Treatment head and method of controlling the same, ultrasonic treatment device, storage medium

Abstract

The application discloses a treatment head and a control method thereof, an ultrasonic treatment device and a storage medium, and is applied to the field of biomedical instruments and equipment, and relates to the technical field of medical treatment, and can be used for ultrasonic treatment.The treatment head comprises an ultrasonic transducer, an image collector and a controller.The controller is used for: acquiring a target point position and a current tilt angle; detecting whether there is a good ultrasonic penetration path between the treatment head and the target point position according to the current tilt angle, and obtaining a target tilt angle corresponding to the good ultrasonic penetration path according to a detection result; and controlling the ultrasonic transducer to emit ultrasonic waves to the target point position according to the target tilt angle.From the current tilt angle to the target tilt angle, the target point position is unchanged, the ultrasonic path is changed, a good ultrasonic penetration path between the treatment head and the target point position is selected as the ultrasonic treatment path, important organs are effectively avoided, the treatment effect of ultrasonic treatment is improved, and the use experience of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of biomedical instruments and equipment, and in particular to a treatment head, a control method thereof, an ultrasonic treatment device and a storage medium. BACKGROUND

[0002] High intensity focused ultrasound treatment technology (HIFU) is a non-invasive treatment technology that has gradually developed in recent years. The principle is to use ultrasonic waves as energy, use their penetrability and focusability to accurately focus the ultrasonic waves on the target point of the lesion in the body, and use the mechanical effect, thermal effect and cavitation effect of the ultrasonic waves to cause the lesion to produce coagulation necrosis, so as to safely and effectively ablate the lesion without damaging the surrounding tissues. As a non-invasive tumor treatment technology, this treatment technology has been widely used in the clinical treatment of benign and malignant solid tumors such as prostate cancer, breast cancer, liver cancer, pancreatic cancer, uterine fibroids and kidney tumors. It has the advantages of no surgery, no bleeding, green and no radiation, and preservation of patient organs, and has good clinical application prospects.

[0003] In related technologies, the control method of the treatment head includes two kinds. One is to drive the treatment head in three-dimensional space by a three-dimensional motor to perform mechanical displacement to gradually ablate the lesion for treatment. The other is a treatment head based on a phased array transducer, which can move the focal point by electronic excitation to gradually ablate the lesion for treatment. However, the ultrasonic path in the control method of the two kinds of treatment heads is relatively single. In the clinical treatment of some blood-rich, large-size lesions and ultrasonic paths that need to avoid key organ tissues, the treatment effect is poor. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a treatment head and a control method thereof, an ultrasonic treatment device and a storage medium, which can change the ultrasonic path and improve the ultrasonic treatment effect.

[0005] In a first aspect, the present application provides a treatment head, comprising:

[0006] an ultrasonic transducer for emitting ultrasonic waves;

[0007] an image collector for acquiring an ultrasonic image between the treatment head and a target position;

[0008] a controller connected with the ultrasonic transducer and the image collector, respectively, for:

[0009] acquire a target point position and a current tilt angle, wherein the current tilt angle is a tilt angle of a sound beam axis of an ultrasonic wave transmitted by the ultrasonic transducer relative to a central axis;

[0010] detect, according to the current tilt angle, whether there is a good ultrasonic transmission path between the treatment head and the target point position, and obtain a target tilt angle corresponding to the good ultrasonic transmission path according to a detection result;

[0011] control the ultrasonic transducer to transmit an ultrasonic wave to the target point position according to the target tilt angle.

[0012] The treatment head provided by the first aspect of the present application has at least the following beneficial effects: the treatment head comprises an ultrasonic transducer, an image collector, and a controller, wherein the image collector is configured to acquire an ultrasonic image between the treatment head and a target point position, the controller is configured to acquire the target point position and take a tilt angle of a sound beam axis of an ultrasonic wave transmitted by the ultrasonic transducer relative to the sound beam axis as a current tilt angle, the controller is further configured to detect, according to the current tilt angle, whether there is a good ultrasonic transmission path between the treatment head and the target point position, and obtain a target tilt angle corresponding to the good ultrasonic transmission path according to a detection result, and the controller is configured to control the ultrasonic transducer to transmit an ultrasonic wave to the target point position according to the target tilt angle. The treatment head realizes ultrasonic transmission path transformation while keeping the target point position unchanged from the current tilt angle to the target tilt angle, and selects a good ultrasonic transmission path between the treatment head and the target point position as an ultrasonic treatment path, thereby effectively avoiding vital organs, improving the treatment effect of ultrasonic treatment, and improving the user experience.

[0013] According to some embodiments of the first aspect of the present application, when the controller detects, according to the current tilt angle, whether there is a good ultrasonic transmission path between the treatment head and the target point position, and obtains a target tilt angle corresponding to the good ultrasonic transmission path according to a detection result, the following is performed:

[0014] control the image collector to acquire a first ultrasonic image between the treatment head and the target point position according to the current tilt angle;

[0015] determine, according to the first ultrasonic image, whether there is a good ultrasonic transmission path between the treatment head and the target point position;

[0016] obtain a target tilt angle corresponding to the good ultrasonic transmission path according to a determination result.

[0017] According to some embodiments of the first aspect of the present application, when the controller detects, according to the current tilt angle, that there is a good ultrasound penetration path between the treatment head and the target position, and obtains a target tilt angle corresponding to the good ultrasound penetration path according to the detection result, the controller performs:

[0018] When there is a good ultrasound penetration path between the treatment head and the target position, the current tilt angle is taken as the target tilt angle.

