Intrabody Interventional Sector Scan Probe with Rotary Positioning and Ultrasonic Imaging System Comprising the Same

Abstract

The present invention belongs to the technical field of ultrasonic imaging, and particularly relates to an in-vivo interventional sector probe with rotational positioning and an ultrasonic imaging system including the same. The in-vivo interventional sector scan probe provided by the present invention includes an ultrasonic mechanism and a calibration mechanism. The ultrasonic mechanism includes a housing having a cavity and an ultrasonic transducer and a servo motor both disposed in the cavity. The calibration mechanism includes a sensor and an inductor oppositely disposed on the housing and the ultrasonic transducer. When the ultrasonic transducer performs a sector scan movement relative to the housing, either the inductor or the sensor can be used as an interval calibration unit to obtain a signal or give a signal, and based on this, the angle of the sector scan movement of the ultrasonic transducer relative to the housing and the position at the time of direction switching can be obtained. The imaging host can achieve the positioning of the sector scan movement of the ultrasonic transducer through the position and angle obtained by the calibration mechanism, avoiding the problem of image distortion during image synthesis.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic imaging, and particularly relates to an in-vivo interventional sector scanning probe with rotational positioning and an ultrasonic imaging system including the same. Background Art

[0002] When diagnosing body cavity lesions, simply inferring based on the morphological changes of tissue surfaces has certain subjectivity and limitations. In-vivo interventional ultrasonic imaging technology uses an ultrasonic probe to intervene inside the body and perform ultrasonic scans on in-vivo tissues such as blood vessels, digestive tracts, bronchi, and hearts, enabling relatively clear and accurate in-vivo tissue tomographic images to be obtained, providing an objective basis for doctors to treat symptoms accordingly.

[0003] An in-vivo interventional ultrasonic imaging device generally includes an imaging host, an in-vivo interventional ultrasonic probe, and an external drive control unit. The rotational motion generated by the rotary motor of the external control unit is transmitted to the ultrasonic transducer through a transmission flexible shaft, thereby realizing imaging of the inner wall of the in-vivo cavity. However, when the transmission flexible shaft drives the ultrasonic transducer to rotate, factors such as the bending characteristics, torsional characteristics of the transmission flexible shaft, and friction changes with the sheath tube can all cause unevenness in rotational transmission, making the imaging host unable to accurately judge the actual position of the rotation of the ultrasonic transducer, thereby causing image distortion.

[0004] To solve this technical problem, it has been reported that the rotary motor is made into a micro-structure and directly connected to the ultrasonic transducer, which can eliminate the unevenness in rotational transmission caused by the transmission flexible shaft. However, for a sector scanning imaging device, its rotary motor needs to perform reciprocating motion within a certain angular range, and there are cumulative errors in the reciprocating motion itself. Especially when the motion direction changes, due to inertia, the rotary motor will vibrate in the circumferential direction of rotation, resulting in more unstable rotational motion and greater rotational motion errors. It is very difficult to detect and control these motion errors in a micro-structure, and the imaging host still cannot accurately judge the actual angle and position of the rotation of the ultrasonic transducer, and the problem of image distortion still exists. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing sector scanning imaging device cannot accurately judge the actual position of the rotation of the ultrasonic transducer due to the instability caused by the reciprocating motion of the rotary motor, resulting in image distortion, and thus provide an in-vivo interventional sector scanning probe capable of accurately judging the actual position of the rotation of the ultrasonic transducer and an ultrasonic imaging device including the sector scanning probe.

