Interventional ultrasonic image and treatment control method and device

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses a control method and device for interventional ultrasonic imaging and treatment, and the method comprises the steps: entering a first working mode in response to a first execution instruction, and repeatedly executing an image imaging step in the first working mode, the image imaging step comprises controlling an ultrasonic image module to obtain a scanning image of a target detection area; determining a treatment area according to the scanned image; in response to the second execution instruction, a second working mode is entered, in the second working mode, the image imaging step and the ultrasonic treatment step are repeated according to the preset execution sequence until the preset treatment time ends, and the ultrasonic treatment step comprises the step of controlling the ultrasonic treatment module to emit an ultrasonic treatment signal to the treatment area. By means of the control method, the image function and the treatment function can be achieved at the same time, the treatment area is monitored in real time in the whole treatment process, monitoring of the treatment position is more accurate and efficient, meanwhile, wounds to the human body can be reduced, and cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method and device for interventional ultrasonic imaging and treatment. Background Art

[0002] Soft tissue tumors are a common disease that are widely found in multiple organs of the human body. Although chronic inflammatory nodules are not as serious as tumors, they still need to be surgically removed like tumors if they continue to grow. Currently, tissue destruction techniques such as radiofrequency ablation and HIFU (High Intensity Focused Ultrasound) ablation can be used to replace surgery to reduce damage to the human body. However, radiofrequency ablation and HIFU ablation currently require intermittent monitoring of the treatment area by additional in vitro diagnostic ultrasound imaging equipment or MRI. It can be seen that the current ablation treatment method cannot achieve real-time monitoring of the treatment area, which seriously affects the treatment efficiency. Summary of the invention

[0003] Based on this, it is necessary to provide a control method and device for interventional ultrasound imaging and treatment to address the problem that current ablation treatment methods cannot achieve real-time monitoring of the treatment area.

[0004] A control method for interventional ultrasound imaging and treatment, comprising entering a first working mode in response to a first execution instruction, and repeatedly executing an imaging step in the first working mode, wherein the imaging step comprises controlling an ultrasound imaging module to obtain a scanned image of a target detection area; and determining a treatment area according to the scanned image; and entering a second working mode in response to a second execution instruction, and repeating the imaging step and the ultrasound treatment step in a preset execution order until a preset treatment time ends in the second working mode, wherein the ultrasound treatment step comprises controlling the ultrasound treatment module to transmit an ultrasound treatment signal to the treatment area.

[0005] In one embodiment, the preset execution order is to first execute the imaging step of x frames and then execute the ultrasound treatment step of y frames, wherein x and y are both greater than or equal to 0.

[0006] In one embodiment, the control of the ultrasonic imaging module to obtain a scanning image of the target detection area includes determining an ultrasonic imaging parameter and a first rotation parameter; generating a first control signal based on the ultrasonic imaging parameter and the first rotation parameter; the first control signal is used to control the ultrasonic imaging module to control the mechanical rotation module to drive the image transducer to rotate according to the first rotation parameter, and is also used to control the ultrasonic imaging module to control the image transducer to transmit an ultrasonic scanning signal to the target detection area according to the ultrasonic imaging parameter; obtaining an echo signal reflected by the target detection area; and generating the scanning image based on the echo signal.

[0007] In one embodiment, the ultrasound imaging parameters include imaging frame rate, area depth of the target detection area and number of scans, the first rotation parameter includes motor speed, and determining the ultrasound imaging parameters and the first rotation parameter includes acquiring ultrasound imaging parameters; determining the motor speed based on the ultrasound imaging parameters and the speed calculation formula.

[0008] In one embodiment, the speed calculation formula includes:

[0009]

[0010] In the formula, motor speed is the motor speed, and the unit of the motor speed is degree / second; soundspeed is the transmission speed of the ultrasonic signal in the transmission medium, and the unit of the transmission speed is meter / second; N is the number of scans, FR is the imaging frame rate, and depth is the area depth of the target detection area, and the unit of the area depth is meter.

[0011] In one embodiment, before determining the treatment area based on the scanned image, the method further includes stopping the imaging step in response to a third execution instruction.

