Motion control system and method for ultrasonic therapeutic equipment and ultrasonic therapeutic equipment

Abstract

The present invention belongs to the field of focused ultrasonic motion control technology, and in particular relates to a motion control system, method, and ultrasonic therapy device for ultrasonic therapy equipment. The motion control system includes a power supply module, an instruction conversion module, a controller, and a data storage device; the power supply module is used to provide working power; the instruction conversion module receives the control instruction, converts it into a format that the controller can recognize, and sends it to the controller in a sequential order; the controller reads the current coordinate value recorded in the data storage device, and obtains the number of pulses and the direction of movement in combination with the absolute coordinates of the target position; the pulse frequency is calculated based on the movement speed and acceleration; pulses are sent to the driver according to the pulse frequency, and each time a pulse is sent, the controller writes the count into the data storage device once, and the controller determines whether to add or subtract the count in the data storage device according to the movement direction; the driver controls the movement of the motion axis according to the pulse. The present invention simplifies the manufacturing and control processes of the equipment and reduces maintenance costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of focused ultrasound motion control, and in particular relates to a motion control system and method for ultrasonic therapeutic equipment, and ultrasonic therapeutic equipment. Background Art

[0002] The fixed-focal-length ultrasonic transducer used in focused ultrasound therapy equipment is generally fixed on a motion mechanism in order to enable the focal area of ​​the ultrasonic transducer to cover the entire lesion area. The motion mechanism drives the ultrasonic transducer to move and complete the ultrasonic therapy operation.

[0003] The motion control system provided by the existing technology obtains the actual position information of the ultrasonic transducer in real time, then compares the actual position information with the target position information through a controller, generates motion control instructions in real time, and then sends the motion control instructions to the drive motor included in the ultrasonic treatment equipment, thereby controlling the motion axis of the ultrasonic treatment equipment.

[0004] The existing technology determines the actual position information at the current moment by real-time scanning of the current position of the ultrasonic transducer, and further determines the motion process at the next moment through the target position information. The motion process includes the motion direction and motion distance. At this time, it is necessary to set a displacement sensor device on the motion mechanism included in the ultrasonic treatment equipment, and reserve a corresponding signal interface for the controller. The construction of the above motion control system involves many processes such as sensor setting, motion mechanism fine-tuning, equipment routing, etc., which not only complicates the complexity of the ultrasonic treatment equipment but also increases the maintenance cost of the equipment, such as regular calibration, tightening of the sensor device, etc. In addition, the motion control system provided by the existing technology adopts the logic of closed-loop control, which has complex problems such as data acquisition, data transmission, and data processing. Summary of the Invention

[0005] The object of the present invention is to provide a motion control system and control method for ultrasonic therapeutic equipment, which adopts a method of real-time storage of position, that is, the actual position is no longer obtained through a sensor, but the current position value is obtained by simulation calculation in the controller. In this case, only a finished closed-loop drive unit and modified parts need to be selected to replace the above-mentioned complex process.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a motion control system for an ultrasonic therapeutic device, the ultrasonic therapeutic device comprising a motion mechanism, the motion mechanism comprising a driver and an actuator driven by the driver; the actuator comprising a motor, a transmission assembly, and an ultrasonic transducer; the transmission assembly comprising motion axes comprising an X-axis, a Y-axis, a Z-axis, a B-axis, and a C-axis, wherein the B-axis and the C-axis are respectively a rotation axis and a lifting axis, for driving the rotation and lifting of an image collector disposed on the ultrasonic transducer;

[0008] A motion control system is configured for each of the X-axis, Y-axis, Z-axis, B-axis, and C-axis of the ultrasonic therapy device; each motion control system includes a power supply module, an instruction conversion module, a controller, and a data storage device; the power supply module is used to provide working power to the instruction conversion module, the controller, and the data storage device;

[0009] The instruction conversion module receives the control instruction, converts the format of the control instruction into a format that the controller can recognize, and sends it to the controller in sequence; the control instruction includes the absolute coordinates of the target position of the motion axis, the motion speed and acceleration;

[0010] The controller reads the current coordinate value recorded in the data memory, obtains the pulse number and movement direction based on the current coordinate value and the absolute coordinate of the target position; and obtains the pulse frequency based on the movement speed and acceleration.

