High-intensity focused ultrasound device and control method

Abstract

The present application relates to a high-intensity focused ultrasound device and a control method, in which an image of an area to be treated is acquired by an imaging device, and a working component and a target coordinate point in the area to be treated are positioned by an optical tracking device, so that the positioning device can clamp the working component and move it quickly and accurately to a working position corresponding to the target coordinate point, thereby enabling the working component to quickly and accurately release high-intensity focused ultrasound pulses at the target coordinate point, thereby greatly improving not only the processing accuracy of the high-intensity focused ultrasound device but also the processing efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of high-intensity focused ultrasound, and in particular to a high-intensity focused ultrasound device and a control method. Background Art

[0002] Tissue ablation and lithotripsy are non-invasive tissue ablation procedures that focus pulsed ultrasound from outside the body onto target tissues inside the body. Tissue ablation mechanically damages tissue through cavitating microbubbles, which homogenize cellular tissue into a cell-free fluid that can be excreted or absorbed by the body. Lithotripsy typically uses sound waves to break up urinary stones.

[0003] Tissue ablation is a technique used to mechanically destroy tissue as part of a surgical or other therapeutic procedure by cavitating a targeted tissue volume or tissue contents with high-intensity focused ultrasound (HIFU). Tissue ablation is most effective when the overall acoustic and transducer scanning parameters within the spatial extent of the periodic cavitation are controlled within a fairly narrow range. Small changes in any of these parameters can disrupt the ongoing procedure.

[0004] Tissue destruction requires high peak acoustic pulses, which means a large surface area is needed to focus the transducer. Typically, these transducers are very similar to those used in lithotripsy and operate in the same frequency range.

[0005] During tissue ablation, diagnostic / imaging ultrasound can be used to visualize the surgical anatomy and monitor the dissection in real time. On diagnostic / imaging ultrasound, the cavitation bubble cloud of tissue ablation can be very clearly shown as a hyperechoic (bright) area, while the ablated homogenized tissue can be shown as a hypoechoic (dark) area. Large and irregular tissue volumes can be ablated using tissue ablation by electronically changing the focus of the treatment array or mechanically moving the focus of the treatment transducer within the surgical target area.

[0006] Traditional high-intensity focused ultrasound equipment has the problem of being unable to quickly and accurately locate the target coordinate points of the area to be treated, which greatly affects the processing accuracy and efficiency of the high-intensity focused ultrasound equipment. Summary of the Invention

[0007] Based on this, it is necessary to provide a high-intensity focused ultrasound device and a control method to address the problem that the high-intensity focused ultrasound device in the traditional solution cannot quickly and accurately locate the target coordinate points of the area to be treated.

[0008] The present application provides a high-intensity focused ultrasound device for performing high-intensity focused ultrasound treatment on a region to be treated, comprising:

[0009] An imaging device for acquiring an image of the area to be processed;

[0010] An optical tracking device, comprising a camera and a plurality of optical markers, wherein the plurality of optical markers are arranged in the area to be processed or the imaging device, and are used to realize positioning of any point in the area to be processed;

[0011] A working component is configured to release a high-intensity focused ultrasound pulse to irradiate a target coordinate point in the area to be treated after determining the target coordinate point;

[0012] A positioning device, one end of which is fixed and the other end of which is configured to clamp the working component and freely extend and move, and is used to clamp the working component and move it to a working position corresponding to the target coordinate point, so that the working component can irradiate the target coordinate point;

[0013] The multiple optical markers are also provided on the working component or the positioning device to realize the positioning of the working component.

[0014] The present application also provides a control method for a high-intensity focused ultrasound device, which is applied to the high-intensity focused ultrasound device mentioned above. The control method for the high-intensity focused ultrasound device includes:

[0015] At a first moment, a first image of the area to be treated is acquired, and a modeling analysis is performed on the first image to generate a 3D model of the area to be treated; the first image is acquired by a medical imaging device;

[0016] and acquiring a second image of the area to be treated at a second moment; the second image is acquired by an imaging device in a high-intensity focused ultrasound device; the first moment is earlier than the second moment;

[0017] fusing the first image and the second image to generate a fused 3D model image of the area to be processed, and controlling an optical tracking device to locate the fused 3D model image;