[0012] In one embodiment, controlling the ultrasonic treatment module to transmit ultrasonic treatment energy to the treatment area includes determining a second rotation parameter and an ultrasonic treatment parameter; generating a second control signal based on the second rotation parameter and the ultrasonic treatment parameter; the second control signal is used to control the ultrasonic imaging module to control the mechanical rotation module to drive the treatment transducer to rotate based on the second rotation parameter, and is also used to control the ultrasonic imaging module to control the imaging transducer to transmit an ultrasonic treatment signal based on the second rotation parameter and the ultrasonic treatment parameter when the treatment transducer rotates to the treatment area.

[0013] In one of the embodiments, determining the treatment area according to the scanned image includes calibrating at least two positioning points of the area where the treatment target is located on the scanned image; and determining the treatment area according to the positioning points.

[0014] In one embodiment, the second rotation parameter includes a motor speed and a treatment time interval, and determining the second rotation parameter includes determining the motor speed and the positioning angles corresponding to at least two of the positioning points; and determining the treatment time interval based on the motor speed and the positioning angles.

[0015] A control system for interventional ultrasound imaging and treatment, comprising a control module, an ultrasound imaging module and an ultrasound treatment module, wherein the control module is connected to the ultrasound imaging module and the ultrasound treatment module respectively, wherein the control module is used to enter a first working mode in response to a first execution instruction, wherein in the first working mode, the imaging step is repeatedly executed, wherein the imaging step comprises the control module generating a first control signal, wherein the first control signal is used to control the ultrasound imaging module to obtain a scanning image of a target detection area, wherein the control module is also used to determine a treatment area according to the scanning image, wherein the control module is also used to enter a second working mode in response to a second execution instruction, wherein in the second working mode, the imaging step and the ultrasound treatment step are repeated in a preset execution order until a preset treatment time ends, wherein the ultrasound treatment step comprises the control module generating a second control signal, wherein the second control signal is used to control the ultrasound treatment module to transmit an ultrasound treatment signal to the treatment area; wherein the ultrasound imaging module is used to obtain a scanning image of the target detection area according to the first control signal; and wherein the ultrasound treatment module is used to transmit an ultrasound treatment signal to the treatment area according to the second control signal.

[0016] In one embodiment, the system also includes the mechanical rotation module, and the ultrasonic imaging module includes a first control unit, which is respectively connected to the control module and the mechanical rotation module, and is used to generate a first drive signal, a receiving signal and a first rotation signal according to the first control signal; an ultrasonic transmitting unit, which is connected to the first control unit, and is used to generate a first excitation signal according to the first drive signal; an image transducer, which is respectively connected to the ultrasonic transmitting unit and the mechanical rotation module, and the mechanical rotation module is used to drive the image transducer to rotate according to the first rotation signal, and the image transducer is used to transmit the ultrasonic scanning signal to the target detection area according to the first excitation signal; an ultrasonic receiving unit, which is respectively connected to the first control unit and the control module, and is used to collect the echo signal reflected by the target detection area according to the receiving signal; the control module is also used to generate the scanning image according to the echo signal.

[0017] In one embodiment, the system also includes a mechanical rotation module, and the ultrasonic treatment module includes: a second control unit, respectively connected to the control module and the mechanical rotation module, and used to generate a second drive signal and a second rotation signal according to the first control signal; an ultrasonic excitation unit, connected to the second control unit, and used to generate a second excitation signal according to the second drive signal; a therapeutic transducer, respectively connected to the ultrasonic excitation unit and the mechanical rotation module, the mechanical rotation module is used to drive the therapeutic transducer to rotate according to the second rotation signal, and the therapeutic transducer is used to transmit the therapeutic ultrasonic signal to the treatment area according to the second excitation signal.

[0018] In one embodiment, the mechanical rotation module includes a motor and a cable, the first control unit is connected to the motor through the cable, the motor is connected to the image transducer through the cable, the motor works according to the first rotation signal and drives the image transducer to rotate through the cable transmission; the second control unit is connected to the motor through the cable, the motor is connected to the therapeutic transducer through the cable, the motor works according to the second rotation signal and drives the therapeutic transducer to rotate through the cable transmission.

