Ultrasound imaging treatment system, positioning method, apparatus, device, and storage medium

Abstract

The application relates to an ultrasonic imaging treatment system, a positioning method, a device, equipment and a storage medium. The ultrasonic imaging treatment system comprises a motor, an encoder, a first coupling, a first connecting piece, a second connecting piece, an imaging transducer and a treatment transducer; the imaging transducer and the treatment transducer are parallel and non-directly coupled and packaged in a probe device; the output end of the motor is connected with the encoder through the first coupling; the output end of the encoder is coaxially connected with the first end of the first connecting piece; the first end of the second connecting piece is coaxially connected with the second end of the first connecting piece; the second end of the second connecting piece is connected with the probe device; and the motor is controlled to drive the imaging transducer to scan a target region from an initial position; according to a first electric signal and first image information, a to-be-ablated target scanned by the imaging transducer and a working interval of the treatment transducer are determined, so that the accuracy of an angle interval of the motor rotation corresponding to the to-be-ablated target is improved.

Description

Technical Field

[0001] This application relates to the field of novel medical device technology for interventional ultrasound ablation, specifically to an ultrasound imaging treatment system, positioning method, device, equipment, and storage medium. Background Technology

[0002] In recent years, with the continuous advancement of ultrasound devices, catheters, and guidance equipment, the application of ultrasound imaging and therapeutic instruments has become increasingly widespread. Ultrasonic ablation technology focuses ultrasound energy through a transducer to induce irreversible thermal damage to the target ablation site. Compared to radiofrequency ablation, microwave ablation, laser-induced ablation, or cryoablation, it reduces thermal damage to nearby blood vessels or airways. Ultrasonic imaging technology obtains high-resolution imaging data and avoids biological effects by outputting short pulses at low power. Compared to magnetic resonance imaging (MRI), ultrasound imaging technology has lower environmental requirements, fewer limitations on the imaging system, and lower imaging costs. Therefore, ultrasound imaging therapy systems combining non-invasive or minimally invasive ultrasound ablation and ultrasound imaging technologies are increasingly widely used in clinical practice.

[0003] Common ultrasound ablation techniques are divided into extracorporeal high-intensity focused ultrasound (HIFU) ablation and intracorporeal interventional ultrasound ablation. Extracorporeal HIFU ablation has advantages such as adjustable ablation area and non-invasiveness. Due to device size limitations, it is usually performed externally or intracavitarily. However, targets far from the skin can have altered ultrasound paths due to non-uniform media (e.g., fat), requiring transducer focus correction during ablation. Furthermore, extracorporeal HIFU is limited in ablation area by barriers such as bone or gas. Therefore, intracorporeal interventional ultrasound ablation is introduced to address targets that cannot be ablated using extracorporeal HIFU. Regardless of whether an ultrasound imaging therapy system combines extracorporeal HIFU or intracorporeal interventional ultrasound ablation, during ablation, a motor on the handpiece of the ultrasound imaging therapy system drives the transducer to rotate axially, sending ultrasound energy to the target for ablation. However, because the rotation angle of the motor and the rotation angle of the transducer cannot be synchronized, the positioning accuracy of the motor rotation angle range is not high when the target to be ablated is low, which in turn affects the damage to healthy tissue.

[0004] Therefore, improving the accuracy of locating the angle range of motor rotation corresponding to the target to be ablated, thereby reducing damage to healthy tissues outside the target to be ablated, has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides an ultrasound imaging therapy system, positioning method, device, equipment, and storage medium. By unifying the rotation angle of the motor with the rotation angle of the transducer, the accuracy of locating the motor rotation angle range corresponding to the target to be ablated is improved. The technical solution is as follows.

[0006] On one hand, an ultrasound imaging therapy system is provided, comprising: a processing device and a handpiece; the handpiece is electrically connected to the processing device; the handpiece includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device.

[0007] The processing device is used for:

[0008] Upon receiving a target localization request, the control motor drives the imaging transducer to scan the target area from its initial position; the target localization request is used to locate the target to be ablated.

[0009] Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer;

[0010] Based on the first electrical signal and the first image information, the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area is calculated and returned, and the angle range of motor rotation is determined as the working range of the treatment transducer for ablation of the target to be ablated.

[0011] Another approach provides a positioning method for use in a processing device within an ultrasound imaging therapy system. The ultrasound imaging therapy system also includes a handpiece; the handpiece is electrically connected to the processing device; the handpiece includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled configuration; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device.

[0012] The method includes:

[0013] Upon receiving a target localization request, the control motor drives the imaging transducer to scan the target area from its initial position; the target localization request is used to locate the target to be ablated.

[0014] Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer;

[0015] Based on the first electrical signal and the first image information, the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area is calculated and returned, and the angle range of motor rotation is determined as the working range of the treatment transducer for ablation of the target to be ablated.

[0016] Optionally, when the motor is a servo motor, the encoder is an absolute encoder, and controlling the motor to drive the imaging transducer to scan the target area from the initial position includes:

[0017] The servo motor is controlled to drive the imaging transducer to scan the target area from a preset angle according to the first step advance angle.

[0018] Based on the first electrical signal and the first image information, the angular range of motor rotation when the imaging transducer scans the target to be ablated in the target area is calculated and returned. This angular range of motor rotation is determined as the working range for the treatment transducer to ablate the target, including:

[0019] Based on the first image information, identify the target to be ablated in the target area;

[0020] Based on the first electrical signal, calculate the first angular range of servo motor rotation when the imaging transducer scans the target to be ablated;

[0021] The servo motor is controlled to drive the imaging transducer to scan the target to be ablated from the starting angle of the first angle interval according to the second step angle; the second step angle is smaller than the first step angle;

[0022] Receive and store the second electrical signal returned by the absolute encoder and the second image information returned by the imaging transducer;

[0023] When the servo motor runs to the end angle of the first angle range, the target to be ablated is identified in the target to be determined for ablation based on the second image information;

[0024] Based on the second electrical signal, the second angle range of the servo motor rotation when the imaging transducer scans the target to be ablated is calculated, and the second angle range is used as the angle range of the motor rotation. The angle range of the motor rotation is determined as the working range of the treatment transducer for ablation of the target to be ablated.

[0025] Optionally, after calculating the second angular range of servo motor rotation when the imaging transducer scans the target to be ablated based on the second electrical signal, and using the second angular range as the angular range of motor rotation, and determining the angular range of motor rotation as the working range for the treatment transducer to ablate the target to be ablated, the method further includes:

[0026] When a user requests ablation of a target, the system controls the servo motor to drive the treatment transducer to emit ultrasound energy to the target within the working range and a preset time period to ablate the target.

[0027] Optionally, when the motor is a DC brushed motor, the encoder is a relative encoder; the first electrical signal includes a first A-phase pulse signal and a first Z-phase pulse signal; the first Z-phase pulse signal is used to determine the initial value position of the first A-phase pulse.

[0028] Based on the first electrical signal and the first image information, calculate and return the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area, including: counting the number of first A-phase pulse signals returned by the relative encoder based on the initial position;

[0029] Based on the information from the first image, identify the target to be ablated in the target area;

[0030] Based on the number of first phase A pulse signals, the third angle range of the DC brushed motor rotation when the imaging transducer scans the target to be ablated is calculated, and the third angle range is determined as the angle range of motor rotation, which is then determined as the working range of the treatment transducer for ablating the target to be ablated.

[0031] Optionally, upon receiving a target localization request, controlling the motor to drive the imaging transducer to scan the target area from the initial position includes:

[0032] According to the target rotation speed, the DC brushed motor is controlled to drive the imaging transducer to rotate and scan, so as to scan the target area from the initial position through a specified period.

[0033] Optional,

[0034] After calculating the third angular interval of the DC brushed motor rotation when the imaging transducer scans the target to be ablated based on the number of first A-phase pulse signals, and determining the third angular interval as the motor rotation angular interval, and determining the motor rotation angular interval as the working interval of the treatment transducer, the method further includes:

[0035] Upon receiving a user's request to ablate the target area, the system controls a DC brushed motor to drive the imaging transducer to scan the target area from its initial position within a preset time period.