[0006] To solve the above technical problem, the technical solution adopted by the present invention is:

[0007] The present invention provides an in-vivo interventional sector scanning probe with rotational positioning, including:

[0008] The ultrasonic mechanism includes a housing with a cavity and one end closed, and an ultrasonic transducer and a servo motor jointly arranged in the cavity. The servo motor is connected to the ultrasonic transducer to drive the ultrasonic transducer to perform a fan-shaped scanning motion relative to the housing periodically;

[0009] The calibration mechanism includes a sensor and an inductor oppositely arranged on the housing and the ultrasonic transducer. A plurality of the sensors or the inductors are arranged to form end position calibration units corresponding to both circumferential ends of the fan-shaped scanning motion and interval calibration units distributed between the end position calibration units. The end position calibration units acquire the signals of the sensors opposite to them or give signals to the inductors opposite to them, and the interval calibration units acquire the signals of the sensors opposite to them or give signals to the inductors opposite to them, so as to calibrate the direction switching position and the fan-shaped scanning angle of the ultrasonic transducer relative to the housing respectively.

[0010] Preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the signal induction method between the sensor and the inductor is selected from one of optical induction and magnetic induction.

[0011] Further preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the end position calibration unit is connected to the servo motor, and the signal between the end position calibration unit and the sensor or the inductor opposite to it is transmitted to the servo motor to control the servo motor to perform steering switching.

[0012] Preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the number of the sensors is one and is arranged on the ultrasonic transducer, and the number of the inductors is several and is arranged on the inner wall surface of the housing.

[0013] Further preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the inductors corresponding to both circumferential ends of the fan-shaped scanning motion form the end position calibration units, and the remaining inductors form the interval calibration units. The interval calibration units are equally spaced between the end position calibration units.

[0014] Further preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the ultrasonic mechanism further includes an ultrasonic base for fixing the ultrasonic transducer and a sensing base for fixing the sensor. The ultrasonic base and the sensing base are arranged at the output end of the servo motor and move synchronously.

[0015] Further preferably, for the in-vivo interventional sector scan probe with rotational positioning of this structure, the ultrasonic base is provided with a first installation part for installing the ultrasonic transducer and an installation through hole for one end of the sensing base to extend into;

[0016] The sensing base protrudes from the other end of the ultrasonic base and is provided with a second mounting portion for mounting the sensor.

[0017] Further preferably, for the in-vivo interventional sector scan probe with rotation positioning of this structure, the ultrasonic mechanism further includes an inner shell disposed in the cavity and for the sensor to extend into, and the sensors are distributed on the inner shell.

[0018] The present invention also provides an ultrasonic imaging system, including:

[0019] The in-vivo interventional sector scan probe with rotation positioning as described above;

[0020] An imaging host.

[0021] The technical solution of the present invention has the following advantages:

[0022] 1. The in-vivo interventional sector scan probe with rotation positioning provided by the present invention includes an ultrasonic mechanism and a calibration mechanism. Among them, the ultrasonic mechanism includes a housing with a cavity and one end closed, and an ultrasonic transducer and a servo motor jointly disposed in the cavity. The servo motor is connected to the ultrasonic transducer to drive the ultrasonic transducer to perform a sector scan movement relative to the housing periodically; the calibration mechanism includes sensors and sensors oppositely disposed on the housing and the ultrasonic transducer. A plurality of sensors or sensors are provided to form end position calibration units corresponding to both circumferential ends of the sector scan movement and interval calibration units distributed between the end position calibration units. The end position calibration units acquire the sensor signals opposite to them or give signals to the sensors opposite to them, and the interval calibration units acquire the sensor signals opposite to them or give signals to the sensors opposite to them, so as to calibrate the direction switching position and sector scan angle of the ultrasonic transducer relative to the housing during the sector scan movement respectively.

[0023] For the in-vivo interventional sector scan probe with rotation positioning of this structure, the sensors and sensors are oppositely disposed on the housing and the ultrasonic transducer. When the ultrasonic transducer performs a sector scan movement relative to the housing, both the sensors or sensors can be used as interval calibration units to acquire signals or give signals, and thus the angle of the ultrasonic transducer performing a sector scan movement relative to the housing can be obtained; when the movement direction of the servo motor changes, both the sensors or sensors can be used as end position calibration units to acquire signals or give signals, and thus the position when the direction of the ultrasonic transducer changes can be obtained. The imaging host can achieve the positioning of the sector scan movement of the ultrasonic transducer through the position and angle obtained by this calibration mechanism, eliminate the deviation between the actual position and angle of the rotation movement of the ultrasonic transducer caused by the reciprocating movement of the servo motor and the direction switching during the conventional ultrasonic probe, and avoid the problem of image distortion during image synthesis.