[0019] In one embodiment, the system further includes a display module connected to the control module and configured to display the scanned image.

[0020] The above-mentioned interventional ultrasound imaging and treatment control method includes two working modes. In the first working mode, image acquisition of the target detection area can be realized, and the treatment area can be accurately located based on the acquired scanned image. In the second working mode, the coordinated work of image acquisition and ultrasonic ablation can be realized, and the scanned image of the target detection area can be acquired in real time, and ultrasonic energy can be emitted to the treatment area for treatment. The above working process is repeated until the preset treatment time is over. The above-mentioned control method can realize the imaging and treatment functions at the same time, and the real-time monitoring of the treatment area can be achieved during the entire treatment process. Compared with the solution of using other equipment for auxiliary monitoring, the control method provided in this application is more accurate and efficient in monitoring the treatment position. At the same time, it can also reduce trauma to the human body and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the implementation methods of this specification or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 This is a schematic diagram of a method flow chart of a control method for interventional ultrasound imaging and treatment in one embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of a method flow for obtaining a scanned image in one embodiment of the present application;

[0024] Figure 3 This is a schematic flow chart of a method for determining an ultrasonic image parameter and a first rotation parameter in one embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of a method flow chart of a control method for interventional ultrasound imaging and treatment in another embodiment of the present application;

[0026] Figure 5 This is a flow chart of a method for transmitting ultrasonic treatment energy to a treatment area in one embodiment of the present application;

[0027] Figure 6 This is a flow chart of a method for determining a treatment area in one embodiment of the present application;

[0028] Figure 7 This is a schematic diagram of treatment positioning in one of the embodiments of the present application;

[0029] Figure 8 This is a schematic flow chart of a method for determining a second rotation parameter in one embodiment of the present application;

[0030] Fig. 9 This is a schematic diagram of the structure of a control system for interventional ultrasound imaging and treatment in one of the embodiments of the present application;

[0031] Fig.10 This is a schematic diagram of the structure of a control system for interventional ultrasound imaging and treatment in another embodiment of the present application;

[0032] Fig.11 This is a schematic diagram of the structure of a device for implementing a control method for interventional ultrasound imaging and treatment in one embodiment of the present application;

[0033] Fig.12 This is a diagram of the internal structure of a computer device in one of the embodiments of the present application. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to understand the disclosure of the present invention more thoroughly and comprehensively.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0036] As a common disease, soft tissue tumors are widely found in multiple organs of the human body, including the liver, kidney, thyroid gland, breast, pancreas, etc. Although chronic inflammatory nodules are not as serious as tumors, they still need to be surgically removed like tumors after they continue to grow. The treatment method of surgical resection is not only expensive, but also causes great damage to the patient as a whole. Currently available alternative methods include tissue destruction techniques such as radiofrequency ablation and HIFU ablation. Radiofrequency ablation requires the ablation needle to be inserted into the diseased tissue, so it has penetrating damage to the human body like minimally invasive surgery. Although HIFU ablation is non-invasive, like radiofrequency ablation, it is necessary to monitor the treatment area intermittently through another in vitro diagnostic ultrasound imaging device or MRI between treatments. That is, it is impossible to monitor the treatment area in real time during the entire treatment process, and any in vitro imaging method cannot be completely aligned with the interventional ablation position in the anatomical position. In addition, the two commonly used methods of ablation needle and HIFU ablation have high transmission power, which makes it difficult to ensure that the human lumen will not be damaged, and there is a certain risk of trauma.

[0037] The present application provides a control method for interventional ultrasound imaging and therapy, which can be applied to a control system for interventional ultrasound imaging and therapy, using a catheter to connect the control system to simultaneously realize two modal functions, ultrasound imaging and ultrasound ablation. Figure 1 This is a method flow chart of a method for controlling interventional ultrasound imaging and treatment in one of the embodiments of the present application. In one of the embodiments, the method for controlling interventional ultrasound imaging and treatment may include the following steps S100 to S300.