[0036] Receive the second A-phase pulse signal returned by the relative encoder;

[0037] Based on the number of pulse signals in the second phase A, monitor whether the rotation angle of the DC brushed motor is within the working range;

[0038] When the rotation angle of the DC brushed motor is within the working range, the DC brushed motor is controlled to drive the treatment transducer to emit ultrasonic energy toward the target to be ablated, so as to ablate the target.

[0039] Optionally, the method further includes:

[0040] When a stall is detected during the process of driving the imaging transducer to scan the target area from the initial position, the motor is re-controlled to drive the imaging transducer to scan the target area from the initial position.

[0041] On another front, a positioning device is provided for use in a processing device within an ultrasound imaging therapy system. The ultrasound system also includes a handle; the handle is electrically connected to the processing device; the handle includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled configuration; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device.

[0042] The device includes:

[0043] The control module is used to control the motor to drive the imaging transducer to scan the target area from the initial position when a target localization request is received; the target localization request is used to locate the target to be ablated.

[0044] The receiving module is used to receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer;

[0045] The calculation module is used to calculate and return the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area based on the first electrical signal and the first image information, and to determine the angle range of motor rotation as the working range of the treatment transducer for ablation of the target to be ablated.

[0046] In another aspect, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement the above-described positioning method.

[0047] In another aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement the above-described positioning method.

[0048] In another aspect, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the aforementioned positioning method.

[0049] The technical solution provided in this application may include the following beneficial effects:

[0050] The imaging transducer and the treatment transducer are parallel and not directly coupled in the probe device, and connected to the second end of the second connector. The first end of the second connector is coaxially connected to the second end of the first connector, ensuring that the rotation angles of the first and second connectors are consistent. This ensures that the rotation angles of the imaging transducer and the treatment transducer in the probe device are consistent with those of the first connector. The first end of the first connector is coaxially connected to the output end of the encoder. The output end of the motor is connected to the encoder via a first coupling, ensuring that the rotation angle of the first connector is consistent with the rotation angle of the motor. This, in turn, ensures that the rotation angle of the motor is consistent with the rotation angle of the probe device, thereby ensuring the consistency of the rotation angles of the imaging transducer and the treatment transducer. When the processing device receives a target positioning request, it controls the motor to drive the imaging transducer to scan the target area from the initial position. It then receives and stores the first electrical signal returned by the encoder and the first image information returned by the imaging transducer to calculate and return the range of motor rotation angles when the imaging transducer scans the target area to be ablated within the target area. Since the rotation angle of the motor coincides with the rotation angles of the imaging transducer and the treatment transducer, the range of motor rotation angles can be used as the range of rotation angles of the imaging transducer when scanning the target to be ablated, and as the working range of the treatment transducer when ablating the target. This improves the accuracy of locating the motor angle corresponding to the target to be ablated, thereby reducing damage to healthy tissues outside the target to be ablated. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the structure of an ultrasound imaging therapy system according to an exemplary embodiment.

[0053] Figure 2 yes Figure 1A schematic diagram of a partial structure of the handle involved in the design.

[0054] Figure 3 yes Figure 1 A schematic diagram of another partial structure of the handle involved in the design.

[0055] Figure 4 yes Figure 1 The structural block diagram of the ultrasound imaging therapy system involved in the study.

[0056] Figure 5 This is a flowchart illustrating a positioning method according to an exemplary embodiment.

[0057] Figure 6 This is a flowchart illustrating a positioning method according to an exemplary embodiment.

[0058] Figure 7a yes Figure 6 The flowchart illustrates a positioning method used in one of the application scenarios.

[0059] Figure 7b yes Figure 7a The structural block diagram of the ultrasound imaging therapy system involved in the study.

[0060] Figure 8 This is a flowchart illustrating a positioning method according to an exemplary embodiment.

[0061] Figure 9a yes Figure 8 The flowchart illustrates a positioning method used in one of the application scenarios.

[0062] Figure 9b yes Figure 8 The structural block diagram of the ultrasound imaging therapy system involved in the study.

[0063] Figure 9c yes Figure 9a The structural block diagram of the ultrasound imaging therapy system involved in the study.

[0064] Figure 10 This is a structural block diagram of a positioning device according to an exemplary embodiment.

[0065] Figure 11 A structural block diagram of a computer device illustrated in an exemplary embodiment of this application is shown. Detailed Implementation

[0066] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0068] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0069] In the embodiments of this application, "predefined" can be achieved by pre-storing corresponding codes, tables or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method.

[0070] Figure 1 This is a schematic diagram of an ultrasound imaging therapy system according to an exemplary embodiment. The ultrasound imaging therapy system includes a processing device 110 and a handle 120 electrically connected to the processing device 110.

[0071] like Figures 1 to 3 As shown, the handle 120 may include a motor 121, an encoder 122, a first coupling 123, a first connector 124, a second connector 125, an imaging transducer, and a treatment transducer. The imaging transducer and the treatment transducer are encapsulated in a probe device 126 in parallel and non-directly coupled manner. The output end of the motor 121 is connected to the encoder 122 via the first coupling 123. The output end of the encoder 122 is coaxially connected to the first end of the first connector 124. The first end of the second connector 125 is coaxially connected to the second end of the first connector 124. The second end of the second connector 125 is connected to the probe device 126 to ensure that the rotation angles of the first connector and the second connector are consistent and that the rotation angle of the first connector is consistent with the rotation angle of the motor, thereby ensuring that the rotation angle of the motor is consistent with the rotation angle of the probe device, and thus ensuring that the rotation angles of the imaging transducer and the treatment transducer are consistent with the rotation angle of the motor. The first connector 124 and the second connector 125 can be flexible shafts or rigid shafts.

[0072] The processing device 110 controls the rotation of the motor 121 by generating pulse waves or PWM waveforms through a motor driver, including but not limited to controlling parameters such as motor speed and step angle. The motor 121 can be a DC brushed motor or a servo motor. The processing device 110 is used to: upon receiving a target positioning request, control the motor to drive the imaging transducer to scan the target area from an initial position; the target positioning request is used to locate the target to be ablated; receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer; and calculate and return the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area, based on the first electrical signal and the first image information. This allows for the accurate calculation of the motor rotation angle range corresponding to the target to be ablated, ensuring that the motor rotation angle matches the imaging transducer rotation angle.

[0073] It should be noted that encoder 122 can be any type of sensor used to measure mechanical rotation or displacement. Encoder 122 can measure information such as displacement position or velocity of mechanical parts during rotation or linear motion, and convert this information into a series of electrical signals. For example, when motor 121 is a DC brushed motor, encoder 122 can be a relative encoder; when motor 121 is a servo motor, encoder 122 can be an absolute encoder. The first electrical signal is the electrical signal generated by encoder 122 during operation. It is understood that the specific type of electrical signal generated by encoder 122 depends on the actual type of encoder selected, and this embodiment does not impose any limitations; it can be a pulse signal or a digital signal.

[0074] Optionally, to achieve the dual imaging and treatment function of the ultrasound imaging therapy system, the handle 120 also includes an imaging switch and a treatment switch. The imaging switch is electrically connected to the processing device 110 and the imaging transducer, and the treatment switch is electrically connected to the processing device 110 and the treatment transducer. When the processing device 110 receives a target positioning request, it turns on the imaging switch and turns off the treatment switch, so that the imaging transducer is activated and the treatment transducer is deactivated, thereby performing ultrasound imaging on the target area to determine the target to be ablated and the angle range of motor rotation corresponding to the target to be ablated. When the processing device 110 receives a user's request to ablate the target to be ablated, or calculates the angle range of motor rotation corresponding to the target to be ablated, it turns off the imaging switch and turns on the treatment switch, so that the imaging transducer is deactivated and the treatment transducer is activated, thereby ablated the target to achieve the treatment purpose. Both the imaging switch and the treatment switch can be HV2607 analog switches, but other types of switches are not specifically limited in this embodiment.

