S001 with the real-time image. Using image processing algorithms, it analyzes the features and differences between the two sets of images to precisely locate the area requiring cavitation treatment. This process is displayed in real time on the multimodal treatment workstation 130's display, allowing the physician to make necessary adjustments and confirmations using the control unit.

[0103] Step S004: setting the pulse transmission parameters of the transceiver-integrated focused ultrasound probe, including pulse transmission energy, transmission depth, frequency, and the number of transmissions of the transducer units.

[0104] The focused ultrasound probe can also be controlled to emit continuous waves or pulsed waves according to target requirements to generate cavitation bubble clouds in the cavitation area or heat the area of ​​interest;

[0105] Based on treatment needs, the control system 132 of the multimodal treatment workstation 130 precisely controls the transceiver focused ultrasound probe 110 to emit continuous waves or pulsed waves in specific wavelength bands through a multi-channel signal generator, a multi-channel power amplifier 312, a multi-channel impedance matching network, and a multi-channel delay controller. To induce cavitation, the system controls the probe to emit short, high-energy pulses, forming a cloud of cavitation bubbles in the target area. To achieve hyperthermia, the system controls the probe to emit longer continuous waves, precisely heating the area of ​​interest.

[0106] During ultrasound transmission, the system monitors temperature changes and cavitation effects in the treatment area in real time and dynamically adjusts the drive signal parameters based on this feedback, ensuring both therapeutic efficacy and safety. The design of the multi-channel transducer 112 enables the system to achieve complex focusing patterns, precisely controlling energy distribution within the target area and avoiding damage to surrounding healthy tissue.

[0107] In a preferred embodiment, when pulse heating is performed, the system will first preheat with a low-energy pulse and then gradually increase the energy to the level required for treatment. This gradual heating method can reduce patient discomfort and improve the safety of treatment.

[0108] In another preferred embodiment, the system can automatically adjust pulse parameters according to different tissue types, for example, to compensate for the acoustic attenuation coefficients of fat tissue and muscle tissue, thereby achieving personalized and precise treatment.

[0109] Example 3:

[0110] This embodiment provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for setting pulse transmission parameters of a multimodal focused ultrasound therapy system described in the second embodiment is implemented.

[0111] The computer storage medium can be a read-only memory (ROM), random access memory (RAM), an optical disk, a magnetic disk, a USB flash drive, or any other medium capable of storing computer programs. When the computer program is executed by the processor, all steps described in the second embodiment are performed, including acquiring an original image of the region of interest, adjusting the multi-degree-of-freedom mobile device 120 to align the transceiver focused ultrasound probe 110 with the region of interest, matching the original image with the real-time image to locate the cavitation region, and controlling the focused ultrasound probe to emit pulses to generate a cavitation bubble cloud in the cavitation region or to heat the region of interest, as required.

[0112] In a preferred embodiment, the computer program further includes an image processing module for pre-processing the acquired original images and real-time images to improve image quality and matching accuracy.

[0113] In another preferred embodiment, the computer program further includes a parameter adaptive adjustment module, which can automatically adjust the pulse parameters according to the tissue characteristics of different patients to achieve a personalized solution.

[0114] In another preferred embodiment, the computer program further includes a treatment effect evaluation module, which can automatically evaluate the treatment effect by analyzing the image differences before and after treatment, and provide decision support for doctors.

[0115] The computer program stored on the computer storage medium can achieve high-precision and high-safety pulse heating treatment by cooperating with the hardware equipment of the multimodal focused ultrasound treatment system, and is suitable for a variety of clinical application scenarios.

[0116] Through the above steps, this method can achieve precise pulse heating or cavitation treatment of the region of interest, and is suitable for a variety of clinical application scenarios, such as tumor ablation, pain management, physical therapy and other fields.

[0117] It is known to those skilled in the art that various aspects of the present invention may be implemented as a system, method or computer program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, resident software, microcode, etc.), or an implementation combining hardware and software aspects, which may be collectively referred to herein as a "circuit", "module" or "system". In addition, in some embodiments, various aspects of the present invention may also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code. The implementation of the method and / or system of an embodiment of the present invention may involve performing or completing a selected task manually, automatically or in a combination thereof.

[0118] For example, the hardware for performing the selected tasks according to an embodiment of the present invention can be implemented as a chip or circuit. As software, the selected tasks according to an embodiment of the present invention can be implemented as multiple software instructions executed by a computer using any appropriate operating system. In an exemplary embodiment of the present invention, one or more tasks according to the exemplary embodiments of the method and / or system as described herein are performed by a data processor, such as a computing platform for executing multiple instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile memory for storing instructions and / or data, for example, a magnetic hard disk and / or a removable medium. Optionally, a network connection is also provided. Optionally, a display and / or a user input device, such as a keyboard or a mouse, is also provided.