[0038] Step S100: Entering a first working mode in response to a first execution instruction, in the first working mode, repeatedly executing an imaging step, the imaging step including controlling an ultrasonic imaging module to acquire a scanning image of a target detection area.

[0039] In this embodiment, the first working mode may refer to an ultrasound imaging mode. In the first working mode, the system can implement an ultrasound imaging scanning function. The user may give a first execution instruction to the system to instruct the system to enter the first working mode and start the interventional ultrasound imaging function. The user may give the first execution instruction in a manner including but not limited to clicking a start icon, pressing a start button, performing a corresponding action, etc.

[0040] The control system for interventional ultrasound imaging and treatment may include an ultrasound imaging module, and the ultrasound imaging module may be used to implement the function of ultrasound imaging scanning. After receiving the first execution instruction, the system enters the first working mode, and the system repeatedly executes the imaging step in the first working mode. Specifically, when the system executes the imaging step, the ultrasound imaging module may be controlled to work continuously, so as to use the ultrasound imaging module to obtain a real-time scanning image of the target detection area. Considering that in actual applications, the part of the body where the disease occurs may be difficult to accurately locate at one time, therefore, the target detection area can be set to a relatively large detection area around the treatment target, and the image scanning component is controlled to move in the target detection area and obtain image information in real time.

[0041] Step S200: determining a treatment area according to the scanned image.

[0042] After acquiring the scanned image through the ultrasound imaging module, it is possible to determine whether there is a treatment target in the scanned image and determine the treatment area based on the scanned image. The treatment area can be the area where the treatment target is located. Specifically, the user can determine the area where the treatment target is located based on experience by analyzing the scanned image, and manually locate the treatment area in the system; the system can also automatically perform image analysis on the scanned image and locate the treatment area; the system can also automatically perform image analysis on the scanned image and mark the treatment area as an auxiliary reference. The user can accurately locate the treatment area based on experience and the reference marked by the system.

[0043] Step S300: Entering the second working mode in response to the second execution instruction. In the second working mode, the imaging step and the ultrasound treatment step are repeated in a preset execution order until the preset treatment time ends. The ultrasound treatment step includes controlling the ultrasound treatment module to transmit an ultrasound treatment signal to the treatment area.

[0044] In this embodiment, the second working mode may refer to an ultrasound treatment mode, and in the second working mode, the system can implement the ultrasound treatment function. After determining the treatment area, the user may give the system a second execution instruction to instruct the system to enter the second working mode and start the interventional ultrasound treatment function. The user may also give the second execution instruction by clicking a start icon, pressing a start button, performing a corresponding action, etc.

[0045] After receiving the second execution instruction, the system enters the second working mode. In the second working mode, the system repeatedly executes the imaging step and the ultrasound treatment step according to the preset execution order until the preset treatment time ends. Therefore, the second working mode can also be called a dual-mode scanning mode, that is, in the second working mode, within the preset treatment time, the system cycles the two different functional modes of ultrasound scanning and ultrasound treatment until the preset treatment time ends. After each step of ultrasound treatment, ultrasound imaging can be used in real time to observe the effect and degree of treatment.

[0046] The preset execution order may specify the execution order of the imaging step and the ultrasound treatment step, and may also specify the execution time of the imaging step and the ultrasound treatment step. The preset treatment time may refer to the duration of the second working mode, that is, the second working mode is time-limited. After entering the second working mode, the system may start timing. When the start time reaches the preset treatment time, the system may automatically stop the second working mode to prevent the ultrasound treatment signal emitted during treatment from causing damage to the human body due to excessively long treatment time.

[0047] The control system for interventional ultrasound imaging and treatment may also include an ultrasound treatment module, which can be used to implement the function of ultrasound treatment. Specifically, when the system performs the ultrasound treatment step, the ultrasound treatment module can be controlled to work continuously, so as to use the ultrasound treatment module to transmit ultrasound treatment signals to the treatment area. By performing an image scan of the target detection area before treatment to determine the treatment area, the ultrasound treatment module can accurately transmit ultrasound treatment signals based on the location information of the treatment area.

