A nuclear magnetic resonance ultrasonic knife control device and a nuclear magnetic resonance medical bed

Abstract

The application relates to a nuclear magnetic resonance ultrasonic knife control device and a nuclear magnetic resonance medical bed, which comprises a control box body filled with ultrasonic coupling liquid, a control support arranged in the control box body, an ultrasonic transducer arranged in the control box body and rotationally connected to the control support, a first steering driving assembly arranged in the control box body and driving the control support to rotate perpendicularly to the rotation direction of the ultrasonic transducer, a horizontal driving assembly arranged in the control box body and driving the control support to move horizontally, and a vertical driving assembly arranged in the control box body and driving the control support to move vertically. A second steering driving assembly is arranged in the control box body and drives the control support to rotate parallel to the rotation direction of the ultrasonic transducer. The application has the characteristics of increasing the rotation dimension of the ultrasonic transducer and increasing the treatment depth.

Description

Technical Field

[0001] This application relates to the field of nuclear magnetic resonance technology, and in particular to a nuclear magnetic resonance ultrasonic scalpel control device and a nuclear magnetic resonance medical bed. Background Technology

[0002] Currently, MRI-pHIFU (Magnetic Resonance Guided Phased-Scan High-Intensity Focused Ultrasound) is a non-invasive thermal ablation technique based on real-time magnetic resonance imaging. In recent years, it has shown good results in the clinical treatment of tumors such as uterine fibroids and brain tumors. The core of MRI-pHIFU lies in a movable ultrasound transducer. When the doctor has determined the ablation area and is preparing to perform the ablation procedure, accurate and reliable positioning of the ultrasound transducer plays a crucial role in selectively ablating the lesion tissue. Positioning the ultrasound transducer requires precise mechanical control devices.

[0003] In existing technologies, ultrasound transducers can move horizontally within an MRI medical bed and rotate to both sides of the bed. With advancements in medical technology, to perform surgery more accurately, ultrasound transducers can also rotate in another direction, thus enabling treatment in various directions. However, the size of the MRI medical bed should not be too large, limiting the rotation angle of the ultrasound transducer. Furthermore, bone absorbs more than 50 times the heat of ordinary tissue, making it impossible to accurately treat lesions obscured by bone, and posing a risk of burns. Summary of the Invention

[0004] To increase the treatment depth of an ultrasound transducer, this application provides a magnetic resonance ultrasonic scalpel control device and a magnetic resonance medical bed.

[0005] Firstly, this application provides a nuclear magnetic resonance ultrasonic scalpel control device, which is specifically achieved through the following technical solution: A nuclear magnetic resonance ultrasonic scalpel control device includes a control box filled with ultrasonic coupling fluid, a control bracket disposed within the control box, an ultrasonic transducer disposed within the control box and rotatably connected to the control bracket, a first steering drive assembly disposed within the control box and driving the control bracket to rotate perpendicular to the rotation direction of the ultrasonic transducer, a lateral drive assembly disposed within the control box and driving the control bracket to move horizontally laterally, and a longitudinal drive assembly disposed within the control box and driving the control bracket to move horizontally longitudinally. A second steering drive assembly is disposed within the control box and driving the control bracket to rotate parallel to the rotation direction of the ultrasonic transducer.

[0006] By adopting the above technical solution, when the MRI ultrasonic scalpel is controlled by the control device, the transverse drive component and the longitudinal drive component drive the ultrasonic transducer to move horizontally within the control box. The first steering drive component drives the control bracket to rotate to both sides of the control box, and the ultrasonic transducer itself can also rotate at a certain angle. Then, the second drive component drives the entire control bracket to rotate, and the rotation direction is the same as the rotation direction of the ultrasonic transducer, so that the ultrasonic transducer can rotate further in the rotation direction, thereby increasing the rotation angle of the ultrasonic transducer.

