In-vivo interventional ultrasound probe with rotational positioning and ultrasound imaging system containing the same

Abstract

The present invention belongs to the field of ultrasonic imaging technology, and specifically relates to an in-vivo interventional ultrasonic probe with rotational positioning and an ultrasonic imaging system including the same. The in-vivo interventional ultrasonic probe provided by the present invention includes a guiding mechanism, an ultrasonic mechanism and a calibration mechanism, wherein the guiding mechanism includes a sheath and a transmission shaft, the ultrasonic mechanism includes an ultrasonic transducer, and the calibration mechanism includes a timer and a magnetic generator and a magnetic sensor relatively arranged on the distal shell of the sheath and the ultrasonic mechanism. When the ultrasonic transducer rotates relative to the distal shell, the magnetic generator generates an inhomogeneous magnetic field along the circumference of the rotational motion, and the magnetic sensor obtains the change of magnetic field parameters to calibrate the position and speed of the ultrasonic transducer, thereby eliminating the deviation between the actual position and speed of the ultrasonic transducer and the ideal position and speed caused by factors such as the structural characteristics of the transmission shaft and the friction change with the sheath, so that the ultrasonic imaging system provided by the present invention avoids the problem of distortion during image synthesis.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic imaging, and in particular relates to an in-vivo interventional ultrasonic probe with rotation positioning and an ultrasonic imaging system comprising the same. Background Art

[0002] When diagnosing body cavity lesions, simply inferring by changes in tissue surface morphology is subjective and limited. In vivo interventional ultrasound imaging technology uses ultrasound probes to insert into the body to perform ultrasound scans on blood vessels, digestive tract, bronchi, heart and other tissues in the body. It can obtain relatively clear and accurate tomographic images of in vivo tissues, providing an objective basis for doctors to treat the symptoms.

[0003] The in vivo interventional ultrasound imaging device generally includes an imaging host, an in vivo interventional ultrasound probe and an external drive control unit. The in vivo interventional ultrasound probe includes a sealed sheath, a transmission flexible shaft arranged in the inner cavity of the sheath, and an ultrasonic transducer located at the sealed end of the sheath and connected to the transmission flexible shaft; the external control unit connects the in vivo interventional probe to the imaging host, drives the ultrasonic transducer to rotate by driving the transmission flexible shaft, obtains circumferential ultrasonic echo signals, and thus realizes imaging of the inner wall of the in vivo cavity.

[0004] However, when the transmission shaft drives the ultrasonic transducer to rotate, the bending and torsion characteristics of the transmission shaft and the friction changes with the sheath can cause uneven rotation transmission, which ultimately causes the actual position of the ultrasonic transducer to deviate from the ideal position preset by the external drive control unit. Figure 1 As shown, a, b, c, and d are ideal positions recorded by the imaging host, and b' and c' are actual positions of the ultrasonic transducer rotation. The imaging host cannot accurately determine the actual position of the ultrasonic transducer rotation and can only use the ideal position for image synthesis, which causes image distortion. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing ultrasonic imaging device cannot accurately judge the actual rotation position of the ultrasonic transducer, thereby causing image distortion, thereby providing an in vivo interventional ultrasonic probe that can accurately judge the rotation position and speed of the ultrasonic transducer and an ultrasonic imaging device including the ultrasonic probe.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] The present invention provides an in vivo interventional ultrasound probe with rotation positioning, comprising:

[0008] The guiding mechanism comprises a sheath tube having a proximal housing and a distal housing and a transmission shaft arranged in the proximal housing cavity;

[0009] An ultrasonic mechanism, comprising an ultrasonic transducer driven by the transmission shaft to rotate in the distal housing cavity;

[0010] The calibration mechanism includes a timer and a magnetic generator and a magnetic sensor relatively arranged on the distal shell and the ultrasonic mechanism. When the ultrasonic transducer rotates relative to the distal shell, the magnetic generator generates an inhomogeneous magnetic field along the circumferential direction of the rotational motion, and the magnetic sensor obtains the change of magnetic field parameters, so as to calibrate the position and speed of the ultrasonic transducer rotating relative to the distal shell.