[0048] In the second working mode, the system can achieve coordinated work of ultrasound imaging and ultrasound ablation by alternately repeating the imaging step and the ultrasound treatment step. The scanning image is obtained through the imaging step, and the ultrasound treatment signal can be released to the treatment area through the ultrasound treatment step. By repeating the above steps, the treatment area can be monitored in real time during the entire treatment process, and the monitoring of the treatment position is more accurate and efficient.

[0049] The above-mentioned interventional ultrasound imaging and treatment control method can be applied to any treatment system using interventional catheter ablation, and the above-mentioned control method is used to synchronously realize image monitoring when treating the treatment target. Preferably, the above-mentioned control method can be mainly used for ablation treatment of diseased tissue near the human body cavity. By scanning and imaging the target detection area in the first working mode, a scanned image of the target detection area can be obtained. After locating the treatment area based on the scanned image, the coordination of image acquisition and ultrasonic ablation can be realized in the second working mode, and the scanned image of the target detection area can be acquired in real time, and ultrasonic energy can be emitted to the treatment area for treatment. The above-mentioned control method has both imaging and treatment functions, and achieves real-time monitoring of the treatment area during the entire treatment process. Compared with the solution of using other equipment for auxiliary monitoring, the control method provided in this application is more accurate and efficient for monitoring the treatment position. At the same time, it can also reduce trauma to the human body and reduce costs.

[0050] In one embodiment, the preset execution order may be to first execute x frames of imaging steps, and then execute y frames of ultrasound treatment steps, wherein x and y are both greater than or equal to 0. In practical applications, parameters of x and y may be configured according to different application requirements to define the number of continuous scans or treatment frames of the imaging steps and ultrasound treatment steps. For example, first execute 1 frame of imaging steps, and then execute 1 frame of ultrasound treatment steps; first execute 1 frame of imaging steps, and then execute 2 frames of ultrasound treatment steps; first execute 1 frame of imaging steps, and then execute 3 frames of ultrasound treatment steps; first execute 1 frame of imaging steps, and then execute 4 frames of ultrasound treatment steps; first execute 1 frame of imaging steps, and then execute 5 frames of ultrasound treatment steps.

[0051] Specifically, in the second working mode, the system can first execute the x-frame imaging step to obtain the x-frame scanning image of the target detection area, and then execute the y-frame ultrasound treatment step to transmit the y-frame ultrasound treatment signal to the treatment area. The above two steps are repeated until the preset treatment time is over. It can be seen that in the second working mode, the interventional ultrasound treatment ablation process and the ultrasound imaging process are carried out in time. The user can observe the x-frame scanning image in real time after each y-frame ultrasound treatment time to monitor the treatment situation of the target detection area in real time. After the preset treatment time is over, the user can also judge whether the treatment is completed based on the status of the treatment area in the latest scanning image. When the user judges that the treatment is not completed, the second execution instruction can be given again to control the system to enter the second working mode again to continue the ultrasound treatment of the treatment area until the user judges that the treatment is completed.

[0052] Figure 2 This is a flow chart of a method for acquiring a scanned image in one of the embodiments of the present application. In one of the embodiments, controlling the ultrasonic imaging module to acquire a scanned image of a target detection area may include the following steps S110 to S140.

[0053] Step S110: Determine ultrasonic image parameters and first rotation parameters.

[0054] In this embodiment, the ultrasound imaging module can control and determine the emission of a specific ultrasound scanning signal according to the ultrasound imaging parameter. For example, the ultrasound imaging parameter may include information such as frequency and power density. The control system for interventional ultrasound imaging and treatment may also include a mechanical rotation module, and the ultrasound imaging module may determine the movement of the mechanical rotation module during ultrasound scanning based on the first rotation parameter. In addition, the mechanical rotation module may drive the image transducer in the ultrasound imaging module to rotate. The user may pre-configure the ultrasound imaging parameters in the system, and the system may further determine the first rotation parameter based on the ultrasound imaging parameters configured by the user.

