A pressure pulse measuring device and method for an extracorporeal shock wave lithotripsy

Abstract

A pressure pulse measurement device and method for an extracorporeal shock wave lithotripsy, the pressure pulse measurement device comprising a positioning mechanism, a needle hydrophone, an oscilloscope, a driver and a controller. The controller comprises a recording module, a planning module and an analysis module. The needle hydrophone is fixed on the positioning mechanism, and the needle hydrophone is connected to the oscilloscope. The planning module is used to preset the focal range and send the focal range to the analysis module. The analysis module is used to generate focal displacement information according to the focal range and the position information of the real focus, and send the focal displacement information to the driver. The driver is used to drive the positioning mechanism to move. The positioning mechanism is used to drive the needle hydrophone to move to find the focal range point of the shock wave source. When the focal range point is found, the next focal range point is found according to the focal range and the position information of the current focal range point. The designed pressure pulse measurement device performs pressure pulse measurement in a more accurate, efficient and convenient way.

Description

Technical Field

[0001] The present application relates to the field of acoustic field characteristics and measurement technology of a medical extracorporeal shock wave lithotripsy, and in particular to a pressure pulse measurement device and method for an extracorporeal shock wave lithotripsy. Background Art

[0002] At present, the pressure pulse measurement of the extracorporeal shock wave lithotripsy mainly uses a three-dimensional moving device, which is manually moved to locate the measurement space point. Specifically, three vernier calipers with a range of 200mm are mechanically connected to form a coordinate positioning system that can adjust the position in the three directions of xyz. The coordinates in the three directions of xyz are manually adjusted, and then the shock wave is released, and the shock wave signal is collected by the hydrophone to the oscilloscope.

[0003] Generally, in order to better evaluate the performance of shock waves, it is necessary to measure multiple focal range points. At this time, the coordinate positioning system is manually adjusted to move the hydrophone. Although shock wave signals at multiple focal range points can be obtained, there are also defects: First, the reciprocating adjustment time is long and the efficiency is low, and it may also affect the service life of the hydrophone, or because the hydrophone is used for too long, it may be damaged in the middle of the measurement, and the entire measurement data is incomplete and needs to be re-measured. Second, the three-dimensional coordinates are manually adjusted, the debugging accuracy is not good, and generally a random direction is measured. It is impossible to measure the focal range points on the entire plane, and the measurement on the same height plane cannot be guaranteed. Therefore, it is not easy to evaluate the performance of the shock wave source. Summary of the invention

[0004] The present application provides a pressure pulse measurement device and method for an extracorporeal shock wave lithotripsy, the main purpose of which is to measure the pressure pulse in a more accurate, efficient and convenient manner.

[0005] According to a first aspect of the present application, a pressure pulse measuring device for an extracorporeal shock wave lithotripsy is provided, comprising: a positioning mechanism, a needle hydrophone, an oscilloscope, a driver and a controller; the controller comprises a recording module, a planning module and an analysis module;

[0006] The needle hydrophone is fixed on the positioning mechanism, the needle hydrophone is connected to the oscilloscope, and the needle hydrophone is used to send the acquired shock wave information to the oscilloscope;

[0007] The planning module is used to preset a focal range and send the focal range to the analysis module;

[0008] The parsing module is used to parse and generate focal area displacement information according to the focal area range and the position information of the real focus, and send the focal area displacement information to the driver;

[0009] The driver is used to drive the positioning mechanism to move according to the focal area displacement information;

[0010] The positioning mechanism is used to drive the needle hydrophone to move to find the focal range point of the shock wave source;

[0011] When the focal range point is found, the needle hydrophone triggers the oscilloscope, and the triggered oscilloscope is used to send the position information of the focal range point to the recording module; the recording module is used to receive and record the position information of the focal range point, and the recording module is also used to send the position information of the focal range point to the analysis module; when the analysis module receives the position information of the focal range point, the analysis module first stops driving the positioning mechanism through the driver, and the analysis module is then used to analyze and generate the next focal range displacement information according to the focal range and the current position information of the focal range point, and the next focal range displacement information is used to find the next focal range point.

[0012] In one embodiment, the focal area displacement information includes preset three-dimensional information of the needle hydrophone that needs to be moved and a preset angle that needs to be rotated.

[0013] In one embodiment, the planning module is further used to send initial position information to the driver;

[0014] The driver is also used to drive the coordinate position of the positioning mechanism to initialize and return to zero according to the initial position information, and the initial position information is used to align the needle end of the needle hydrophone with the needle end of the positioning needle on the shock wave source;

[0015] The planning module is also used to send the initial position information to the analysis module;

[0016] The analysis module is further used to analyze and generate focus displacement information according to the initial position information, and send the focus displacement information to the driver;

[0017] After the coordinate position of the positioning mechanism is initialized and returned to zero, the driver is further used to drive the positioning mechanism to move according to the focus displacement information;

[0018] The positioning mechanism is also used to drive the needle hydrophone to move to find the real focus of the shock wave source;

[0019] When the real focus is found, the needle hydrophone triggers the oscilloscope, and the triggered oscilloscope is used to send the position information of the real focus to the recording module, and the recording module is used to receive and record the position information of the real focus, and the recording module is also used to send the position information of the real focus to the analysis module; when the analysis module receives the position information of the real focus, the analysis module first stops driving the positioning mechanism through the driver, and the analysis module is then used to analyze and generate the focal displacement information according to the focal range and the position information of the real focus.

[0020] In one embodiment, a sending module is also included, wherein the sending module is used to receive the initial position information sent by the planning module, and send the initial position information to the driver; the sending module is also used to receive the focal area displacement information or the focus displacement information sent by the analysis module, and send the focal area displacement information or the focus displacement information to the driver.