[0007] Preferably, the control bracket includes a control block fixed to the first steering drive assembly and control plates rotatably connected to both ends of the control block. The ultrasonic transducer is rotatably connected between the two control plates and located on the side away from the control block. The second steering drive assembly includes a control motor horizontally mounted on the inner wall of one of the control plates. The output shaft of the control motor is parallel to the rotation axis of the control plate. A drive gear is provided on the output shaft of the control motor. A driven gear meshing with the drive gear is provided on the side of the control block near the ultrasonic transducer.

[0008] By adopting the above technical solution, the motor drives the active gear to rotate, and the active gear and the passive gear mesh. When the passive gear is stationary, the control board that controls the motor will rotate, and then the ultrasonic transducer will drive another control board to rotate together, thereby changing the depth of the ultrasonic transducer in the medical bed, and thus achieving the effect of changing the treatment depth.

[0009] Preferably, the control motor is provided with a reduction gear set meshing with the driving gear on one side of the driving gear, and the driven gear meshes with the reduction gear set.

[0010] By adopting the above technical solution, the rotation of the ultrasonic transducer is directly controlled by the motor, which makes the rotation process too fast and difficult to make slight adjustments. In this solution, a reduction gear set is set between the active gear and the passive gear. On the one hand, this reduces the pressure on the control motor to drive the entire ultrasonic transducer, and on the other hand, it can improve the accuracy when changing the treatment depth.

[0011] Preferably, both the lateral drive assembly and the longitudinal drive assembly include a drive base, a drive motor fixed to one end of the drive base, a drive screw coaxially fixed to the output shaft of the drive motor, and a slider threaded onto the drive screw and sliding along the length of the drive screw. The longitudinal drive assembly is located above the lateral drive assembly, and the lateral drive assembly drives the longitudinal drive assembly to move horizontally.

[0012] By adopting the above technical solution, when the transverse drive component and the longitudinal drive component are working, the drive motor drives the drive screw to rotate, and the slider slides in the length direction of the drive screw. The longitudinal drive component is located on the upper side of the transverse drive component, so that the transverse drive component can drive the longitudinal drive component to move horizontally. In this solution, all components are immersed in ultrasonic coupling fluid. This driving method is smoother and more convenient.

[0013] Preferably, the first steering drive assembly includes a steering base that is horizontally driven by the longitudinal drive assembly and a steering motor disposed on the side end of the steering base, wherein the output shaft of the steering motor rotates horizontally through the middle of the steering motor and is fixed to the control bracket.

[0014] By adopting the above technical solution, the output shaft is driven to rotate by the steering motor, and then the control bracket is driven to rotate by the output shaft, thereby achieving the effect of driving the ultrasonic transducer to rotate. At the same time, the output shaft of the steering motor is inserted into the middle of the steering base, so that the weight of the control bracket and the ultrasonic transducer will be applied to the steering base, thereby increasing the stability of the entire control device during driving.

[0015] Preferably, the control bracket is provided with a swing assembly, which includes a swing motor disposed on the control plate, a first swing block disposed on one end of the control plate away from the swing motor and connected to the output shaft of the swing motor, a connecting rod rotatably connected to one side of the rotation shaft of the first swing block, and a second swing block rotatably connected to the other end of the connecting rod. The second swing block is connected to the rotation shaft of the ultrasonic transducer.

[0016] By adopting the above technical solution, the swing motor works, driving the first swing block to rotate. The first swing block drives the connecting rod to move, causing the connecting rod to drive the second swing block to rotate, which in turn drives the ultrasonic transducer to rotate. This solution uses the swing component to swing the ultrasonic transducer with a small amplitude, and the swing efficiency is faster and more accurate.

[0017] Preferably, the inner wall of the control box is provided with multiple temperature control tubes immersed in ultrasonic coupling fluid.

[0018] By adopting the above technical solution, the ultrasonic transducer needs to be maintained at a certain temperature during operation. In this solution, a temperature control tube is installed on the inner wall of the control box to control the temperature of the ultrasonic coupling fluid, thereby ensuring that the ultrasonic transducer can always be used at the optimal operating temperature, thus ensuring the treatment effect.

[0019] Secondly, this application provides a magnetic resonance imaging (MRI) medical bed, which is specifically achieved through the following technical solution: A magnetic resonance imaging (MRI) medical bed includes the MRI ultrasonic scalpel control device as described in any one of claims 1-7 and a bed body installed on the upper end of the control box.