[0024] 2. The in-vivo interventional sector scan probe with rotational positioning provided by the present invention has an end position calibration unit connected to a servo motor. The signal transmission between the end position calibration unit and the opposite sensor or inductor is sent to this servo motor. The end position calibration unit can not only obtain the position signal of the servo motor when the direction is switched, but also instruct the servo motor to switch directions. That is, both the direction switching instruction and the switching position acquisition of the servo motor are controlled by the same device, eliminating the need for a separate steering control device and reducing errors.

[0025] 3. The in-vivo interventional sector scan probe with rotational positioning provided by the present invention has interval calibration units evenly distributed between the end position calibration units. When the ultrasonic transducer performs a sector scan movement relative to the housing, several inductors serving as interval calibration units sequentially acquire the scanning angle signals of the ultrasonic transducer, achieving the unity of improving calibration accuracy and simplifying the calibration calculation process.

[0026] 4. The ultrasonic imaging system provided by the present invention includes an in-vivo interventional sector scan probe with rotational positioning, which can accurately determine the actual position of the ultrasonic transducer during the direction switching of the sector scan movement and the actual angle during the sector scan, and will not cause image distortion during image synthesis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 Structural schematic diagram of the in-vivo interventional ultrasonic probe provided in Embodiment 1 of the present invention;

[0029] Figure 2 For Figure 1 exploded structural schematic diagram of the ultrasonic mechanism and the calibration mechanism;

[0030] Figure 3 Installation method of the ultrasonic transducer provided in Embodiment 1 of the present invention;

[0031] Figure 4 Structural schematic diagram of the ultrasonic base provided in Embodiment 1 of the present invention;

[0032] Figure 5 Schematic diagram of the arrangement of ultrasonic transducer array elements provided in Embodiment 1 of the present invention;

[0033] Figure 6 Distribution diagram of the end position calibration unit and the interval calibration unit on the inner wall surface provided in Embodiment 1 of the present invention;

[0034] Figure 7 Schematic diagram of the sensing base structure provided in Embodiment 1 of the present invention;

[0035] Figure 8 Schematic diagrams of the end position signal and the interval signal respectively obtained by the end position calibration unit and the interval calibration unit provided in Embodiment 1 of the present invention;

[0036] Figure 9 Schematic diagram of the imaging system structure provided in Embodiment 2 of the present invention;

[0037] Explanation of reference numerals:

[0038] 1 - Intravascular interventional sector scan probe;

[0039] 11 - Ultrasonic mechanism; 111 - Outer shell; 1111 - Sound transmission window; 112 - Servo motor; 113 - Ultrasonic transducer;

[0040] 114 - Ultrasonic base; 1141 - First mounting portion; 1142 - Mounting through hole; 115 - Sensing base; 1151 - Second mounting portion; 116 - Inner shell; 117 - Bearing;

[0041] 12 - Calibration mechanism; 121 - Sensor; 122 - Inductor; 123 - End position calibration unit; 124 - Interval calibration unit;

[0042] 2 - Imaging host. Detailed implementation manners

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Embodiment 1

[0048] This embodiment provides an in-vivo interventional sector scan probe 1 with rotational positioning, as Figure 1 shown, which includes an ultrasonic mechanism 11 and a calibration mechanism 12.

[0049] As Figure 1 and Figure 2 shown, the ultrasonic mechanism 11 includes a housing 111, a servo motor 112, and an ultrasonic transducer 113. The housing 111 is a tubular shell with one end closed, and the cavity formed by the tubular shell is used to accommodate the ultrasonic transducer 113.