[0019] According to some embodiments of the first aspect of the present application, when the controller detects, according to the current tilt angle, that there is a good ultrasound penetration path between the treatment head and the target position, and obtains a target tilt angle corresponding to the good ultrasound penetration path according to the detection result, the controller performs:

[0020] When there is no good ultrasound penetration path between the treatment head and the target position, the current tilt angle is updated;

[0021] According to the current tilt angle, the controller controls the image collector to acquire a first ultrasound image between the treatment head and the target position corresponding to the current tilt angle;

[0022] When there is no good ultrasound penetration path between the treatment head and the target position, the current tilt angle is returned to be updated until there is a good ultrasound penetration path between the treatment head and the target position;

[0023] The last obtained current tilt angle is taken as the target tilt angle.

[0024] According to some embodiments of the first aspect of the present application, when the controller controls the ultrasound transducer to emit ultrasound waves to the target position according to the target tilt angle, the controller performs:

[0025] According to the target tilt angle, the controller controls the image collector to obtain a second ultrasound image between the treatment head and the target position corresponding to the target tilt angle;

[0026] According to the target tilt angle, a motion path of the treatment head is obtained;

[0027] According to the second ultrasound image, an ultrasound emission dose of the ultrasound transducer and a motion time of the treatment head are controlled;

[0028] According to the motion path and the motion time of the treatment head, the controller controls the treatment head to move relative to the target position;

[0029] According to the ultrasound emission dose of the ultrasound transducer, the controller controls the ultrasound transducer to emit ultrasound waves to the target position.

[0030] According to some embodiments of the first aspect of the present application, the ultrasound emission dose comprises a pulse duration, an ultrasound interval time and an ultrasound emission power.

[0031] According to some embodiments of the first aspect of the present application, the controller controls the therapeutic head to move relative to the target position according to a movement path and a movement time of the therapeutic head, and performs the following operations:

[0032] According to the target tilt angle, a current pose parameter of an ultrasound focal point of the therapeutic head is obtained;

[0033] According to the current pose parameter of the ultrasound focal point, a homogeneous matrix corresponding to the current pose parameter of the ultrasound focal point is calculated;

[0034] According to the movement time of the therapeutic head, the homogeneous matrix is transformed to obtain a plurality of homogeneous matrices;

[0035] The homogeneous matrix is converted into a target pose parameter;

[0036] According to the movement path and the target pose parameter, the therapeutic head is controlled to move relative to the target position.

[0037] In a second aspect, the present application provides a control method of a therapeutic head, applied to a therapeutic head comprising an ultrasound transducer, and the control method comprises:

[0038] A target position and a current tilt angle are obtained, wherein the current tilt angle is a tilt angle of a sound beam axis of ultrasound waves sent by the ultrasound transducer relative to a central axis;

[0039] According to the current tilt angle, it is detected whether there is a good ultrasound penetration path between the therapeutic head and the target position, and a target tilt angle corresponding to the good ultrasound penetration path is obtained according to a detection result;

[0040] According to the target tilt angle, the ultrasound transducer is controlled to emit ultrasound waves to the target position.

[0041] According to the control method of the treatment head provided in the second aspect of the present application, the target position is obtained, and the tilt angle of the sound beam axis of the ultrasonic wave transmitted by the ultrasonic transducer relative to the sound beam axis is taken as the current tilt angle. According to the current tilt angle, it is detected whether there is a good ultrasonic transmission path between the treatment head and the target position, and according to the detection result, a target tilt angle corresponding to the good ultrasonic transmission path is obtained. The ultrasonic transducer transmits the ultrasonic wave to the target position through the target tilt angle. The treatment head is controlled from the current tilt angle to the target tilt angle, the ultrasonic transmission path is changed, and the good ultrasonic transmission path between the treatment head and the target position is selected as the ultrasonic treatment path, so as to effectively avoid the vital organs, improve the treatment effect of the ultrasonic treatment, and improve the user experience.

[0042] In a third aspect, the present application provides an ultrasonic treatment instrument, comprising:

[0043] the treatment head according to any one of the first aspect;

[0044] an ultrasonic treatment host connected with the treatment head and the controller.

[0045] Since the ultrasonic treatment instrument uses the treatment head according to any one of the first aspect, it has all the beneficial effects of the first aspect of the present application.

[0046] In a fourth aspect, the present application provides a computer storage medium comprising computer executable instructions for executing the control method of the treatment head according to the second aspect.

[0047] Since the computer storage medium can execute the control method of the treatment head according to the second aspect, it has all the beneficial effects of the second aspect of the present application.

[0048] Additional aspects and advantages of the present application will be given in part in the following description, part will become apparent from the following description, or will be understood by those skilled in the art through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or related technical description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0050] Figure 1 is a structural block diagram of a treatment head provided by an embodiment of the present application;

[0051] Figure 2is a main step diagram of a control method of a treatment head provided by an embodiment of the present application;

[0052] Figure 3 is a step diagram of calculating a target tilt angle of a treatment head provided by an embodiment of the present application;

[0053] Figure 4 is another step diagram of calculating a target tilt angle of a treatment head provided by an embodiment of the present application;

[0054] Figure 5 is another step diagram of calculating a target tilt angle of a treatment head provided by an embodiment of the present application;

[0055] Figure 6 is a step diagram of ultrasonic wave emission of a treatment head provided by an embodiment of the present application;

[0056] Figure 7 is a step diagram of treatment head movement provided by an embodiment of the present application;

[0057] Figure 8 is a structural schematic diagram of an ultrasonic therapeutic instrument provided by an embodiment of the present application;

[0058] Figure 9 is a schematic diagram of pose transformation provided by an embodiment of the present application;

[0059] Figure 10 is a schematic diagram of treatment head movement provided by an embodiment of the present application.