[0119] Any combination of one or more computer-readable media may be used. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include the following:

[0120] An electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0121] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0122] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0123] For example, any combination of one or more programming languages ​​can be used to write a computer program code for performing the operation of various aspects of the present invention, including object-oriented programming languages ​​and conventional process programming languages ​​such as Java, Smalltalk, C++, such as "C" programming language or similar programming languages. The program code can be performed completely on the user's computer, partially on the user's computer, performed as an independent software package, partially on the user's computer and partially on the remote computer, or performed completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network--including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, utilizing an Internet service provider to connect to the Internet).

[0124] It should be understood that each block in the flowchart and / or block diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these computer program instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0125] These computer program instructions may also be stored in a computer-readable medium, which causes a computer, other programmable data processing apparatus, or other device to operate in a specific manner, so that the instructions stored in the computer-readable medium produce an article of manufacture that includes instructions for implementing the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0126] The computer program instructions may also be loaded onto a computer (e.g., a coronary artery analysis system) or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other apparatus to produce a computer-implemented process, such that the instructions that execute on the computer, other programmable apparatus, or other apparatus provide a process for implementing the functions / acts specified in the flowchart and / or block diagram blocks.

[0127] The above specific examples of the present invention further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multimodal focused ultrasound therapy system, characterized in that: include: Image acquisition device and multi-angle focused ultrasound therapy system; The image acquisition device is used to acquire images of the region of interest; The multi-angle focused ultrasound treatment system includes an integrated transceiver focused ultrasound probe, a multi-degree-of-freedom mobile device, and a multi-modal treatment workstation. The integrated transceiver focused ultrasound probe is connected to the image acquisition device, the multi-degree-of-freedom mobile device, and the multi-modal treatment workstation respectively, and the multi-degree-of-freedom mobile device is connected to the multi-modal treatment workstation. The system is used to adjust the position of the focused ultrasound probe according to the region of interest, receive images of the region of interest, process the images, control the focused ultrasound probe to emit continuous waves or pulse waves of multiple bands, generate cavitation bubble clouds in the treatment area, locate the cavitation area, and perform cavitation, ablation, and treatment on tissue in the region of interest.

2. A multimodal focused ultrasound therapy system according to claim 1, characterized in that: The image acquisition device includes a two-dimensional / three-dimensional image acquisition device.

3. The multimodal focused ultrasound therapy system according to claim 1, characterized in that: The transceiver-integrated focused ultrasound probe is a high-intensity focused ultrasound multi-channel phased array probe, comprising a transducer base, a multi-channel transducer, an imaging device, and a filling layer; The transducer base includes a base, and a multi-channel transducer and an imaging system disposed inside the base. The multi-channel transducers are evenly disposed on the base in a circular array along the center of the base. The multi-channel transducer includes multiple groups of transducer units, and the shape of the transmitting end of the transducer unit is fan-shaped, rectangular or trapezoidal. The imaging system is arranged on the substrate; The filling layer is filled between the substrate and the multi-channel transducer.

4. The multimodal focused ultrasound therapy system according to claim 3, characterized in that: The multi-freedom mobile device includes a mechanical arm that can move and rotate in the X, Y and Z axes.

5. The multimodal focused ultrasound treatment system according to claim 4, characterized in that: The multimodal treatment workstation includes: a body, a control system and an electronic drive system, wherein the control system and the electronic drive system are arranged in the body; The control system is connected to the electronic drive system, the integrated transceiver focused ultrasound probe, and the imaging system. The electronic drive system is connected to the integrated transceiver focused ultrasound probe and the multi-degree-of-freedom mobile device, and is used to drive the integrated transceiver focused ultrasound probe to transmit continuous waves or pulse waves, and control and drive the multi-degree-of-freedom mobile device to move; the control system is used to control the imaging system to scan images of the region of interest, and receive information fed back by the integrated transceiver focused ultrasound probe and the imaging system.

6. The multimodal focused ultrasound therapy system according to claim 5, characterized in that: The multimodal treatment workstation further comprises a display and a control component, wherein the control component and the display are connected to a control system.