[0050] To avoid the problem of errors caused by the servo motor driving the ultrasonic transducer through a flexible shaft in the prior art, improvements can be made from the aspects of the hardness of the transmission material and the transmission distance. For example, the servo motor 112 and the ultrasonic transducer 113 are driven through a hard material, such as shortening the transmission distance between the two, etc., which can effectively eliminate the transmission error. Specifically, the entire servo motor 112 or at least the output end part is extended into the cavity together with the ultrasonic transducer 113 and connected, and no long flexible shaft is arranged between the two. In this way, when the servo motor 112 drives the ultrasonic transducer 113 to perform a periodic sector scan movement relative to the housing 111, the transmission error can be reduced to a certain extent.

[0051] At the same time, an ultrasonic base 114 made of a hard material is arranged at the output end of the servo motor 112 to fix the ultrasonic transducer 113, such as selecting plexiglass, polyethylene, etc. In this embodiment, the ultrasonic base 114 is made of plexiglass.

[0052] To better arrange the ultrasonic transducer 113 on the ultrasonic base 114, a first installation part 1141 for installing the ultrasonic transducer 113 is arranged on the ultrasonic base 114, as Figure 3As shown, the first mounting portion 1141 can be a side groove structure formed on the side wall of the ultrasonic base 114 facing the circumferential direction of the fan-shaped scanning movement, or can be an inclined front structure or an end plane structure formed on the ultrasonic base 114 away from the output end of the servo motor 112. Therefore, the mounting methods of the ultrasonic transducer 113 on the ultrasonic base 114 include: (1) side view mounting in the side groove structure, as shown in Figure 3 in (a); (2) inclined front view mounting in the inclined front structure, as shown in Figure 3 in (b); (3) front view mounting on the end plane, as shown in Figure 3 in (c). In this embodiment, the ultrasonic base 114 is a cylindrical structure, and the first mounting portion 1141 is a side groove structure formed on the curved side wall of the ultrasonic base 114. That is, the ultrasonic transducer 113 adopts a side view mounting method, and an installation through hole 1142 is provided along the axial direction of the ultrasonic base 114, as shown in Figure 4 ; the output end of the servo motor 112 is extended into one end of the installation through hole 1142 and fixedly connected, and the ultrasonic transducer 113 is fixed on the first mounting portion 1141, so that the ultrasonic transducer 113 can rotate synchronously with the output end of the servo motor 112 without transmission error.

[0053] As shown in Figure 2 , a sound transmission window 1111 is provided on the curved wall of the housing 111, and the position of the sound transmission window 1111 corresponds to the fan-shaped scanning interval of the ultrasonic transducer 113.

[0054] The ultrasonic transducer 113 can be selected as a single element type as shown in Figure 5 in (a), an array type as shown in Figure 5 in (b), a convex array type as shown in Figure 5 in (c), a ring array type as shown in Figure 5 in (d), etc. The single element type is mainly used for two-dimensional ultrasonic imaging, and the array type is mainly used for real-time three-dimensional ultrasonic imaging.

[0055] During the process of the servo motor 112 driving the ultrasonic transducer 113 to perform reciprocating fan-shaped scanning movement, there is an accumulated error in the reciprocating movement. Especially when the rotation direction of the servo motor 112 is switched, due to the existence of inertia, the output end of the servo motor 112 will vibrate in the circumferential direction of rotation, resulting in more unstable rotational movement of the output end and larger rotational movement error. Eventually, the imaging host will not be able to accurately judge the actual fan-shaped scanning angle and direction switching position of the ultrasonic transducer 113. Therefore, a calibration mechanism 12 is provided on the in-vivo interventional fan scan probe with rotational positioning.

[0056] As shown in Figure 1 and Figure 2As shown, the calibration mechanism 12 includes a sensor 121 and an inductor 122. The sensor 121 is a signal emitter, and the inductor 122 is a signal receiver. The two are relatively arranged on the housing 111 and the ultrasonic transducer 113. When the ultrasonic transducer 113 performs a fan-shaped scanning motion, the sensor 121 and the inductor 122 move relative to each other. By receiving the signal from the sensor 121 through the inductor 122, the calibration of the fan-shaped scanning motion of the ultrasonic transducer 113 relative to the housing 111 can be achieved.