[0018] After selecting the target coordinate point in the fused 3D model image, obtaining the coordinate position of the working component or the positioning device based on a plurality of optical markers provided on the working component or the positioning device;

[0019] Obtaining the coordinate position of the target coordinate point, and based on the coordinate position of the target coordinate point and the coordinate position of the working component or the positioning device, controlling the positioning device to clamp the working component and move it to a working position corresponding to the target coordinate point, so that the working component releases a high-intensity focused ultrasound pulse to irradiate the target coordinate point;

[0020] The imaging device acquires an image of the area to be processed in real time to monitor the irradiation process of the working component irradiating the target coordinate point.

[0021] The present application relates to a high-intensity focused ultrasound device and control method, in which an image of an area to be treated is acquired through an imaging device, and a working component and a target coordinate point in the area to be treated are positioned through an optical tracking device, so that the positioning device can clamp the working component and move it quickly and accurately to a working position corresponding to the target coordinate point, thereby enabling the working component to quickly and accurately release high-intensity focused ultrasound pulses at the target coordinate point, thereby greatly improving not only the processing accuracy of the high-intensity focused ultrasound device but also the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0023] Figure 2 A schematic diagram of the cooperation between an imaging device and an optical marker in a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0024] Figure 3 An exploded diagram of working components in a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of the structure of the assembled working components of the high-intensity focused ultrasound device provided in one embodiment of the present application;

[0026] Figure 5 An exploded diagram of working components in a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0027] Figure 6 An exploded diagram of working components in a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0028] Figure 7 A schematic structural diagram of a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0029] Figure 8 A schematic structural diagram of a high-intensity focused ultrasound device provided in one embodiment of the present application;

[0030] Figure 9 A flowchart of a method for controlling a high-intensity focused ultrasound device according to an embodiment of the present application is provided.

[0031] Reference numerals:

[0032] 10 High-intensity focused ultrasound equipment

[0033] 100 Imaging Device

[0034] 110 housing

[0035] 111 drive motor

[0036] 120 front-end transducer

[0037] 200 Optical Tracking Device

[0038] 210 cameras

[0039] 220 Optical Markers

[0040] 300 working components

[0041] 310 First Part

[0042] 311 First Buckle

[0043] 320 film

[0044] 330 Second Part

[0045] 340 High Intensity Focused Ultrasound Probe

[0046] 341 First end face

[0047] 342 Second end face

[0048] 343 through hole

[0049] 350 working component body

[0050] 351 chassis

[0051] 351a connection hole

[0052] 352 drive unit

[0053] 352a Drive shaft

[0054] 353 connecting rod

[0055] 353a First connecting rod

[0056] 353b Second connecting rod

[0057] 354 housing

[0058] 360 second buckle

[0059] 370 Sliding Devices

[0060] 380 medium injection hole

[0061] 391 First Gear

[0062] 392 Second Gear

[0063] 400 positioning device DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0065] The present application provides a high-intensity focused ultrasound device 10 .

[0066] like Figure 1 As shown, in one embodiment of the present application, the high-intensity focused ultrasound device 10 includes an imaging device 100, an optical tracking device 200, a working component 300 and a positioning device 400. The optical tracking device 200 includes a camera 210 and a plurality of optical markers 220. The plurality of optical markers 220 are arranged in the area to be treated or the imaging device 100, and are used to realize the positioning of any point in the area to be treated. The plurality of optical markers 220 are also arranged in the working component 300 or the positioning device 400, and are used to realize the positioning of the working component 300. One end of the positioning device 400 is fixed. The other end of the positioning device 400 is configured to clamp the working component 300 and stretch and move freely.

[0067] The imaging device 100 is used to acquire an image of the area to be treated. The working assembly 300 is used to release a high-intensity focused ultrasound pulse after selecting a target coordinate point in the area to be treated to irradiate the target coordinate point. The positioning device 400 is used to clamp the working assembly 300 and move it to a working position corresponding to the target coordinate point, so that the working assembly 300 can irradiate the target coordinate point.