[0075] Optional, such as Figure 1As shown, the handle 120 may also include a bearing housing 127, a long shaft bracket 128, a first bushing 129, a second coupling 1210, a second bushing 1211, and a long shaft 1212. The motor 121 is mounted on the bearing housing 127 via fine-pitch bolts. The motor driver in the processing device 110 controls the rotation of the motor 121 using a pulse wave or PWM waveform by connecting to the input end of the motor 121. The output end of the motor 121 is selected to have a keyway type, connected via a locking nut on a spur gear, and then synchronously transmitted via a matching gear. Using a keyway structure avoids slippage caused by interference fits during high-speed rotation and misalignment of the drive shaft at the output end of the motor 121, thus avoiding serious errors in the location of the target to be ablated in the target area.

[0076] The rear end of the long shaft 1212 is interference-fitted with a deep groove ball bearing embedded in the long shaft bracket 128 to achieve clamping and fixation of the long shaft mechanism. A sliding groove is also provided in the long shaft bracket 128 to facilitate the positioning of the slip ring mechanism, and the two mechanisms are engaged by fastening screws. The stator end of the slip ring is fixed to the long shaft bracket 128 and does not rotate, while the rotor rotates together with the long shaft mechanism through the interference fit. The rotor end wires supply power to the treatment module and imaging model at the front end of the handle 120 through through holes on the shaft. A circular groove structure is made at the front end of the long shaft bracket 128, which engages with the first bushing 129 and is fixed with four fastening screws to ensure precise alignment of the front end of the overall structure, reducing excessive amplitude and probe sway during high-speed rotation. The treatment module includes a treatment transducer, and the imaging module includes an imaging transducer. For example... Figure 2 As shown, the second bushing 1211 is provided with a first connecting member 124 and a second connecting member 125. The first end of the first connecting member 124 is connected to the long shaft mechanism through a second coupling 1210.

[0077] The structures of the first coupling 123 and the second coupling 1210 are as follows: Figure 1As shown, this design ensures that slippage does not occur when the two shafts are connected by the coupling, guaranteeing that the numerical position of the encoder 122 corresponds to the most precise deflection angle of the imaging or therapeutic transducer. The first bushing 129 and the second bushing 1211 engage with fine-pitch threads to prevent slippage during rotation. The second end of the first connecting member 124 and the first end of the second connecting member 125 are fixed using an aviation head and bolt-nut structure to ensure concentricity consistency, further secured by an interference fit between the first bushing 129 and the second bushing 1211. The second end of the second connecting member 125 is equipped with a probe device 126 including a dual transducer for imaging and ablation, and is also fitted with a double deep groove ball bearing for further alignment. Ensure alignment among the motor 121, long shaft 1212, encoder 122, imaging transducer, and treatment transducer in the handle 120. Ensure that the concentricity of the imaging transducer and treatment transducer is consistent with the concentricity of the motor 121 and encoder 122, so that the rotation angle of the imaging transducer and treatment transducer is consistent with the rotation angle of the motor 121, thereby improving the accuracy of the motor rotation angle range corresponding to the target to be ablated.

[0078] Optional, such as Figure 3 As shown, to ensure absolute consistency of the angles during imaging and ablation, the imaging transducer and the treatment transducer should be kept parallel as much as possible when setting the slot 1261 of the probe device 126's housing. This ensures that the range of the initial imaging corresponds to that of the subsequent ablation. Furthermore, when the treatment transducer ablates the target, it operates only within the angular range of the motor's rotation, avoiding damage to healthy tissue outside the target area. The two transducers are controlled by different circuit systems. The imaging transducer transmits signals through a connection to the host computer in the processing device 110; the treatment transducer is powered by the treatment system in the processing device 110, and the processing device 110 controls the on / off state of the treatment transducer by sending high and low voltage levels.

[0079] Optionally, the processing device 110 includes a host computer and a microprocessor unit. The host computer processes the data returned by the microprocessor unit and calculates the angle range of motor rotation corresponding to the target to be ablated. The microprocessor unit collects and stores the data generated when the handle is working and uploads the data to the host computer. Specifically, when the host computer receives a target positioning request, it controls the motor to drive the imaging transducer to scan the target area from the initial position through the microprocessor unit; the microprocessor unit receives and stores the first electrical signal returned by the encoder and the first image information returned by the imaging transducer, and sends the first electrical signal and the first image information to the host computer; the host computer is also used to calculate and return the angle range of motor rotation when the imaging transducer 1 scans the target to be ablated in the target area based on the first electrical signal and the first image information uploaded by the microprocessor unit. The microprocessor unit can be any microprocessor with data acquisition, storage, and processing functions, such as an STM32K6 series chip; the host computer can be any computer device capable of data processing and imaging, such as a computer with a Qt system.

[0080] Optionally, when a flexible shaft can be used to ablate the target, the second connector is a flexible shaft. When a flexible shaft cannot be used to ablate the target, the second connector is a rigid shaft. The imaging transducer and treatment transducer connected to the second end of the second connector are inserted into the body via minimally invasive techniques to achieve precise positioning and regional treatment of the target. Since minimally invasive surgery only involves small incisions, the risk of infection is limited, reducing patient recovery time and pain. The ultrasound imaging treatment system in this embodiment can solve the postoperative recovery problems caused by open surgery for lesions in narrow areas. Furthermore, compared to extracorporeal high-intensity focused ultrasound ablation technology, it can also solve problems such as untreatable or poorly effective treatments due to factors like sound barriers.

[0081] For example, when the lesion area (i.e., the target area) can be inserted into the body through the mouth and placed close to the tumor (i.e., the target to be ablated), a flexible shaft can be used to deliver the probe, which includes the imaging transducer and the treatment transducer, in the handle 120 to the corresponding position for non-invasive treatment. In other cases, such as prostate cancer, where it is not easy to access the target area using a flexible shaft, a minimally invasive procedure can be performed on the patient's body surface to transmit a rigid shaft into the human tissue. The processing device 110 in the ultrasound imaging treatment system controls the motor driving the handle 120 to precisely control the angles of the imaging transducer and the treatment transducer. The angle of the servo motor is captured by an absolute encoder, and a stepping pulse wave is generated by a motor driver to control the servo motor.

[0082] Optional, such as Figure 4As shown, the ultrasound imaging therapy system may also include an external module and an internal module. The external module includes a motor, a data acquisition module, a data processing module, a display module, a storage module, a motor drive circuit, a power amplifier, and a signal generator; the internal module includes a rigid shaft, a treatment transducer, and an imaging transducer. At this time, Figure 1 The processing device 110 may include a data acquisition module, output processing module, display module, storage module, motor drive circuit, power amplifier, and signal generator in the external module 410; the handle 120 may include a flexible shaft or a rigid shaft in the internal module 420, a treatment transducer, an imaging transducer, and a motor in the external module 410.

[0083] The data acquisition module is electrically connected to the data processing module, which in turn is electrically connected to the display module and the storage module. The signal generator is electrically connected to the power amplifier, which is in turn connected to the treatment transducer. The output of the motor drive circuit is connected to the input of the motor, and the output of the motor is coaxially connected to the rigid shaft. The rigid shaft is connected to the treatment transducer and the imaging transducer. The data acquisition module receives the first electrical signal returned by the encoder and the first image information returned by the imaging transducer. The storage module stores the first electrical signal and the first image information. The data processing module implements the steps executed by the processing device. The display module displays the image of the target area. The motor drive circuit drives the motor to rotate. The rigid shaft is used when a flexible shaft cannot be used for ablation (e.g., in prostate cancer, where a flexible shaft mechanism is not easily accessible). In such cases, a minimally invasive procedure is performed on the patient's body surface to insert the rigid shaft into the tissue, and the ultrasound imaging treatment system precisely controls the angles of the imaging transducer and the treatment transducer.

[0084] Figure 5 This is a flowchart illustrating a positioning method according to an exemplary embodiment. The method is applied to and executed by a processing device in an ultrasound imaging therapy system, which may be, for example... Figure 1 The processing device 110 shown is as follows. Figure 5 As shown, the positioning method may include the following steps:

[0085] Step 501: When a target positioning request is received, the motor is controlled to drive the imaging transducer to scan the target area from the initial position.