[0021] In one embodiment, a key module is further included, and the planning module is further used to send the initial position information and the focal range to the key module; the recording module is further used to send the position information of the real focus or the position information of the focal range point to the key module; the key module is used to input the focus displacement information to the driver according to the initial position information;

[0022] When the key module receives the position information of the real focus, the key module first stops driving the positioning mechanism through the driver, and the key module is used to parse and generate the focal area displacement information according to the focal area range and the position information of the real focus, and the key module is also used to send the focal area displacement information to the driver;

[0023] When the button module receives the position information of the focal range point, the button module first stops driving the positioning mechanism through the driver, and the button module is then used to parse and generate the next focal range displacement information according to the focal range and the current position information of the focal range point, and the button module is also used to send the next focal range displacement information to the driver.

[0024] In one embodiment, it also includes a graphics generation module, a focal range deviation module and a display module; the planning module is also used to send the focal range to the focal range deviation module; the recording module is also used to send the position information of the real focus and the position information of the focal range point to the graphics generation module and the focal range deviation module; the graphics generation module is used to draw a focal range graphic according to the position information of the real focus and the position information of the focal range point, and send the focal range graphic to the display module; the focal range deviation module is used to compare the position information of the real focus and the position information of the focal range point with the preset focal range to calculate a deviation value, and send the deviation value to the display module; the display module is used to display the focal range graphic and the deviation value.

[0025] In one embodiment, the positioning mechanism includes a first positioning component, a second positioning component and a third positioning component, and the needle hydrophone is fixed on the third positioning component;

[0026] The first positioning assembly is used to drive the second positioning assembly and the third positioning assembly to move along the first direction, the second positioning assembly is used to drive the third positioning assembly to move along the second direction, and the third positioning assembly is used to drive the needle hydrophone to move along the third direction toward or away from the shock wave source, and the first direction, the second direction and the third direction are perpendicular to each other.

[0027] In one embodiment, the motors on the first positioning assembly, the second positioning assembly and the third positioning assembly are respectively connected to the driver.

[0028] In one embodiment, it also includes multiple position detection sensors, and one position detection sensor is respectively set on each of the motors on the positioning mechanism; the position detection sensor is connected to the controller, and the position detection sensor is used to feedback position information to the controller; the controller is used to control the rotation of the transmission shaft on the motor through the driver according to the position information.

[0029] According to a second aspect of the present application, a method for measuring pressure pulses of an extracorporeal shock wave lithotripsy is provided, comprising:

[0030] A step of presetting a focal range, presetting a corresponding focal range according to a shock wave source;

[0031] The step of generating focal area displacement information comprises analyzing and generating the focal area displacement information according to the preset focal area range and the position information of the real focus;

[0032] A step of finding a focal range point, fixing the needle hydrophone on a positioning mechanism, wherein the positioning mechanism drives the needle hydrophone to move according to the focal range displacement information to find a focal range point;

[0033] The step of generating the next focal area displacement information, when the focal area range point is found, the next focal area displacement information is generated according to the preset focal area range and the position information of the current focal area range point;

[0034] A step of finding a next focal range point, wherein the positioning mechanism drives the needle hydrophone to move according to the next focal range displacement information to find the next focal range point;

[0035] After finding the next focal range point, when it is necessary to continue looking for the focal range point, continue to execute the steps of generating the next focal range displacement information and looking for the next focal range point in sequence; the focal range displacement information includes the preset three-dimensional information that the needle hydrophone needs to move and the preset angle that needs to be rotated.

[0036] According to the pressure pulse measurement device of the extracorporeal shock wave lithotripsy of the above-mentioned embodiment, first, the planning module presets the focal range, and sends the focal range to the analysis module, the analysis module generates focal displacement information by analyzing the focal range and the position information of the real focus, and sends the focal displacement information to the driver, the driver drives the positioning mechanism according to the focal displacement information, and the positioning mechanism drives the needle hydrophone thereon to move under the action of the focal displacement information to find the focal range point. Secondly, after finding the first focal range point, the analysis module can continue to analyze and generate new focal displacement information according to the focal range and the position information of the current focal range point, and find the next focal range point through the focal displacement information. When the next focal range point is found, the next focal range point can be found again, and so on, and multiple focal range points can be found. Through the planning module and the analysis module, the focal displacement information can be quickly and accurately analyzed and generated, and then multiple focal range points can be quickly found, making the acquisition of focal range points more accurate, efficient and convenient, significantly shortening the pressure pulse measurement cycle, and shortening the use time of the needle hydrophone, thereby extending the service life of the needle hydrophone and reducing the measurement cost. Through the recording module, the multiple focal range points found can be recorded in a timely manner, which is convenient for later research on the focal range graphics generated by the shock wave source, and is also convenient for comparison with the preset focal range to obtain the deviation value, which helps to better evaluate the performance of the shock wave source. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of a pressure pulse measuring device in one embodiment of the present application;

[0038] Figure 2 This is a schematic diagram of the positioning mechanism structure in one embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the controller structure in one embodiment of the present application;

[0040] Figure 4 This is a schematic diagram of the controller structure in another embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the partial structure of a pressure pulse measuring device in one embodiment of the present application;

[0042] Figure 6 A preset focal range map in one embodiment of the present application;

[0043] Figure 7 A focal range graph in one embodiment of the present application;

[0044] Figure 8 This is a deviation diagram of a preset focal range and a focal range graph in an embodiment of the present application.