[0060] The figure mark: ultrasonic therapeutic instrument 100; treatment head 110; ultrasonic therapeutic host 120; six-axis collaborative robot 130; controller 140. DETAILED DESCRIPTION

[0061] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the embodiments of the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the embodiments of the present application with unnecessary detail.

[0062] It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in an order different from that in the flowchart. The terms "first", "second", etc. in the specification and claims and the above-mentioned figures are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0063] It should also be appreciated that a reference to“one embodiment” or“some embodiments” etc. in the description of embodiments herein means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases“in one embodiment”,“in some embodiments”,“in other embodiments”,“in additional embodiments” etc. in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms“comprising”,“having”,“including” and their variants mean“including but not limited to” unless otherwise expressly specified.

[0064] In the description of embodiments of the application, unless otherwise explicitly defined, the words arranged, installed, connected, etc. should be interpreted broadly, and the person skilled in the art can reasonably determine the specific meaning of the above words in the embodiments of the application in combination with the specific content of the technical solutions.

[0065] High intensity focused ultrasound (HIFU) treatment technology is a non-invasive treatment technology that has gradually developed in recent years. The principle is to use ultrasonic waves as energy, use their penetrability and focusability to accurately focus the ultrasonic waves on the target point of the lesion in the body, and use the mechanical effect, thermal effect and cavitation effect of the ultrasonic waves to cause the lesion to produce coagulation necrosis, so as to safely and effectively ablate the lesion without damaging the surrounding tissues. As a non-invasive tumor treatment technology, this treatment technology has been widely used in the clinical treatment of benign and malignant solid tumors such as prostate cancer, breast cancer, liver cancer, pancreatic cancer, uterine fibroids and kidney tumors. It has the advantages of no surgery, no bleeding, green and no radiation, and preservation of patient organs, and has good clinical application prospects.

[0066] In the related art, there are two kinds of control methods for the treatment head. One is to use a three-dimensional motor to drive the treatment head to move in the x, y, and z directions to gradually ablate the lesion by mechanical displacement. The other is a treatment head based on a phased array transducer, which can move the focal point by electronic excitation to gradually ablate the lesion. However, the former has low flexibility during treatment and can only treat perpendicularly to the human body after positioning the lesion, which cannot observe and treat other sections, which may affect the final treatment effect. The focal point moving range of the latter is small. Moreover, the ultrasonic path in the control method of the two kinds of treatment heads is relatively single. In the clinical treatment of some blood-rich, large-size lesions and ultrasonic paths that need to avoid key organ tissues, the treatment effect is poor.

[0067] Based on this, the embodiment of the present application provides a treatment head and its control method, an ultrasonic treatment device and a storage medium. The embodiment of the present application improves the treatment effect of ultrasonic treatment by detecting whether there is a good ultrasonic transmission path between the treatment head and the target position, and realizing the transformation of the ultrasonic transmission path according to the detection result.

[0068] The embodiment of the present application is further described below with reference to the drawings.

[0069] Referring to Figure 1 , Figure 1 is a structural diagram of a treatment head provided by the embodiment of the present application. In Figure 1 the example, the treatment head includes an ultrasonic transducer, an image collector and a controller.

[0070] The ultrasonic transducer is connected with the controller, and the ultrasonic transducer is used to emit ultrasonic waves.

[0071] The image collector is connected with the controller, and the image collector is used to acquire an ultrasonic image between the treatment head and the target position.

[0072] The controller is connected with the ultrasonic transducer and the image collector respectively, and the controller is used to acquire the target position and a current tilt angle, and the current tilt angle is a tilt angle of a sound beam axis of the ultrasonic transducer relative to a central axis. The controller is used to detect whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current tilt angle, and obtain a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result. The controller is used to control the ultrasonic transducer to emit ultrasonic waves to the target position according to the target tilt angle.

[0073] In some embodiments, the controller controls the image collector to acquire the ultrasonic image between the treatment head and the target position, and judges whether there is a good ultrasonic transmission path between the treatment head and the target position according to the ultrasonic image.

[0074] In some embodiments, the target tilt angle can be the current tilt angle, and the target tilt angle can also not be the current tilt angle. The specific value of the target tilt angle needs to be determined according to the ultrasonic transmission path between the treatment head and the target position in the actual situation.

[0075] In some embodiments, the target tilt angle can be one or more, and the specific number of the target tilt angle corresponds to the number of good ultrasonic transmission paths between the treatment head and the target position.

[0076] In some embodiments, the angle of inclination of the sound beam axis of the ultrasonic wave transmitted by the ultrasonic transducer relative to the central axis is different, the ultrasonic path between the treatment head and the target position corresponding to different angles of inclination, the controller detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current angle of inclination, and obtains a target angle of inclination corresponding to the good ultrasonic transmission path according to the detection result, and the controller realizes the transformation of the ultrasonic path by converting the current angle of inclination to the target angle of inclination. The good ultrasonic transmission path is beneficial to avoiding vital organs during ultrasonic treatment, improves the treatment effect of ultrasonic treatment, and improves the user's experience.