[0057] When the ultrasonic transducer 113 reciprocates, the ultrasonic wave trajectory in its motion circumference is fan-shaped. To accurately detect the fan-shaped scanning motion trajectory of the ultrasonic transducer 113, a plurality of sensors 121 or inductors 122 need to be set to form an end position calibration unit 123 corresponding to both ends of the fan-shaped scanning circumference and an interval calibration unit 124 distributed between the end position calibration units 123, as Figure 6 shown. That is, the sensor 121 can be selected as the end position calibration unit 123 and the interval calibration unit 124, or the inductor 122 can be selected as the end position calibration unit 123 and the interval calibration unit 124. As long as the sensor 121 serving as the end position calibration unit 123 can give a signal to the inductor 122 opposite to it (or the inductor 122 serving as the end position calibration unit 123 can obtain the signal of the sensor 121 opposite to it), and at the same time the sensor 121 serving as the interval calibration unit 124 can give a signal to the inductor 122 opposite to it (or the inductor 122 serving as the interval calibration unit 124 can obtain the signal of the sensor 121 opposite to it), the calibration of the direction switching position and the fan-shaped scanning angle of the fan-shaped scanning motion of the ultrasonic transducer 113 relative to the housing 111 can be achieved respectively.

[0058] As a preferred embodiment, as Figure 6 shown, the number of sensors 121 is one, which is directly or indirectly arranged on the ultrasonic transducer to achieve synchronization between the two; the number of inductors 122 is several, which are directly or indirectly distributed on the inner wall surface of the housing 111 to form an end position calibration unit 123 and an interval calibration unit 124 corresponding to the fan-shaped scanning motion interval of the ultrasonic transducer 113.

[0059] As a preferred embodiment, a sensing base 115 for fixing the sensor 121 and an inner housing 116 for fixing the inductor 122 are arranged in the ultrasonic mechanism 11, as Figure 2As shown in the figure. Among them, the sensing base 115 and the ultrasonic base 114 are jointly arranged at the output end of the servo motor 112 and move synchronously under the drive of the servo motor 112; the arrangement order of the ultrasonic base 114 and the sensing base 115 at the output end of the servo motor 112 is arbitrary. For example, the ultrasonic base 114 and the sensing base 115 are arranged in sequence at the output end of the servo motor 112, or the sensing base 115 and the ultrasonic base 114 are arranged in sequence at the output end of the servo motor 112. In this embodiment, it is preferably that the ultrasonic base 114 and the sensing base 115 are arranged in sequence at the output end of the servo motor 112.

[0060] The sensing base 115 is cylindrical, and a groove structure for fixing the sensor 121 is provided at a position deviating from the axis at one end or on the side wall near the end to form a second mounting portion 1151, such as Figure 7 shown; preferably, the opening position is on the side wall near the end.

[0061] One end of the sensing base 115 extends into and is fixedly connected to one end of the mounting through hole 1142, so that the second mounting portion 1151 protrudes from the ultrasonic base 114. At the same time, the output end of the servo motor 112 extends into and is fixedly connected to the other end of the mounting through hole 1142, thereby realizing the synchronous movement of the ultrasonic base 114 and the sensing base 115 under the drive of the servo motor 112.

[0062] Such as Figure 6 As shown in the figure, the inner shell 116 is a circular ring-shaped shell fixed to the inner wall surface of the cavity. A plurality of sensors 122 are distributed on the wall surface of the inner shell 116 to form an end position calibration unit 123 and an interval calibration unit 124 corresponding to the fan-shaped scanning movement interval of the ultrasonic transducer 113. One end of the sensing base 115 provided with the second mounting portion 1151 extends into the space of the inner shell 116, so that the sensor 121 and the plurality of sensors 122 are arranged opposite to each other.