[0055] Step S120: Generate a first control signal according to the ultrasonic image parameter and the first rotation parameter; the first control signal is used to control the ultrasonic image module to control the mechanical rotation module to drive the image transducer to rotate according to the first rotation parameter, and is also used to control the ultrasonic image module to control the image transducer to transmit an ultrasonic scanning signal to the target detection area according to the ultrasonic image parameter.

[0056] The system can generate a first control signal according to the ultrasonic image parameter and the first rotation parameter and transmit it to the ultrasonic image module. In response to the first control signal, the ultrasonic image module can control the mechanical rotation module to drive the image transducer to rotate according to the first rotation parameter, and can also control the image transducer to transmit an ultrasonic scanning signal to the target detection area according to the ultrasonic image parameter.

[0057] Step S130: Acquire the echo signal reflected by the target detection area.

[0058] After the ultrasonic scanning signal emitted by the imaging transducer is transmitted to the target detection area, it will generate a reflected echo here after hitting the target object. The ultrasonic imaging module can collect the echo signal.

[0059] Step S140: generating a scan image according to the echo signal.

[0060] The echo signal includes information about the shape, size, density, texture, etc. of the object being measured. Therefore, by processing and analyzing the echo signal, a two-dimensional or three-dimensional image corresponding to the target detection area, i.e., a scanned image, can be reconstructed. Based on the scanned image, the structural information of the scanned area can be extracted.

[0061] In some embodiments, the ultrasonic imaging module may include a control chip, ultrasonic transmitting hardware, ultrasonic receiving hardware, and an image transducer. The control chip in the ultrasonic imaging module may convert the first rotation parameter into a control signal and send it to the mechanical rotation module, which starts based on the control signal and drives the image transducer to rotate. The control chip in the ultrasonic imaging module may also control the start of the ultrasonic transmitting hardware according to the ultrasonic imaging parameters, and the ultrasonic transmitting hardware may send a waveform signal used to stimulate the image transducer to work to the image transducer to complete the ultrasonic transmission. After the ultrasonic transmission is completed, the ultrasonic transmitting hardware immediately starts the ultrasonic receiving hardware to collect the echo signal and records the acquisition time corresponding to the echo signal. The system can generate a scanning image of the target detection area according to the acquisition time sequence corresponding to the echo signal obtained by the ultrasonic transmitting hardware.

[0062] Figure 3 This is a flow chart of a method for determining an ultrasonic image parameter and a first rotation parameter in one embodiment of the present application. In one embodiment, determining the ultrasonic image parameter and the first rotation parameter may include the following steps S111 to S113.

[0063] Step S111: Acquire ultrasound image parameters.

[0064] In this embodiment, the ultrasound image parameters may include but are not limited to the imaging frame rate FR, the area depth depth of the target detection area, and the number of scans N. The system can obtain the ultrasound image parameters by retrieving the information pre-entered by the user. The information pre-entered by the user may include the area depth to be detected, the imaging rate of the ultrasound image, the detection time of the ultrasound image, and other information.

[0065] Step S113: determining the motor speed according to the ultrasonic image parameters and the speed calculation formula.

[0066] In this embodiment, the motor speed is related to the ultrasound imaging parameters, and the system can calculate the motor speed based on the ultrasound imaging parameters and the speed calculation formula. Specifically, when the system performs the imaging step, it can calculate the motor speed according to the depth of the area to be detected by the imaging transducer at the end of the interventional catheter, the propagation speed of the ultrasound in the transmission medium, and the imaging frame rate FR, wherein one frame of the ultrasound image needs to be composed of N ultrasound signal transmissions and collected echo signals.

[0067] In one embodiment, the speed calculation formula may include:

[0068]

[0069] Wherein, motor speed may be the motor speed, and the unit of motor speed may be degree / second [degree / s]; sound speed may be the transmission speed of the ultrasonic signal in the transmission medium, and the unit of transmission speed soundspeed may be meter / second [m / s]; N is the number of scans, that is, the number of times the ultrasonic signal is emitted and the echo signal is collected in one frame of ultrasonic image; FR is the imaging frame rate; depth is the area depth of the target detection area, and the unit of area depth depth is meter [m].