[0068] Specifically, the optical tracking device 200 includes a camera 210 and a plurality of optical markers 220. The camera 210 may be an optical camera, and the optical markers 220 may be optical marker balls.

[0069] The plurality of optical markers 220 may be regularly arranged in the area to be treated. The plurality of optical markers 220 may also be provided on the imaging device 100. The plurality of optical markers 220 may be provided on either the area to be treated or the imaging device 100 to achieve positioning of any point in the area to be treated.

[0070] When the plurality of optical markers 220 are positioned in the area to be processed, when the imaging device 100 captures an image of the area to be processed, the image of the area to be processed includes the positions of the plurality of optical markers 220. The coordinates of any point in the image of the area to be processed can be inferred based on the positions of the plurality of optical markers 220 in the image of the area to be processed. For example, there may be three optical markers 220. Although there are only three optical markers 220, the coordinates of any point in the image of the area to be processed can be inferred based on the relative positions of the three optical markers 220.

[0071] When the plurality of optical markers 220 are placed on the imaging device 100, the imaging device 100 acquires an image of the area to be processed, and the camera 210 can track the position of the imaging device 100. Based on the position of the imaging device 100, the coordinate position of any point on the image acquired by the imaging device 100 can be calculated.

[0072] The plurality of optical markers 220 may be provided on the working component 300. The plurality of optical markers 220 may be provided on the positioning device 400. Regardless of whether the plurality of optical markers 220 are provided on the working component 300 or the positioning device 400, the working component 300 may be positioned.

[0073] When the plurality of optical markers 220 are disposed on the working component 300 , the working component 300 can be positioned directly according to the positions of the plurality of optical markers 220 .

[0074] When the multiple optical markers 220 are set on the positioning device 400, the working component 300 can be positioned based on the positions of the multiple optical markers 220 and the relative position of the positioning device 400 and the working component 300 (that is, the distance between the positioning device 400 and the working component 300, which can be pre-set when designing the high-intensity focused ultrasound device 10).

[0075] One end of the positioning device 400 is fixedly mounted on any component or device. For example, one end of the positioning device 400 can be fixedly mounted on a trolley. The other end of the positioning device 400 is configured to clamp the working component 300 and freely extend and move. The high-intensity focused ultrasound device 10 may further include a display device and a control device. The display device and the control device may be mounted on a trolley. The display device may display the real-time image acquired by the imaging device 100 to facilitate monitoring of the irradiation process of the working component. The display device may also display the fused 3D model image after fusion, and the user may select a target coordinate point on the fused 3D model image. The target coordinate point is any point in the area to be processed. After selecting the target coordinate point, the control device is used to control the positioning device 400 to clamp the working component 300 and move it to a working position corresponding to the target coordinate point, so that the working component 300 releases a high-intensity focused ultrasound pulse to irradiate the target coordinate point.

[0076] In this embodiment, an image of the area to be processed is acquired by the imaging device 100, and the working component 300 and the target coordinate point in the area to be processed are positioned by the optical tracking device 200, so that the positioning device 400 can clamp the working component 300 and move it quickly and accurately to the working position corresponding to the target coordinate point, so that the working component 300 can quickly and accurately release high-intensity focused ultrasound pulses to the target coordinate point, which not only greatly improves the processing accuracy of the high-intensity focused ultrasound equipment 10, but also improves the processing efficiency.

[0077] In one embodiment of the present application, the imaging device 100 is an ultrasonic imaging probe.

[0078] Specifically, the imaging device 100 may be an ultrasonic imaging probe, which is configured to be rotatable to acquire images of the area to be treated at different angles.

[0079] In one embodiment of the present application, the positioning device 400 is a robotic arm.

[0080] Specifically, the positioning device 400 may be a freely extendable robotic arm.

[0081] In one embodiment of the present application, the energy focus point of the high-intensity focused ultrasound pulse released by the working component 300 is located within the image scanning area of the imaging device 100.

[0082] Specifically, the imaging device 100 and the working component 300 can be integrally formed or independently arranged. However, no matter how they are arranged, the focal point of the high-intensity focused ultrasound pulse released by the working component 300 needs to be within the image scanning area of the imaging device 100.