[0011] Send pulses to the driver according to the pulse frequency. Each time a pulse is sent, the controller writes the count into the data memory once. The controller determines whether to increase or decrease the count in the data memory according to the direction of movement.

[0012] The driver controls the movement of the motion axis based on the pulses.

[0013] As a possible implementation method, the instruction conversion module included in the motion control system is connected to the computer for communication, and the target tissue size, depth and position information is input into the computer; the computer calculates a set of point coordinates that can represent the treatment position based on the target tissue size, depth and position information; the computer also generates an instruction sequence based on the point coordinate set, and the instruction sequence consists of multiple control instructions transmitted in sequence.

[0014] As a possible implementation, the instruction conversion module controls the instructions to be sent to the controller in a sequential order in the following manner:

[0015] After the current control instruction is executed, the next control instruction is sent.

[0016] As a possible implementation, the motor included in the driver and the actuator assembly is a closed-loop control structure.

[0017] As a possible implementation, the data memory is a ferroelectric memory.

[0018] As a possible implementation method, the motion control system also includes a limit signal module, which is used to process the limit signal of the instant return of the motion mechanism into a high / low level that can be recognized by the controller, and transmit the high / low level to the controller and the driver at the same time; the controller stops sending pulses to the driver when receiving the high / low level; the driver receives the high / low level to control the motor to stop rotating, and at the same time, the data storage stops counting.

[0019] In a second aspect, the present invention provides a motion control method for an ultrasonic therapeutic device, comprising the following steps:

[0020] S10. Calculating a set of point coordinates capable of representing a treatment location; the set of point coordinates is determined based on target tissue size, depth, and location information;

[0021] S11. Generate an instruction sequence based on the point coordinate set, the instruction sequence consisting of multiple control instructions controlled in sequence;

[0022] S12. Each control instruction is processed by the instruction conversion module and sent to the controller in sequence; after the current control instruction is executed, the next control instruction is sent; each control instruction includes the absolute coordinates of the target position of the motion axis, the motion speed and acceleration;

[0023] S13. The controller reads the current coordinate value recorded in the data memory, obtains the number of pulses and the direction of movement based on the current coordinate value and the absolute coordinate of the target position, and calculates the pulse frequency based on the movement speed and acceleration;

[0024] S14 sends pulses to the drive unit at a pulse frequency. Each time a pulse is sent, the microcontroller writes the count into the memory once. The microcontroller determines whether to add or subtract the count in the memory according to the direction of movement.

[0025] S15. The drive unit controls the movement of a single motion axis according to the pulses.

[0026] As a possible implementation method, the pulse number and movement direction are obtained based on the current coordinate value and the absolute coordinate of the target position, specifically including:

[0027] The absolute value of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the number of pulses, and the sign of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the direction of movement.

[0028] As a possible implementation method, the motion control method also includes:

[0029] Obtain the limit signal for the instant return of the motion mechanism;

[0030] The limit signal is processed into a high / low level that can be recognized by the microcontroller;

[0031] The high / low level is transmitted to the controller and the driver at the same time. The controller stops sending pulses to the driver after receiving the high / low level. The driver controls the motor to stop rotating after receiving the high / low level. At the same time, the data storage stops counting.

[0032] In a third aspect, the present invention provides an ultrasonic therapeutic device, wherein the motion mechanism included in the ultrasonic therapeutic device is controlled by the motion control method provided by the second aspect of the present invention; or, the ultrasonic therapeutic device includes a motion mechanism and the motion control system provided by the first aspect of the present invention.