[0077] It should be noted that when the controller detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current angle of inclination, and obtains a target angle of inclination corresponding to the good ultrasonic transmission path according to the detection result, the following is performed:

[0078] According to the current angle of inclination, the image collector acquires a first ultrasonic image between the treatment head and the target position.

[0079] According to the first ultrasonic image, it is judged whether there is a good ultrasonic transmission path between the treatment head and the target position.

[0080] It can be understood that if there is no important organ on the ultrasonic transmission path between the treatment head and the target position, that is, the ultrasonic wave passing through the ultrasonic transmission path will not cause harm to the human body, then the treatment head and the target position have a good ultrasonic transmission path.

[0081] According to the judgment result, a target angle of inclination corresponding to the good ultrasonic transmission path is obtained.

[0082] It should be noted that when the controller detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current angle of inclination, and obtains a target angle of inclination corresponding to the good ultrasonic transmission path according to the detection result, the following is performed:

[0083] When the treatment head and the target position have a good ultrasonic transmission path, the current angle of inclination is taken as the target angle of inclination.

[0084] It should be noted that when the controller detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current angle of inclination, and obtains a target angle of inclination corresponding to the good ultrasonic transmission path according to the detection result, the following is performed:

[0085] When the treatment head and the target position do not have a good ultrasonic transmission path, the current angle of inclination is updated.

[0086] It can be understood that when there is no good ultrasonic penetration path between the treatment head and the target position, the current tilt angle is updated, and the value of the updated tilt angle is different from the value of the tilt angle before the update.

[0087] According to the current tilt angle, the image collector is controlled to obtain a first ultrasonic image between the treatment head and the target position corresponding to the current tilt angle.

[0088] When there is no good ultrasonic penetration path between the treatment head and the target position, the current tilt angle is updated until there is a good ultrasonic penetration path between the treatment head and the target position.

[0089] The last obtained current tilt angle is taken as a target tilt angle.

[0090] It should be noted that when the controller controls the ultrasonic transducer to emit ultrasonic waves to the target position according to the target tilt angle, the following is performed:

[0091] According to the target tilt angle, the image collector is controlled to obtain a second ultrasonic image between the treatment head and the target position corresponding to the target tilt angle.

[0092] It can be understood that according to the target tilt angle, the image collector is controlled to obtain a second ultrasonic image between the treatment head and the target position corresponding to the target tilt angle, and the second ultrasonic image contains relevant information of the target point. The relevant parameters of the treatment head can be set according to the relevant information of the target point.

[0093] According to the target tilt angle, a motion path of the treatment head is obtained.

[0094] It can be understood that the motion mode of the treatment head is not limited, and the treatment head can perform circular motion or be fixed. The specific motion mode of the treatment head can be changed according to actual needs.

[0095] According to the second ultrasonic image, the ultrasonic emission dose of the ultrasonic transducer and the motion time of the treatment head are controlled.

[0096] It can be understood that according to the second ultrasonic image, the disease information of the target point can be obtained, and the ultrasonic emission dose of the ultrasonic transducer and the motion time of the treatment head are controlled according to the disease information of the target point.

[0097] According to the motion path and the motion time of the treatment head, the treatment head is controlled to move relative to the target position.

[0098] According to the ultrasonic emission dose of the ultrasonic transducer, the ultrasonic transducer is controlled to emit ultrasonic waves to the target position.

[0099] It can be understood that the motion of the treatment head and the emission of ultrasonic waves by the ultrasonic transducer are performed simultaneously.

[0100] It should be noted that the ultrasonic emission dose includes the pulse duration, the ultrasonic interval time and the ultrasonic emission power.

[0101] It should be noted that the controller controls the movement of the treatment head relative to the target position according to the movement path and movement time of the treatment head, and performs the following operations:

[0102] According to the target tilt angle, the current pose parameter of the ultrasonic focal point of the treatment head is obtained.

[0103] It can be understood that the ultrasonic focal point of the treatment head is the focal point position of the ultrasonic wave emitted by the treatment head or the ultrasonic transducer, and the ultrasonic focal point is located on the treatment head, generally at the center position of the treatment head.

[0104] In some embodiments, the ultrasonic treatment instrument controls the movement of the treatment head through a six-axis collaborative robot. The movement of the treatment head can be regarded as the movement of the ultrasonic focal point of the treatment head, and the ultrasonic focal point of the treatment head is taken as the tool center point, and a base coordinate system is established with the target position as the origin, and the tool coordinate system of the six-axis collaborative robot is taken as the reference coordinate system.

[0105] It can be understood that any rigid body in the base coordinate system (OXYZ) can be accurately and uniquely represented by the position coordinates (x, y, z) and the attitude (the included angle rx of the treatment head with the OX axis, the included angle ry of the treatment head with the OY axis, and the included angle rz of the treatment head with the OZ axis). For a six-axis collaborative robot, any point in space must be specified by the above six parameters, i.e. (x, y, z, rx, ry, rz). Even if (x, y, z) are the same, (rx, ry, rz) are different, which means that the robot reaches the same point with different attitudes. For the ultrasonic focal point of the treatment head, the current pose parameter is (x, y, z, rx, ry, rz).