[0083] In this embodiment, the energy focus point of the high-intensity focused ultrasound pulse released by the working component 300 is set to be located within the image scanning area of the imaging device 100, so that during the process of the working component 300 irradiating the target coordinate point, the imaging device 100 can obtain the image of the area to be processed in real time to achieve the monitoring purpose.

[0084] like Figure 3 , Figure 4 and Figure 5 As shown, in one embodiment of the present application, the working component 300 includes a first component 310, a film 320, a second component 330, a high-intensity focused ultrasound probe 340 and a working component body 350 which are stacked in sequence.

[0085] The first component 310 is a hollow, annular structure, and a plurality of first buckles 311 are provided on the outer circumference of the first component 310. The second component 330 is a hollow, annular structure. The film 320 is disposed between the first component 310 and the second component 330. The high-intensity focused ultrasound probe 340 includes a first end surface 341 and a second end surface 342. The second end surface 342 is fixedly connected or movably connected to the working component body 350. The outer wall of the working component body 350 is provided with a second buckle 360. The second buckle 360 is configured to engage with the first buckle 311.

[0086] Specifically, the number of the first buckles 311 can be set arbitrarily. Optionally, the first buckles 311 can be arranged at equal intervals on the outer circumference of the first component 310. The working component body 350 can be in the shape of a cylinder. The second buckles 360 can also be arranged at equal intervals on the outer wall of the working component body 350 to facilitate a firm fit with the first buckles 311. The film 320 can be elastic. When the working component 300 is in use, the working component 300 is filled with a liquid ultrasonic medium. After the first buckle 311 and the second buckle 360 are engaged, the working component 300 forms a whole. The material of the film 320 is set so that the ultrasonic medium cannot flow out of the working component 300. The film 320 adheres to the surface of the area to be treated, so that the working component 300 releases high-intensity focused ultrasonic pulses, irradiates the target coordinate point through the ultrasonic medium, and obtains a better irradiation effect.

[0087] The second end surface 342 may be fixedly connected to the working component body 350. The second end surface 342 may also be movably connected to the working component body 350. The high-intensity focused ultrasound probe 340 serves as an ultrasound energy source and can release high-intensity focused ultrasound pulses.

[0088] In this embodiment, by stacking the first component 310, the film 320, the second component 330, the high-intensity focused ultrasound probe 340 and the working component body 350 in sequence, the working component 300 formed by the combination of the above components can release high-intensity focused ultrasound pulses to irradiate the target coordinate point.

[0089] Please continue reading Figure 3 , Figure 4 and Figure 5 In one embodiment of the present application, the working component body 350 includes a chassis 351, a driving device 352, a plurality of connecting rods 353 and a shell 354. The chassis 351 is provided with a plurality of connecting holes 351a. The driving device 352 is fixedly connected to the surface of the chassis 351. One end of the connecting rod 353 passes through the connecting hole 351a and is electrically connected to the driving device 352. The other end of the connecting rod 353 is fixedly connected / movably connected to the second end surface 342 of the high-intensity focused ultrasound probe 340. The shell 354 covers the chassis 351, the driving device 352 and the plurality of connecting rods 353. The outer surface of the shell 354 is provided with the plurality of second buckles 360.

[0090] Specifically, the working assembly 300 can be cylindrical, and the housing 354 can be cylindrical, enclosing the chassis 351, the drive device 352, and the plurality of connecting rods 353. The drive device 352 can be a drive motor. The number of connecting holes 351a is equal to the number of connecting rods 353. The drive motor can be electrically connected to the connecting rods 353 through the connecting holes 351a to drive the connecting rods 353 to bend or deform or to move axially along the drive motor shaft, thereby achieving a movable connection between the connecting rods 353 and the high-intensity focused ultrasound probe 340.

[0091] In this embodiment, by providing a drive device 352 and multiple connecting rods 353, the connecting rods 353 can be movably connected to the high-intensity focused ultrasound probe 340, allowing the high-intensity focused ultrasound probe 340 to be adjusted relative to the chassis 351. During the adjustment process, the energy focus point of the high-intensity focused ultrasound probe 340 is adjusted so that the energy focus point coincides with the target coordinate point of the treatment area. A housing 354 can be provided to enclose the chassis 351, the drive device 352, and the multiple connecting rods 353, protecting these components from damage during operation.