[0033] Compared with the prior art, the present invention has the following effects:

[0034] 1. The motion control system of the ultrasonic treatment device provided by the present invention can simulate and calculate the current position of the ultrasonic transducer, eliminating the need to set a displacement sensor device on the motion mechanism included in the ultrasonic treatment device, thereby simplifying the manufacturing and control processes of the equipment and reducing maintenance costs.

[0035] 2. The motion control system of the ultrasonic therapeutic equipment provided by the present invention adopts a method of real-time storage of position, which can calculate and simulate the current position and record the number of sent pulses. It does not require complex transmission and processing of target motion data, and has higher reliability.

[0036] 3. The motion control system of the ultrasonic therapeutic device provided by the present invention adopts a limit signal module to transmit the limit signal to the controller and the driver at the same time, which can doubly ensure the reliability of the motion system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0038] Figure 1 A control flow chart of a motion control system for an ultrasonic therapeutic device provided in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of a power supply module of a motion control system of an ultrasonic therapeutic device provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a command conversion module of a motion control system of an ultrasonic therapeutic device provided in an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a limit signal module of a motion control system of an ultrasonic therapeutic device provided in an embodiment of the present invention;

[0042] Figure 5 This is a flow chart of the motion control method of the ultrasonic treatment device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] To facilitate a clear description of the technical solutions of the embodiments of the present invention, the words "first" and "second" are used in the embodiments of the present invention to distinguish between identical or similar items with substantially the same functions and effects. For example, the first threshold and the second threshold are merely used to distinguish between different thresholds and do not limit their order. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity or execution order, and the words "first" and "second" do not necessarily mean different.

[0044] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0045] In the present invention, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0046] The existing technology determines the actual position information at the current moment by real-time scanning of the current position of the ultrasonic transducer, and further determines the motion process at the next moment through the target position information. The motion process includes the motion direction and motion distance. At this time, it is necessary to set a displacement sensor device on the motion mechanism included in the ultrasonic treatment equipment, and reserve a corresponding signal interface for the controller. The construction of the above motion control system involves many processes such as sensor setting, motion mechanism fine-tuning, equipment routing, etc., which not only complicates the complexity of the ultrasonic treatment equipment but also increases the maintenance cost of the equipment, such as regular calibration, tightening of the sensor device, etc. In addition, the motion control system provided by the existing technology adopts the logic of closed-loop control, which has complex problems such as data acquisition, data transmission, and data processing.

[0047] To solve the above problems, the present invention provides a motion control system and control method for ultrasonic therapeutic equipment. The system adopts real-time storage of position and no longer obtains the actual position through sensors. Instead, the current position value is obtained by simulation calculation in the controller. In this case, only the finished closed-loop drive unit and the modified parts need to be selected to replace the above complex process.

[0048] In a first aspect, the present invention provides a motion control system for an ultrasonic therapeutic device, the ultrasonic therapeutic device comprising a motion mechanism, the motion mechanism comprising a driver and an actuator driven by the driver; the actuator comprising a motor, a transmission assembly, and an ultrasonic transducer; the transmission assembly comprising motion axes comprising an X-axis, a Y-axis, a Z-axis, a B-axis, and a C-axis, wherein the B-axis and the C-axis are respectively a rotation axis and a lifting axis, for driving the rotation and lifting of an image collector disposed on the ultrasonic transducer;

[0049] See also Figure 1 , a motion control system is configured for each of the X-axis, Y-axis, Z-axis, B-axis and C-axis of the ultrasonic treatment device; each motion control system includes a power supply module, an instruction conversion module, a controller and a data storage device; the power supply module is used to provide working power to the instruction conversion module, the controller and the data storage device;

[0050] See also Figure 2 As an example of a power supply module, the main circuit of the power supply module and the communication device in the instruction conversion module use two sets of isolated power supplies to shield the interference of common mode voltage and high-frequency signals.

