A method and system for guiding minimally invasive interventional ultrasound

Abstract

The application discloses a method and system for guiding minimally invasive interventional ultrasound, generating an overall ultrasound image according to first ultrasound data collected by an extracorporeal ultrasound transducer; obtaining reflected ultrasound data of an interventional ultrasound transducer on the extracorporeal ultrasound transducer, determining standard position information of the interventional ultrasound transducer in the overall ultrasound image according to the reflected ultrasound data, so as to guide the interventional ultrasound transducer to move to a region of interest in the overall ultrasound image according to the standard position information; if the interventional ultrasound transducer reaches the region of interest, generating a local ultrasound image according to second ultrasound data collected by the interventional ultrasound transducer; and outputting the overall ultrasound image and / or the local ultrasound image according to a display mode of an imaging unit. The application can guide the interventional ultrasound to enter a human tissue gap, obtain an ultrasound image with a good field of view and high resolution, and improve the precision of a minimally invasive interventional operation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method and system for guiding minimally invasive interventional ultrasound. Background Technology

[0002] Minimally invasive interventional medicine is developing rapidly, and its advantages, such as less trauma, shorter operation time, and faster patient recovery, are gradually replacing some open surgeries. However, unlike open surgery, minimally invasive interventions do not allow direct visualization of the surgical site; therefore, precise, real-time image guidance is crucial to ensuring surgical accuracy.

[0003] Currently, ultrasound image guidance has brought revolutionary progress to minimally invasive interventional surgery, but it also has significant limitations. The current surface ultrasound window is small, and the clarity and resolution of deep images are insufficient, especially since factors such as obesity, gas, and bone significantly interfere with ultrasound signals, making it difficult to obtain high-resolution images of deep areas. To improve the resolution of deep imaging, various in vivo imaging ultrasound transducers have been developed both domestically and internationally, mainly including transcavitary ultrasound and laparoscopic ultrasound. However, transcavitary ultrasound (such as endoscopy ultrasound (EUS), intravascular ultrasound (IVUS), and intracardiac ultrasound (ICE)) is limited by the vicinity of the cavity, resulting in insufficient field of view; while laparoscopic ultrasound (LUS) uses a rigid, straight tube, which is invasive and inflexible. Therefore, current ultrasound imaging cannot meet the increasing demands for image accuracy and minimal invasiveness in clinical minimally invasive interventional surgeries. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for guiding minimally invasive interventional ultrasound, which can accurately guide minimally invasive interventional ultrasound into the interstitial space of human tissue to obtain ultrasound images with good field of view and high resolution, thereby improving the accuracy of minimally invasive interventional surgery.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A method for guiding minimally invasive interventional ultrasound includes:

[0007] A complete ultrasound image is generated based on the first ultrasound data acquired by the external ultrasound transducer.

[0008] Acquire reflected ultrasound data from the interventional ultrasound transducer to the external ultrasound transducer, and determine the standard position information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data, so as to guide the interventional ultrasound transducer to the region of interest in the overall ultrasound image based on the standard position information.

[0009] If the interventional ultrasound transducer reaches the region of interest, a local ultrasound image is generated based on the second ultrasound data acquired by the interventional ultrasound transducer.

[0010] The overall ultrasound image and / or the local ultrasound image are output according to the display mode of the imaging unit.

[0011] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0012] A system for guiding minimally invasive interventional ultrasound, for performing the above-described method for guiding minimally invasive interventional ultrasound, the system comprising an imaging unit, an interventional ultrasound unit, and an extracorporeal ultrasound unit;

[0013] The interventional ultrasound unit includes an interventional ultrasound transducer electrically coupled to the imaging unit; the extracorporeal ultrasound unit includes an extracorporeal ultrasound transducer electrically coupled to the imaging unit.

[0014] The beneficial effects of this invention are as follows: First ultrasound data is acquired by the external ultrasound transducer in the external ultrasound unit, thereby determining the approximate location of the region of interest (ROI) based on the first ultrasound data and generating a holistic ultrasound image containing the ROI. Simultaneously, the interventional ultrasound transducer in the interventional ultrasound unit reflects the sound waves from the external ultrasound transducer, enabling the external ultrasound transducer to acquire corresponding reflected ultrasound data. Based on this reflected ultrasound data, the position of the interventional ultrasound transducer can be located in real-time within the holistic ultrasound image. Operators can use the positional information in the holistic ultrasound image to guide the interventional ultrasound transducer through the interstitial spaces or blood vessels within the body, thereby precisely reaching the ROI inside the body and solving the problem of limited field of view in in vivo ultrasound, which hinders the accuracy of interventional surgery. Furthermore, the interventional ultrasound transducer penetrates deep into the body to acquire second ultrasound data and generate local ultrasound images, solving the problem that surface ultrasound cannot obtain ultrasound images with good field of view and high resolution. Through the dual imaging cooperation of the external ultrasound unit and the interventional ultrasound unit, real-time and precise image guidance is achieved, thereby improving the accuracy of minimally invasive interventional surgery. Attached Figure Description