[0045] Explanation of the accompanying drawings: 10. Positioning mechanism, 20. Needle hydrophone controller, 30. Oscilloscope, 40. Driver, 50. Controller, 60. Shock wave generator, 70. Bucket, 80. Position detection sensor, 11. First positioning assembly, 12. Second positioning assembly, 13. Third positioning assembly, 111. First motor, 112. First screw rod, 113. First transmission block, 121. Second motor, 122. Second screw rod, 123. Second transmission block, 51. Recording module, 52. Planning module, 53. Analysis module, 54. Sending module, 55. Key module, 56. Graphics generation module, 57. Focal area deviation module, 58. Display module. DETAILED DESCRIPTION

[0046] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0047] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0048] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0049] like Figure 1-5 As shown, in one embodiment, the pressure pulse measuring device of the extracorporeal shock wave lithotripsy comprises: a positioning mechanism 10, a needle hydrophone 20, an oscilloscope 30, a driver 40 and a controller 50. The controller 50 comprises a recording module 51, a planning module 52 and an analysis module 53.

[0050] The needle hydrophone 20 is fixed on the positioning mechanism 10 . The needle hydrophone 20 is connected to the oscilloscope 30 . The needle hydrophone 20 is used to send the acquired shock wave information to the oscilloscope 30 .

[0051] The planning module 52 is used to preset a focal range and send the focal range to the analyzing module 53 .

[0052] The analyzing module 53 is used for analyzing and generating focal area displacement information according to the focal area range and the position information of the real focus, and sending the focal area displacement information to the driver 40 .

[0053] The driver 40 is used to drive the positioning mechanism 10 to move according to the focal zone displacement information.

[0054] The positioning mechanism 10 is used to drive the needle hydrophone 20 to move so as to find the focal range point of the shock wave source.

[0055] When the focal range point is found, the needle hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 is used to send the position information of the focal range point to the recording module 51. The recording module 51 is used to receive and record the position information of the focal range point, and the recording module 51 is also used to send the position information of the focal range point to the analysis module 53. When the analysis module 53 receives the position information of the focal range point, the analysis module 53 first stops driving the positioning mechanism 10 through the driver 40, and the analysis module 53 is then used to analyze and generate the next focal range displacement information according to the focal range and the position information of the current focal range point, and the next focal range displacement information is used to find the next focal range point.

[0056] Using the pressure pulse measuring device of the extracorporeal shock wave lithotripsy in the above embodiment (referred to as the pressure pulse measuring device), first, the planning module 52 presets the focal range, and sends the focal range to the analysis module 53. The analysis module 53 generates focal displacement information by analyzing the focal range and the position information of the real focus, and sends the focal displacement information to the driver 40. The driver 40 drives the positioning mechanism 10 according to the focal displacement information. The positioning mechanism 10 drives the needle hydrophone 20 thereon to move under the action of the focal displacement information to find the focal range point. Secondly, after finding the first focal range point, the analysis module 53 can continue to analyze and generate new focal displacement information according to the focal range and the position information of the current focal range point, and find the next focal range point through the focal displacement information. When the next focal range point is found, the next focal range point can be found again, and so on, and multiple focal range points can be found. Through the planning module 52 and the analysis module 53, the focal displacement information can be quickly and accurately analyzed and generated, and then multiple focal range points can be quickly found, making the acquisition of focal range points more accurate, efficient and convenient, significantly shortening the pressure pulse measurement cycle, and shortening the use time of the needle hydrophone 20, thereby extending the service life of the needle hydrophone 20 and reducing the measurement cost. Through the recording module 51, the multiple focal range points found can be recorded in a timely manner, which is convenient for later research on the focal range graphics generated by the shock wave source, and is also convenient for comparison with the preset focal range to obtain the deviation value, which is helpful to better evaluate the performance of the shock wave source.

[0057] The focal displacement information includes the preset three-dimensional information that the needle hydrophone 20 needs to move and the preset angle that needs to be rotated. The preset three-dimensional information includes three-dimensional fine-tuning information and a preset radius at the same height, the preset radius is determined according to the preset focal range, and the preset focal range is determined according to the shock wave generator 60 used.

[0058] When the positioning mechanism 10 moves the needle hydrophone 20 thereon, the needle hydrophone 20 is first moved to a preset radius corresponding to the same height or the same horizontal plane, and then the needle hydrophone 20 is horizontally rotated to a preset angle, and finally the position of the needle hydrophone 20 is fine-tuned through the three-dimensional fine-tuning information to find the focal range point. In other embodiments, the needle hydrophone 20 may also be first horizontally rotated according to a preset angle, and then moved to the preset radius at the same height.

[0059] For the first focal range point found, the preset angle is 0°, and for the next focal range point, the preset angle is a fixed angle added to the original preset angle, for example, 10°, and then rotated 10° one by one to obtain multiple focal range points at different circular positions.

[0060] Taking the preset radius of 6mm as an example, because there is a deviation between the target focus and the real focus, there is a deviation between the current focal range and the actually generated focal range, so it is necessary to perform three-dimensional fine-tuning on the needle hydrophone 20 that is rotated at the preset angle and reaches the preset radius position. The three-dimensional fine-tuning information includes a fixed distance of front and back, left and right, and up and down movement. For example, the front and back, left and right, and up and down fine-tuning are performed in units of 1mm until the focal range point is met and the movement stops. Taking the front and back as an example, the movement unit of 1mm refers to a forward movement of +1mm, or a backward movement of -1mm, that is, there is a 2mm activity interval in the front and back direction. When in order to detect the focal range point on the same plane, the movement distance in the up and down direction is set to 0mm. By rotating the needle hydrophone 20 in sequence according to the preset angle, multiple focal range points with approximately circular distribution on the same horizontal plane can be obtained. The voltage value corresponding to the focal range point is less than and close to half of the maximum voltage value of the shock wave source (1 / 2U max ), for example, when the voltage value measured by the needle hydrophone 20 is equal to 1 / 2U max The difference does not exceed 1 / 2U max When the focal length is 10%, the position point corresponding to the measured voltage value is the focal range point.