[0051] See also Figure 1 The instruction conversion module receives the control instruction, converts the format of the control instruction into a format that the controller can recognize, and sends it to the controller in sequence; the control instruction includes the absolute coordinates of the target position, movement speed and acceleration of the motion axis;

[0052] See also Figure 3 As an example of a command conversion module, the 485 protocol conversion chip, transistor, NOT gate, and optocoupler are used to receive, convert, and isolate control commands. The command conversion module converts the received control commands into a UART serial signal format that the controller can recognize.

[0053] See also Figure 1 The controller reads the current coordinate value recorded in the data memory, obtains the pulse number and movement direction based on the current coordinate value and the absolute coordinate of the target position; calculates the pulse frequency based on the movement speed and acceleration; sends pulses to the driver according to the pulse frequency, and writes the count into the data memory once each pulse is sent. The controller determines whether to add or subtract the count in the data memory according to the movement direction;

[0054] The driver controls the movement of the motion axis based on the pulses.

[0055] The present invention can simulate and calculate the current position of the ultrasonic transducer without providing a displacement sensor device on the motion mechanism included in the ultrasonic treatment equipment, thereby simplifying the manufacturing and control processes of the equipment and reducing maintenance costs.

[0056] As a possible implementation, the motor included in the driver and actuator is a closed-loop control structure. The closed-loop control structure can ensure that the driver and actuator execute the pulse signal with the required accuracy, thereby ensuring the accurate positioning of the ultrasonic transducer.

[0057] As an example, the data memory is a ferroelectric memory, which is controlled using the SPI protocol and also stores motion parameters such as the return error of the corresponding axis motion mechanism and the previous motion direction, making motion control more precise.

[0058] As an example, the controller uses a single chip microcomputer as the core control.

[0059] The data memory contains a data storage circuit for storing current coordinate information. After receiving the control command, which has been converted by the command conversion module, the controller's microcontroller calculates the number of pulses to be sent and their direction based on the absolute coordinates of the target position in the command and the current coordinates sent from the data memory. It then calculates the pulse frequency based on the speed and acceleration of the movement. This frequency is then sent to the driver to drive the axis. Each time a pulse is sent, the microcontroller in the controller writes a count into the data memory. The microcontroller then determines whether to increment or decrement the count in the memory based on the direction of movement.

[0060] The present invention adopts a method of real-time storage of position, which can calculate and simulate the current position and record the number of sent pulses. It does not need to perform complex transmission and processing of target motion data, and has higher reliability.

[0061] As a possible implementation method, the instruction conversion module included in the motion control system is connected to the computer for communication, and the target tissue size, depth and position information is input into the computer; the computer calculates a set of point coordinates that can represent the treatment position based on the target tissue size, depth and position information; the computer also generates an instruction sequence based on the point coordinate set, and the instruction sequence consists of multiple control instructions transmitted in sequence.

[0062] As a possible implementation, the instruction conversion module controls the instructions to be sent to the controller in a sequential order in the following manner:

[0063] After the current control instruction is executed, the next control instruction is sent.

[0064] As a possible implementation method, the motion control system also includes a limit signal module, which is used to process the limit signal of the instant return of the motion mechanism into a high / low level that can be recognized by the controller, and transmit the high / low level to the controller and the driver at the same time; the controller stops sending pulses to the driver when receiving the high / low level; the driver receives the high / low level to control the motor to stop rotating, and at the same time, the data storage stops counting.

[0065] The present invention adopts a limit signal module to transmit the limit signal to the controller and the driver at the same time, which can doubly ensure the reliability of the motion system.

[0066] As an example of a limit signal module, see Figure 4 , using optocoupler isolation limit signal, the limit signal is converted to high / low level that the controller can recognize, and an analog limit control is added through the NAND gate, and limit-related debugging functions are reserved. The limit switch uses electromagnetic induction and mechanical switches to ensure safety.