[0106] It can be understood that for the current pose parameter (x, y, z, rx, ry, rz) of the ultrasonic focal point, (x, y, z) is kept unchanged, rx or ry in (rx, ry, rz) is changed to the target tilt angle (that is, the tool coordinate system is rotated by a specified angle around the x axis or the y axis), 1000T pose parameters are generated according to the movement time T of the treatment head, and rz is changed continuously. The changed pose coordinates are sent to the collaborative robot to realize the movement of the treatment head. The specific transformation of the pose parameter can be realized by a homogeneous matrix.

[0107] According to the current pose parameter of the ultrasonic focal point, the homogeneous matrix corresponding to the current pose parameter of the ultrasonic focal point is calculated.

[0108] It can be understood that assuming that the base coordinate system is OXYZ, the reference coordinate system is O m X mY m Z m The position of the ultrasound treatment head can be represented by a 3x1 matrix, that is, the position of the reference coordinate system center O m The position in the base coordinate system is, that is,

[0109]

[0110] The pose of the ultrasound treatment head can be represented by a 3x3 matrix, that is, the pose of the reference coordinate system in the base coordinate system, that is,

[0111]

[0112] wherein the first column represents the components of the O m X m axis of the reference coordinate system in the three axis directions of the base coordinate system, and is called the unit principal vector. Similarly, the second column and the third column are the components of the O m Y m axis and the O m Z m axis of the reference coordinate system in the three axis directions of the base coordinate system.

[0113] Therefore, the homogeneous matrix corresponding to the current pose parameters of the ultrasound focal point is:

[0114]

[0115] According to the motion time of the treatment head, the homogeneous matrix is subjected to a compound transformation to obtain a plurality of homogeneous coordinates.

[0116] In some embodiments, with reference to Figure 9 , Figure 9 is a schematic diagram of pose transformation provided by an embodiment of the present application, wherein the coordinate system OXYZ is a base coordinate system, and O m X m Y m Z m is a reference coordinate system, and O m X m Y m Z m relative to OXYZ represents the pose of the treatment head. Assuming that the treatment head is translated by (0, 20, 15) along the coordinate system OXYZ and is counterclockwise rotated by 90 degrees around the OZ axis, for this, the pose of the treatment head in the coordinate system OXYZ can be described as:

[0117]

[0118] Accordingly, the pose matrix of the reference coordinate system after rotating the X axis (Y axis, Z axis) by an angle θ can be obtained as:

[0119]

[0120] Homogeneous transformation can be used to describe the pose transformation of a rigid body in space. The homogeneous matrix can not only describe the pose of the rigid body in space, but also describe the pose transformation process. The homogeneous transformation is divided into translation transformation, rotation transformation and the combination of the above two.

[0121] The initial pose is represented as:

[0122]

[0123] The final pose is represented as:

[0124]

[0125] Wherein, Rot(Z i ,rz) is the matrix corresponding to the rotation of the reference coordinate system around the OZ axis by rz, Rot(Y i ,ry) is the matrix corresponding to the rotation of the reference coordinate system relative to the OY axis by ry, Rot(X i ,rx) is the matrix corresponding to the rotation of the reference coordinate system relative to the OX axis by rx, and Trans(x,y,z) is the movement distance of the origin of the reference coordinate system relative to the initial position.

[0126] Convert the homogeneous matrix to the target pose parameters.

[0127] It can be understood that, assuming the homogeneous matrix is known, and the form of the homogeneous matrix is:

[0128]

[0129] The position parameters can be obtained as:

[0130] x=p x ,y=p y ,z=p z

[0131] The attitude parameters can be obtained by the following expression:

[0132]

[0133] ry=arcsin(sinry)=arcsin(-n z )

[0134]

[0135]

[0136] The pose parameters are represented as:

[0137] ry = arcsin(sin ry) = arcsin(-n z )

[0138]

[0139]

[0140] According to the motion path and the target pose parameter, the treatment head is controlled to move relative to the target point position.

[0141] The treatment head provided by the embodiments of the present application makes the treatment head move around the target point position in the treatment process by detecting whether there is a good ultrasonic transmission path between the treatment head and the target point position and obtaining a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result, so that the target point position is unchanged but the ultrasonic transmission path is continuously changed, the cumulative effect of ultrasonic energy on the ultrasonic transmission path is reduced, the ultrasonic treatment problem in the clinical situation of rich blood supply, large size lesion and organ tissue needing to be avoided in the ultrasonic transmission path is solved, and the application range of the treatment equipment in the clinical use is expanded.

[0142] The device and application scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0143] Those skilled in the art can understand that, Figure 1 The device structure shown in the above-mentioned embodiments does not constitute a limitation on the embodiments of the present application, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0144] In Figure 1 In the device structure shown in the above-mentioned embodiments, each module can call the control method program of the treatment head stored therein to execute the control method of the treatment head.

[0145] Based on the above-mentioned device, each embodiment of the control method of the treatment head provided by the embodiments of the present application is proposed.

[0146] Referring to Figure 2 , Figure 2 is a main step diagram of a control method of a treatment head provided by the embodiments of the present application. The control method includes but is not limited to the following steps:

[0147] Step S100, obtaining a target point position and a current tilt angle, wherein the current tilt angle is the tilt angle of the sound beam axis of the ultrasonic transducer sent ultrasonic wave relative to the central axis.

[0148] Step S200, detecting whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current tilt angle, and obtaining a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result.