[0061] The planning module 52 is also used to send initial position information to the driver 40. The driver 40 is also used to drive the coordinate position of the positioning mechanism 10 to initialize and return to zero according to the initial position information. The initial position information is used to align the needle end of the needle hydrophone 20 with the needle end of the positioning needle on the shock wave source, that is, when the needle hydrophone 20 is moved to the initial position information, the needle end of the needle hydrophone 20 and the needle tip of the positioning needle are aligned.

[0062] Generally, the tip of the positioning needle on the shock wave generator 60 is set as the target focus, and the target focus is found by aligning the needle end of the needle hydrophone 20 with the tip of the positioning needle. However, because there is a deviation between the real focus and the target focus, the planning module 52 is also used to send the initial position information to the analysis module 53. The analysis module 53 is also used to generate focus displacement information according to the initial position information, and send the focus displacement information to the driver 40. After the coordinate position of the positioning mechanism 10 is initialized to zero, the driver 40 is also used to drive the positioning mechanism 10 to move according to the focus displacement information. The positioning mechanism 10 is also used to drive the needle hydrophone 20 to move to find the real focus of the shock wave source.

[0063] When the real focus is found, the needle hydrophone 20 triggers the oscilloscope 30. The triggered oscilloscope 30 is used to send the position information of the real focus to the recording module 51. The recording module 51 is used to receive and record the position information of the real focus. The recording module 51 is also used to send the position information of the real focus to the analysis module 53. After the analysis module 53 receives the position information of the real focus, the analysis module 53 first stops driving the positioning mechanism 10 through the driver 40, and then the analysis module 53 is used to generate the focal displacement information according to the focal range and the position information of the real focus.

[0064] The needle end of the needle hydrophone 20 and the needle tip of the positioning needle can be aligned through the planning module 52, the driver 40 and the positioning mechanism 10 to find the target focus. By further analyzing and generating the focus displacement information, combined with the driver 40 and the positioning mechanism 10, the needle hydrophone 20 can be accurately and quickly assisted to find the real focus and shorten the pressure pulse measurement cycle. In other embodiments, the needle end of the needle hydrophone 20 and the needle tip of the positioning needle can also be manually aligned.

[0065] Preferably, a sending module 54 is further included, and the sending module 54 is used to receive the initial position information sent by the planning module 52, and send the initial position information to the driver 40. The sending module 54 is also used to receive the focal displacement information or the focus displacement information sent by the analysis module 53, and send the focal displacement information or the focus displacement information to the driver 40.

[0066] like Figure 3 As shown, the recording module 51 is connected to the planning module 52, the planning module 52 is connected to the parsing module 53, the parsing module 53 is connected to the sending module 54, and the sending module 54 is connected to the driver 40. Figure 4 As shown, the recording module 51 is connected to the planning module 52 and the parsing module 53 respectively, and the parsing module 53 is connected to the planning module 52 and the sending module 54 respectively. The planning module 52 can be indirectly connected to the sending module 54 through the parsing module 53, or the planning module 52 is directly connected to the sending module 54.

[0067] like Figure 3 As shown, the key module 55 is also included, and the planning module 52 is also used to send the initial position information and the focal range to the key module 55. The recording module 51 is also used to send the position information of the real focus or the position information of the focal range point to the key module 55. The key module 55 is used to input the focus displacement information to the driver 40 according to the initial position information.

[0068] When the button module 55 receives the position information of the actual focus, the button module 55 first stops driving the positioning mechanism 10 through the driver 40, and the button module 55 is then used to parse and generate focal displacement information according to the focal range and the position information of the actual focus. The button module 55 is also used to send the focal displacement information to the driver 40.

[0069] When the button module 55 receives the position information of the focal range point, the button module 55 first stops driving the positioning mechanism 10 through the driver 40, and the button module 55 is then used to parse and generate the next focal range displacement information according to the focal range and the position information of the current focal range point. The button module 55 is also used to send the next focal range displacement information to the driver 40.

[0070] The button module 55 is a backup module. When the analysis module 53 fails, the button module 55 can be used to manually send corresponding information to the driver 40. For example, the button module 55 sends initial position information to the driver 40, so that the driver 40 drives the positioning mechanism 10 to align the needle end of the needle hydrophone 20 with the needle tip of the positioning needle. Figure 3 As shown, the key module 55 is respectively connected to the recording module 51, the planning module 52 and the sending module 54, and the key module 55 indirectly sends the corresponding information to the driver 40 through the sending module 54. In other embodiments, the analysis module 53 may not be provided, and the function of the analysis module 53 may be replaced by the key module 55.

[0071] like Figure 3-4 As shown, it also includes a graphic generation module 56, a focus deviation module 57 and a display module 58. The focus deviation module 57 is connected to the recording module 51 and the display module 58 respectively, the graphic generation module 56 is connected to the recording module 51 and the display module 58 respectively, and the focus deviation module 57 is directly connected to the planning module 52 or indirectly connected through the recording module 51 and the planning module 52.

[0072] The planning module 52 is further used to send the focal range to the focal range deviation module 57. The recording module 51 is further used to send the position information of the real focus and the position information of the focal range point to the graphic generation module 56 and the focal range deviation module 57. The graphic generation module 56 is used to draw the focal range graphic according to the position information of the real focus and the position information of the focal range point, and send the focal range graphic to the display module 58. The focal range deviation module 57 is used to compare the position information of the real focus and the position information of the focal range point with the preset focal range and calculate the deviation value, and send the deviation value to the display module 58. The display module 58 is used to display the focal range graphic and the deviation value.