[0020] By adopting the above technical solution, when using the MRI medical bed with an MRI ultrasonic scalpel control device, the ultrasonic transducer is rotated by the control device, making the MRI medical bed have a larger treatment angle, deeper depth, and more comprehensive treatment.

[0021] Preferably, a clamping assembly is provided at both ends of the bed body. The clamping assembly includes a clamping base and multiple sets of clamping rods arranged vertically on the upper end of the clamping base. Each set of clamping rods includes multiple rods arranged horizontally and evenly along the length of the bed body. The clamping rods slide in a direction perpendicular to the bed body.

[0022] By adopting the above technical solution, when a patient is treated using this MRI medical bed, the ultrasound transducer will not cause pain when cleaning necrotic tissue inside the body, but there will be a slight burning sensation. If the patient twists their body due to the slight burning sensation, it may easily lead to the termination of the treatment process or even the deterioration of the treatment. In this solution, clamping components are set at both ends of the bed. When the patient lies on the bed, the patient can be fixed by the clamping components. At the same time, the clamping components include multiple clamping rods, so that when the clamping components are pressed against the patient's body, they can conform to the patient's body curves, thereby making the fixation more secure and convenient.

[0023] Preferably, the upper end of the clamping base is provided with a sliding frame for the clamping rod to slide through, and the end of the sliding frame away from the bed is provided with a clamping cylinder for driving the clamping rod to slide, and the end of the clamping rod away from the clamping cylinder is provided with an elastic rubber block.

[0024] By adopting the above technical solution, each clamping rod is driven individually by a clamping cylinder, making the clamping position more accurate. At the same time, elastic rubber blocks are set at the ends of the clamping rods to prevent patients from being injured when they are clamped and fixed, making it safer.

[0025] In summary, the beneficial technical effects of this application are as follows: 1. When the MRI ultrasonic scalpel is controlled by the control device, the transverse drive assembly and the longitudinal drive assembly drive the ultrasonic transducer to move horizontally within the control box. The first steering drive assembly drives the control bracket to rotate to both sides of the control box. The ultrasonic transducer itself can also rotate at a certain angle. Then, the second drive assembly drives the entire control bracket to rotate, and the direction of rotation is the same as the direction of rotation of the ultrasonic transducer, so that the ultrasonic transducer can rotate further in the direction of rotation, thereby increasing the angle of rotation of the ultrasonic transducer. 2. By controlling the motor to drive the active gear to rotate, the active gear and the passive gear mesh. When the passive gear is stationary, the control board that controls the motor will rotate. Then, the ultrasonic transducer will drive another control board to rotate together, thereby changing the depth of the ultrasonic transducer in the medical bed, and thus achieving the effect of changing the treatment depth. 3. Clamping components are installed on both sides of the bed. When the patient lies on the bed, the patient can be fixed by the clamping components. The clamping components include multiple clamping rods, so that when the clamping components come into contact with the patient's body, they can conform to the patient's body curves, making the fixation more secure and convenient. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a nuclear magnetic resonance medical bed; Figure 2 for Figure 1 Enlarged view of point A; Figure 3 This is a schematic diagram of the control device for nuclear magnetic resonance ultrasonic scalpel. Figure 4 A schematic diagram of the control device for nuclear magnetic resonance ultrasonic scalpel from another perspective; Figure 5 for Figure 4 Enlarged view of point B; Figure 6 for Figure 4 Enlarged view of point C.

[0027] In the diagram: 1. Bed frame; 2. Control box; 3. Control bracket; 31. Control block; 32. Control board; 4. Ultrasonic transducer; 5. Swing assembly; 51. Swing motor; 52. First swing block; 53. Connecting rod; 54. Second swing block; 55. Fixed rod; 6. First steering drive assembly; 61. Steering base; 62. Steering motor; 7. Second steering drive assembly; 71. Control motor; 72. Drive gear; 73. Reduction gear set; 74. Driven gear; 8. Lateral drive assembly; 9. Longitudinal drive assembly; 891. Drive base; 892. Drive motor; 893. Drive screw; 894. Slider; 895. Guide post; 896. Guide block; 10. Temperature control tube; 11. Clamping assembly; 111. Waist support; 113. Sliding frame; 114. Clamping cylinder; 115. Clamping rod; 116. Elastic rubber block. Detailed Implementation

[0028] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0029] See Figure 1 A magnetic resonance medical bed includes a bed body 1 and a magnetic resonance ultrasonic scalpel control device.