[0067] As an example of a driver, considering the requirement for waterproof performance, Panasonic A5 servo driver and its matching motor are selected, with a rated power of 200W and a protection level of IP65.

[0068] In a second aspect, the present invention provides a motion control method for an ultrasonic therapeutic device, see Figure 5 , including the following steps:

[0069] S10. Calculating a set of point coordinates capable of representing a treatment location; the set of point coordinates is determined based on target tissue size, depth, and location information;

[0070] S11. Generate an instruction sequence based on the point coordinate set, the instruction sequence consisting of multiple control instructions controlled in sequence;

[0071] S12. Each control instruction is processed by the instruction conversion module and sent to the controller in sequence; after the current control instruction is executed, the next control instruction is sent; each control instruction includes the absolute coordinates of the target position of the motion axis, the motion speed and acceleration;

[0072] S13. The controller reads the current coordinate value recorded in the data memory, obtains the number of pulses and the direction of movement based on the current coordinate value and the absolute coordinate of the target position, and calculates the pulse frequency based on the movement speed and acceleration;

[0073] S14 sends pulses to the drive unit at a pulse frequency. Each time a pulse is sent, the microcontroller writes the count into the memory once. The microcontroller determines whether to add or subtract the count in the memory according to the direction of movement.

[0074] S15. The drive unit controls the movement of a single motion axis according to the pulses.

[0075] As a possible implementation method, the pulse number and movement direction are obtained based on the current coordinate value and the absolute coordinate of the target position, specifically including:

[0076] The absolute value of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the number of pulses, and the sign of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the direction of movement.

[0077] As a possible implementation method, the motion control method also includes:

[0078] Obtain the limit signal for the instant return of the motion mechanism;

[0079] The limit signal is processed into a high / low level that can be recognized by the microcontroller;

[0080] The high / low level is transmitted to the controller and the driver at the same time. The controller stops sending pulses to the driver after receiving the high / low level. The driver controls the motor to stop rotating after receiving the high / low level. At the same time, the data storage stops counting.

[0081] In a third aspect, the present invention provides an ultrasonic therapeutic device, wherein the motion mechanism included in the ultrasonic therapeutic device is controlled by the motion control method provided by the second aspect of the present invention; or, the ultrasonic therapeutic device includes a motion mechanism and the motion control system provided by the first aspect of the present invention.

[0082] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the drawings, etc. In the specification, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the specification. Certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0083] Although the present invention has been described with reference to specific features and embodiments thereof, it will be apparent that various modifications and combinations thereof may be made without departing from the spirit and scope of the invention. Accordingly, this specification and drawings are merely illustrative of the invention and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the invention. It will be apparent that various modifications and variations of the invention may be made by those skilled in the art without departing from the spirit and scope of the invention. Thus, the invention is intended to include such modifications and variations as fall within the scope of the embodiments of the invention and their equivalents.

Claims

1. A motion control system for an ultrasonic therapeutic device, the ultrasonic therapeutic device comprising a motion mechanism, the motion mechanism comprising a driver and an actuator driven by the driver; the actuator comprising a motor, a transmission assembly, and an ultrasonic transducer; the transmission assembly comprising motion axes comprising an X-axis, a Y-axis, a Z-axis, a B-axis, and a C-axis, the B-axis and the C-axis being a rotation axis and a lifting axis, respectively, for driving the rotation and lifting of an image collector disposed on the ultrasonic transducer; characterized in that: A motion control system is configured for each of the X-axis, Y-axis, Z-axis, B-axis, and C-axis; each motion control system includes a power supply module, an instruction conversion module, a controller, and a data storage device; the power supply module is used to provide working power to the instruction conversion module, the controller, and the data storage device; The control system further includes a limit signal module for processing the limit signal of the instant return of the motion mechanism into a high / low level and transmitting the high / low level to the controller and the driver simultaneously; The instruction conversion module receives the control instruction, converts the format of the control instruction into a format recognizable by the controller, and sends it to the controller in a sequential order; the control instruction includes the absolute coordinates of the target position, movement speed and acceleration of the motion axis; The control system adopts a method of storing the position in real time to calculate and simulate the current position and record the number of pulses sent; The controller reads the current coordinate value recorded in the data storage device, obtains the pulse number and the movement direction based on the current coordinate value and the absolute coordinate of the target position; and obtains the pulse frequency based on the movement speed and acceleration; Sending pulses to the driver at the pulse frequency, each time a pulse is sent, the controller writes a count into the data memory once, and the controller determines whether to increase or decrease the count in the data memory according to the direction of movement; The driver controls the movement of the motion axis according to the pulses; The motion control system includes an instruction conversion module that is communicatively connected to a computer, and inputs target tissue size, depth, and position information into the computer; the computer calculates a set of point coordinates that can represent the treatment position based on the target tissue size, depth, and position information; the computer also generates an instruction sequence based on the point coordinate set, and the instruction sequence is composed of multiple control instructions transmitted in sequence.