[0073] A graphics generation module 56 is provided to quickly and accurately obtain a focal range graphic. A focal deviation module 57 is provided to conveniently and accurately calculate the deviation value between the focal range graphic corresponding to a plurality of focal range points and the preset focal range, and the performance of the shock wave source can be better evaluated through the deviation value. It is more efficient to replace manual acquisition of shock wave source information with a mechanical automation method. The shock wave source information includes a focal range graphic and a deviation value. Combined with a display module 58, the obtained focal range graphic and deviation value are more intuitively displayed, which is convenient for studying and evaluating the performance of the shock wave source.

[0074] like Figure 1-2 As shown, the positioning mechanism 10 includes a first positioning assembly 11, a second positioning assembly 12 and a third positioning assembly 13, and the needle hydrophone 20 is fixed on the third positioning assembly 13. The first positioning assembly 11 is used to drive the second positioning assembly 12 and the third positioning assembly 13 to move along the first direction, the second positioning assembly 12 is used to drive the third positioning assembly 13 to move along the second direction, and the third positioning assembly 13 is used to drive the needle hydrophone 20 to move toward or away from the shock wave source along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The first positioning assembly 11, the second positioning assembly 12 and the third positioning assembly 13 form a three-dimensional coordinate positioning mechanism, which is convenient for realizing the position adjustment of the needle hydrophone 20.

[0075] The motors on the first positioning assembly 11, the second positioning assembly 12 and the third positioning assembly 13 are respectively connected to the driver 40. Specifically, the first positioning assembly 11 includes a first motor 111, a first screw rod 112 and a first transmission block 113, the second positioning assembly 12 includes a second motor 121, a second screw rod 122 and a second transmission block 123, and the third positioning assembly 13 includes a third motor, a third screw rod and a third transmission block. The transmission shaft of the first motor 111 is connected to the first screw rod 112, the first transmission block 113 is sleeved on the first screw rod 112, and the first transmission block 113 is connected to the second motor 121. The transmission shaft of the first motor 111 rotates, and the first screw rod 112 is synchronously driven to rotate, and the first screw rod 112 drives the first transmission block 113 to move in a direction close to or away from the first motor 111. The first transmission block 113, the second positioning assembly 12, the third positioning assembly 13 and the needle hydrophone 20 move synchronously. The transmission shaft of the second motor 121 is connected to the second screw rod 122, and the second transmission block 123 is sleeved on the second screw rod 122. The second transmission block 123 is connected to the third motor. The transmission shaft of the second motor 121 rotates, and the second screw rod 122 is synchronously driven to rotate, and the second screw rod 122 drives the second transmission block 123 to move toward or away from the second motor 121. The second transmission block 123313, the third positioning assembly 13 and the needle hydrophone 20 move synchronously. The needle hydrophone 20 is fixed on the third transmission block on the third positioning assembly 13, and moves with the third transmission block relative to the third screw rod.

[0076] The first motor 111, the second motor 121, and the third motor are connected to the driver 40 respectively, and the driver 40 can drive the corresponding motor to work. Figure 5 As shown, taking the first motor 111 as an example, the first motor 111 is connected to the driver 40. The driver 40 drives the transmission shaft of the first motor 111 to rotate forward or reverse a certain number of times, thereby achieving the purpose of positioning the moving needle hydrophone 20.

[0077] like Figure 5 As shown, it also includes a plurality of position detection sensors 80, and a position detection sensor 80 is respectively provided on each motor on the positioning mechanism 10. The position detection sensor 80 is connected to the controller 50, and the position detection sensor 80 is used to feed back the position information of the corresponding motor to the controller 50. The controller 50 is used to control the rotation of the transmission shaft on the motor through the driver 40 according to the position information. Taking the first motor 111 as an example, after the position detection sensor 80 on the first motor 111 obtains the position information corresponding to the first motor 111, it feeds it back to the planning module 52. The planning module 52 can send more accurate initial position information to the driver 40 or the analysis module 53 through the feedback of the position information corresponding to the first motor 111.

[0078] The driver 40 used in the present application can specifically be a DC servo driver, the controller 50 used can specifically be a servo controller, the motor in the positioning mechanism 10 can be a stepper motor, and the oscilloscope 30 is a digital storage dual-trace oscilloscope (storage sampling frequency is not less than 100MHz).

[0079] A method for measuring pressure pulse of an extracorporeal shock wave lithotripsy, comprising:

[0080] The step of presetting the focal range is to preset the corresponding focal range according to the shock wave source.

[0081] The step of generating focal area displacement information is to parse and generate the focal area displacement information according to the preset focal area range and the position information of the real focus.

[0082] In the step of finding the focal range point, the needle hydrophone 20 is fixed on the positioning mechanism 10, and the positioning mechanism 10 drives the needle hydrophone 20 to move according to the focal displacement information to find the focal range point.

[0083] The step of generating the next focus displacement information is as follows: after the focus range point is found, the next focus displacement information is generated based on the preset focus range and the position information of the current focus range point.

[0084] In the step of finding the next focal range point, the positioning mechanism 10 drives the needle hydrophone 20 to move according to the next focal range displacement information to find the next focal range point.

[0085] After the next focal range point is found, if it is necessary to continue looking for a focal range point, the steps of generating the next focal range displacement information and looking for the next focal range point are continued in sequence.

[0086] The focal displacement information includes the preset three-dimensional information that the needle hydrophone 20 needs to move and the preset angle that it needs to rotate.

[0087] A method for measuring pressure pulse of an extracorporeal shock wave lithotripsy is performed by the pressure pulse measuring device, comprising the following steps:

[0088] Step S1, step of finding the real focus.