[0011] Preferably, in the in vivo interventional ultrasound probe with rotational positioning of this structure, the magnetic generator includes a plurality of magnetic generating units arranged in a circumferential array along the rotational motion, and / or the magnetic sensor includes a plurality of magnetic sensing units arranged in a circumferential array along the rotational motion.

[0012] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of the structure, the plurality of magnetic generating units are arranged on the inner wall surface of the distal housing in at least two rows parallel to the circumferential direction of the rotational movement, and the magnetic generating units in different rows are staggered in a direction perpendicular to the circumferential direction of the rotational movement;

[0013] The magnetic sensor unit is arranged on the ultrasonic mechanism.

[0014] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of the structure, the cross section of the distal shell is a circular ring along a direction perpendicular to the extension direction of the sheath tube;

[0015] Along a straight line perpendicular to the circumferential direction of the rotational movement, the magnetic generating units in different columns are distributed at equal intervals on the distal shell.

[0016] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of this structure, the number of the magnetic sensing units is greater than or equal to the number of columns of the magnetic generating units, and at least two of the magnetic sensing units are staggered in a direction perpendicular to the rotational movement direction.

[0017] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of this structure, there is at least one magnetic sensor unit for recording the initial position information of the rotational movement of the ultrasound transducer.

[0018] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of the structure, the magnetic generating unit is selected from a permanent magnet; or,

[0019] The magnetic generating unit is selected from ferromagnetic materials, and the magnetic generator further comprises a coil for exciting the magnetic generating unit to generate a constant magnetic field.

[0020] Further preferably, in the in vivo interventional ultrasound probe with rotational positioning of the structure, the ultrasound mechanism also includes an ultrasound base for mounting the ultrasound transducer and the magnetic sensor unit, the ultrasound transducer, and an acoustic window corresponding to the ultrasound transducer.

[0021] The present invention also provides an ultrasonic imaging system, comprising:

[0022] An in vivo interventional ultrasound probe with rotational positioning as described above;

[0023] Imaging host;

[0024] The external driving control device is connected to the imaging host and comprises a driving control mechanism and a connecting mechanism connected to the in-vivo interventional ultrasound probe.

[0025] Preferably, in the ultrasonic imaging system of this structure, the drive control mechanism includes a drive motor, a calibration module, a high-voltage excitation module, a transceiver switch, a signal pre-processing module and a power supply.

[0026] The technical solution of the present invention has the following advantages:

[0027] 1. The in vivo interventional ultrasound probe with rotational positioning provided by the present invention comprises a guiding mechanism, an ultrasonic mechanism and a calibration mechanism. The guiding mechanism comprises a sheath having a proximal shell and a distal shell and a transmission shaft arranged in the proximal shell cavity; the ultrasonic mechanism comprises an ultrasonic transducer driven by the transmission shaft to rotate in the distal shell cavity; the calibration mechanism comprises a timer and a magnetic generator and a magnetic sensor relatively arranged on the distal shell and the ultrasonic mechanism, and the magnetic generator generates an inhomogeneous magnetic field along the circumference of the rotational motion when the ultrasonic transducer rotates relative to the distal shell, and the magnetic sensor obtains the change of magnetic field parameters, so as to calibrate the position and speed of the ultrasonic transducer rotating relative to the distal shell.

[0028] In the in vivo interventional ultrasound probe with rotational positioning of this structure, when the ultrasound transducer rotates relative to the distal shell, the magnetic sensor obtains the parameter changes of the non-uniform magnetic field generated by the magnetic generator along the circumferential direction of the rotational motion, and the timer counts in real time, thereby obtaining the position and speed of the ultrasound transducer relative to the rotational motion in the distal shell cavity. The imaging host can realize the rotational motion positioning of the ultrasound transducer through the position and speed obtained by the calibration mechanism, thereby eliminating the deviation between the actual position and speed of the rotational motion of the ultrasound transducer and the preset ideal position and speed for controlling the rotational motion of the ultrasound transducer caused by the structural characteristics of the transmission shaft and the friction changes with the sheath tube of the conventional ultrasound probe, thereby avoiding the problem of distortion during image synthesis.