[0015] Figure 1 A flowchart illustrating the steps of a method for guiding minimally invasive interventional ultrasound, as provided in an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall ultrasound image and the local ultrasound image provided in the embodiments of the present invention;

[0017] Figure 3 This is a schematic diagram of a system for guiding minimally invasive interventional ultrasound, provided by an embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram of the structure of an interventional ultrasound transducer provided in an embodiment of the present invention;

[0019] Figure 5 A circuit module diagram of an imaging unit provided in an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of a circuit module for another imaging unit provided in an embodiment of the present invention;

[0021] Figure 7 This is a schematic diagram of a system for guiding minimally invasive interventional ultrasound, provided as an embodiment of the present invention.

[0022] Label Explanation:

[0023] 1. Imaging unit; 2. Interventional ultrasound unit; 3. Extracorporeal ultrasound unit; 4. Display screen; 5. Electrical coupling adapter; 6. Human-computer interaction module; 11. Radio frequency control module; 111. First radio frequency control module; 112. Second radio frequency control module; 12. Processing module; 13. Power supply module; 21. Interventional ultrasound transducer; 22. Control handle; 23. Flexible catheter; 24. Steering controller; 31. Extracorporeal ultrasound transducer; 51. Analog radio frequency signal terminal; 52. Digital signal terminal. Detailed Implementation

[0024] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0025] Embodiments of the present invention provide a method for guiding minimally invasive interventional ultrasound, comprising:

[0026] A complete ultrasound image is generated based on the first ultrasound data acquired by the external ultrasound transducer.

[0027] Acquire reflected ultrasound data from the interventional ultrasound transducer to the external ultrasound transducer, and determine the standard position information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data, so as to guide the interventional ultrasound transducer to the region of interest in the overall ultrasound image based on the standard position information.

[0028] If the interventional ultrasound transducer reaches the region of interest, a local ultrasound image is generated based on the second ultrasound data acquired by the interventional ultrasound transducer.

[0029] The overall ultrasound image and / or the local ultrasound image are output according to the display mode of the imaging unit.

[0030] As described above, the beneficial effects of this invention are as follows: First ultrasound data is acquired by the external ultrasound transducer in the external ultrasound unit, thereby determining the approximate location of the region of interest based on the first ultrasound data and generating a holistic ultrasound image containing the region of interest. Simultaneously, the interventional ultrasound transducer in the interventional ultrasound unit has a reflection effect on the sound waves of the external ultrasound transducer, enabling the external ultrasound transducer to acquire corresponding reflected ultrasound data. Based on this reflected ultrasound data, the position of the interventional ultrasound transducer can be located in real-time within the holistic ultrasound image. Operators can use the positional information in the holistic ultrasound image to guide the interventional ultrasound transducer through the interstitial spaces or blood vessels within the body, thereby accurately reaching the region of interest inside the body, solving the problem of limited intraoperative ultrasound field of view and the inability to guarantee the accuracy of interventional surgery. Furthermore, the interventional ultrasound transducer penetrates deep into the body to acquire second ultrasound data and generate local ultrasound images, solving the problem that surface ultrasound cannot obtain ultrasound images with good field of view and high resolution. Through the dual imaging cooperation of the external ultrasound unit and the interventional ultrasound unit, real-time and precise image guidance is achieved, thereby improving the accuracy of minimally invasive interventional surgery.

[0031] Furthermore, determining the standard position information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data includes:

[0032] Based on the reflected ultrasound data, the approximate location information of the interventional ultrasound transducer is determined in the overall ultrasound image;

[0033] Real-time ultrasound images of the approximate location information are acquired by the interventional ultrasound transducer.

[0034] The real-time ultrasound image is registered with the overall ultrasound image to obtain the standard position information of the interventional ultrasound transducer in the overall ultrasound image.

[0035] As described above, due to obstacles such as fat, gas, and bone, external ultrasound transducers can only acquire approximate images of the region of interest, thus limiting their ability to roughly locate interventional ultrasound transducers. In this situation, the interventional ultrasound transducer acquires real-time ultrasound images of its current location and registers these images with the overall ultrasound image. This leverages the uniform and high-resolution imaging of real-time ultrasound images to assist the external ultrasound transducer in achieving precise positioning of the interventional ultrasound transducer, ensuring that the transducer accurately reaches the target area.