[0089] Step S2, a step of finding a focal range point.

[0090] Wherein step S1, the step of finding the real focus, specifically comprises the following steps:

[0091] Step S11, as Figure 1As shown, a shock wave generator 60 is arranged at the bottom of a water bucket 70, the end face of the shock wave generator 60 is vertically upward, and a positioning pin is vertically placed at the geometric center of the shock wave generator 60, and the positioning pin is used to locate the target focus. The positioning pin is placed in the z-axis direction, and the extracorporeal shock wave is described in Section 7 of the GB / T16407-2006 standard, using an xyz coordinate system, with the z-axis direction being the direction of the sound beam axis, to measure the spatial characteristics of the beam. The water bucket 70 is a hollow cylindrical barrel with a diameter of 200 mm, a height of 300 mm, and a wall thickness of 8 mm, and the water bucket 70 is made of organic glass.

[0092] Step S12, the positioning mechanism 10 includes a first positioning component 11, a second positioning component 12 and a third positioning component 13, and the needle hydrophone 20 is fixed on the third positioning component 13. The needle hydrophone 20 is moved by the positioning mechanism 10, and the needle hydrophone 20 is placed directly above the positioning needle, and the needle end of the needle hydrophone 20 is aligned with the needle tip of the positioning needle. The initial position information of the needle hydrophone 20 at this time is obtained by the position detection sensor 80, and the initial position information is sent to the planning module 52.

[0093] Step S13, horizontally and radially move the needle hydrophone 20 to the edge of the bucket 70, remove the positioning needle, fix the acoustic lens, and then add water to the bucket 70 to the target focus height and 2 cm higher. After adding water, the planning module 52 sends the initial position information to the driver 40, and the driver 40 drives the positioning mechanism 10 according to the initial position information to move the needle hydrophone 20 to the target focus.

[0094] The position detection sensor 80 can also send the current position information of the needle hydrophone 20 at the edge of the bucket 70 to the planning module 52. The planning module 52 sends the initial position information and the position information of the edge of the bucket 70 to the analysis module 53. The analysis module 53 analyzes and generates the restored displacement information to move the needle hydrophone 20 back to the target focus.

[0095] Step S14, setting the parameters of the oscilloscope 30, selecting the single trigger mode, single triggering the shock wave to capture the shock wave waveform, and recording the shock wave rising edge, pulse width, maximum voltage, minimum voltage and other parameters.

[0096] Step S15, taking the setting of 16kV energy level as an example, the shock wave generator 60 is started to open the shock wave source, release the shock wave, and use the oscilloscope 30 to observe the sound pressure pulse waveform. The planning module 52 sends the initial position information to the analysis module 53, and the analysis module 53 generates the focus displacement information according to the analysis of the initial position information, and sends the focus displacement information to the driver 40. The driver 40 drives the positioning mechanism 10 to move according to the focus displacement information to move the needle hydrophone 20 to find the real focus. The focus displacement information includes unit displacement information along the first direction, the second direction and the third direction. The first direction, the second direction and the third direction are perpendicular to each other, and the third direction is along the vertical direction or the z-axis direction.

[0097] Taking the unit displacement information of 1mm as an example, the positioning mechanism 10 moves 1mm along the first direction or the opposite direction of the first direction on the horizontal plane, takes the position of the maximum voltage in the first direction and records it. The positioning mechanism 10 moves 1mm along the second direction or the opposite direction of the second direction on the horizontal plane, takes the position of the maximum voltage in the second direction and records it. The positioning mechanism 10 moves 1mm along the third direction or the opposite direction of the third direction on the horizontal plane, takes the position of the maximum voltage in the third direction and records it. The position of the real focus on the horizontal plane is determined by the position points recorded in the first direction and the second direction, and the position information of the real focus in space is determined by the three position points recorded in the three directions, and the waveform maximum value and waveform minimum value parameters at the real focus in space are recorded. The position of the real focus (corresponding to the real focus in space) has the maximum voltage value Umax.

[0098] Generally, the positioning pin is placed 1-2 mm away from the geometric center of the shock wave source, that is, the target focus is not the real focus, so step S15 is required to find the real focus, so as to accurately evaluate the performance of the shock wave source later.

[0099] Wherein step S2, the step of finding the focal range point specifically includes the following steps:

[0100] Step S21 , presetting the focal range. The planning module 52 presets the corresponding focal range according to the shock wave source, and sends the focal range to the analyzing module 53 .

[0101] Step S22, generating focal displacement information. When the real focus is found, the needle hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the real focus to the recording module 51. The recording module 51 receives and records the position information of the real focus, and the recording module 51 sends the position information of the real focus to the analysis module 53. The analysis module 53 converts the focal range and the position information of the real focus into digital signals through AD conversion, and inputs the digital signals into the micro control unit (MCU), and the micro control unit converts the digital signals into focal displacement information centered on the real focus, and sends the focal displacement information to the driver 40.

[0102] Step S23, finding the focal range point. The driver 40 drives the positioning mechanism 10 to move according to the focal displacement information. The positioning mechanism 10 starts to move under the action of the driver 40, driving the needle hydrophone 20 to move to find the focal range point. The focal displacement information includes the preset three-dimensional information that the needle hydrophone 20 needs to move and the preset angle that needs to be rotated. The preset three-dimensional information includes three-dimensional fine-tuning information and a preset radius at the same height. The preset radius is determined according to the preset focal range, and the preset focal range is determined according to the shock wave generator 60 used.