[0149] Step S300, controlling the ultrasonic transducer to emit ultrasonic waves to the target position according to the target tilt angle.

[0150] It can be understood that the control method of the treatment head provided by the embodiment of the application obtains the target position and the current tilt angle, the current tilt angle is the tilt angle of the sound beam axis of the ultrasonic wave transmitted by the ultrasonic transducer relative to the sound beam axis, detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current tilt angle, and obtains a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result, the ultrasonic transducer emits ultrasonic waves to the target position through the target tilt angle, the treatment head is controlled from the current tilt angle to the target tilt angle, the ultrasonic transmission path is changed, and the good ultrasonic transmission path between the treatment head and the target position is selected as the ultrasonic treatment path, which effectively avoids important organs and improves the treatment effect of ultrasonic treatment and the user experience.

[0151] Reference Figure 3 , Figure 3 is a step diagram for calculating a target tilt angle of a control method of a treatment head provided by the embodiment of the application. Step S200 includes but is not limited to the following steps:

[0152] Step S210, controlling the image collector to obtain a first ultrasonic image between the treatment head and the target position according to the current tilt angle.

[0153] Step S220, judging whether there is a good ultrasonic transmission path between the treatment head and the target position according to the first ultrasonic image.

[0154] It can be understood that if there is no important organ on the ultrasonic transmission path between the treatment head and the target position, that is, the ultrasonic wave passing through the ultrasonic transmission path will not cause harm to the human body, then the treatment head and the target position have a good ultrasonic transmission path.

[0155] It can be understood that there are multiple good ultrasonic transmission paths between the treatment head and the target position, and one or more ultrasonic transmission paths can be selected for use as needed.

[0156] Step S230, obtaining a target tilt angle corresponding to the good ultrasonic transmission path according to the judgment result.

[0157] Reference Figure 4 , Figure 4is another step diagram for calculating a target tilt angle of a control method of a treatment head provided by the embodiment of the present application. Step S230 includes but is not limited to the following steps:

[0158] Step S231, when there is a good ultrasonic penetration path between the treatment head and the target point position, taking the current tilt angle as the target tilt angle.

[0159] It should be noted that when there is a good ultrasonic penetration path between the treatment head and the target point position, i.e. when there is a good ultrasonic penetration path between the treatment head and the target point position corresponding to the current tilt angle, the current tilt angle is taken as the target tilt angle.

[0160] Referring to Figure 5 , Figure 5 is another step diagram for calculating a target tilt angle of a control method of a treatment head provided by the embodiment of the present application. Step S230 includes but is not limited to the following steps:

[0161] Step S232, when there is no good ultrasonic penetration path between the treatment head and the target point position, updating the current tilt angle.

[0162] It can be understood that when there is no good ultrasonic penetration path between the treatment head and the target point position, the current tilt angle is updated, and the value of the updated tilt angle is different from the value of the tilt angle before updating.

[0163] Step S233, according to the current tilt angle, controlling the image collector to obtain a first ultrasonic image between the treatment head and the target point position corresponding to the current tilt angle.

[0164] Step S234, when there is no good ultrasonic penetration path between the treatment head and the target point position, returning to update the current tilt angle until there is a good ultrasonic penetration path between the treatment head and the target point position.

[0165] Step S235, taking the last obtained current tilt angle as the target tilt angle.

[0166] Referring to Figure 6 , Figure 6 is a step diagram for ultrasonic wave emission of a control method of a treatment head provided by the embodiment of the present application.

[0167] Step S300 includes but is not limited to the following steps:

[0168] Step S310, according to the target tilt angle, controlling the image collector to obtain a second ultrasonic image between the treatment head and the target point position corresponding to the target tilt angle.

[0169] It can be understood that the diseased information of the target point can be obtained according to the second ultrasound image, and the ultrasound emission dose of the ultrasound transducer and the motion time of the treatment head are controlled according to the diseased information of the target point.

[0170] In step S320, the motion path of the treatment head is obtained according to the target inclination angle.

[0171] In step S330, the ultrasound emission dose of the ultrasound transducer and the motion time of the treatment head are controlled according to the second ultrasound image.

[0172] It can be understood that the ultrasound emission dose includes the pulse duration, the ultrasound interval time and the ultrasound emission power.

[0173] In step S340, the treatment head is controlled to move relative to the target point position according to the motion path and the motion time of the treatment head.

[0174] In step S350, the ultrasound transducer is controlled to emit ultrasound waves to the target point position according to the ultrasound emission dose of the ultrasound transducer.

[0175] It can be understood that the motion of the treatment head and the emission of the ultrasound waves by the ultrasound transducer are performed simultaneously.

[0176] Referring to Figure 7 , Figure 7 FIG. 3 is a step diagram of the treatment head motion in the control method of the treatment head provided by an embodiment of the present application, and step S340 includes but is not limited to the following steps:

[0177] In step S341, the current pose parameter of the ultrasound focal point of the treatment head is obtained according to the target inclination angle.

[0178] It can be understood that the ultrasound focal point of the treatment head is the focal point position of the ultrasound waves emitted by the treatment head or the ultrasound transducer, and the ultrasound focal point is located on the treatment head, generally at the center position of the treatment head.