[0036] Furthermore, guiding the interventional ultrasound transducer to the region of interest in the overall ultrasound image based on the standard position information includes:

[0037] Based on the relative positional relationship between the standard positional information and the region of interest, the deformation direction and bending angle of the flexible catheter are controlled by the control handle through signal transmission or energy transmission to guide the interventional ultrasound transducer located at the front end of the flexible catheter to travel to the region of interest in the overall ultrasound image.

[0038] As described above, when the interventional ultrasound transducer penetrates the human body through a flexible catheter, the deformation direction of the flexible catheter can control the direction of travel of the interventional ultrasound transducer. However, since the front end of the flexible catheter is located inside the human body, it is not possible to directly control the deformation direction of the flexible catheter. Therefore, the deformation direction and bending angle of the flexible catheter can be remotely controlled outside the body through signal transmission or energy transmission, thereby flexibly adjusting the position of the interventional ultrasound transducer.

[0039] Furthermore, it also includes:

[0040] Multiple digital signals are transmitted through the digital signal terminal of the time-division multiplexer transceiver coupling adapter.

[0041] As can be seen from the above description, using time-division multiplexing to transmit and receive digital signals from two transducers can save data transmission resources.

[0042] Furthermore, it also includes:

[0043] Multiple digital signals at the digital signal terminal of the receiver-generator coupling adapter can be selected via a switch.

[0044] As described above, by selecting to transmit and receive the digital signal of one of the transducers using a switch, data isolation between different transducers can be achieved.

[0045] Another embodiment of the present invention provides a system for guiding minimally invasive interventional ultrasound, for performing the above-described method for guiding minimally invasive interventional ultrasound, the system comprising an imaging unit, an interventional ultrasound unit, and an extracorporeal ultrasound unit;

[0046] The interventional ultrasound unit includes an interventional ultrasound transducer electrically coupled to the imaging unit; the extracorporeal ultrasound unit includes an extracorporeal ultrasound transducer electrically coupled to the imaging unit.

[0047] As described above, the beneficial effects of this invention are as follows: First ultrasound data is acquired by the external ultrasound transducer in the external ultrasound unit, thereby determining the approximate location of the region of interest based on the first ultrasound data and generating a holistic ultrasound image containing the region of interest. Simultaneously, the interventional ultrasound transducer in the interventional ultrasound unit has a reflection effect on the sound waves of the external ultrasound transducer, enabling the external ultrasound transducer to acquire corresponding reflected ultrasound data. Based on this reflected ultrasound data, the position of the interventional ultrasound transducer can be located in real-time within the holistic ultrasound image. Operators can use the positional information in the holistic ultrasound image to guide the interventional ultrasound transducer through the interstitial spaces or blood vessels within the body, thereby accurately reaching the region of interest inside the body, solving the problem of limited intraoperative ultrasound field of view and the inability to guarantee the accuracy of interventional surgery. Furthermore, the interventional ultrasound transducer penetrates deep into the body to acquire second ultrasound data and generate local ultrasound images, solving the problem that surface ultrasound cannot obtain ultrasound images with good field of view and high resolution. Through the dual imaging cooperation of the external ultrasound unit and the interventional ultrasound unit, real-time and precise image guidance is achieved, thereby improving the accuracy of minimally invasive interventional surgery.

[0048] Furthermore, the interventional ultrasound unit also includes a control handle;

[0049] The interventional ultrasound transducer is electrically coupled to one end of the control handle, and the other end of the control handle is electrically coupled to the imaging unit.

[0050] As described above, since interventional ultrasound transducers need to penetrate deep into the tissue spaces or blood vessels inside the human body for ultrasound imaging, in order to ensure precise control of the position of the interventional ultrasound transducer, the operator can directly adjust the position of the interventional ultrasound transducer in real time through the control handle, which effectively improves the convenience of adjustment and reduces the difficulty of guiding the interventional ultrasound transducer.

[0051] Furthermore, it also includes a display screen;

[0052] The display screen is electrically coupled to the imaging unit, and the display screen is configured to output and display the overall ultrasound image and / or the local ultrasound image.

[0053] As described above, the display screen can simultaneously show both overall and local ultrasound images. By comparing and coordinating these images, it enables real-time monitoring and precise guidance of minimally invasive interventional surgery. Furthermore, the screen can display overall or local ultrasound images one at a time, focusing on the operational environment of a single ultrasound image and improving the accuracy of the procedure.

[0054] Furthermore, it also includes an electrical coupling adapter;

[0055] The interventional ultrasound transducer and the extracorporeal ultrasound transducer are electrically coupled to the analog radio frequency signal terminal of the electrical coupling adapter; the digital signal terminal of the electrical coupling adapter is electrically coupled to the imaging unit.