[0092] In one embodiment of the present application, the driving device 352 is a driving motor.

[0093] Specifically, the driving motor may be an electric motor or a driving motor.

[0094] Please continue reading Figure 3 , Figure 4 and Figure 5 In one embodiment of the present application, each connecting rod 353 includes a first connecting rod 353a and a second connecting rod 353b. The first connecting rod 353a and the second connecting rod 353b are rotatably connected to each other. The first connecting rod 353a can rotate relative to the second connecting rod 353b.

[0095] Specifically, the first connecting rod 353a and the second connecting rod 353b can be rotatably connected via a rotating pin. The first connecting rod 353a can rotate relative to the second connecting rod 353b, which is equivalent to the HIFU probe 340 being able to adjust its position relative to the chassis 351, thereby adjusting the energy focus point of the HIFU probe 340.

[0096] In this embodiment, by providing a first connecting rod 353a and a second connecting rod 353b that are rotatably connected to each other, the position of the high-intensity focused ultrasound probe 340 relative to the chassis 351 is adjusted, thereby adjusting the energy focusing point of the high-intensity focused ultrasound probe 340 so that the energy focusing point can coincide with the target coordinate point of the area to be treated.

[0097] In one embodiment of the present application, the driving device 352 includes a plurality of driving sub-devices. The number of the driving sub-devices is less than or equal to the number of the connecting rods 353. Each driving sub-device is electrically connected to one connecting rod 353.

[0098] Specifically, the driving device 352 may be a driving motor. In this embodiment, the driving device 352 may also be a plurality of driving motors (ie, driving sub-devices). The number of the driving sub-devices is less than or equal to the number of the connecting rods 353.

[0099] When the number of the driving sub-devices is equal to the number of the connecting rods 353 , each driving sub-device is electrically connected to one connecting rod 353 , driving the first connecting rod 353 a in different connecting rods 353 to rotate relative to the second connecting rod 353 b , and the control is flexible.

[0100] When the number of the driving sub-assemblies is less than the number of the connecting rods 353, one or more connecting rods 353 are not electrically connected to the driving sub-assemblies. The connecting rods 353 electrically connected to the driving sub-assemblies can be driven to rotate the connecting rods 353 not electrically connected to the driving sub-assemblies, thereby reducing the number of driving sub-assemblies and saving costs.

[0101] In this embodiment, by setting the driving device 352 to include multiple driving sub-devices, each driving sub-device is electrically connected to a connecting rod 353, so that the first connecting rod 353a in different connecting rods 353 can be driven to rotate relative to the second connecting rod 353b, and the control is more flexible.

[0102] Please continue reading Figure 3 , Figure 4 and Figure 5 In one embodiment of the present application, the working assembly 300 further includes a sliding device 370 and a medium injection hole 380. The sliding device 370 is disposed on the outer surface of the housing 354. One end of the positioning device 400 is slidably connected to the working assembly body 350 via the sliding device 370. The sliding device 370 allows the working assembly 300 to slide freely relative to the positioning device 400 when the positioning device 400 clamps the working assembly 300. The medium injection hole 380 is disposed on the outer surface of the housing 354.

[0103] Specifically, the medium injection hole 380 is a through hole for injecting liquid ultrasonic medium. The sliding device 370 can be a slide rail.

[0104] In this embodiment, a control device controls the positioning device 400 to freely extend and move to a suitable position. By providing a sliding device 370, the working assembly 300 can slide relative to the positioning device 400, more closely fitting the surface of the area to be treated. This assists the positioning device 400 in positioning, resulting in higher positioning accuracy and faster positioning speed. The sliding device 370 also eliminates air gaps in the ultrasonic irradiation path, improving irradiation effectiveness.

[0105] In one embodiment of the present application, the imaging device 100 and the working component 300 are integrally formed.

[0106] Specifically, the imaging device 100 and the working component 300 can be integrally formed.

[0107] In this embodiment, the imaging device 100 and the working component 300 are integrally formed, so that the imaging device 100 can move synchronously with the working component 300, which improves working efficiency and facilitates control.