[0030] See Figure 3 and Figure 4 The nuclear magnetic resonance ultrasonic scalpel control device includes a control box 2 filled with ultrasonic coupling fluid, a control bracket 3 disposed within the control box 2, an ultrasonic transducer 4 disposed within the control box 2 and rotatably connected to the control bracket 3, a swing assembly 5 that drives the ultrasonic transducer 4 to rotate, a first steering drive assembly 6 that drives the control bracket 3 to rotate perpendicular to the rotation direction of the ultrasonic transducer 4, a second steering drive assembly 7 that drives the control bracket 3 to rotate parallel to the rotation direction of the ultrasonic transducer 4, a transverse drive assembly 8 disposed within the control box 2 that drives the control bracket 3 to move horizontally laterally, and a longitudinal drive assembly 9 disposed within the control box 2 that drives the control bracket 3 to move horizontally longitudinally.

[0031] The transverse drive assembly 8 and the longitudinal drive assembly are arranged perpendicular to each other. Both the transverse drive assembly 8 and the longitudinal drive assembly include a drive base 891, a drive motor 892 fixed to one end of the drive base 891 by bolts, a drive screw 893 coaxially welded to the output shaft of the drive motor 892, and a slider 894 threaded on the drive screw 893 and sliding along the length of the drive screw 893. The longitudinal drive assembly 9 is located above the transverse drive assembly 8, and the drive base 891 of the longitudinal drive assembly 9 is fixed to the upper end of the slider 894 of the transverse drive assembly 8 by bolts.

[0032] The first steering drive assembly 6 includes a steering base 61 bolted to the upper end of the slider 894 of the lateral drive assembly 8 and a steering motor 62 bolted to the side end of the steering base 61. The output shaft of the steering motor 62 passes horizontally through the middle of the steering base 61. A guide post 895 is bolted to the upper end of the drive base 891. Guide blocks 896 are bolted to the lower end surfaces of both the steering base 61 and the drive base 891 on the lateral drive assembly 8. The guide blocks 896 are slidably sleeved on the guide post 895, so that the longitudinal drive assembly 9 can drive the lateral drive assembly 8 to slide horizontally, and the lateral drive assembly 8 can drive the first steering assembly to slide horizontally.

[0033] The control bracket 3 includes a control block 31 that is horizontally fixed to the output shaft end of the steering motor 62 by bolts and a control plate 32 that is rotatably connected to both ends of the control block 31 by a rotating shaft. The ultrasonic transducer 4 is rotatably connected to the end of the two control plates 32 away from the control block 31 by a rotating shaft. The first steering drive assembly 6 can drive the entire control bracket 3 to rotate by the steering motor 62.

[0034] See Figure 4 and Figure 5The second steering drive assembly 7 includes a control motor 71 bolted to the inner wall of a control plate 32, a drive gear 72 coaxially keyed to the output shaft of the control motor 71, a reduction gear set 73 rotatably connected to one side of the output shaft of the control motor 71 and meshing with the drive gear 72, and a passive gear 74 bolted to the side of the control block 31 near the ultrasonic transducer 4. The rotation axes of the control motor 71, drive gear 72, reduction gear set 73, and passive gear 74 are all parallel to the rotation axis of the control plate 32. The passive gear 74 meshes with the reduction gear set 73, thereby enabling the drive gear 72 and the passive gear 74 to be connected in a transmission manner. When the control motor 71 is working, the drive gear 72 has a rotation tendency, which is transmitted to the passive gear 74 through the reduction gear set 73. When the passive gear 74 is fixed, the drive gear 72 drives the control plate 32 to rotate.