[0029] 2. In the in vivo interventional ultrasound probe with rotational positioning provided by the present invention, one or both of the magnetic generator and the magnetic sensor included in the calibration mechanism can be set as an array unit along the circumferential direction of the rotational motion. The magnetic generating unit set in the array can provide a magnetic field that changes regularly within a range of 360°, and the magnetic sensing unit set in the array can provide a sensing area that changes regularly within a range of 360°. That is, setting either or both of the magnetic generator and the magnetic sensor as an array unit structure can enable the magnetic sensor to obtain changes in magnetic field parameters during the rotational motion of the ultrasonic transducer, and the magnetic field is a regularly changing magnetic field. This simplifies the subsequent calculation process of calibrating the position and speed of the ultrasonic transducer relative to the distal shell through changes in magnetic field parameters.

[0030] 3. The in vivo interventional ultrasound probe with rotational positioning provided by the present invention has a plurality of magnetic generating units arranged in at least two rows on the inner wall surface of the distal shell parallel to the circumferential direction of the rotational movement, and the magnetic generating units in different rows are staggered along the circumferential direction perpendicular to the circumferential direction of the rotational movement.

[0031] The magnetic generating units are divided into at least two columns on the inner wall surface of the distal shell and are staggered. Each magnetic generating unit can generate a magnetic field parameter. The magnetic sensor can obtain multiple magnetic field parameters to more accurately calibrate the position and speed of the ultrasonic transducer relative to the distal shell. Compared with setting the magnetic generating units in only one column, the magnetic sensor unit of this structure can obtain more magnetic field parameters, with higher calibration accuracy, thereby improving the calibration accuracy; compared with increasing the array setting density in the same column, its manufacturing process is simple.

[0032] 4. The in vivo interventional ultrasound probe with rotational positioning provided by the present invention has different columns of magnetic generating units located at equal intervals on the distal shell along a straight line perpendicular to the circumferential direction of the rotational motion, thereby achieving the unity of improving the calibration accuracy and simplifying the calibration calculation process.

[0033] 5. In the in vivo interventional ultrasound probe with rotational positioning provided by the present invention, the number of magnetic sensing units is equal to the number of columns of magnetic generating units, each magnetic sensing unit can independently obtain the magnetic field parameters of the corresponding column, and the magnetic field parameters obtained by multiple magnetic sensing units are integrated to improve the calibration accuracy.

[0034] The ultrasonic transducer may vibrate relative to the axial direction during rotational motion. By staggering the magnetic sensor units perpendicular to the direction of rotational motion, the magnetic field parameters of multiple locations during vibration can be obtained, and the error caused by vibration can be eliminated by taking the average value, thereby improving the calibration accuracy.

[0035] 6. In the in vivo interventional ultrasound probe with rotational positioning provided by the present invention, the magnetic generating unit can be selected from a permanent magnet, which has a simple structure and generates a constant magnetic field; the magnetic generating unit can also be selected from a ferromagnetic material, and the ferromagnetic material is excited by a coil to maintain permanent magnetism.

[0036] 7. The ultrasound imaging system provided by the present invention includes an in-vivo interventional ultrasound probe with rotational positioning, which can accurately determine the actual position and speed of the rotational motion of the ultrasound transducer and will not cause image distortion during image synthesis. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a schematic diagram of the principle of image distortion caused by rotational motion transmission deviation in the prior art;

[0039] Figure 2 A schematic diagram of the structure of an in vivo interventional ultrasound probe provided in Example 1 of the present invention;

[0040] Figure 3 A schematic diagram of the structure of the guide mechanism provided in Example 1 of the present invention;

[0041] Figure 4 A schematic diagram of the structure of an ultrasonic mechanism provided in Example 1 of the present invention;

[0042] Figure 5 A schematic diagram of an ultrasonic transducer installation method provided in Example 1 of the present invention;

[0043] Figure 6 A schematic diagram of the arrangement of ultrasonic transducer elements provided in Example 1 of the present invention;

[0044] Figure 7 A schematic diagram of the cross-sectional structure of the calibration mechanism provided in Example 1 of the present invention along the length extension direction of the sheath tube;

[0045] Figure 8 A schematic diagram of the cross-sectional structure of the calibration mechanism provided in Example 1 of the present invention along a direction perpendicular to the length of the sheath tube;