[0056] As described above, the electrical coupling adapter is used to realize the electrical coupling connection and communication between the imaging unit and the ultrasonic transducer, and to realize the data and signal isolation between the two different ultrasonic transducers, so that the imaging unit can control the two ultrasonic transducers to achieve different imaging effects.

[0057] Furthermore, the interventional ultrasound unit also includes a flexible catheter and a steering controller;

[0058] The rear end of the flexible catheter is electrically coupled to the control handle, and the front end of the flexible catheter is electrically coupled to the interventional ultrasound transducer and the steering controller.

[0059] As described above, the interventional ultrasound transducer is placed at the front end of the flexible catheter, utilizing the catheter's deformable nature to allow the transducer to move flexibly through the spaces between human tissues and blood vessels. Simultaneously, a steering controller is installed at the front end of the flexible catheter to control the direction of the transducer when the catheter deforms, thereby adjusting the transducer's position.

[0060] This invention provides a method and system for guiding minimally invasive interventional ultrasound, applicable to minimally invasive interventional surgery scenarios. It generates a comprehensive ultrasound image of the surgical area using an external ultrasound transducer and locates the position of the interventional ultrasound transducer in real time. The transducer then travels through the spaces between human tissues or blood vessels, approaching the surgical area to acquire high-resolution local ultrasound images, thus improving the accuracy of minimally invasive interventional surgery. Specific embodiments are described below:

[0061] Please refer to Figures 1 to 2 Embodiment 1 of the present invention is as follows:

[0062] like Figure 1 As shown, a method for guiding minimally invasive interventional ultrasound includes:

[0063] S110. Generate an overall ultrasound image based on the first ultrasound data acquired by the external ultrasound transducer.

[0064] S120. Acquire reflected ultrasound data of the interventional ultrasound transducer to the external ultrasound transducer, determine the standard position information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data, and guide the interventional ultrasound transducer to the region of interest in the overall ultrasound image based on the standard position information.

[0065] like Figure 2As shown in (a), the overall ultrasound image includes the field of view of the region of interest and the location information of the interventional ultrasound transducer.

[0066] In some embodiments, interventional ultrasound transducers with different imaging ranges and frequencies are selected based on the size and shape of the region of interest in the overall ultrasound image to ensure the clarity of the local ultrasound image.

[0067] In some embodiments, the interventional ultrasound transducer is an in vivo ultrasound transducer. Because the acoustic structure of the interventional ultrasound transducer is relatively complex, containing a large amount of high acoustic impedance metal and ceramic materials, its acoustic impedance characteristics differ significantly from those of human tissue. This results in a strong reflection effect of sound waves by the interventional ultrasound transducer. Therefore, when the interventional ultrasound transducer is located within the acoustic wave range of the external ultrasound transducer, it can be displayed in the overall ultrasound image generated by the external ultrasound transducer.

[0068] In some embodiments, the region of interest refers to the area to be operated on in minimally invasive interventional surgery and its surrounding related areas. It should be noted that minimally invasive interventional surgery includes both minimally invasive surgery and interventional surgery, which involves inserting medical devices through tiny puncture channels on the body surface to reach the affected area via body cavities or interstitial spaces for treatment. Sites of application for minimally invasive interventional surgery include, but are not limited to, the abdominal cavity, retroperitoneum, mediastinum, and cranial cavity. Surgical procedures include, but are not limited to, tumor ablation, tumor resection, radioactive particle implantation, stent implantation, and puncture sampling.

[0069] In some embodiments, the operating frequency of the external ultrasound transducer is lower than that of the interventional ultrasound transducer, and the external ultrasound transducer is larger in size to obtain a deeper and wider imaging area, the imaging range of which may include the region of interest, the interventional ultrasound transducer, and the flexible catheter close to the region of interest.

[0070] In some embodiments, the interventional ultrasound transducer is characterized by its small size and high frequency, and its imaging range is generally rectangular or small-angle trapezoidal, enabling it to penetrate deep into the region of interest of the human body for uniform and high-resolution ultrasound imaging.

[0071] Specifically, in step S120, determining the standard position information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data includes:

[0072] S210. Determine the approximate location information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data.

[0073] S220. Real-time ultrasound images of the approximate location information are acquired through the interventional ultrasound transducer.

[0074] S230. The real-time ultrasound image is registered with the overall ultrasound image to obtain the standard position information of the interventional ultrasound transducer in the overall ultrasound image.