[0103] Take the focal range with a preset radius of 6 mm as an example. First, move the needle hydrophone 20 to a position 6 mm away from the real focus to measure the voltage value corresponding to the shock wave waveform for the first time, and compare the voltage value with 1 / 2U max When the measured voltage value is less than 1 / 2U max , and 1 / 2U max The difference does not exceed the predetermined range (e.g. 1 / 2U max When the measured voltage value does not meet the requirements of the focal range point, the needle hydrophone 20 needs to be moved through the three-dimensional fine-tuning information to continue to find the focal range point. For example, the fine-tuning unit of the three-dimensional fine-tuning information is set to 1mm, and the needle hydrophone 20 is moved forward and backward, left and right, and up and down until the measured voltage value meets the voltage requirements of the focal range point. At this time, the position of the measurement point is the focal range point.

[0104] When the focal range point is found, the needle hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the focal range point to the recording module 51. The recording module 51 receives and records the position information of the focal range point, and sends the position information of the focal range point to the analysis module 53.

[0105] Step S24, generating the next focal range displacement information. When the focal range point is found, the analysis module 53 converts the focal range and the position information of the current focal range point into a digital signal through AD conversion, and inputs the digital signal into the micro control unit (MCU), and the micro control unit converts the digital signal into the next focal range displacement information centered on the real focus, and sends the focal range displacement information to the driver 40.

[0106] Step S25, searching for the next focal range point. The driver 40 drives the positioning mechanism 10 to move according to the focal displacement information. The positioning mechanism 10 starts to move under the action of the driver 40, driving the needle hydrophone 20 to move to search for the next focal range point.

[0107] When the next focal range point is found, the needle hydrophone 20 triggers the oscilloscope 30, and the triggered oscilloscope 30 sends the position information of the next focal range point to the recording module 51. The recording module 51 receives and records the position information of the next focal range point, and the recording module 51 sends the position information of the next focal range point to the analysis module 53. When finding the next focal range point, the needle hydrophone 20 is rotated according to a preset angle, for example, 5° or 10°.

[0108] After step S25, if it is necessary to continue to search for focal range points, step S24 and step S25 are repeated. The circumferential interval angle of adjacent focal range points is a fixed value, for example, the interval angle is 10°, so when measuring focal range points, 37 focal range points can be obtained by rotating 10° in sequence and rotating one circle.

[0109] Step S26, generate a focal range graph and a deviation value. The planning module 52 sends the focal range to the focal range deviation module 57. The recording module 51 sends both the position information of the real focus and the position information of the focal range point to the graph generation module 56, and the recording module 51 also sends both the position information of the real focus and the position information of the focal range point to the focal range deviation module 57. The graph generation module 56 is used to draw a focal range graph based on the position information of the real focus and the position information of the focal range point, and send the focal range graph to the display module 58. The focal range deviation module 57 is used to compare and calculate the position information of the real focus and the position information of the focal range point with the preset focal range, and obtain the deviation value by grid subdivision, and send the deviation value to the display module 58. The focus range graph and the graph corresponding to the deviation value are displayed by the display module 58. As shown in FIG. Figure 6 As shown in FIG. 1 , a graphic of a preset focal range is displayed by the display module 58. Figure 7 As shown in FIG. 1 , the focal range graph corresponding to the actual shock wave source displayed by the display module 58 is shown. Figure 8 As shown, the display module 58 displays a deviation graph between a preset focus range and an actual focus range graph.

[0110] When it is necessary to measure focal range points at different heights, the needle hydrophone 20 can be moved upward or downward through the third positioning component 13 on the positioning mechanism 10. If it is necessary to re-measure the focal range points and produce corresponding graphics after the movement, step 2 can be repeated.

[0111] The pressure pulse measurement device and the pressure pulse measurement method for an extracorporeal shock wave lithotripsy designed in the present application are mainly used for the pressure pulse measurement of an extracorporeal shock wave lithotripsy. In the process of finding the real focus, by analyzing the generated focus displacement information, three-dimensional movement can be performed in a coherent manner. It is more efficient without manual testing one by one. And through three-dimensional movement, comprehensive measurements can be performed to obtain the maximum voltage value, and then find a more accurate real focus, laying a good foundation for the subsequent evaluation of the performance of the shock wave source. On the basis of the correspondence of the preset focal range, it can be guaranteed to measure on the same radius, and three-dimensional fine-tuning can be performed on the same radius to facilitate finding the accurate focal range point. By rotating a fixed angle at intervals, multiple uniformly distributed focal range points on approximately the same circumference can be obtained. In the process of moving the needle hydrophone 20 to find different focal range points, the same height or the same horizontal plane can be better guaranteed. It can not only obtain multiple focal range points, provide sufficient data for studying the shock wave source, but also ensure the accuracy of the results of studying the shock wave source. In addition, the focal range graph corresponding to the focal range point measured and the graph corresponding to the deviation value can be intuitively displayed through the display module 58, which is convenient for studying the performance of the shock wave source. In summary, the pressure pulse measurement device or the pressure pulse measurement method of the extracorporeal shock wave lithotripsy designed by the present application can study the performance of the shock wave source more conveniently, efficiently, accurately, and with less interference, and can reduce the use time of the needle hydrophone 20, thereby saving the use cost of the needle hydrophone 20.