[0070] In one embodiment, when the control system for interventional ultrasound imaging and treatment is applied to the human body, the transmission medium of the ultrasound signal is blood, so the sound speed can be the transmission speed of the ultrasound signal in the blood, which is 1540 m / s. In addition, the value range of N can be 50-3000, preferably 200-800; the value range of FR can be 10-100, preferably 20-40.

[0071] Figure 4This is a method flow chart of a method for controlling interventional ultrasound imaging and treatment in another embodiment of the present application. In one embodiment, the method for controlling interventional ultrasound imaging and treatment may further include the following step S400.

[0072] Step S400: In response to the third execution instruction, the image forming step is stopped.

[0073] In actual applications, the part of the body where the disease occurs may be difficult to accurately locate at one time. The target detection area can be set as a relatively large detection area around the treatment target, and it is impossible to accurately determine how long it takes to complete the scanning and imaging of the target detection area. Therefore, in the first working mode, the image scanning component can be controlled to continue to move in the target detection area and acquire image information in real time until the user determines that the scanning of the target detection area has been completed. The user can give a third execution instruction to the system to instruct the system to end the first working mode and turn off the interventional ultrasound imaging function. The way in which the user gives the third execution instruction may also include but is not limited to clicking a close icon, pressing a close button, and making corresponding actions.

[0074] After the user gives a third execution instruction to stop the image scanning function and uses the marking function to locate the area where the treatment target is located (ie, the treatment area) in the ultrasound image, the user may give a second execution instruction to start the ultrasound treatment function.

[0075] Figure 5 This is a flow chart of a method for transmitting ultrasonic treatment energy to a treatment area in one embodiment of the present application. In one embodiment, controlling the ultrasonic treatment module to transmit ultrasonic treatment energy to the treatment area may include the following steps S310 to S320.

[0076] Step S310: Determine the second rotation parameter and the ultrasound treatment parameter.

[0077] The ultrasonic treatment module can determine the movement of the mechanical rotation module during ultrasonic treatment based on the second rotation parameter. In addition, the mechanical rotation module can also drive the treatment transducer in the ultrasonic treatment module to rotate. The user can pre-configure the ultrasonic treatment parameters in the system, and the system can determine the second rotation parameter based on the first rotation parameter, or further calculate the second rotation parameter based on the ultrasonic treatment parameters configured by the user.

[0078] Step S320: Generate a second control signal according to the second rotation parameter and the ultrasonic treatment parameter; the second control signal is used to control the ultrasonic imaging module to control the mechanical rotation module to drive the treatment transducer to rotate according to the second rotation parameter, and is also used to control the ultrasonic imaging module according to the second rotation parameter and the ultrasonic treatment parameter, and when the treatment transducer rotates to the treatment area, controls the imaging transducer to emit an ultrasonic treatment signal.

[0079] The system can generate a second control signal according to the second rotation parameter and the ultrasonic treatment parameter and transmit it to the ultrasonic treatment module. In response to the second control signal, the ultrasonic treatment module can control the mechanical rotation module to drive the treatment transducer to rotate according to the second rotation parameter, and can also control the image transducer to emit an ultrasonic treatment signal when the treatment transducer rotates to the treatment area.

[0080] Figure 6 This is a flow chart of a method for determining a treatment area in one embodiment of the present application. In one embodiment, determining the treatment area according to the scanned image may include the following steps S210 to S220.

[0081] Step S210: calibrate at least two positioning points of the area where the treatment target is located on the scanned image.

[0082] Figure 7 This is a schematic diagram of treatment positioning in one of the embodiments of the present application. When interventional ultrasound imaging and treatment control are applied to ultrasound ablation treatment of lesions in a human lumen, in the first working mode, the target detection area can be a certain section in the human lumen, and the image transducer can rotate in the target detection area under the drive of the mechanical rotation module, so as to obtain a scanned image of the target detection area. The scanned image of the target detection area can be as follows: Figure 7 Circular image shown. Figure 7 The black figure in the middle may be a treatment target. The user may determine the area where the treatment target is located by analyzing the scanned image, and determine the boundary position of the area where the treatment target is located based on experience, and mark at least two positioning points in the direction of the boundary position.