[0075] In some embodiments, the field of view of the external ultrasound transducer is larger than that of the interventional ultrasound transducer. The first ultrasound transducer, which acquires data through the external ultrasound transducer, can generate a general structural map of the region of interest, i.e., a global ultrasound image. Simultaneously, due to the strong reflection effect of the interventional ultrasound transducer on the sound waves emitted by the external ultrasound transducer, a bright reflection area can be observed in the global ultrasound image generated by the external ultrasound transducer, thereby identifying the standard location information of the interventional ultrasound transducer.

[0076] Specifically, in step S120, guiding the interventional ultrasound transducer to the region of interest in the overall ultrasound image based on the standard position information includes:

[0077] S240. Based on the relative positional relationship between the standard positional information and the region of interest, the deformation direction and bending angle of the flexible catheter are controlled by the control handle through signal transmission or energy transmission to guide the interventional ultrasound transducer located at the front end of the flexible catheter to travel to the region of interest in the overall ultrasound image.

[0078] In some embodiments, the operator can control the rotation and translation of the flexible catheter by operations such as rotation and pushing and pulling, so as to adjust the position of the interventional ultrasound transducer in accordance with the deformation direction and bending angle of the flexible catheter.

[0079] In some embodiments, the tip of the flexible catheter has four-dimensional directional capabilities. By manipulating the orientation or shape of a specific part on the control handle, control information can be synchronously transmitted to the tip of the flexible catheter to bend at a specific angle. The directional capability of the flexible catheter characterizes the bending ability of the tip of the catheter, which houses the interventional ultrasound transducer, relative to other parts of the catheter. The movement of the interventional ultrasound transducer within the body is achieved through the directional movement of the tip of the catheter and the rotation and translation of the entire catheter. It should be noted that the tip of the flexible catheter refers to the end where the interventional ultrasound transducer is located, and the rear end of the flexible catheter refers to the end electrically coupled to the control handle.

[0080] In some embodiments, the control handle transmits signals by sending a steering signal to the front end of the flexible catheter via a wired or wireless means, and the front end of the flexible catheter performs a bending operation.

[0081] In some embodiments, the energy transmission method of the control handle is to deform the functional material at the tip of the flexible conduit through an electric field or magnetic field to achieve bending operation, wherein the functional material includes electrostrictive material and magnetostrictive material.

[0082] In some embodiments, the control handle can also control the deformation direction and bending angle of the flexible catheter via mechanical transmission. Specifically, fine filaments are provided inside the flexible catheter, and the control handle can drive the front end of the flexible catheter to contract on that side by pulling the fine filaments on the side of the catheter, thereby achieving bending and turning. The number of fine filaments used for transmission is multiple, and multi-angle bending can be achieved through the combination of the fine filaments.

[0083] In some embodiments, the above-described signal transmission methods, energy transmission methods, and mechanical transmission methods can be used in combination to meet different control operation requirements.

[0084] In some embodiments, the flexible catheter also has a strong reflection effect on sound waves, so the bending path of the flexible catheter can also be displayed in the overall ultrasound image generated by the external ultrasound transducer. The operator can flexibly adjust the travel angle of the flexible catheter by observing the degree of bending of the flexible catheter in the overall ultrasound image.

[0085] It should be noted that the external ultrasound transducer and the interventional ultrasound transducer are composed of an ultrasound transducer array. Each array element is controlled by the imaging unit to transmit and receive ultrasound waves, thereby using the ultrasound echoes to perform beamforming and generate ultrasound images. Beamforming refers to a method of obtaining the direction and distance information of the scattering point by utilizing the sound wave propagation time difference caused by the distance difference between the scattering point and the ultrasound array element during ultrasound transmission and reception, and thus acquiring an image of the region of interest.

[0086] S130. If the interventional ultrasound transducer reaches the region of interest, a local ultrasound image is generated based on the second ultrasound data acquired by the interventional ultrasound transducer.

[0087] like Figure 2 As shown in (b), the local ultrasound image includes the field of view of the region of interest.

[0088] In some embodiments, the operator can select a suitable interstitial path based on the current standard position information of the interventional ultrasound transducer and the tissue image of the region of interest displayed in the overall ultrasound imaging. This allows the operator to manipulate the control handle to bend, rotate, and push / pull the flexible catheter, delivering the interventional ultrasound transducer at the tip of the flexible catheter to the region of interest to obtain high-resolution images of deep tissues. This invention is applicable to surgical scenarios where deep ultrasound visualization is difficult, such as minimally invasive interventional surgeries requiring precise real-time image guidance, such as brain tumor resection, liver cancer ablation, pancreatic cancer nanoknife ablation, and bile duct cancer interventional ablation. Guided by an external ultrasound transducer, this invention allows the interventional ultrasound transducer to enter the body and travel within the interstitial space or blood vessel to the surgical area, directly acquiring high-resolution ultrasound images of the surgical area, effectively avoiding interference from factors such as obesity, gas, and bone.