[0179] In some embodiments, as shown in Figure 10 , Figure 10 FIG. 2 is a schematic diagram of the treatment head motion provided by an embodiment of the present application, and Figure 10 FIG. 1 is a step diagram of the treatment head relative to the patient in the ultrasound treatment process. The ultrasound treatment instrument 100 controls the treatment head 110 to move around the lesion point of the patient through the six-axis collaborative robot 130. The motion of the treatment head 110 can be regarded as the motion of the ultrasound focal point of the treatment head 110, and the ultrasound focal point of the treatment head 110 is regarded as the tool center point. A base coordinate system is established with the target point position as the origin, and a tool coordinate system of the six-axis collaborative robot 130 is regarded as the reference coordinate system.

[0180] It can be understood that any rigid body can be accurately and uniquely represented in the base coordinate system (OXYZ) by position coordinates (x, y, z) and attitude (the angle between the treatment head and the OX axis rx, the angle between the treatment head and the OY axis ry, and the angle between the treatment head and the OZ axis rz). For a six-axis collaborative robot, any point in space must be explicitly specified by the above six parameters, i.e. (x, y, z, rx, ry, rz). Even if (x, y, z) are the same, (rx, ry, rz) are different, which means that the robot reaches the same point with different attitudes. For the ultrasound focal point of the treatment head, the current pose parameter is (x, y, z, rx, ry, rz).

[0181] It can be understood that for the current pose parameter (x, y, z, rx, ry, rz) of the ultrasound focal point, (x, y, z) is kept unchanged, rx or ry in (rx, ry, rz) is changed to the target tilt angle (i.e. the tool coordinate system is rotated by a specified angle around the x axis or the y axis), 1000T pose parameters are generated according to the movement time T of the treatment head, and rz is changed continuously. The changed pose coordinates are sent to the collaborative robot to realize the movement of the treatment head. The specific transformation of the pose parameters can be realized by a homogeneous matrix.

[0182] Step S342, according to the current pose parameter of the ultrasound focal point, the homogeneous matrix corresponding to the current pose parameter of the ultrasound focal point is calculated.

[0183] It can be understood that assuming that the base coordinate system is OXYZ, the reference coordinate system is O m X m Y m Z m , the position of the ultrasound treatment head can be represented by a 3x1 matrix, i.e. the position of the center O m in the base coordinate system, i.e.

[0184]

[0185] The attitude of the ultrasound treatment head can be represented by a 3x3 matrix, i.e. the attitude of the reference coordinate system in the base coordinate system, i.e.

[0186]

[0187] wherein the first column represents the components of the O m X m axis of the reference coordinate system in the three axis directions of the base coordinate system, which is called the unit principal vector. Similarly, the second column and the third column are the O m Y m axis and the O m Z mComponents of the axis in three axis directions of the base coordinate system.

[0188] Therefore, the homogeneous matrix corresponding to the current pose parameter of the ultrasound focus is:

[0189]

[0190] In step S343, the homogeneous matrix is transformed to obtain a plurality of homogeneous matrices according to the motion time of the treatment head.

[0191] In some embodiments, with reference to Figure 9 , Figure 9 is a schematic diagram of pose transformation provided by an embodiment of the present application, wherein the coordinate system OXYZ is a base coordinate system, O m X m Y m Z m is a reference coordinate system, and O m X m Y m Z m represents the pose of the treatment head. Assuming that the treatment head is translated by (0, 20, 15) along the coordinate system OXYZ and is counterclockwise rotated by 90 degrees around the OZ axis, the pose of the treatment head in the coordinate system OXYZ can be described as:

[0192]

[0193] Accordingly, the pose matrix of the reference coordinate system after being rotated by an angle θ around the X axis (Y axis, Z axis) can be obtained as:

[0194]

[0195] The homogeneous transformation can be used to describe the pose transformation of a rigid body in space. The homogeneous matrix can not only describe the pose of the rigid body in space, but also describe the pose transformation process. The homogeneous transformation is divided into translation transformation, rotation transformation, and the combination of the two.

[0196] The initial pose is represented as:

[0197]

[0198] The final pose is represented as:

[0199]

[0200] Rot(Z i , rz) is a matrix corresponding to the rotation of the reference coordinate system around the OZ axis by rz, Rot(Y i , ry) is a matrix corresponding to the rotation of the reference coordinate system relative to the OY axis by ry, and Rot(X i, rx) is a matrix corresponding to rotation of the reference coordinate system relative to the OX axis by rx, and Trans(x, y, z) is a movement distance of the origin of the reference coordinate system relative to the initial position.

[0201] Step S344, converting the homogeneous matrix into target pose parameters.

[0202] It can be understood that, assuming that the homogeneous matrix is known, and the homogeneous matrix is in the form of:

[0203]

[0204] The position parameters can be obtained as:

[0205] x = p x y = p y z = p z

[0206] The attitude parameters can be obtained by the following expression:

[0207]

[0208] ry = arcsin(sinry) = arcsin(-n z )

[0209]

[0210]

[0211] The pose parameters are represented as:

[0212] ry = arcsin(sinry) = arcsin(-n z )

[0213]

[0214]

[0215] Step S345, controlling the treatment head to move relative to the target point position according to the motion path and the target pose parameters.

[0216] It can be understood that, the treatment head makes inclined circular motion around the target point position, realizes that the focal point is unchanged but the ultrasonic path is continuously changed, reduces the cumulative effect of ultrasonic energy on the ultrasonic path, solves the ultrasonic treatment problem in the clinical situation of rich blood supply, large size lesion and organ tissue needing to be avoided on the ultrasonic path, and expands the application range of the treatment equipment in clinical use.