[0112] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. A pressure pulse measuring device for an extracorporeal shock wave lithotripsy, It is characterized in that include: Positioning mechanism, needle hydrophone, oscilloscope, driver and controller; the controller includes a recording module, a planning module and an analysis module; The needle hydrophone is fixed on the positioning mechanism, the needle hydrophone is connected to the oscilloscope, and the needle hydrophone is used to send the acquired shock wave information to the oscilloscope; The planning module is used to preset a focal range and send the focal range to the analysis module; The parsing module is used to parse and generate focal area displacement information according to the focal area range and the position information of the real focus, and send the focal area displacement information to the driver; The driver is used to drive the positioning mechanism to move according to the focal area displacement information; The positioning mechanism is used to drive the needle hydrophone to move to find the focal range point of the shock wave source; When the focal range point is found, the needle hydrophone triggers the oscilloscope, and the triggered oscilloscope is used to send the position information of the focal range point to the recording module; the recording module is used to receive and record the position information of the focal range point, and the recording module is also used to send the position information of the focal range point to the analysis module; when the analysis module receives the position information of the focal range point, the analysis module first stops driving the positioning mechanism through the driver, and the analysis module is then used to analyze and generate the next focal range displacement information according to the focal range and the current position information of the focal range point, and the next focal range displacement information is used to find the next focal range point.

2. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 1, It is characterized in that The focal area displacement information includes preset three-dimensional information that the needle hydrophone needs to move and a preset angle that needs to be rotated.

3. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 1, It is characterized in that The planning module is also used to send initial position information to the driver; The driver is also used to drive the coordinate position of the positioning mechanism to initialize and return to zero according to the initial position information, and the initial position information is used to align the needle end of the needle hydrophone with the needle end of the positioning needle on the shock wave source; The planning module is also used to send the initial position information to the analysis module; The analysis module is further used to analyze and generate focus displacement information according to the initial position information, and send the focus displacement information to the driver; After the coordinate position of the positioning mechanism is initialized and returned to zero, the driver is further used to drive the positioning mechanism to move according to the focus displacement information; The positioning mechanism is also used to drive the needle hydrophone to move to find the real focus of the shock wave source; When the real focus is found, the needle hydrophone triggers the oscilloscope, and the triggered oscilloscope is used to send the position information of the real focus to the recording module, and the recording module is used to receive and record the position information of the real focus, and the recording module is also used to send the position information of the real focus to the analysis module; When the analysis module receives the position information of the real focus, the analysis module first stops driving the positioning mechanism through the driver, and then the analysis module is used to analyze and generate the focal displacement information according to the focal range and the position information of the real focus.

4. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 3, It is characterized in that It also includes a sending module, which is used to receive the initial position information sent by the planning module and send the initial position information to the driver; the sending module is also used to receive the focal area displacement information or the focus displacement information sent by the analysis module, and send the focal area displacement information or the focus displacement information to the driver.

5. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 3, It is characterized in that It also includes a key module, the planning module is further used to send the initial position information and the focal range to the key module; the recording module is further used to send the position information of the real focus or the position information of the focal range point to the key module; the key module is used to input the focus displacement information to the driver according to the initial position information; When the key module receives the position information of the real focus, the key module first stops driving the positioning mechanism through the driver, and the key module is used to parse and generate the focal area displacement information according to the focal area range and the position information of the real focus, and the key module is also used to send the focal area displacement information to the driver; When the button module receives the position information of the focal range point, the button module first stops driving the positioning mechanism through the driver, and the button module is then used to parse and generate the next focal range displacement information according to the focal range and the current position information of the focal range point, and the button module is also used to send the next focal range displacement information to the driver.

6. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to any one of claims 1 to 5, It is characterized in that It also includes a graphics generation module, a focal range deviation module and a display module; the planning module is further used to send the focal range to the focal range deviation module; the recording module is further used to send the position information of the real focus and the position information of the focal range point to the graphics generation module and the focal range deviation module; the graphics generation module is used to draw a focal range graph according to the position information of the real focus and the position information of the focal range point, and send the focal range graph to the display module; The focal range deviation module is used to compare the position information of the real focus and the position information of the focal range point with the preset focal range to calculate a deviation value, and send the deviation value to the display module; The display module is used to display the focus range graph and the deviation value.

7. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 1, It is characterized in that The positioning mechanism comprises a first positioning component, a second positioning component and a third positioning component, and the needle hydrophone is fixed on the third positioning component; The first positioning assembly is used to drive the second positioning assembly and the third positioning assembly to move along the first direction, the second positioning assembly is used to drive the third positioning assembly to move along the second direction, and the third positioning assembly is used to drive the needle hydrophone to move along the third direction toward or away from the shock wave source, and the first direction, the second direction and the third direction are perpendicular to each other.

8. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 7, It is characterized in that The motors on the first positioning assembly, the second positioning assembly and the third positioning assembly are respectively connected to the driver.

9. The pressure pulse measuring device of the extracorporeal shock wave lithotripsy according to claim 8, It is characterized in that It also includes a plurality of position detection sensors, one of which is disposed on each of the motors on the positioning mechanism; the position detection sensor is connected to the controller, and the position detection sensor is used to feed back position information to the controller; The controller is used to control the rotation of the transmission shaft on the motor through the driver according to the position information.

10. A method for measuring the pressure pulse of an extracorporeal shock wave lithotripsy, It is characterized in that include: A step of presetting a focal range, presetting a corresponding focal range according to a shock wave source; The step of generating focal area displacement information comprises analyzing and generating the focal area displacement information according to the preset focal area range and the position information of the real focus; A step of finding a focal range point, fixing the needle hydrophone on a positioning mechanism, wherein the positioning mechanism drives the needle hydrophone to move according to the focal range displacement information to find a focal range point; The step of generating the next focal area displacement information, when the focal area range point is found, the next focal area displacement information is generated according to the preset focal area range and the position information of the current focal area range point; A step of finding a next focal range point, wherein the positioning mechanism drives the needle hydrophone to move according to the next focal range displacement information to find the next focal range point; After finding the next focal range point, when it is necessary to continue looking for the focal range point, continue to execute the steps of generating the next focal range displacement information and looking for the next focal range point in sequence; the focal range displacement information includes the preset three-dimensional information that the needle hydrophone needs to move and the preset angle that needs to be rotated.

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