[0108] like Figure 6 As shown, in one embodiment of the present application, the HIFU probe 340 is provided with a through hole 343. The imaging device 100 passes through the through hole 343 and is rotatably / fixedly connected to the HIFU probe 340.

[0109] Specifically, following the above embodiment, the imaging device 100 and the working assembly 300 are integrally formed. In this embodiment, a through hole 343 is provided in the high-intensity focused ultrasound probe 340, and the imaging device 100 is disposed to pass through the through hole 343, thereby achieving the integral formation of the imaging device 100 and the working assembly 300. The size of the through hole 343 matches the size of the high-intensity focused ultrasound probe 340, so that the imaging device 100 can pass through the through hole 343.

[0110] In this embodiment, the imaging device 100 and the working assembly 300 are integrally formed by providing a through hole 343 within the high-intensity focused ultrasound probe 340. By providing a rotatable connection between the imaging device 100 and the high-intensity focused ultrasound probe 340, the imaging device 100 can rotate freely within the through hole 343, greatly improving the acquisition angle and range.

[0111] like Figure 7 As shown, in one embodiment of the present application, the working assembly 300 further includes a first gear 391 and a second gear 392. The first gear 391 is sleeved on the driving shaft 352a of the driving device 352. The second gear 392 is sleeved on the imaging device 100. The first gear 391 and the second gear 392 are meshed with each other.

[0112] This embodiment is one in which the imaging device 100 is rotatably connected to the high-intensity focused ultrasound probe 340. Specifically, during use, the drive device 352 drives the drive shaft 352a to rotate, causing the first gear 391 to rotate accordingly. The first gear 391 and the second gear 392 engage with each other, such that the rotation of the first gear 391 drives the rotation of the second gear 392. The rotation of the second gear 392, in turn, drives the imaging device 100 to rotate.

[0113] In this embodiment, by providing a first gear 391 and a second gear 392 that mesh with each other, the imaging device 100 and the high-intensity focused ultrasound probe 340 are rotationally connected, which is simple to implement and low in cost.

[0114] like Figure 8 As shown, in one embodiment of the present application, the imaging device 100 includes a housing 110 and a front-end transducer 120. A drive motor 111 is disposed within the housing 110. The housing 110 is fixedly connected to the high-intensity focused ultrasound probe 340. Driven by the drive motor 111, the front-end transducer 120 freely rotates relative to the high-intensity focused ultrasound probe 340.

[0115] This embodiment is another embodiment in which the imaging device 100 is rotatably connected to the high-intensity focused ultrasound probe 340. Specifically, during use, the drive motor 111 drives the front transducer 120 to rotate, while the housing 110 is stationary. The front transducer 120 is used to acquire images of the area to be treated.

[0116] In this embodiment, by providing a housing 110, a front-end transducer 120, and a drive motor 111, the front-end transducer 120 can freely rotate relative to the high-intensity focused ultrasound probe 340 under the drive of the drive motor 111, thereby enabling the imaging device 100 to be rotationally connected to the high-intensity focused ultrasound probe 340 with high rotation precision.

[0117] The present application also provides a control method for a high-intensity focused ultrasound device.

[0118] It should be noted that the control method for the high-intensity focused ultrasound device provided herein does not limit its execution subject. Alternatively, the control method for the high-intensity focused ultrasound device provided herein may be executed by the high-intensity focused ultrasound device 10 mentioned above. Specifically, the high-intensity focused ultrasound device 10 may further include a control device. The control device may be the execution subject of the control method for the high-intensity focused ultrasound device.

[0119] like Figure 9 As shown, in one embodiment of the present application, the control method of the high-intensity focused ultrasound device is applied to the high-intensity focused ultrasound device 10 mentioned above. The control method of the high-intensity focused ultrasound device includes the following steps S100 to S500:

[0120] S100: At a first moment, a first image of a region to be treated is acquired, and modeling and analysis are performed on the first image to generate a 3D model of the region to be treated. The first image is acquired by a medical imaging device.

[0121] And at a second moment, a second image of the area to be treated is acquired. The second image is acquired by the imaging device 100 in the high-intensity focused ultrasound device 10. The first moment is earlier than the second moment.