[0046] Fig. 9 A schematic diagram of the structure of the magnetic generating unit provided in Example 1 of the present invention;

[0047] Fig.10 A schematic diagram of relative positions of the first calibration unit and the second calibration unit provided in Example 1 of the present invention;

[0048] Fig.11 A schematic diagram of relative positions of magnetic sensor units provided in Example 1 of the present invention;

[0049] Fig.12 A schematic diagram of a magnetic sensor output signal provided in Example 1 of the present invention;

[0050] Fig.13 A schematic diagram of a signal combination process obtained by an initial positioning unit, a first calibration unit, and a second calibration unit provided in Embodiment 1 of the present invention;

[0051] Fig.14 A schematic diagram of the structure of an imaging system provided in Embodiment 2 of the present invention;

[0052] Description of reference numerals:

[0053] 1-Interventional ultrasound probe in vivo;

[0054] 11-guiding mechanism; 111-sheath; 1111-proximal housing; 1112-distal housing; 112-transmission shaft;

[0055] 12-ultrasonic mechanism; 121-ultrasonic base; 1211-first mounting portion; 1212-second mounting portion; 1213-third mounting portion; 122-ultrasonic transducer; 123-acoustic window;

[0056] 13-calibration mechanism; 131-magnetic generator; 1311-magnetic generating unit; 1312-coil; 132-magnetic sensor; 1321-magnetic sensing unit; 13210-initial positioning unit; 13211-first calibration unit; 13212-second calibration unit;

[0057] 2-external drive control device; 21-drive control mechanism; 211-power supply; 212-transmitting and receiving switch; 213-high voltage excitation module; 214-drive motor; 215-calibration module; 216-signal pre-processing module; 22-connection mechanism;

[0058] 3- Imaging host. DETAILED DESCRIPTION

[0059] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] Example 1

[0064] This embodiment provides an intracorporeal interventional ultrasound probe 1 with rotation positioning, such as Figure 2 As shown, it includes a guiding mechanism 11, an ultrasonic mechanism 12 and a calibration mechanism 13.

[0065] like Figure 2 and Figure 3 As shown, the guide mechanism 11 is used to insert the ultrasonic mechanism 12 into the body, such as blood vessels, digestive tract, bronchi, heart and other body tissues, and includes a sheath 111 and a transmission shaft 112 .

[0066] like Figure 3 As shown, the sheath tube 111 is a slender tube shell structure, the length of which is generally 0.8 to 2.5 m, including a proximal shell 1111 and a distal shell 1112, and forming a connected inner cavity. From the proximal shell 1111 to the distal shell 1112, the outer diameter of the sheath tube 111 can gradually decrease or remain unchanged. In this embodiment, the outer diameter of the sheath tube 111 remains unchanged, and the cross-section of the distal shell 1112 is a circular ring along the direction perpendicular to the length extension of the sheath tube 111.

[0067] The sheath tube 111 can be made of at least one of styrene-butadiene rubber, polyethylene oxide, epoxy resin and other polymer resins doped with molybdenum disulfide. The proximal shell 1111 and the distal shell 1112 can be made of the above materials with different flexibility (or rigidity), such as the proximal shell 1111 with an elastic modulus of 4.0 to 5.0 N / mm 2 The distal shell 1112 adopts a material with an elastic modulus of 7.0 to 8.0 N / mm 2 Alternatively, the proximal housing 1111 and the distal housing 1112 are made of the same flexible (or rigid) material and are integrally formed. For example, 6.11 N / mm 2 Any material can be used as long as it can provide the required stiffness and bending strength, reduce friction, have good compatibility with body tissues, and be insensitive to ultrasound.

[0068] like Figure 3 As shown, one end of the distal shell 1112 away from the proximal shell 1111 is a closed end in an arc shape, which can alleviate the damage of the sheath tube 111 to the tissue in the body when it contacts the tissue in the body.