2. The motion control system of the ultrasonic treatment device according to claim 1, characterized in that: The instruction conversion module controls the instructions to be sent to the controller in the following sequence: After the current control instruction is executed, the next control instruction is sent.

3. The motion control system of the ultrasonic treatment device according to claim 1, characterized in that: The motor included in the driver and the execution component is a closed-loop control structure.

4. The motion control system of the ultrasonic treatment device according to claim 1, characterized in that: The data memory is a ferroelectric memory.

5. The motion control system of the ultrasonic treatment device according to claim 1, characterized in that: The controller stops sending pulses to the driver when receiving the high / low level; the driver controls the motor to stop rotating when receiving the high / low level, and the data storage stops counting at the same time.

6. A motion control method for ultrasonic therapy equipment, characterized in that: The steps include: S10. Calculating a set of point coordinates capable of representing the treatment location; the set of point coordinates is determined based on target tissue size, depth, and location information; S11 generates an instruction sequence based on the point coordinate set, the instruction sequence consists of a plurality of control instructions controlled in sequence; S12. Each control instruction is processed by the instruction conversion module and sent to the controller in sequence; after the current control instruction is executed, a control instruction is sent; each of the control instructions includes the absolute coordinates of the target position of the motion axis, the motion speed and acceleration; S13 controller reads the current coordinate value recorded in the data memory, based on the current coordinate value and the absolute coordinates of the target position to obtain the number of pulses and the direction of movement, based on the movement speed and acceleration calculation to obtain the pulse frequency; S14 sends a pulse to the drive unit according to the pulse frequency, each pulse is sent, the microcontroller writes the count to the memory once, the microcontroller determines the count plus or minus in the memory according to the direction of movement; S15. The driving unit controls the movement of the single motion axis according to the pulse.

7. The motion control method of ultrasonic treatment equipment according to claim 6, characterized in that: The specific steps of obtaining the pulse number and movement direction based on the current coordinate value and the absolute coordinate of the target position include: The absolute value of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the number of pulses, and the sign of the difference between the absolute coordinates of the target position and the coordinate value at the current moment determines the direction of movement.

8. The motion control method of ultrasonic treatment equipment according to claim 6, characterized in that: Motion control methods also include: Obtain the limit signal for the instant return of the motion mechanism; The limit signal is processed into a high / low level that can be recognized by the microcontroller; The high / low level is transmitted to the controller and the driver simultaneously. The controller stops sending pulses to the driver upon receiving the high / low level. The driver controls the motor to stop rotating upon receiving the high / low level. Meanwhile, the data storage stops counting.

9. An ultrasonic treatment device, characterized in that: The motion mechanism included in the ultrasonic therapeutic device is controlled by the motion control method described in any one of claims 6 to 8; or, the ultrasonic therapeutic device includes a motion mechanism and the motion control system described in any one of claims 1 to 5.

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