[0122] Specifically, the medical imaging device may be one of an MRI (magnetic resonance imaging) device, a CT (computed tomography) device, and an ultrasound scanner. The medical imaging device may acquire the first image earlier than the imaging apparatus 100 acquires the second image. The medical imaging device acquires the first image first. The first image is an image of the area to be treated with higher definition than the second image. After acquiring the first image, a modeling analysis may be performed on the first image to generate a 3D model of the area to be treated.

[0123] Furthermore, the imaging device 100 acquires a second image of the area to be processed. Since the area to be processed may change in real time, the second image is a real-time image of the area to be processed.

[0124] S200 , fusing the first image and the second image to generate a fused 3D model image of the area to be processed, and controlling the optical tracking device to position the fused 3D model image.

[0125] Specifically, the high-intensity focused ultrasound device 10 processes the first image and the second image, fuses the first image and the second image, and generates a fused 3D model image of the area to be treated. The optical tracking device 200 locates the fused 3D model image using an optical marker 220 placed on the surface of the area to be treated or an optical marker 200 on the imaging device 100.

[0126] S300 , after selecting the target coordinate point in the fused 3D model image, the coordinate position of the working component 300 or the positioning device 400 is obtained based on the multiple optical markers 220 set on the working component 300 or the positioning device 400 .

[0127] Specifically, the plurality of optical markers 220 may be provided on the working component 300. The plurality of optical markers 220 may also be provided on the positioning device 400. Regardless of whether the plurality of optical markers 220 are provided on the working component 300 or the positioning device 400, the working component 300 may be positioned.

[0128] When the plurality of optical markers 220 are disposed on the working component 300 , the working component 300 can be positioned directly according to the positions of the plurality of optical markers 220 .

[0129] When the multiple optical markers 220 are set on the positioning device 400, the working component 300 can be positioned based on the positions of the multiple optical markers 220 and the relative position of the positioning device 400 and the working component 300 (that is, the distance between the positioning device 400 and the working component 300, which can be pre-set when designing the high-intensity focused ultrasound device 10).

[0130] S400, obtain the coordinate position of the target coordinate point, and based on the coordinate position of the target coordinate point and the coordinate position of the working component 300 or the positioning device 400, control the positioning device 400 to clamp the working component 300 and move it to the working position corresponding to the target coordinate point, so that the working component 300 releases a high-intensity focused ultrasound pulse to irradiate the target coordinate point.

[0131] Specifically, the high-intensity focused ultrasound device 10 may have a built-in control device. The control device may obtain the coordinate position of the target coordinate point and, based on the coordinate position of the target coordinate point and the coordinate position of the working component 300 or the positioning device 400, control the positioning device 400 to clamp the working component 300 and move it to a working position corresponding to the target coordinate point, so that the working component 300 releases a high-intensity focused ultrasound pulse to irradiate the target coordinate point.

[0132] S500: The imaging device 100 acquires an image of the area to be processed in real time to monitor the irradiation process of the working component 300 irradiating the target coordinate point.

[0133] Specifically, after the working assembly 300 begins to release high-intensity focused ultrasound pulses and irradiates the target coordinate point, the imaging device 100 acquires an image of the area to be treated in real time. This is to monitor the irradiation process of the working assembly 300 at the target coordinate point and avoid irradiation errors or malfunctions of the working assembly 300.

[0134] This embodiment enables the positioning device 400 to clamp the working component 300 and move it quickly and accurately to the working position corresponding to the target coordinate point, so that the working component 300 can quickly and accurately release high-intensity focused ultrasound pulses to the target coordinate point, which not only greatly improves the processing accuracy of the high-intensity focused ultrasound device 10, but also improves the processing efficiency.