[0069] like Figure 3 As shown, the transmission shaft 112 is a hollow spring structure disposed in the cavity of the proximal housing 1111, and is used to drive the ultrasonic mechanism 12 to rotate so as to image the tissue in the body. The spring structure can be a spiral spring or a rigid rope. In this embodiment, the transmission shaft 112 adopts a spiral spring; the spiral spring can be a single-layer structure or an inner and outer multi-layer structure. In this embodiment, the transmission shaft 112 adopts an inner and outer two-layer structure with opposite rotation directions, which can reduce the lag of the torsional signal or the occurrence of rebound when driving the ultrasonic mechanism 12 to rotate, improve the synchronization and uniformity of the transmission shaft 112 to transmit the rotational motion to the ultrasonic mechanism 12, and avoid the distortion problem in the subsequent image synthesis as much as possible.

[0070] In order to further ensure the synchronization and uniformity of the transmission shaft 112 transmitting the rotational motion to the ultrasonic mechanism 12, a coating is provided on the inner and outer layers of the coil springs of the transmission shaft 112. The coating adopts at least one polymer resin such as polyvinyl pyrrolidone, polyphenylene oxide, maleic acid, etc. doped with at least one of zinc, chromium, cadmium, copper, nickel, tin, silver, and zinc-titanium alloy. On the one hand, it reduces the friction coefficient between the transmission shaft 112 and the inner wall of the sheath tube 111, and on the other hand, it enhances the strength of the transmission shaft 112, reduces the tangential deformation of the coil spring during torsion, further improves the synchronization and uniformity of the transmission shaft 112 transmitting the rotational motion to the ultrasonic mechanism 12, and avoids distortion during subsequent image synthesis as much as possible.

[0071] like Figure 3 and Figure 4As shown, the ultrasonic mechanism 12 is arranged in the cavity of the distal shell 1112, and includes an ultrasonic base 121, an ultrasonic transducer 122 and an acoustic window 123. The ultrasonic base 121 is arranged at the end of the transmission shaft 112, and can rotate in the cavity of the distal shell 1112 driven by the transmission shaft 112; a first mounting portion 1211 for mounting the ultrasonic transducer 122 is arranged on the ultrasonic base 121, and the first mounting portion 1211 can be a side groove structure opened on the side wall of the ultrasonic base 121 toward the circumferential direction of the rotational movement, or can be an oblique front structure or an end plane structure formed on the ultrasonic base 121 away from the transmission shaft 112. Therefore, the installation method of the ultrasonic transducer 122 on the ultrasonic base 121 includes: (a) side view installation arranged in the side groove structure, such as Figure 5 (a) as shown; (ii) is set in the oblique front view installation of the oblique front structure, such as Figure 5 (b) as shown; (iii) is set in the front view installation on the end plane, such as Figure 5 As shown in (c), the ultrasonic transducer 122 is driven by the transmission shaft 112 through the ultrasonic base 121 to achieve rotational movement in the cavity of the distal housing 1112. In this embodiment, a side view installation method is adopted.

[0072] Ultrasonic transducer 122 can be selected freely Figure 6 The single element type shown in (a) Figure 6 The array type shown in (b) Figure 6 The convex array shown in (c) is Figure 6 The ring array type shown in (d) above is mainly used for two-dimensional ultrasonic imaging, while the array type is mainly used for real-time three-dimensional ultrasonic imaging.

[0073] like Figure 4 As shown, the acoustic window 123 is disposed on the distal housing 1112 .

[0074] When the transmission shaft 112 drives the ultrasonic transducer 122 to rotate, the structural characteristics of the transmission shaft 112 such as bending and twisting, as well as factors such as changes in friction with the sheath 111, may cause asynchronism and unevenness in the rotational transmission, ultimately causing the position and speed of the rotational motion of the ultrasonic transducer 122 to deviate from the ideal position and speed preset by the external drive control unit. For this reason, the present invention designs a calibration mechanism 13 that can calibrate the above-mentioned deviation.

[0075] like Figure 7 and Figure 8As shown, the calibration mechanism 13 includes a magnetic generator 131, a magnetic sensor 132 and a timer (not shown). The magnetic generator 131 and the magnetic sensor 132 are relatively arranged on the distal shell 1112 and the ultrasonic mechanism 12. When the ultrasonic transducer 122 rotates relative to the distal shell 1112, the magnetic generator 131 generates an inhomogeneous magnetic field along the circumferential direction of the rotational motion, and the magnetic sensor 132 obtains the change of the magnetic field parameters. During this process, the timer counts in real time, so that the position and speed of the ultrasonic transducer 122 rotating relative to the distal shell 1112 can be calibrated.