[0089] In some embodiments, the imaging modes of the extracorporeal ultrasound transducer and the interventional ultrasound transducer include B-mode ultrasound, Doppler ultrasound, and microbubble angiography.

[0090] S140. Output the overall ultrasound image and / or the local ultrasound image according to the display mode of the imaging unit.

[0091] In some embodiments, the display modes of the imaging unit include simultaneous output and time-division output. Simultaneous output means that the human eye can simultaneously observe both the overall ultrasound image and the local ultrasound image. Time-division output means that only one ultrasound image can be observed within a certain period of time.

[0092] In some embodiments, when the imaging unit's display mode is time-division output, only one transducer can be restricted to operate within a specified time period. Specifically, when the interventional ultrasound transducer moves within the body, only the external ultrasound transducer generates a global ultrasound image, and the interventional ultrasound transducer does not generate a local ultrasound image. When the interventional ultrasound transducer reaches the region of interest, only the interventional ultrasound transducer generates a local ultrasound image, and the external ultrasound transducer does not generate a global ultrasound image.

[0093] In one alternative implementation, the method further includes:

[0094] S310, Multiple digital signals through the digital signal terminal of the time-division multiplexed transceiver coupling adapter.

[0095] In one alternative implementation, the method further includes:

[0096] S410: Select multiple digital signals from the digital signal terminal of the receiver-generator coupling adapter via a switch.

[0097] In some embodiments, since the imaging unit needs to connect to multiple ultrasonic transducers, the digital signal terminal of the electrical coupling adapter stores basic information about each ultrasonic transducer. This basic information includes the transducer's center frequency, bandwidth, sensitivity, number of array elements, element spacing, delay parameters of the matching layer and acoustic lens, physical focusing depth, and impedance. During the process of the imaging unit controlling the ultrasonic transducers, the imaging unit reads the basic information from the electrical coupling adapter and generates corresponding radio frequency pulse excitation and beamforming based on this information, thereby ensuring that each ultrasonic transducer can achieve ultrasonic imaging.

[0098] Please refer to Figures 3 to 7 Embodiment two of the present invention is as follows:

[0099] like Figure 3As shown, a system for guiding minimally invasive interventional ultrasound is used to perform a method for guiding minimally invasive interventional ultrasound as described in Embodiment 1. The system includes an imaging unit 1, an interventional ultrasound unit 2, and an extracorporeal ultrasound unit 3. The interventional ultrasound unit 2 includes an interventional ultrasound transducer 21, which is electrically coupled to the imaging unit 1. The extracorporeal ultrasound unit 3 includes an extracorporeal ultrasound transducer 31, which is electrically coupled to the imaging unit 1.

[0100] like Figure 4 As shown, in some embodiments, the interventional ultrasound transducer 21 includes a housing 211, an acoustic head 212, an acoustic lens 213, and a flexible circuit 214. The acoustic head 212 and the flexible circuit 214 are disposed inside the housing 211, which provides insulation and protection. The acoustic lens 213 is disposed on the side of the acoustic head 212 near the housing 211, and has the function of focusing the sound field while also providing insulation and protection. The flexible circuit 214 is electrically coupled to the imaging unit 1.

[0101] In some embodiments, the sound head 212 includes functional layers such as a piezoelectric layer, a matching layer, a backing layer, a lens layer, and an electrode layer. The piezoelectric layer includes 1 to 3 layers of piezoelectric material, and the types of piezoelectric material include piezoelectric ceramics, piezoelectric crystals, piezoelectric polymers, and piezoelectric composite materials. Each of the other functional layers may include 0 to 3 layers of material with a specific acoustic impedance, which are combined to achieve the corresponding function.

[0102] Specifically, the interventional ultrasound unit 2 further includes a control handle 22; the interventional ultrasound transducer 21 is electrically coupled to one end of the control handle 22, and the other end of the control handle 22 is electrically coupled to the imaging unit 1.

[0103] In some embodiments, the control handle 22 is provided with a rotating component, a steering rod, and a deformable component. The rotating component is used to control the rotation of the flexible catheter, the steering rod is used to control the direction of the flexible catheter, and the deformable component is used to control the bending angle of the flexible catheter.

[0104] Specifically, the system further includes a display screen 4; the display screen 4 is electrically coupled to the imaging unit 1, and the display screen 4 is configured to output and display the overall ultrasound image and / or the local ultrasound image.