[0086] The ultrasound imaging therapy system also includes a handpiece; the handpiece is electrically connected to the processing device; the handpiece includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device. A target localization request is used to locate the target to be ablated. The ultrasound imaging therapy system can be... Figure 1 The system shown.

[0087] When the processing device receives a request to locate the target to be ablated, it generates a pulse wave or PWM waveform signal based on a motor driver connected to the motor input terminal. This signal controls the motor to rotate from a preset initial position, driving the imaging transducer connected to the second end of the second connector to rotate, thereby driving the imaging transducer to scan the target area from the initial position. The specific number of revolutions the motor makes is determined by the ability to completely scan the target area; this embodiment does not impose a specific limitation. This embodiment uses the processing device controlling the motor to run one revolution to drive the imaging transducer to scan the target area from the initial position as an example.

[0088] Step 502: Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer.

[0089] The first image information is an ultrasonic echo signal. When the processing device controls the motor to rotate, the encoder rotates with the motor and generates a first electrical signal, which is then transmitted to the processing device. The processing device receives the first electrical signal returned by the encoder and saves the first electrical signal received during motor operation for later use. During the scanning of the target area by the motor-driven imaging transducer, it continuously emits ultrasonic signals. After reaching the target area, a portion of the ultrasonic signal is reflected back to the handle, forming an ultrasonic echo signal. The handle collects the ultrasonic echo signal and transmits it to the processing device. The processing device receives the first image information returned by the imaging transducer during motor operation and saves it for later use.

[0090] Step 503: Based on the first electrical signal and the first image information, calculate and return the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area, and determine the angle range of motor rotation as the working range of the treatment transducer for ablation of the target to be ablated.

[0091] After the motor finishes running, the processing device, based on current ultrasonic imaging technology algorithms involving target recognition and angle calculation, calculates and returns the angular range of motor rotation when the imaging transducer scans the target to be ablated in the target area, through analysis and processing of the first electrical signal and the first image information. This angular range of motor rotation is then used to determine the working range for the transducer to ablate the target. This embodiment does not impose specific limitations on the algorithms involved in target recognition and angle calculation in current ultrasonic imaging technology.

[0092] In summary, the imaging transducer and the treatment transducer are parallel and not directly coupled in the probe device, and connected to the second end of the second connector. The first end of the second connector is coaxially connected to the second end of the first connector, ensuring that the rotation angles of the first and second connectors are consistent. This ensures that the rotation angles of the imaging transducer and the treatment transducer in the probe device are consistent with those of the first connector. The first end of the first connector is coaxially connected to the output end of the encoder, and the output end of the motor is connected to the encoder via a first coupling. This ensures that the rotation angle of the first connector is consistent with the rotation angle of the motor, thus ensuring that the rotation angle of the motor is consistent with the rotation angle of the probe device, thereby ensuring the consistency of the rotation angles of the imaging transducer and the treatment transducer. When the processing device receives a target positioning request, it controls the motor to drive the imaging transducer to scan the target area from the initial position. It then receives and stores the first electrical signal returned by the encoder and the first image information returned by the imaging transducer to calculate and return the range of motor rotation angles when the imaging transducer scans the target area to be ablated within the target area. Since the rotation angle of the motor coincides with the rotation angles of the imaging transducer and the treatment transducer, the range of motor rotation angles can be used as the range of rotation angles of the imaging transducer when scanning the target to be ablated, and as the working range of the treatment transducer when ablating the target. This improves the accuracy of locating the motor angle corresponding to the target to be ablated, thereby reducing damage to healthy tissues outside the target to be ablated.

[0093] Figure 6 This is a flowchart illustrating a positioning method according to an exemplary embodiment. The method is applied to and executed by a processing device in an ultrasound imaging therapy system, which may be, for example... Figure 1 The processing device 110 shown is as follows. Figure 6 As shown, when the motor is a servo motor and the encoder is an absolute encoder, the positioning method may include the following steps:

[0094] Step 601: When receiving a target positioning request, control the servo motor to drive the imaging transducer to scan the target area from a preset angle according to the first step advance angle.

[0095] When the processing device receives a target positioning request, it turns on the imaging switch to activate the imaging transducer, enabling the imaging transducer to work normally. It also controls the servo motor to rotate via the motor driver, thereby driving the imaging transducer to scan the target area from a preset angle according to the first step advance angle.

[0096] Optionally, to improve the accuracy of calculating the angle range of the servo motor rotation corresponding to the target to be ablated, for each first step advance angle, the servo motor is controlled to drive the imaging transducer to scan its scanning area at least once. Preferably, the servo motor can be controlled to drive the imaging transducer to scan its scanning area five times in each first step advance angle.

[0097] Optionally, when a stall is detected during the process of driving the imaging transducer to scan the target area from the initial position, the motor is re-controlled to drive the imaging transducer to scan the target area from the initial position.

[0098] The processing device detects whether the motor stalls during the process of driving the imaging transducer to scan the target area from the initial position using existing motor speed measurement methods. If stalling occurs, the device re-controls the motor to drive the imaging transducer to scan the target area from the initial position. This application does not impose specific limitations on existing motor speed measurement methods. For example, when the motor speed is high, the existing motor speed measurement method can be the M-speed measurement method; when the motor speed is low, the existing motor speed measurement method can be the T-speed measurement method.

[0099] Step 602: Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer.

[0100] Please see details Figure 5 Step 502 of the illustrated embodiment will not be described again here.

[0101] Step 603: Calculate the first angular range of servo motor rotation when the imaging transducer scans the target to be ablated, based on the first electrical signal.

[0102] Step 603 in this embodiment is similar to step 503 in the above embodiment, and will not be described again here.

[0103] In one application scenario, such as Figure 7aAs shown, the processing device includes a microcontroller system. When using the ultrasound imaging therapy system to treat lesions, after the motor driver is powered on, the processing device uses the motor driver to reset the servo motor position to zero and turn on the imaging switch. The processing device drives the servo motor to rotate from 0° according to the set step angle via the PWM wave emitted by the motor driver, driving the imaging transducer to scan. Five sets of data are acquired for each angle and the data are averaged. Simultaneously, the absolute encoder emits pulse waves, and the microcontroller system captures the input value of the absolute encoder. The motor speed is calculated using the M-speed measurement method to check whether the servo motor and encoder are stalled. If stalling occurs, the data needs to be re-acquired until the servo motor is working normally. After the servo motor has run continuously for one cycle, the motor stops rotating, the processing device turns off the imaging switch, and the imaging transducer turns off. The algorithm obtains the servo motor rotation angle range corresponding to the lesion as x°~y°.

[0104] Step 604: Control the servo motor to drive the imaging transducer to scan the target to be ablated from the starting angle of the first angle interval according to the second step angle.

[0105] The second step angle is smaller than the first step angle. To ensure the accuracy of the target location for ablation, after calculating the first angle interval, the processing device will control the servo motor to drive the imaging transducer again within the first angle interval to perform a fine scan of the target to be ablated. Specifically, the processing device determines the starting angle of the first angle interval as the initial position of the servo motor, restarts the imaging transducer, and controls the servo motor through the motor driver to drive the imaging transducer to scan the target to be ablated from the starting angle of the first angle interval according to the second step angle.

[0106] Optionally, to improve the accuracy of calculating the angle range of the servo motor rotation corresponding to the target to be ablated, for each second step angle, the servo motor is controlled to drive the imaging transducer to scan its scanning area at least twice. Preferably, the servo motor can be controlled to drive the imaging transducer to scan its scanning area ten times in each second step angle, and the second step angle can be set to 1 / 5 of the first step angle.

[0107] Based on the above application scenario, to more accurately locate the lesion, a second high-precision scan is performed on the initially determined lesion location. The imaging ultrasound transducer is activated, and the servo motor is driven to move its initial position to x°. The step angle is set to 1 / 5 of the step angle used in the coarse scan. Ten sets of data are collected for each step angle, and the data are averaged. At this point, the rotation speed is low. The T-method is used to calculate the servo motor speed to determine if it is stalled. If stalling occurs, data needs to be re-acquired until the servo motor is working normally. The servo motor continues to run until it reaches y°, then stops rotating, returns to its original position at 0°, and stops. The imaging switch is then turned off, and the imaging transducer is shut down. The algorithm determines the rotation angle range of the motor corresponding to the center position of the lesion as a°~b°. The lesion location is thus captured.