[0063] The signal transmission method between the above-mentioned sensor 121 and the sensor 122 is selected from one of optical induction and magnetic induction. That is, the sensor 121 and the sensor 122 can respectively adopt an optical generator and an optical receiver, or respectively adopt a magnetic generator and a magnetic sensor, etc.; in this embodiment, the sensor 121 and the sensor 122 respectively adopt a magnetic generator and a magnetic sensor. When the ultrasonic transducer 113 moves relative to the outer shell 111, a plurality of magnetic sensors distributed in a fan shape sequentially receive the change of the magnetic field parameters of the magnetic generator, and thus the movement trajectory of the ultrasonic transducer 113 can be calibrated.

[0064] The magnetic field parameters here can be all parameters characterizing the magnetic field, such as magnetic induction intensity, magnetic field intensity, magnetic flux, magnetic energy product, etc. The generation of the magnetic field by the magnetic generator and the sensing of the magnetic field by the magnetic sensor both adopt existing technologies.

[0065] To obtain the regularly changing magnetic field parameters, magnetic sensors are arrayed on the inner wall surface of the inner shell 116, with a gap between adjacent magnetic sensors. When the magnetic generator moves with the ultrasonic transducer 113, the magnetic field parameters emitted by the magnetic generator are sequentially received by the arrayed magnetic sensors, thus forming a pulse signal with time as the axis, as Figure 8 shown. The pulse signal includes the end position signal obtained by the end position calibration unit and the interval signal obtained by the interval calibration unit. Among them, the end position signal records the actual position of the ultrasonic transducer 113 relative to the outer shell 111 when the direction is switched, and the interval signal records the actual angle of the ultrasonic transducer 113 relative to the outer shell 111 during the fan-shaped scan. In this way, the imaging host can achieve the positioning of the fan-shaped scan movement of the ultrasonic transducer 113 through the position and angle obtained by this calibration mechanism 12, eliminating the deviation between the actual position and angle of the rotation movement of the ultrasonic transducer caused by the reciprocating movement of the servo motor and the direction switching in the conventional ultrasonic probe and the ideal position and angle preset for controlling the fan-shaped scan movement of the ultrasonic transducer, and avoiding the problem of image distortion during image synthesis.

[0066] To obtain more magnetic field parameters, the smaller the central angle between adjacent magnetic sensors, the better, and they are equally spaced, and its central angle is preferably 0.1°. The material of the magnetic generator can be a permanent magnet or a ferromagnetic material, preferably a ferromagnetic material, and is embedded on the second mounting part 1151 through various methods such as etching, evaporation coating or assembly; the magnetic sensor is a magnetic sensor using the Hall effect.

[0067] During the fan-shaped scan process, to prevent the ultrasonic base 114 and the sensing base 115 from deviating from the rotation center line of the output end of the servo motor 112, bearings 117 are provided between the servo motor 112 and the ultrasonic base 114 and at both ends of the inner shell 116, as Figure 2 shown. The outer ring of the bearing 117 is fixed on the inner wall surface of the inner shell 116, and the outer diameter of the output end of the servo motor 112 and the outer diameter of the sensing base 115 are equal to the inner diameter of the inner ring of the bearing 117. By extending the output end of the servo motor 112 and the sensing base 115 into the inner ring of the bearing 117, the positioning of the ultrasonic base 114 and the sensing base 115 is achieved.

[0068] To further reduce the transmission error, the end position calibration unit 123 is electrically connected to the servo motor 112. By transmitting the magnetic field parameters obtained by the end position calibration unit 123 to the servo motor 112, the end position calibration unit 123 can not only obtain the position signal of the servo motor 112 when the direction is switched, but also instruct the servo motor to switch directions. That is, both the direction switching instruction and the switching position acquisition of the servo motor 112 are controlled by the same device, eliminating the need for a separate steering control device and reducing the error.

[0069] Embodiment 2

[0070] This embodiment provides an imaging system, asFigure 9 As shown, it includes the in-vivo interventional sector scan probe 1 with rotational positioning provided by Embodiment 1 and the imaging host 2.