[0105] Specifically, the system further includes an electrical coupling adapter 5; the interventional ultrasound transducer 21 and the extracorporeal ultrasound transducer 31 are electrically coupled to the analog radio frequency signal terminal 51 of the electrical coupling adapter 5; and the digital signal terminal 52 of the electrical coupling adapter 5 is electrically coupled to the imaging unit 1.

[0106] In some embodiments, the analog radio frequency signal terminal 51 of the electrical coupling adapter 5 electrically couples each ultrasonic transducer directly or via multiplexing. The analog radio frequency signal terminal 51 of the electrical coupling adapter 5 is used to transmit a high-voltage radio frequency signal to excite ultrasonic waves and to receive a low-voltage radio frequency signal generated by the ultrasonic echo on the ultrasonic transducer. The digital signal terminal 52 of the electrical coupling adapter 5 is used to transmit basic information of the ultrasonic transducer to the imaging unit 1. A chip is provided inside the electrical coupling adapter 5 and is electrically coupled to the digital signal terminal. The chip is used to store the basic information of the ultrasonic transducer.

[0107] In some embodiments, the analog radio frequency signal terminal 51 and the digital signal terminal 52 of the electrical coupling adapter 5 are configured as plug-in structures, thereby allowing direct replacement of the external ultrasound transducer 31 and the interventional ultrasound transducer 21 by plugging in.

[0108] In some embodiments, the external ultrasound transducer 31 adaptable to the imaging unit 1 of the present invention includes a linear array, a convex array, a phased array, a ring array, and a volume probe, and the interventional ultrasound transducer 21 adaptable to the imaging unit 1 of the present invention includes a linear array and a phased array.

[0109] Specifically, the interventional ultrasound unit 2 further includes a flexible catheter 23 and a steering controller 24; the rear end of the flexible catheter 23 is electrically coupled to the control handle 22, and the front end of the flexible catheter 23 is electrically coupled to the interventional ultrasound transducer 21 and the steering controller 24.

[0110] In some embodiments, the length of the flexible conduit 23 is 5 to 200 cm, the diameter of the flexible conduit 23 is 1 to 20 mm, and the bendability of the front end of the flexible conduit 23 is 0 to 120°, that is, the turning angle of the flexible conduit 23 is 0 to 120°.

[0111] like Figure 5 As shown, in some embodiments, the imaging unit 1 includes a radio frequency control module 11. Each digital signal terminal 52 of the electrical coupling adapter 5 is electrically coupled to one radio frequency control module 11, thereby enabling multiple radio frequency control modules to control each ultrasound transducer in parallel. Specifically, the external ultrasound transducer 31 is electrically coupled to the analog radio frequency signal terminal 51 of the electrical coupling adapter 5, and the digital signal terminal 52 of the electrical coupling adapter 5 is electrically coupled to the first radio frequency control module 11, realizing the electrical coupling between the external ultrasound transducer 31 and the imaging unit 1; the interventional ultrasound transducer 21 is electrically coupled to the analog radio frequency signal terminal 51 of the electrical coupling adapter 5, and the digital signal terminal 52 of the electrical coupling adapter 5 is electrically coupled to the second radio frequency control module 112, realizing the electrical coupling between the interventional ultrasound transducer 21 and the imaging unit 1.

[0112] like Figure 6As shown, in some embodiments, the imaging unit 1 includes a radio frequency control module 11. Each digital signal terminal 52 of the electrical coupling adapter 5 is electrically coupled to a radio frequency control module 11, thereby enabling time-division multiplexing control of each ultrasound transducer. Specifically, the external ultrasound transducer 31 and the interventional ultrasound transducer 21 are respectively electrically coupled to the analog radio frequency signal terminal 51 of the electrical coupling adapter 5, while the digital signal terminals 52 of the electrical coupling adapter 5 are all electrically coupled to the radio frequency control module 11, realizing the electrical coupling between the external ultrasound transducer 31 and the interventional ultrasound transducer 21 and the imaging unit 1.

[0113] In some embodiments, the imaging unit 1 further includes a processing module 12 and a power supply module 13. Each radio frequency control module 11 is electrically coupled to the processing module 12, and the power supply module 13 is electrically coupled to both the radio frequency control module 11 and the processing module 12 to provide power.

[0114] In some embodiments, the processing module 12 includes a field-programmable gate array (FPGA), a central processing unit (CPU), a graphics processing unit (GPU), an accelerator processor (APU), and a neural network processor (NPU) for performing task scheduling for transmission and reception of the dual transducers, data storage and computation, and ultrasound image reconstruction.

[0115] In some embodiments, the system further includes a human-computer interaction unit 6, which includes a signal input module and a signal output module, both of which are electrically coupled to the processing module of the imaging unit 1. The signal input module includes a mouse, buttons, a trackball, a slider, a touch screen, a microphone, and a camera, etc., while the signal output module includes a display, a speaker, and a force feedback device, etc.