[0076] The magnetic field parameters here can be all parameters that characterize the magnetic field, such as magnetic induction intensity, magnetic field intensity, magnetic flux, magnetic energy product, etc. Correspondingly, the magnetic sensor 132 is a device that can obtain the above parameters, and the magnetic generator 131 generates the magnetic field and the magnetic sensor 132 senses the magnetic field using existing technologies.

[0077] One arrangement of the magnetic generator 131 and the magnetic sensor 132 is as follows: the magnetic generator 131 is arranged on the distal shell 1112, and the magnetic field signal sensing area of ​​the magnetic sensor 132 is arranged on the ultrasonic mechanism 12; when the ultrasonic transducer 122 rotates relative to the distal shell 1112, the magnetic generator 131 is synchronized with the distal shell 1112, and the magnetic field signal sensing area of ​​the magnetic sensor 132 is synchronized with the ultrasonic transducer 122.

[0078] Another arrangement of the magnetic generator 131 and the magnetic sensor 131 is as follows: the magnetic generator 131 is arranged on the ultrasonic mechanism 12, and the magnetic field signal sensing area of ​​the magnetic sensor 132 is arranged on the distal shell 1112. When the ultrasonic transducer 122 rotates relative to the distal shell 1112, the magnetic generator 131 is synchronized with the ultrasonic transducer 122, and the magnetic field sensing area of ​​the magnetic sensor 132 is synchronized with the distal shell 1112.

[0079] Regardless of the above-mentioned configuration, it is sufficient as long as the magnetic generator 131 and the magnetic sensor 132 are relatively disposed on the distal shell 1112 and the ultrasonic mechanism 12 to generate an inhomogeneous magnetic field along the circumferential direction of the rotational motion.

[0080] In order to obtain the non-uniform magnetic field along the circumferential direction of the rotational motion, at least one of the magnetic generator 131 and the magnetic sensor 132 is set to a unit structure that is discontinuous in the circumferential direction of the rotational motion, such as setting the magnetic generator 131 as a plurality of magnetic generating units 1311 arranged in an array in the circumferential direction of the rotational motion, and setting the magnetic sensor 132 as a plurality of magnetic sensing units 1321 arranged in an array in the circumferential direction of the rotational motion. Since there is a gap between two adjacent magnetic generating units 1311, regardless of whether the parameters of the magnetic field generated by each magnetic generating unit 1311 are the same, regardless of whether the magnetic sensor 132 is set in an array unit structure, the magnetic sensor 132 is an non-uniform magnetic field along the circumferential direction of the rotational motion; similarly, there is a gap between two adjacent magnetic sensing units 1321, regardless of whether the sensitivity of each magnetic sensing unit 1321 to the magnetic field is the same, as long as the magnetic field generated by the magnetic generator 131 is non-uniform in the circumferential direction of the rotational motion.

[0081] In this embodiment, the magnetic generator 131 includes a plurality of magnetic generating units 1311, which are arranged on the inner wall of the distal housing 1112; the magnetic sensor 132 includes 1 to 3 magnetic sensing units 1321, which are arranged on the ultrasonic base 121. Figure 8 shown.

[0082] The magnetic generating units 1311 can be arranged at equal intervals or at unequal intervals on the distal shell 1112; they can be arranged in a row in a circle along the distal shell 1112, or in two rows, three rows, etc., parallel to the circumferential direction of the rotational motion. In this embodiment, the magnetic generating units 1311 are arranged in two rows, and the magnetic generating units 1311 in different rows are staggered along the circumferential direction perpendicular to the rotational motion, and the straight lines where the magnetic generating units 1311 in different rows are located are evenly spaced on the distal shell 1112, such as Fig. 9 shown.

[0083] The magnetic generating unit 1311 can be made of a permanent magnet or a ferromagnetic material, preferably a ferromagnetic material, and is embedded in the inner wall of the distal shell 1112 by etching, evaporation or assembly.