[0108] Step 605: Receive and store the second electrical signal returned by the absolute encoder and the second image information returned by the imaging transducer.

[0109] Step 605 in this embodiment is similar to step 502 in the above embodiment, and will not be described again here.

[0110] Step 606: When the servo motor runs to the end angle of the first angle range, the target to be ablated is identified in the target to be determined for ablation based on the second image information.

[0111] When the servo motor runs to the end angle of the first angle range, the processing device identifies the target to be ablated among the targets to be determined for ablation based on the target recognition algorithm involved in the current ultrasonic imaging technology.

[0112] Step 607: Based on the second electrical signal, calculate the second angle range of the servo motor rotation when the imaging transducer scans the target to be ablated, and use the second angle range as the angle range of the motor rotation, and determine the angle range of the motor rotation as the working range of the treatment transducer for ablation of the target to be ablated.

[0113] After the motor finishes running, the processing device, based on current ultrasound imaging technology algorithms involving target recognition and angle calculation, calculates and returns the second angle range of motor rotation when the imaging transducer scans the target to be ablated by analyzing and processing the second electrical signal and the second image information. This second angle range is then used as the motor rotation angle range, which is subsequently determined as the working range for the treatment transducer to ablate the target. This application embodiment does not impose specific limitations on the current ultrasound imaging technology algorithms involving target recognition and angle calculation.

[0114] Optionally, to further improve the accuracy of locating the angle range of the motor rotation corresponding to the target to be ablated, an ultrasound image corresponding to the target area can be displayed so that the user can determine the angle range corresponding to the target to be ablated; the angle range corresponding to the target to be ablated is received by the user and determined as the working range when the treatment transducer ablates the target to be ablated.

[0115] Optionally, to further improve the accuracy of the motor rotation angle range corresponding to the target to be ablated, the display device can also show the user the motor rotation angle range when the imaging transducer scans the target to be ablated in the target area; receive the user's confirmation input of the motor rotation angle range, determine the calculated angle range as the motor rotation angle range when the imaging transducer scans the target to be ablated in the target area, and determine the motor rotation angle range as the working range when the treatment transducer ablates the target to be ablated.

[0116] Optionally, to reduce damage to healthy tissue, the positioning method may further include the following steps after step 607:

[0117] When a user requests ablation of a target, the system controls the servo motor to drive the treatment transducer to emit ultrasound energy to the target within the working range and a preset time period to ablate the target.

[0118] In this design, the treatment transducer and the imaging transducer are parallel and not directly coupled within the probe device. The second end of the second connector is connected to the probe device to ensure that the rotation angle of the probe device is consistent with that of the second connector, while the rotation angle of the treatment transducer is consistent with that of the imaging transducer. When the processing device receives a user's request to ablate the target, it activates the treatment switch to turn on the treatment transducer. A servo motor, controlled by a motor driver, drives the treatment transducer to emit ultrasonic energy towards the target within a pre-defined working range, ablating the target. This operation is repeated until a preset time period is reached, at which point the servo motor stops rotating and the treatment switch is turned off.

[0119] Based on the above application scenario, the processing device sets the initial position of the servo motor to position a°, turns on the treatment switch, and activates the treatment transducer. The power amplifier uses the signal generated by the signal generator to set the power of the treatment transducer to approximately 20W. The servo motor drives the treatment transducer to work back and forth between angles a° and b°. After the preset treatment period (e.g., after n minutes of treatment), the treatment switch is turned off, the servo motor returns to 0° and stops operating, ending the treatment.

[0120] Figure 7b yes Figure 7aThe diagram illustrates the structure of an ultrasound imaging therapy system corresponding to the application scenario described. This system includes a treatment device comprising a microprocessor unit (MCU) 710, a motor module 720, a positioning ultrasound transducer 730 (i.e., an imaging transducer), and a treatment ultrasound transducer 740 (i.e., a treatment transducer). The motor module 720 includes a servo motor and a built-in encoder. The servo motor is connected to the built-in encoder and controls the start, stop, speed, and forward / reverse rotation of the servo motor based on signals from the MCU. It also controls the angular position, initial position, and relative angle of the servo motor, thereby driving the positioning ultrasound transducer 730 and the treatment ultrasound transducer 740. The positioning ultrasound transducer 730 scans the target area based on signals from the MCU and performs shadow intensity calculation, shadow area identification, shadow center identification, and ablation effect judgment, identifying the shadow as the target to be ablated. The treatment ultrasound transducer 740 performs ultrasound ablation to ablate the lesion.

[0121] In summary, when the motor is a servo motor, by controlling the servo motor to drive the imaging transducer to scan the target area at the first step angle, the target to be ablated is identified through the first electrical signal and the first image information. Then, the servo motor is controlled to drive the imaging transducer to scan the target to be ablated at the second step angle. Through the operation of coarse scanning followed by fine scanning, the second angle interval corresponding to the target to be ablated is accurately identified, and the second angle interval is determined as the working interval of the treatment transducer when ablated the target, ensuring the accuracy of the treatment transducer's working interval corresponding to the target to be ablated. Therefore, when a user requests ablation of the target to be ablated, the servo motor can be controlled to drive the treatment transducer to emit ultrasound energy to the target to be ablated within the second angle interval, i.e., the working interval, and a preset time period to ablate the target. This avoids the servo motor driving the treatment transducer to rotate full circles during the ablation of the target, which would cause the treatment transducer to indiscriminately ablate the tissue scanned during the rotation, thereby reducing damage to healthy tissue outside the target to be ablated.

[0122] Figure 8 This is a flowchart illustrating a positioning method according to an exemplary embodiment. The method is applied to and executed by a processing device in an ultrasound imaging therapy system, which may be, for example... Figure 1 The processing device 110 shown is as follows. Figure 8 As shown, when the motor is a DC brushed motor, the positioning method may include the following steps:

[0123] Step 801: When a target positioning request is received, the motor is controlled to drive the imaging transducer to scan the target area from the initial position.

[0124] Please see details Figure 5Step 501 of the illustrated embodiment will not be described again here.

[0125] Optionally, in order to improve the reliability of locating the angle range of the motor rotation corresponding to the target to be ablated, the DC brushed motor can be controlled to repeatedly drive the imaging transducer to scan the target area from the initial position at least once to ensure the accuracy of identifying the target to be ablated in the target area, thereby improving the reliability of locating the angle range of the motor rotation corresponding to the target to be ablated.

[0126] Step 802: Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer.

[0127] Please see details Figure 5 Step 502 of the illustrated embodiment will not be described again here.

[0128] Step 803: Based on the initial position, count the number of first A-phase pulse signals returned by the relative encoder.

[0129] Because brushed DC motors cannot control their forward and reverse rotation or rotate within a specific angle range based on signals sent by a processing device, unlike servo motors, the positioning methods used for servo motors are not applicable to brushed DC motors. A relative encoder needs to return A-phase and Z-phase pulse signals to the processing device during operation to calculate the motor's rotation angle. The first electrical signal includes a first A-phase pulse signal and a first Z-phase pulse signal; the first Z-phase pulse signal is used to determine the initial position of the first A-phase pulse; the initial position of the first A-phase pulse is the position from which the first A-phase pulse signal is counted starting from zero. Specifically, when the brushed DC motor and the relative encoder work together, the relative encoder returns one Z-phase pulse signal to the processing device for each revolution. Each time the processing device receives the first Z-phase pulse signal from the relative encoder, it starts counting the number of first A-phase pulse signals from zero.

[0130] Step 804: Identify the target to be ablated in the target area based on the first image information.

[0131] After the DC brushed motor finishes running, the treatment device uses a target recognition algorithm in current ultrasonic imaging technology to identify the target to be ablated in the target area by analyzing and processing the first image information.