[0116] like Figure 7 As shown, the extracorporeal ultrasound transducer 31 acquires ultrasound data of the region of interest outside the human tissue, and the interventional ultrasound transducer 21 acquires ultrasound data of the region of interest inside the human tissue. The imaging unit 1 generates an overall ultrasound image based on the ultrasound data acquired by the extracorporeal ultrasound transducer 31, and at the same time generates a local ultrasound image based on the ultrasound data acquired by the interventional ultrasound transducer 21, thereby realizing dual-image guidance.

[0117] In summary, the present invention provides a method and system for guiding minimally invasive interventional ultrasound. First, an external ultrasound transducer performs overall external ultrasound imaging of the region of interest. Then, a control handle controls the direction and movement of the flexible catheter connected to the interventional ultrasound transducer in real time, allowing the transducer to penetrate deep into the interstitial tissues of the body. Simultaneously, the overall external ultrasound imaging guides the transducer's path, enabling it to approach the region of interest and obtain uniform and high-resolution ultrasound images, avoiding interference from factors such as fat, gas, and bone. Furthermore, the overall external ultrasound imaging compensates for the limited field of view of the interventional ultrasound transducer. Based on the combined use of external and interventional ultrasound imaging, real-time and precise image guidance is achieved, thereby improving the accuracy of minimally invasive interventional surgery.

[0118] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for guiding minimally invasive interventional ultrasound, characterized in that, include: A complete ultrasound image is generated based on the first ultrasound data acquired by the external ultrasound transducer. Acquire reflected ultrasound data of the interventional ultrasound transducer to the external ultrasound transducer, and determine the approximate location information of the interventional ultrasound transducer in the overall ultrasound image based on the reflected ultrasound data. Real-time ultrasound images of the approximate location information are acquired by the interventional ultrasound transducer. The real-time ultrasound image is registered with the overall ultrasound image to obtain the standard position information of the interventional ultrasound transducer in the overall ultrasound image. Based on the relative positional relationship between the standard positional information and the region of interest in the overall ultrasound image, data on the deformation direction and bending angle of the flexible catheter required for signal or energy transmission of the control handle are generated to guide the interventional ultrasound transducer located at the front end of the flexible catheter to the region of interest in the overall ultrasound image. A local ultrasound image is generated based on the second ultrasound data acquired by the interventional ultrasound transducer that arrives at the region of interest. The overall ultrasound image and / or the local ultrasound image are output according to the display mode of the imaging unit.

2. The method for guiding minimally invasive interventional ultrasound according to claim 1, characterized in that, Also includes: Multiple digital signals are transmitted through the digital signal terminal of the time-division multiplexer transceiver coupling adapter.

3. The method for guiding minimally invasive interventional ultrasound according to claim 1, characterized in that, Also includes: Multiple digital signals at the digital signal terminal of the receiver-generator coupling adapter can be selected via a switch.

4. A system for guiding minimally invasive interventional ultrasound, characterized in that, For performing a method for guiding minimally invasive interventional ultrasound as described in any one of claims 1-3, the system includes an imaging unit, an interventional ultrasound unit, and an extracorporeal ultrasound unit; The interventional ultrasound unit includes an interventional ultrasound transducer electrically coupled to the imaging unit; the extracorporeal ultrasound unit includes an extracorporeal ultrasound transducer electrically coupled to the imaging unit.

5. A system for guiding minimally invasive interventional ultrasound according to claim 4, characterized in that, The interventional ultrasound unit also includes a control handle; The interventional ultrasound transducer is electrically coupled to one end of the control handle, and the other end of the control handle is electrically coupled to the imaging unit.

6. A system for guiding minimally invasive interventional ultrasound according to claim 4, characterized in that, It also includes a display screen; The display screen is electrically coupled to the imaging unit, and the display screen is configured to output and display the overall ultrasound image and / or the local ultrasound image.

7. A system for guiding minimally invasive interventional ultrasound according to claim 4, characterized in that, It also includes an electrical coupling adapter; The interventional ultrasound transducer and the extracorporeal ultrasound transducer are electrically coupled to the analog radio frequency signal terminal of the electrical coupling adapter; the digital signal terminal of the electrical coupling adapter is electrically coupled to the imaging unit.

8. A system for guiding minimally invasive interventional ultrasound according to claim 5, characterized in that, The interventional ultrasound unit also includes a flexible catheter and a steering controller; The rear end of the flexible catheter is electrically coupled to the control handle, and the front end of the flexible catheter is electrically coupled to the interventional ultrasound transducer and the steering controller.

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