[0084] like Figure 8 As shown, the magnetic generator 132 further includes a coil 1312 , and a second mounting portion 1212 for mounting the coil 1312 is provided on the ultrasonic base 121 . The ferromagnetic material is excited by the coil 1312 to maintain permanent magnetism.

[0085] The magnetic sensing unit 1321 is a magnetic sensor using the Hall effect.

[0086] The number of magnetic sensing units 1321 is greater than or equal to the number of magnetic generating units 1311. In this embodiment, three magnetic sensing units 1321 are provided: an initial positioning unit 13210 is used to locate the initial position of each rotational motion cycle, and a first calibration unit 13211 and a second calibration unit 13212 are used to obtain magnetic field parameters of different magnetic generating units 1311. Specifically, Fig.10 and Fig.11 As shown, a third mounting portion 1213 for mounting a magnetic sensing unit 1321 is provided on the ultrasonic base 121, and the initial positioning unit 13210 and the first calibration unit 13211 are collinear on the second mounting portion 1212 perpendicular to the direction of rotational movement, the first calibration unit 13211 and the second calibration unit 13212 are staggered on the second mounting portion 1212, and, along the direction of rotational movement, the second calibration unit 13212 is located behind the first calibration unit 13211.

[0087] When the ultrasonic transducer 122 rotates, since the magnetic generating units 1311 are arranged in an equidistant array, the magnetic field parameters detected by the magnetic sensing unit 1321 change regularly within a range of 360° at different positions and angles. A strong magnetic field can trigger the switch circuit of the magnetic sensing unit 1321, thereby outputting a signal of 1. A weak magnetic field cannot trigger the switch circuit of the magnetic sensing unit 1321, thereby outputting a signal of 0. Fig.12 shown.

[0088] Specifically, Fig.13 As shown, at the moment 0 of the rotational motion cycle, the initial positioning unit 13210 and the first calibration unit 13211 are directly opposite to the magnetic generating unit 1311, so that the initial positioning unit 13210 can locate the initial position of the rotational motion cycle, thereby obtaining the absolute position of the ultrasonic transducer 122 undergoing rotational motion, which is used as a reference for subsequent calibration calculation processes and can eliminate cumulative errors; at the same time, the first calibration unit 13211 obtains its first magnetic field parameter signal; as the rotational motion proceeds, the first calibration unit 13211 obtains its second magnetic field parameter signal, the third magnetic field parameter signal ..., during the period when the first calibration unit 13211 obtains the first magnetic field parameter signal and the second magnetic field parameter signal, the second calibration unit 13212 starts to obtain its first magnetic field parameter signal and the second magnetic field parameter signal..., in this way, the direction and angular position of the rotational movement of the ultrasonic transducer 122 relative to the distal shell 1112 can be obtained, and after integrating the above two types of magnetic field parameter signals, a composite signal with a timetable can be obtained, which has a higher signal density and a higher calibration accuracy. The rotational movement speed of the ultrasonic transducer 122 can be obtained through its phase relationship and the timetable recorded by the timer.

[0089] Although the error in the transmission of rotational motion is caused by the irregular rotation of the transmission shaft 112, the ideal position and speed of the transmission shaft 112 preset by the external drive control unit are certain, and the position and speed of the ultrasonic transducer 122 relative to the distal shell 1112 can also be obtained through the calibration mechanism 13. The actual position and speed of the ultrasonic transducer 122 can be obtained by adding or subtracting the calibration data obtained by the calibration mechanism 13 on the basis of the ideal parameters preset by the external drive control unit.

[0090] Example 2

[0091] This embodiment provides an imaging system, such as Fig.14 As shown, it includes the in-vivo interventional ultrasound probe 1 with rotation positioning provided by Example 1, an external drive control device 2 and an imaging host 3.

[0092] The external control device 2 includes a drive control mechanism 21 and a connection mechanism 22. The connection mechanism 22 is connected to the transmission shaft 112 of the in vivo interventional ultrasound probe 1, and drives the ultrasound transducer 122 to rotate through the transmission shaft 112 to perform ultrasound imaging; the drive control mechanism 21 is respectively connected to the ultrasound transducer 122, the magnetic generator 131, the magnetic sensor 132 and the timer 133 through wired or wireless communication to provide power supply, data collection and other functions.