[0132] Step 805: Based on the number of first phase A pulse signals, calculate the third angle range of the DC brushed motor rotation when the imaging transducer scans the target to be ablated, and determine the third angle range as the angle range of motor rotation, and determine the angle range of motor rotation as the working range of the treatment transducer for ablation of the target to be ablated.

[0133] Step 805 in the embodiments of this application Figure 5 Step 503 in the illustrated embodiment is similar, except that when the processing device needs to calculate the rotation angle of the DC brushed motor based on the existing angle calculation algorithm, it needs to substitute the number of the first A-phase pulse signals into the existing angle calculation formula to calculate the rotation angle of the DC brushed motor when the imaging transducer scans the target to be ablated; thereby obtaining the third angle interval of the DC brushed motor rotation when the imaging transducer scans the target to be ablated during the operation of the DC brushed motor, and determining the third angle interval as the angle interval of the motor rotation, and then determining the angle interval of the motor rotation as the working interval of the treatment transducer to ablate the target to be ablated.

[0134] Optionally, in order to ensure the reliability of the rotation angle range of the motor corresponding to the target to be ablated, the positioning method further includes, during the process of controlling the DC brushed motor to drive the imaging transducer to scan the target area, controlling the DC brushed motor to drive the imaging transducer to rotate and scan according to the target rotation speed, so as to scan the target area from the initial position through a specified period.

[0135] The processing device drives the DC brushed motor to rotate at a constant speed according to the target speed through the motor driver. After the DC brushed motor runs one revolution, the relative encoder will return the Z-phase pulse signal to the processing device. After receiving the Z-phase pulse signal, the processing device will clear the count of the first A-phase pulse signal and start counting again. This ensures that the DC brushed motor can drive the imaging transducer to scan the target area from the same initial position within a specified period, thereby improving the accuracy of identifying the target to be ablated and ensuring the reliability of the rotation angle range of the motor corresponding to the target to be ablated.

[0136] Optionally, the processing device can set the initial position of the DC brushed motor through the Z-phase pulse signal, and thus set the initial position of the imaging transducer scanning the target area.

[0137] Optionally, to minimize damage to healthy tissue, the positioning process after step 805 further includes the following steps:

[0138] The system receives a user's request to ablate the target area and controls a brushed DC motor to drive the imaging transducer to scan the target area from its initial position within a preset time period. It also receives a second A-phase pulse signal returned by a relative encoder. Based on the number of second A-phase pulse signals, it monitors whether the rotation angle of the brushed DC motor is within a third angle range. When the rotation angle of the brushed DC motor is within the third angle range, it controls the brushed DC motor to drive the treatment transducer to emit ultrasonic energy towards the target area for ablation. The treatment transducer and imaging transducer are parallel and not directly coupled in the probe device. The second end of the second connector is connected to the probe device to ensure that the rotation angle of the probe device is consistent with the second connector, while the rotation angle of the treatment transducer is consistent with the rotation angle of the imaging transducer.

[0139] When the processing device receives a user's request to ablate the target area, it first activates the imaging switch, turning on the imaging transducer. The motor driver controls a DC brushed motor to drive the imaging transducer to scan the target area from its initial position. It also receives the Z-phase pulse signal and the second A-phase pulse signal returned by the relative encoder. Each time the processing device receives a Z-phase pulse signal from the relative encoder, it counts the number of second A-phase pulse signals starting from zero, and then monitors and calculates the current rotation angle of the DC brushed motor based on the second A-phase pulse signal. When the current rotation angle of the DC brushed motor is detected to be within the third angle range (i.e., the working range), the imaging switch is turned off, and the treatment switch is turned on to activate the treatment module. The DC brushed motor drives the treatment transducer to emit ultrasonic energy towards the target area for ablation, and the above steps are repeated until a preset time period is reached. Then, the rotation of the DC brushed motor ends, and the treatment switch is turned off. When the current rotation angle of the DC brushed motor is detected to be outside the third angle range, the treatment switch is not activated.

[0140] In one application scenario, such as Figure 9a As shown, combined with Figure 9bThe target to be ablated is a tumor. The ultrasound imaging treatment system includes a drive system 910, a host computer 920, an imaging system 930, a treatment system 940, and a motor unit 950. The host computer 920 includes a Qt system, and the drive system includes a 32-bit microcontroller (hereinafter referred to as a 32-bit chip). The treatment device then includes the drive system 910, the host computer 920, the imaging system 930, and the treatment system 940, with the handle including the motor unit 950. The servo motor is replaced with a DC brushed motor, and a relative encoder is used to accurately record the angular position of the motor rotation. The relative encoder feeds back a corresponding number of pulses to the ports of the 32-bit chip. Ports on the 32-bit chip are set to acquire the Z-phase and A-phase pulse signals of the encoder, respectively. The Z-phase pulse signal is used to set the initial position of the motor, and the A-phase pulse signal is used to record the angular position. The Z-phase and A-phase pulse signals are simultaneously returned to the ports of the host computer and the 32-bit chip, achieving synchronous acquisition of encoder pulse signals by the host computer and the 32-bit chip.

[0141] Upon receiving a target positioning request, the host computer controls a DC brushed motor via a 32-bit chip to start uniform rotation. When the first pulse of the Z-phase pulse signal is captured (i.e., after the microcontroller clock receives the Z-phase pulse signal from the encoder), the A-phase pulse signal is cleared and recounted. The imaging transducer and imaging system are then connected to form a path for processing, analysis, and storage of the acquired signals (i.e., the imaging switch is turned on for data acquisition). The initial position of the DC brushed motor is ensured to be the same each time it runs, guaranteeing that the initial position of the ultrasound imaging treatment system's images is consistent each week, facilitating comparison and analysis of the tumor region. After data acquisition, the imaging switch is turned off to shut down the imaging transducer. The data is then analyzed and stored to locate the tumor region. Simultaneously, serial communication is used to connect the 32-bit chip to the host computer, where the treatment angle range is set in the Qt system. Within the set capture range, the 32-bit chip pulls the pin level connected to the treatment system high. The treatment system receives this high level and supplies power to the treatment transducer. Outside the treatment angle range, the pin level returns to low, and the treatment system stops operating. In other words, the motor driver and the Qt system interact via a 32-bit chip. Within the treatment angle range, the connection pin of the 32-bit chip and the treatment system is pulled high, causing the treatment system to receive a high level and power the treatment transducer. Outside the treatment angle range, the pin level returns to low, and the treatment system stops working. The above steps are repeated for n minutes of treatment, then the treatment switch is turned off to shut down the treatment transducer, until the DC brushed motor stops working.

[0142] Figure 9c yes Figure 9aThe diagram illustrates the structure of an ultrasound imaging therapy system corresponding to the application scenario described. This system includes a treatment unit comprising a microprocessor unit (MCU), a motor module, a positioning ultrasound transducer (i.e., an imaging transducer), a treatment ultrasound transducer (i.e., a treatment transducer), and a Qt system. The motor module includes a DC brushed motor and an encoder (which can be a relative encoder). The DC brushed motor is connected to the encoder and controls the start, stop, and speed of the DC brushed motor based on signals from the MCU. It also calculates the angular and initial positions of the DC brushed motor to drive the positioning and treatment ultrasound transducers. The positioning ultrasound transducer scans the target area based on signals from the MCU and performs shadow intensity calculations, shadow area identification, and shadow center identification; the shadow represents the target to be ablated. The treatment ultrasound transducer and the Qt system work together to set the treatment angle range, enabling interaction, control of the treatment system, and execution of ultrasound ablation procedures to ablate the tumor.

[0143] In another application scenario, combined with Figure 7b , Figure 9b as well as Figure 9c The microprocessor unit is an STM32K6 series microprocessor chip, which features miniaturization and multiple functions. The drive system is divided into three modules: a motor drive module, a data acquisition module, and an analog switch module. The encoder returns pulse signals. The analog switch module includes imaging and treatment switches, and the microprocessor unit connects to the analog switch module via the analog switch terminals.