[0035] See Figure 4 and Figure 6 The swing assembly 5 includes a swing motor 51 fixed to the inner wall of the control plate 32 on the side away from the control motor 71 by bolts, a first swing block 52 connected to the output shaft of the swing motor 51 by bolts, a connecting rod 53 rotatably connected to the end of the first swing block 52 away from the control motor 71 by a rotating shaft, and a second swing block 54 rotatably connected to the end of the connecting rod 53 away from the first swing block 52 by a rotating shaft. A fixing rod 55 is fixed between the swing motor 51 and the control motor 71 by bolts, so that the two control plates 32 can rotate synchronously. The first swing block 52, the second swing block 54 and the connecting rod 53 are all located on the side of the control plate 32 away from the swing motor 51. The output shaft of the swing motor 51 passes through the control plate 32 and is connected to the first swing block 52. When the swing motor 51 is working, it drives the first swing block 52 to rotate. The first swing block 52 drives the connecting rod 53 to move, which in turn drives the second swing block 54 to rotate, and finally drives the ultrasonic transducer 4 to rotate.

[0036] See Figure 3 Multiple temperature control tubes 10 are fixed to the inner wall of the control box 2 by bolts.

[0037] See Figure 2Each side of the bed 1 is provided with a set of clamping components 11 along its own length. The clamping components 11 include a lumbar support 111 fixed to the upper end of the bed 1 by bolts, a sliding frame 113 fixed to the two end faces of the lumbar support 111 by bolts, multiple sets of clamping cylinders 114 fixed horizontally to the end face of the sliding frame 113 away from the bed 1 by bolts, and a clamping rod 115 fixed to the piston rod end of the clamping cylinder 114 by bolts. The clamping rod 115 is horizontal and passes horizontally through both ends of the lumbar support 111 to the middle. The clamping rods 115 are arranged in an array on the sliding frame 113. An elastic rubber block 116 is glued to the end of the clamping rod 115 away from the clamping cylinder 114. When the patient lies on the bed 1, the waist is located on the lumbar support 111. The clamping cylinder 114 can drive the clamping rod 115 to move horizontally until the elastic rubber block 116 abuts against the patient's waist, thereby clamping and fixing the patient and the bed 1.

[0038] The clamping assembly 11 on the bed body 1 and the bolts and other parts used to fix the clamping assembly 11 are made of plastic and rubber, so as not to affect the use of the MRI medical bed.

[0039] The implementation principle of this embodiment is as follows: When using this MRI medical bed, the patient lies directly on the upper part of the bed body 1, with their waist embedded in the lumbar support 111. Then, the clamping cylinder 114 pushes the clamping rod 115 horizontally upwards on the bed body 1, so that the clamping rod 115 moves until the elastic rubber block 116 abuts against the patient's waist. At this time, the patient is fixed. After the lateral drive assembly 8 and the longitudinal drive assembly 9 drive the first steering drive assembly 6 to move to the designated position, the steering motor 62 works and drives the entire control bracket 3 to rotate. Then, the control motor 71 drives the active gear 72 to rotate. The active gear 72 meshes with the passive gear 74 through the reduction gear set 73. When the passive gear 74 does not move, the control plate 32 rotates and drives the ultrasonic transducer 4 to rotate together, thereby adjusting the depth of the ultrasonic transducer 4. The swing motor 51 drives the first swing block 52 to rotate, and drives the second swing block 54 to rotate through the connecting rod 53, thereby driving the ultrasonic transducer 4 to rotate, thus completing the angle adjustment of the ultrasonic transducer 4. At this time, treatment can be performed through the ultrasonic transducer 4.