[0093] The external control device 2 is also connected to the imaging host 2 by wire or wireless means, displays the information collected by the ultrasonic transducer 122 in the form of an image, and calibrates the image with the information collected by the magnetic generator 131, the magnetic sensor 132 and the timer 133 and then synthesizes it, so as to accurately determine the actual position and speed of the rotational movement of the ultrasonic transducer 122, and will not cause image distortion during image synthesis.

[0094] In other embodiments, the drive control mechanism 21 includes a power supply 211, a transceiver switch 212 for selecting the ultrasonic transducer 122, a high-voltage excitation module 213 for exciting the ultrasonic transducer 122 to generate an ultrasonic signal, a drive motor 214 for driving the transmission shaft 112 to rotate, a calibration module 215 for calculating the position and speed of the ultrasonic transducer 122, and a signal pre-processing module 216 for pre-processing the ultrasonic transducer 122 signal.

[0095] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An in vivo interventional ultrasound probe with rotation positioning, characterized in that: include: The guiding mechanism comprises a sheath tube having a proximal housing and a distal housing and a transmission shaft arranged in the proximal housing cavity; An ultrasonic mechanism, comprising an ultrasonic transducer driven by the transmission shaft to rotate in the distal housing cavity; A calibration mechanism, comprising a timer, and a magnetic generator and a magnetic sensor relatively arranged on the distal shell and the ultrasonic mechanism, wherein the magnetic generator generates an inhomogeneous magnetic field along the circumferential direction of the rotational motion when the ultrasonic transducer rotates relative to the distal shell, and the magnetic sensor obtains the change of magnetic field parameters, so as to calibrate the position and speed of the rotational motion of the ultrasonic transducer relative to the distal shell; The magnetic generator includes a plurality of magnetic generating units arranged in an array along the circumferential direction of the rotational motion, and / or the magnetic sensor includes a plurality of magnetic sensing units arranged in an array along the circumferential direction of the rotational motion; the plurality of magnetic generating units are arranged on the inner wall surface of the distal shell in at least two rows parallel to the circumferential direction of the rotational motion, and the magnetic generating units in different rows are staggered in a direction perpendicular to the circumferential direction of the rotational motion; The magnetic sensor unit is arranged on the ultrasonic mechanism; The number of the magnetic sensing units is greater than or equal to the number of columns of the magnetic generating units, and at least two of the magnetic sensing units are staggered in a direction perpendicular to the rotational motion direction.

2. The in vivo interventional ultrasound probe with rotation positioning according to claim 1, characterized in that: The cross section of the distal shell is a circular ring along a direction perpendicular to the length extension of the sheath tube; Along a straight line perpendicular to the circumferential direction of the rotational movement, the magnetic generating units in different columns are distributed at equal intervals on the distal shell.

3. The in vivo interventional ultrasound probe with rotation positioning according to claim 1, characterized in that: At least one of the magnetic sensor units is used to record initial position information of the rotational movement of the ultrasonic transducer.

4. The in vivo interventional ultrasound probe with rotation positioning according to claim 3, characterized in that: The magnetic generating unit is selected from a permanent magnet; or, The magnetic generating unit is selected from ferromagnetic materials, and the magnetic generator further comprises a coil for exciting the magnetic generating unit to generate a constant magnetic field.

5. The in vivo interventional ultrasound probe with rotation positioning according to claim 4, characterized in that: The ultrasonic mechanism also includes an ultrasonic base for mounting the ultrasonic transducer and the magnetic sensor unit, the ultrasonic transducer, and an acoustic window corresponding to the ultrasonic transducer.

6. An ultrasonic imaging system, characterized in that: include: An in vivo interventional ultrasound probe with rotational positioning as described in any one of claims 1 to 5; Imaging host; The external driving control device is connected to the imaging host and comprises a driving control mechanism and a connecting mechanism connected to the in-vivo interventional ultrasound probe.

7. The ultrasonic imaging system according to claim 6, characterized in that: The drive control mechanism includes a drive motor, a calibration module, a high-voltage excitation module, a transceiver switch, a signal pre-processing module and a power supply.

Images