[0135] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A high-intensity focused ultrasound device for performing high-intensity focused ultrasound treatment on an area to be treated, characterized in that: include: An imaging device (100) for acquiring an image of the area to be processed; An optical tracking device (200) comprising a camera (210) and a plurality of optical markers (220), wherein the plurality of optical markers (220) are arranged in the area to be processed or the imaging device (100) and are used to realize positioning of any point in the area to be processed; A working component (300) is used to release a high-intensity focused ultrasound pulse after selecting a target coordinate point in the area to be treated, so as to irradiate the target coordinate point; the energy focus point of the high-intensity focused ultrasound pulse released by the working component (300) is located within the image scanning area of the imaging device (100); as well as A positioning device (400) having one end fixedly arranged and the other end arranged to be able to clamp the working component (300) and freely extend and move, and used to clamp the working component (300) and move it to a working position corresponding to the target coordinate point, so that the working component (300) can irradiate the target coordinate point; The plurality of optical markers (220) are further provided on the working component (300) or the positioning device (400) to achieve positioning of the working component (300); The working component (300) comprises a first component (310), a film (320), a second component (330), a high-intensity focused ultrasound probe (340) and a working component body (350) which are stacked in sequence; the first component (310) is a hollow annular structure, and a plurality of first buckles (311) are provided on the outer circumference of the first component (310); the second component (330) is a hollow annular structure; the film (320) is provided between the first component (310) and the second component (330); the high-intensity focused ultrasound probe (340) comprises a first end face (341) and a second end face (342), and the second end face (342) is fixedly connected / movably connected to the working component body (350); a second buckle (360) is provided on the outer wall of the working component body (350), and the second buckle (360) is configured to be able to engage with the first buckle (311); The working component body (350) comprises: a chassis (351) provided with a plurality of connection holes (351a); a driving device (352) fixedly connected to the surface of the chassis (351); a plurality of connecting rods (353), one end of which passes through the connection hole (351a) and is electrically connected to the driving device (352), and the other end of which is fixedly connected / movably connected to the second end surface (342) of the high-intensity focused ultrasound probe (340); and a shell (354) covering the chassis (351), the driving device (352) and the plurality of connecting rods (353); and the outer surface of the shell (354) is provided with the plurality of second buckles (360).

2. The high-intensity focused ultrasound device according to claim 1, characterized in that The imaging device (100) is an ultrasonic imaging probe.

3. The high-intensity focused ultrasound device according to claim 1, characterized in that The positioning device (400) is a robotic arm.

4. The high-intensity focused ultrasound device according to claim 1, characterized in that The driving device (352) is a driving motor.

5. The high-intensity focused ultrasound device according to claim 1, characterized in that Each connecting rod (353) comprises a first connecting rod (353a) and a second connecting rod (353b) which are rotatably connected to each other, and the first connecting rod (353a) can rotate relative to the second connecting rod (353b).

6. The high-intensity focused ultrasound device according to claim 5, characterized in that The driving device (352) comprises a plurality of driving sub-devices, the number of the driving sub-devices being less than or equal to the number of the connecting rods (353), and each driving sub-device being electrically connected to a connecting rod (353).

7. The high-intensity focused ultrasound device according to claim 1, characterized in that The working component (300) further includes: a sliding device (370) disposed on the outer surface of the housing (354), wherein one end of the positioning device (400) is slidably connected to the working component body (350) via the sliding device (370), so that when the positioning device (400) clamps the working component (300), the working component (300) can slide freely relative to the positioning device (400); and The medium injection hole (380) is provided on the outer surface of the shell (354).

8. The high-intensity focused ultrasound device according to claim 1, characterized in that The imaging device (100) and the working component (300) are integrally formed.

9. The high-intensity focused ultrasound device according to claim 8, characterized in that The high-intensity focused ultrasound probe (340) is provided with a through hole (343), and the imaging device (100) passes through the through hole (343) and is connected to the high-intensity focused ultrasound probe (340).

10. The high-intensity focused ultrasound device according to claim 9, characterized in that The working component (300) further includes: a first gear (391) sleeved on a drive shaft (352a) of the drive device (352); and A second gear (392), sleeved on the imaging device (100); The first gear (391) and the second gear (392) are meshed with each other.

11. The high-intensity focused ultrasound device according to claim 9, characterized in that The imaging device (100) comprises a housing (110) and a front-end transducer (120); a driving motor (111) is provided in the housing (110); the housing (110) is fixedly connected to the high-intensity focused ultrasound probe (340); and the front-end transducer (120) is freely rotatable relative to the high-intensity focused ultrasound probe (340) under the drive of the driving motor (111).

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