7. The multimodal focused ultrasound treatment system according to claim 5, characterized in that: The electronic drive system includes: a data acquisition device, a control device, a phase synchronization management device, a power amplifier integration device, and a pulse voltage regulation device arranged on an integrated circuit board; The data acquisition device is used to acquire the medical image data and pulse emission feedback data sent by the image acquisition device; The control device is connected to the data acquisition device, the pulse voltage adjustment device, and the phase synchronization management device, and is used to set the following parameters, including tissue fragmentation spatial reconstruction, transmission frequency, digital isolation, heat dissipation, digital-to-analog conversion, voltage detection, current detection, temperature detection, and phase management; The pulse voltage regulating device is used to start either a continuous wave or a pulse wave driving mode according to the command of the control device; The power amplifier integration module is connected to the pulse voltage regulating device, and is used to complete the integration of 8 to 128 power amplifiers, receive synchronization trigger information, and output a start transmission pulse signal to the multi-angle focused ultrasound therapy system; The phase synchronization management module is responsible for the communication interface with the user end and the transmission function of phase information, and at the same time completes the synchronization function of multi-channel integrated modules. The phase of each channel is independently adjustable.

8. The multimodal focused ultrasound treatment system according to claim 7, characterized in that: The phase synchronization management module includes: a microprocessor, a phase distribution module, a power management module, a power status detection module and an upstream and downstream device communication module. The microprocessor is connected to the upstream and downstream device communication module, the power status detection module and the phase distribution module. The power management module is arranged on the integrated circuit board.

9. The multimodal focused ultrasound treatment system according to claim 5, characterized in that: Universal wheels are arranged at the bottom of the body.

10. The multimodal focused ultrasound treatment system according to claim 9, characterized in that: A power supply is provided inside the body, and the power supply is connected to the electronic drive system.

11. The multimodal focused ultrasound treatment system according to claim 5, characterized in that: Armrests are provided on both the main body and the transceiver-integrated focused ultrasound probe.

12. The multimodal focused ultrasound treatment system according to claim 5, characterized in that: The base includes a connecting rod and a scanning head, the connecting rod is connected to the multi-degree-of-freedom moving device; the bottom of the scanning head is a bare structure, and a plurality of mounting mechanisms arranged in an array are evenly arranged inside the scanning head, and the multi-channel transducer is arranged in the mounting mechanism.

13. The multimodal focused ultrasound treatment system according to claim 4, characterized in that: The multi-channel transducer includes: 64 to 1024 transducer units, and the number of the transducer units is an even number.

14. The multimodal focused ultrasound treatment system according to claim 12, characterized in that: The inner surface of the bare structure is a self-focusing arc surface.

15. The multimodal focused ultrasound treatment system according to claim 12, characterized in that: The imaging system includes: an image collector, a clamp, and a linear rotation motion mechanism connected in sequence. The image collector passes through the center of the scanning head. An elastic sealing structure is provided between the scanning head and the image collector. The linear rotation motion mechanism is connected to the electronic drive system.

16. The multimodal focused ultrasound treatment system according to claim 12, characterized in that: The transducer unit includes: a shell, a piezoelectric ceramic substrate, a backing layer, a signal transmission unit and a multi-layer acoustic impedance matching layer, and the shell is connected to the mounting structure. An opening is provided at the bottom of the shell, and the piezoelectric ceramic substrate is provided in the middle of the shell. The multi-layer acoustic impedance matching layer is provided on the surface of the piezoelectric ceramic substrate facing the opening, and the backing layer is provided on the surface of the piezoelectric ceramic substrate facing away from the opening. The piezoelectric ceramic substrate is connected to the signal transmission unit and is used to transmit pulses.

17. The multimodal focused ultrasound treatment system according to claim 16, characterized in that: The control system includes a multi-channel signal generator, a multi-channel power amplifier, a multi-channel impedance matching network, a multi-channel delay controller and a central processing unit. The central processing unit is connected to the multi-channel signal generator, the multi-channel power amplifier, the multi-channel impedance matching network and the multi-channel delay controller to control the frequency, amplitude, phase, continuous wave or pulse time and pulse repetition frequency of the ultrasonic emission of the transducer unit.

18. A method for setting pulse emission parameters for a multimodal focused ultrasound therapy system according to any one of claims 1 to 17, characterized in that: include: Get the original image of the area of ​​interest; According to the original image, adjusting the multi-degree-of-freedom mobile device so that the transceiver-integrated focused ultrasound probe reaches the target position; The imaging system scans the target position image, and after multiple reciprocating position corrections based on the horizontal and rotational movements of the region of interest and the target position, the transceiver-integrated focused ultrasound probe is aligned with the region of interest; Performing image registration and fusion of the acquired original image of the region of interest with the real-time image obtained by the imaging system to locate the treatment area; The pulse transmission parameters of the transceiver-integrated focused ultrasound probe are set, including pulse transmission energy, transmission depth, frequency, and the number of transmissions of the transducer unit.

19. A computer storage medium, characterized in that When the computer program is executed by a processor, the method for setting pulse emission parameters of a multimodal focused ultrasound treatment system as described in claim 18 is implemented.

Images