[0144] The motor drive module controls the duty cycle and pulse count to effectively control both the DC brushed motor and the servo motor. The motor control module has two speed settings: when the SS_MOTOR pin of the microprocessor unit receives a high level, it supplies 12V to the motor; when the SS_MOTOR pin receives a low level, it supplies 6V. After supplying 5V to the encoder via the data acquisition module, it receives pulse signals from the encoder via I2C. Noise in the pulse signals is filtered by capacitors before being sent back to the control terminal of the microprocessor unit, and the data is simultaneously uploaded to the host computer. The microprocessor unit acquires pulse signals; when the pulse count reaches the number of pulses generated in one revolution, a signal overflow occurs, the motor angle is re-evaluated, and the analog switch terminals are controlled accordingly. The analog switch module uses HV2607 analog switches, which are characterized by high response speed and high sensitivity. A corresponding set of interfaces is used to enable the on / off switching of the imaging switch and the treatment switch, connecting to the aforementioned data acquisition module. This interface can acquire the ultrasound signals emitted and fed back by the imaging transducer and send them to the host computer, which then processes and displays them as images. The acquired data is also stored for later observation and comparison during treatment.

[0145] The above-described signal processing and acquisition method has the advantage of enabling precise control of the feed amount of the motor unit in the handpiece. By combining treatment and imaging, it also has the effect of simultaneous treatment and imaging, which can enhance both the imaging effect and the accuracy of treatment.

[0146] In summary, when the motor is a DC brushed motor, the imaging transducer is driven by the DC brushed motor to scan the target area from an initial position. The initial position is determined by the first Z-phase signal, and the number of first A-phase pulse signals is counted. Based on the number of first A-phase pulse signals, the third angular interval of the DC brushed motor's rotation when the imaging transducer scans the target to be ablated is calculated. This third angular interval is defined as the motor's rotation angle interval, which is then defined as the working range for the treatment transducer to ablate the target. Therefore, upon receiving a user's request to ablate the target, the second A-phase pulse signal is used to monitor whether the DC brushed motor has entered the working range. When the DC brushed motor is within the working range, the treatment transducer is controlled to emit ultrasonic energy towards the target to ablate it. This avoids the DC brushed motor driving the treatment transducer to rotate round and round when the target to be ablated, which would cause the treatment transducer to indiscriminately ablate the tissue it scans during rotation, thereby reducing damage to good tissues other than the target to be ablated.

[0147] Figure 10This is a structural block diagram of a positioning device according to an exemplary embodiment. The positioning device is applied to a processing device in an ultrasound imaging therapy system. The ultrasound system also includes a handle; the handle is electrically connected to the processing device; the handle includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device; the positioning device includes:

[0148] The control module 1010 is used to control the motor to drive the imaging transducer to scan the target area from the initial position when a target positioning request is received; the target positioning request is used to locate the target to be ablated.

[0149] The receiving module 1020 is used to receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer;

[0150] The calculation module 1030 is used to calculate and return the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area based on the first electrical signal and the first image information, and to determine the angle range of motor rotation as the working range of the treatment transducer for ablation of the target to be ablated.

[0151] In one possible implementation, when the motor is a servo motor, the encoder is an absolute encoder, and the control module is also used to control the servo motor to drive the imaging transducer to scan the target area from a preset angle according to the first step advance angle.

[0152] The calculation module is also used to identify the ablation target in the target area based on the first image information;

[0153] The calculation module is also used to calculate the first angular range of the servo motor rotation when the imaging transducer scans the target to be ablated, based on the first electrical signal.

[0154] The calculation module is also used to control the servo motor to drive the imaging transducer to scan the target to be ablated from the starting angle of the first angle interval according to the second step angle; the second step angle is smaller than the first step angle;

[0155] The calculation module is also used to receive and store the second electrical signal returned by the absolute encoder and the second image information returned by the imaging transducer;

[0156] The calculation module is also used to identify the target to be ablated among the targets to be determined for ablation based on the second image information when the servo motor runs to the end angle of the first angle range.

[0157] The calculation module is also used to calculate the second angle range of the servo motor rotation when the imaging transducer scans the target to be ablated based on the second electrical signal, and to use the second angle range as the angle range of the motor rotation, and to determine the angle range of the motor rotation as the working range of the treatment transducer to ablate the target to be ablated.

[0158] In one possible implementation, the handle includes a treatment transducer; after calculating a second angular range of servo motor rotation when the imaging transducer scans the target to be ablated based on a second electrical signal, and using the second angular range as the angular range of motor rotation, and determining the angular range of motor rotation as the working range for the treatment transducer to ablate the target, the positioning device further includes:

[0159] The ablation module is used to control the servo motor to drive the treatment transducer to emit ultrasonic energy to the target to be ablated within the working range and a preset time period when it receives a user's request to ablate the target.

[0160] In one possible implementation, when the motor is a DC brushed motor, the encoder is a relative encoder; the first electrical signal includes a first A-phase pulse and a first Z-phase pulse signal; the first Z-phase pulse signal is used to determine the initial value position of the first A-phase pulse;

[0161] The calculation module is also used to count the number of first A-phase pulse signals returned by the relative encoder based on the initial position.

[0162] The calculation module is also used to identify the target to be ablated in the target area based on the first image information;

[0163] The calculation module is also used to calculate the third angle range of the DC brushed motor rotation when the imaging transducer scans the target to be ablated, based on the number of first A-phase pulse signals, and to determine the third angle range as the angle range of the motor rotation.

[0164] In one possible implementation, the control module is also used for,

[0165] According to the target rotation speed, the DC brushed motor is controlled to drive the imaging transducer to rotate and scan, so as to scan the target area from the initial position through a specified period.

[0166] In one possible implementation, after calculating the third angular interval of the DC brushed motor rotation when the imaging transducer scans the target to be ablated based on the number of first A-phase pulse signals, and determining the third angular interval as the motor rotation angle interval, and after determining the motor rotation angle interval as the working interval for the treatment transducer to ablate the target to be ablated, the ablation module is further used for...

[0167] Upon receiving a user's request to ablate the target, the system controls a DC brushed motor to drive the imaging transducer to scan the target area from its initial position within a preset time period.

[0168] Receive the second A-phase pulse signal returned by the relative encoder;

[0169] Based on the number of pulse signals in the second phase A, monitor whether the rotation angle of the DC brushed motor is within the working range;

[0170] When the rotation angle of the DC brushed motor is within the working range, the DC brushed motor is controlled to drive the treatment transducer to emit ultrasonic energy toward the target to be ablated, so as to ablate the target.

[0171] In one possible implementation, the control module is also used to re-control the motor to drive the imaging transducer to scan the target area from the initial position when a stall is detected during the process of driving the imaging transducer to scan the target area from the initial position.

[0172] In summary,

[0173] The imaging transducer and the treatment transducer are parallel and not directly coupled in the probe device, and connected to the second end of the second connector. The first end of the second connector is coaxially connected to the second end of the first connector, ensuring that the rotation angles of the first and second connectors are consistent. This ensures that the rotation angles of the imaging transducer and the treatment transducer in the probe device are consistent with those of the first connector. The first end of the first connector is coaxially connected to the output end of the encoder. The output end of the motor is connected to the encoder via a first coupling, ensuring that the rotation angle of the first connector is consistent with the rotation angle of the motor. This, in turn, ensures that the rotation angle of the motor is consistent with the rotation angle of the probe device, thereby ensuring the consistency of the rotation angles of the imaging transducer and the treatment transducer. When the processing device receives a target positioning request, it controls the motor to drive the imaging transducer to scan the target area from the initial position. It then receives and stores the first electrical signal returned by the encoder and the first image information returned by the imaging transducer to calculate and return the range of motor rotation angles when the imaging transducer scans the target area to be ablated within the target area. Since the rotation angle of the motor coincides with the rotation angles of the imaging transducer and the treatment transducer, the range of motor rotation angles can be used as the range of rotation angles of the imaging transducer when scanning the target to be ablated, and as the working range of the treatment transducer when ablating the target. This improves the accuracy of locating the motor angle corresponding to the target to be ablated, thereby reducing damage to healthy tissues outside the target to be ablated.