[0040] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A nuclear magnetic resonance ultrasonic scalpel control device, characterized in that: The system includes a control box (2) filled with ultrasonic coupling fluid, a control bracket (3) disposed within the control box (2), an ultrasonic transducer (4) disposed within the control box (2) and rotatably connected to the control bracket (3), a first steering drive assembly (6) disposed within the control box (2) and driving the control bracket (3) to rotate perpendicular to the rotation direction of the ultrasonic transducer (4), a transverse drive assembly (8) disposed within the control box (2) and driving the control bracket (3) to move horizontally laterally, and a longitudinal drive assembly (9) disposed within the control box (2) and driving the control bracket (3) to move horizontally longitudinally. The control box (2) is provided with a second steering drive assembly (7) that drives the control bracket (3) to rotate parallel to the rotation direction of the ultrasonic transducer (4). The control bracket (3) includes a control block (31) fixed on the first steering drive assembly (6) and control plates (32) rotatably connected to both ends of the control block (31). The ultrasonic transducer (4) is rotatably connected between the two control plates (32) and located on the side away from the control block (31). The second steering drive assembly (7) includes a control motor (71) horizontally mounted on the inner wall of one of the control plates (32). The output shaft of the control motor (71) is parallel to the rotation axis of the control plate (32). An active gear (72) is provided on the output shaft of the control motor (71). A passive gear (74) meshing with the active gear (72) is provided on the side end of the control block (31) near the ultrasonic transducer (4). A swing assembly (5) is provided on the control bracket (3).

2. The nuclear magnetic resonance ultrasonic scalpel control device according to claim 1, characterized in that: The control motor (71) is rotatably provided with a reduction gear set (73) meshing with the driving gear (72) on one side of the driving gear (72), and the driven gear (74) meshes with the reduction gear set (73).

3. The nuclear magnetic resonance ultrasonic scalpel control device according to claim 1, characterized in that: Both the transverse drive assembly (8) and the longitudinal drive assembly include a drive base (891), a drive motor (892) fixed to one end of the drive base (891), a drive screw (893) coaxially fixed to the output shaft of the drive motor (892), and a slider (894) threaded onto the drive screw (893) and sliding along the length of the drive screw (893). The longitudinal drive assembly (9) is located above the transverse drive assembly (8), and the transverse drive assembly (8) drives the longitudinal drive assembly (9) to move horizontally.

4. The nuclear magnetic resonance ultrasonic scalpel control device according to claim 1, characterized in that: The first steering drive assembly (6) includes a steering base (61) driven horizontally by the longitudinal drive assembly (9) and a steering motor (62) disposed on the side of the steering base (61). The output shaft of the steering motor (62) rotates horizontally through the middle of the steering motor (62) and is fixed to the control bracket (3).

5. The nuclear magnetic resonance ultrasonic scalpel control device according to claim 1, characterized in that: The swing assembly (5) includes a swing motor (51) mounted on the control board (32), a first swing block (52) mounted on one end of the control board (32) away from the swing motor (51) and connected to the output shaft of the swing motor (51), a connecting rod (53) rotatably connected to one side of the rotating shaft of the first swing block (52), and a second swing block (54) rotatably connected to the other end of the connecting rod (53). The second swing block (54) is connected to the rotating shaft of the ultrasonic transducer (4).

6. The nuclear magnetic resonance ultrasonic scalpel control device according to claim 1, characterized in that: The inner wall of the control box (2) is provided with multiple temperature control tubes (10) immersed in ultrasonic coupling fluid.

7. A nuclear magnetic resonance medical bed, characterized in that: It includes the nuclear magnetic resonance ultrasonic scalpel control device according to any one of claims 1-6 and the bed (1) installed on the upper end of the control box (2).

8. The medical bed according to claim 7, characterized in that: A clamping assembly (11) is provided at both ends of the bed body (1). The clamping assembly (11) includes a clamping base (112) and multiple sets of clamping rods (115) arranged vertically on the upper end of the clamping base (112). Each set of clamping rods (115) includes multiple rods arranged horizontally and evenly along the length of the bed body (1). The clamping rods (115) slide in a direction perpendicular to the bed body (1).

9. The medical bed according to claim 8, characterized in that: The upper end of the clamping base (112) is provided with a sliding frame (113) through which the clamping rod (115) slides. The end of the sliding frame (113) away from the bed (1) is provided with a clamping cylinder (114) for driving the clamping rod (115) to slide. The end of the clamping rod (115) away from the clamping cylinder (114) is provided with an elastic rubber block (116).

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