[0217] Referring to Figure 8 , Figure 8is a structural schematic diagram of an ultrasonic therapeutic instrument provided by an embodiment of the present application. The embodiment of the present application provides an ultrasonic therapeutic instrument 100, which comprises a treatment head 110 and an ultrasonic therapeutic host 120. The treatment head 110 comprises an ultrasonic transducer, an image collector and a controller 140. The controller 140 is connected with the ultrasonic transducer and the image collector. The ultrasonic therapeutic host 120 is connected with the treatment head 110 and the controller 140 respectively. The treatment head 110 can be connected with the ultrasonic therapeutic host 120 through a six-axis collaborative robot 130. The controller 140 can execute the control method as in steps S100 to S300. Therefore, the ultrasonic therapeutic instrument 100 can realize the transformation of the ultrasonic penetration path, reduce the cumulative effect of the ultrasonic energy on the ultrasonic path, solve the ultrasonic treatment problem in the clinical situation of rich blood supply, large size lesion and the need to avoid organ tissue on the ultrasonic path, and expand the application range of the treatment equipment in the clinical use.

[0218] In addition, the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method of the treatment head as in steps S100 to S300 is executed.

[0219] The processor and the memory can be connected through a bus or other means.

[0220] The memory, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0221] The non-transitory software programs and instructions required to implement the control method of the treatment head of the above-mentioned embodiments are stored in the memory, and when executed by the processor, the control method of the treatment head in the above-mentioned embodiments is executed, for example, the method steps S100 to S300 in the above description are executed. Figure 2

[0222] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e. can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment.

[0223] ​Furthermore, one embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, causing the processor to perform the control method for the treatment head described above, for example, performing the above-described... Figure 2 Method steps S100 to S300 in the text Figure 3 Method steps S210 to S230 in the text Figure 4 Method steps S210 to S231 in the text Figure 5 Method steps S210 and S235, Figure 6 Method steps S310 to S350 in the text Figure 7 Method steps S341 to S345.

[0224] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0225] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A treatment head, characterized in that, The method comprises the following steps: an ultrasonic transducer for emitting ultrasonic waves; an image collector for acquiring an ultrasonic image between the treatment head and a target position; a controller connected with the ultrasonic transducer and the image collector respectively, the controller being configured to: acquire a target position and a current tilt angle, wherein the current tilt angle is the tilt angle of the sound beam axis of the ultrasonic waves emitted by the ultrasonic transducer relative to the central axis; detect whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current tilt angle, and obtain a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result; determine a motion path of the treatment head and a motion time of the treatment head according to the target tilt angle; obtain a current pose parameter of the ultrasonic focal point of the treatment head according to the target tilt angle; calculate a homogeneous matrix corresponding to the current pose parameter of the ultrasonic focal point according to the current pose parameter of the ultrasonic focal point; compound transform the homogeneous matrix to obtain a plurality of homogeneous matrices according to the motion time of the treatment head; convert the homogeneous matrix into a target pose parameter; control the treatment head to move relative to the target position according to the motion path and the target pose parameter, so as to control the ultrasonic transducer to emit ultrasonic waves to the target position based on the target tilt angle; wherein when the controller detects whether there is a good ultrasonic transmission path between the treatment head and the target position according to the current tilt angle, and obtains a target tilt angle corresponding to the good ultrasonic transmission path according to the detection result, the controller performs the following steps: control the image collector to acquire a first ultrasonic image between the treatment head and the target position according to the current tilt angle; determine whether there is a good ultrasonic transmission path between the treatment head and the target position according to the first ultrasonic image; obtain a target tilt angle corresponding to the good ultrasonic transmission path according to the determination result.

2. The treatment head of claim 1, wherein, When the treatment head and the target position have a good ultrasonic transmission path, the controller takes the current tilt angle as the target tilt angle. When the treatment head and the target position do not have a good ultrasonic transmission path, the controller updates the current tilt angle; 3. The treatment head of claim 2, wherein, control the image collector to acquire a first ultrasonic image between the treatment head and the target position corresponding to the current tilt angle according to the current tilt angle; ​ ​ When there is no good ultrasonic penetration path between the treatment head and the target position, the current tilt angle is updated until there is a good ultrasonic penetration path between the treatment head and the target position; The last obtained current tilt angle is taken as a target tilt angle.

4. The treatment head of claim 1, wherein, When the controller determines the movement path of the treatment head and the movement time of the treatment head according to the target tilt angle, the controller performs: According to the target tilt angle, the image collector obtains a second ultrasonic image between the treatment head and the target position corresponding to the target tilt angle; According to the target tilt angle, the movement path of the treatment head is obtained; According to the second ultrasonic image, the ultrasonic emission dose of the ultrasonic transducer and the movement time of the treatment head are controlled; When the controller controls the ultrasonic transducer to emit ultrasonic waves to the target position based on the target tilt angle, the controller performs: According to the ultrasonic emission dose of the ultrasonic transducer, the ultrasonic transducer emits ultrasonic waves to the target position.

5. The treatment head of claim 4, wherein, The ultrasonic emission dose includes pulse duration, ultrasonic interval time and ultrasonic emission power.

6. An ultrasonic therapy apparatus, characterized by It comprises: The treatment head of claim 1; An ultrasonic treatment host connected with the treatment head and the controller respectively.

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