[0174] Figure 11A structural block diagram of a computer device 1100 according to an exemplary embodiment of this application is shown. This computer device can be implemented as a server as described above in this application. The computer device 1100 includes a Central Processing Unit (CPU) 1101, a system memory 1104 including Random Access Memory (RAM) 1102 and Read-Only Memory (ROM) 1103, and a system bus 1105 connecting the system memory 1104 and the CPU 1101. The computer device 1100 also includes a mass storage device 1106 for storing an operating system 1109, application programs 1110, and other program modules 1111.

[0175] The mass storage device 1106 is connected to the central processing unit 1101 via a mass storage controller (not shown) connected to the system bus 1105. The mass storage device 1106 and its associated computer-readable media provide non-volatile storage for the computer device 1100. That is, the mass storage device 1106 may include computer-readable media (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0176] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage media are not limited to the above-mentioned types. The system memory 1104 and mass storage device 1106 described above can be collectively referred to as memory.

[0177] According to various embodiments of this disclosure, the computer device 1100 can also be connected to a remote computer on a network, such as the Internet. That is, the computer device 1100 can be connected to a network 1108 via a network interface unit 1107 connected to the system bus 1105, or the network interface unit 1107 can be used to connect to other types of networks or remote computer systems (not shown).

[0178] The memory also includes at least one computer program stored in the memory, and the central processing unit 1101 executes the at least one computer program to implement all or part of the steps in the methods shown in the above embodiments.

[0179] In one exemplary embodiment, a computer-readable storage medium is also provided for storing at least one computer program, which is loaded and executed by a processor to implement all or part of the steps in the above-described method. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, or optical data storage device, etc.

[0180] In one exemplary embodiment, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned actions. Figure 5 , Figure 6 or Figure 8 All or part of the steps of the method shown in any embodiment.

[0181] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0182] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An ultrasound imaging therapy system, characterized in that, The ultrasound imaging therapy system includes: a processing device and a handle; the handle is electrically connected to the processing device; the handle includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device. The processing device is used for: Upon receiving a target location request, the motor is controlled to drive the imaging transducer to scan the target area from an initial position; the target location request is used to locate the target to be ablated. Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer; Based on the first electrical signal and the first image information, the angle range of the motor rotation when the imaging transducer scans the target to be ablated in the target area is calculated and returned, and the angle range of the motor rotation is determined as the working range of the treatment transducer for ablating the target to be ablated.

2. A positioning method, characterized in that, A processing device is used in an ultrasound imaging therapy system, the ultrasound imaging therapy system further comprising a handle; the handle is electrically connected to the processing device; the handle includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device; The method includes: Upon receiving a target location request, the motor is controlled to drive the imaging transducer to scan the target area from an initial position; the target location request is used to locate the target to be ablated. Receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer; Based on the first electrical signal and the first image information, the angle range of the motor rotation when the imaging transducer scans the target to be ablated in the target area is calculated and returned, and the angle range of the motor rotation is determined as the working range of the treatment transducer for ablating the target to be ablated.

3. The method according to claim 2, characterized in that, When the motor is a servo motor and the encoder is an absolute encoder, controlling the motor to drive the imaging transducer to scan the target area from the initial position includes: The servo motor is controlled to drive the imaging transducer to scan the target area from a preset angle according to the first step advance angle. The step of calculating and returning the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area based on the first electrical signal and the first image information, and determining the angle range of motor rotation as the working range for the treatment transducer to ablate the target to be ablated, includes: Based on the first image information, identify the target to be ablated in the target area; Based on the first electrical signal, calculate the first angular range of rotation of the servo motor when the imaging transducer scans the target to be ablated; The servo motor is controlled to drive the imaging transducer to scan the target to be ablated from the starting angle of the first angle interval according to the second step angle; the second step angle is smaller than the first step angle; Receive and store the second electrical signal returned by the absolute encoder and the second image information returned by the imaging transducer; When the servo motor runs to the end angle of the first angle range, the target to be ablated is identified in the target to be determined for ablation based on the second image information; Based on the second electrical signal, the second angle range of the servo motor rotation when the imaging transducer scans the target to be ablated is calculated, and the second angle range is used as the angle range of the motor rotation. The angle range of the motor rotation is determined as the working range of the treatment transducer for ablating the target to be ablated.

4. The method according to claim 3, characterized in that, After calculating the second angle range of the servo motor rotation when the imaging transducer scans the target to be ablated based on the second electrical signal, and using the second angle range as the angle range of the motor rotation, and determining the angle range of the motor rotation as the working range for the treatment transducer to ablate the target to be ablated, the method further includes: When a user requests ablation of the target to be ablated, the servo motor is controlled to drive the treatment transducer to emit ultrasonic energy toward the target to be ablated within the working range and a preset time period.

5. The method according to claim 2, characterized in that, When the motor is a DC brushed motor, the encoder is a relative encoder; the first electrical signal includes a first A-phase pulse signal and a first Z-phase pulse signal; the first Z-phase pulse signal is used to determine the initial value position of the first A-phase pulse; the calculation and return of the angle range of motor rotation when the imaging transducer scans the target to be ablated in the target area according to the first electrical signal and the first image information includes: counting the number of first A-phase pulse signals returned by the relative encoder according to the initial value position; Based on the first image information, identify the target to be ablated in the target region; Based on the number of the first A-phase pulse signals, the third angle range of the DC brushed motor rotation when the imaging transducer scans the target to be ablated is calculated, and the third angle range is determined as the angle range of the motor rotation, and the angle range of the motor rotation is determined as the working range of the treatment transducer for ablating the target to be ablated.

6. The method according to claim 5, characterized in that, Upon receiving a target location request, controlling the motor to drive the imaging transducer to scan the target area from an initial position includes: According to the target rotation speed, the DC brushed motor is controlled to drive the imaging transducer to rotate and scan, so as to scan the target area from the initial position through a specified period.

7. The method according to claim 5, characterized in that, After calculating the third angular range of rotation of the DC brushed motor when the imaging transducer scans the target to be ablated based on the number of the first A-phase pulse signals, and determining the third angular range as the angular range of motor rotation, and determining the angular range of motor rotation as the working range of the treatment transducer for ablating the target to be ablated, the method further includes: Upon receiving a user's request to ablate the target to be ablated, the system controls the DC brushed motor to drive the imaging transducer to scan the target area from the initial position within a preset time period. Receive the second A-phase pulse signal returned by the relative encoder; Based on the number of the second phase A pulse signals, monitor whether the rotation angle of the DC brushed motor is within the operating range; When the DC brushed motor rotates within the working range, the DC brushed motor is controlled to drive the treatment transducer to emit ultrasonic energy toward the target to be ablated.

8. The method according to claim 2, characterized in that, The method further includes: When a stall is detected during the process of driving the imaging transducer to scan the target area from the initial position, the motor is re-controlled to drive the imaging transducer to scan the target area from the initial position.

9. A positioning device, characterized in that, A processing device is used in an ultrasound imaging therapy system, the ultrasound imaging therapy system further comprising a handle; the handle is electrically connected to the processing device; the handle includes a motor, an encoder, a first coupling, a first connector, a second connector, an imaging transducer, and a treatment transducer; the imaging transducer and the treatment transducer are encapsulated in a probe device in parallel and non-directly coupled manner; the output end of the motor is connected to the encoder via the first coupling; the output end of the encoder is coaxially connected to the first end of the first connector; the first end of the second connector is coaxially connected to the second end of the first connector; the second end of the second connector is connected to the probe device; The device includes: The control module is used to control the motor to drive the imaging transducer to scan the target area from the initial position when a target positioning request is received; the target positioning request is used to locate the target to be ablated. The receiving module is used to receive and store the first electrical signal returned by the encoder and the first image information returned by the imaging transducer; The calculation module is used to calculate and return the angle range of the motor rotation when the imaging transducer scans the target to be ablated in the target area based on the first electrical signal and the first image information, and to determine the angle range of the motor rotation as the working range of the treatment transducer for ablating the target to be ablated.

10. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, which is loaded and executed by the processor to implement the positioning method as described in any one of claims 2-7.

11. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the positioning method as described in any one of claims 2-7.

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