[0071] Inside the imaging host 2, a control module is provided, which is connected to the servo motor 112, the ultrasonic transducer 113, the sensor 121, and the inductor 122 respectively through wired or wireless communication methods to provide functions such as power supply and data acquisition; in this embodiment, a wired communication method is adopted.

[0072] The control module is also connected to the display of the imaging host 2 through wired or wireless means, displays the information collected by the ultrasonic transducer 113 in the form of an image, and synthesizes the information collected by the sensor 121 and the inductor 122 after calibrating the image, accurately judging the actual direction switching position and the fan-shaped scanning angle of the ultrasonic transducer 113, and will not cause image distortion during image synthesis.

[0073] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. An in-vivo interventional sector scanning probe with rotational positioning, characterized in that, Comprising: An ultrasonic mechanism, including a housing with a cavity, and an ultrasonic transducer and a servo motor jointly arranged in the cavity, the servo motor being connected to the ultrasonic transducer to drive the ultrasonic transducer to perform a fan-shaped scanning motion periodically relative to the housing; The ultrasonic mechanism further includes an ultrasonic base for fixing the ultrasonic transducer and a sensing base for fixing the sensor. The ultrasonic base and the sensing base are arranged at the output end of the servo motor and move synchronously; a part of the output of the servo motor and the ultrasonic transducer jointly extend into the cavity and are directly connected. The ultrasonic base is made of a hard material and is fixed at the output end of the servo motor for fixing the ultrasonic transducer; A calibration mechanism, including a sensor and an inductor oppositely arranged on the housing and the ultrasonic transducer. A plurality of the sensors or the inductors are arranged to form end position calibration units corresponding to both circumferential ends of the fan-shaped scanning motion and interval calibration units distributed between the end position calibration units. The end position calibration units acquire the signals of the sensors opposite to them or give signals to the inductors opposite to them, and the interval calibration units acquire the signals of the sensors opposite to them or give signals to the inductors opposite to them, so as to calibrate the direction switching position and the fan-shaped scanning angle of the ultrasonic transducer relative to the housing during the fan-shaped scanning motion respectively; The end position calibration unit is connected to the servo motor, and the signal between the end position calibration unit and the sensor or the inductor opposite to it is transmitted to the servo motor to control the servo motor to perform steering switching.

2. The in-vivo interventional sector scan probe with rotational positioning according to claim 1, characterized in that, The signal induction method between the sensor and the inductor is selected from one of optical induction and magnetic induction. When magnetic induction is adopted, the sensor is a magnetic generator, the inductor is a magnetic inductor, and the magnetic inductors are arranged in an array on the inner wall surface of the inner shell, and the central angle between two adjacent magnetic inductors is 0.1°.

3. The in-vivo interventional sector scan probe with rotary positioning according to any one of claims 1-2, characterized in that, The number of the sensors is one and is arranged on the ultrasonic transducer, and the number of the inductors is several and is arranged on the inner wall surface of the housing.

4. The in-vivo intervention sector scan probe with rotary positioning according to claim 3, characterized in that The inductors corresponding to both circumferential ends of the fan-shaped scanning motion form the end position calibration units, and the remaining inductors form the interval calibration units, and the interval calibration units are equally spaced between the end position calibration units.

5. The in-vivo interventional sector scan probe with rotational positioning according to claim 4, wherein, The ultrasonic base is provided with a first installation part for installing the ultrasonic transducer and an installation through hole for one end of the sensing base to extend into; The other end of the sensing base protruding from the ultrasonic base is provided with a second installation part for installing the sensor.

6. The in-vivo interventional sector scan probe with rotary positioning according to claim 5, wherein The ultrasonic mechanism further includes an inner shell arranged in the cavity for the sensor to extend into, and the inductors are equally spaced on the inner shell.

7. An ultrasonic imaging system, characterized in that, Comprising: The in-vivo intervention fan-shaped scanning probe with rotary positioning according to any one of claims 1-6; An imaging host.

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