[0083] Step S220: Determine the treatment area according to the positioning point.

[0084] like Figure 7 As shown, by marking at least two positioning points, at least two regions can be segmented, wherein the sector-shaped region containing the treatment target can be defined as the treatment region, and the other parts of the scanned image except the treatment region can be defined as the non-treatment region.

[0085] When there is more than one treatment target in the scanned image, and the treatment targets are far apart, multiple positioning points can be calibrated to divide different areas according to the distribution of the treatment targets. Multiple sector areas can be set as treatment areas by defining software functions, and other areas except the treatment area can be defined as non-treatment areas.

[0086] Figure 8 This is a flow chart of a method for determining a second rotation parameter in one embodiment of the present application. In one embodiment, the method for determining the second rotation parameter may include the following steps S311 to S313.

[0087] Step S311: Determine the motor speed and the positioning angles corresponding to at least two positioning points.

[0088] The second rotation parameter may include the motor speed and the treatment time interval. In this embodiment, the motor speed may be the same as the motor speed calculated and determined in the first working mode; the value of the regional depth depth may be changed according to the regional depth depth of the treatment target area, the frame rate FR and the number of scans N may be changed according to the operating frequency of the treatment transducer and the target power density and other information, and the motor speed may be recalculated according to the speed calculation formula. The speed calculation formula may be

[0089] The angles of at least two point locations can be determined according to at least two positioning points and a 0 degree axis calibrated in the scanned image, Figure 7 The angles of the middle positioning point 1 and the positioning point 2 may be angle 1 and angle 2 respectively. The 0 degree axis may be based on the center of the circle as the origin, and the axis direction of the 0 degree axis may be determined according to actual application requirements.

[0090] Step S313: Determine the treatment time interval according to the motor speed and positioning angle.

[0091] According to the motor speed determined in step S311 and the positioning angles of at least two positioning points, the time point when the therapeutic transducer rotates to the two positioning points within a 360-degree circular rotation time of the motor can be calculated. Thus, the treatment time interval of the therapeutic transducer in the treatment area within a 360-degree circular rotation time can be determined, that is, the treatment time interval can be [angle1 / motor speed, angle2 / motor speed].

[0092] After the system enters the second working mode based on the second execution instruction, it can first execute the imaging step of x frames and complete the display of the scanned image of x frames. Subsequently, the imaging step is stopped and the ultrasonic treatment step of y frames is started. In the ultrasonic treatment step, the ultrasonic treatment module can control the motor to rotate at the speed of the motor speed according to the second rotation parameter. According to the treatment time interval calculated and determined in step S313, within the treatment time interval (that is, when the mechanical rotation module drives the treatment transducer to rotate in the treatment area), the ultrasonic treatment module can control the treatment transducer to work according to the ultrasonic treatment parameter to achieve the effect of transmitting an ultrasonic treatment signal to the treatment area. After continuously performing the ultrasonic treatment step of y frames, the system can stop the treatment scan and complete the imaging step of x frames again. In this way, the imaging step and the ultrasonic treatment step are cyclically repeated according to the preset execution order until the preset treatment time ends and the second working mode is stopped.

[0093] It should be understood that, although the steps in the flowcharts of the accompanying drawings of the specification are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts of the accompanying drawings of the specification may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0094] Based on the description of the control method embodiment of the above-mentioned interventional ultrasound imaging and treatment, the present disclosure also provides a control system for interventional ultrasound imaging and treatment. The system may include a system (including a distributed system), software (application), module, component, server, client, etc. using the method described in the embodiment of this specification and a device combined with necessary implementation hardware. Based on the same innovative concept, the system in one or more embodiments provided by the embodiment of the present disclosure is as described in the following embodiments. Since the implementation scheme and method for solving the problem of the system are similar, the implementation of the specific system of the embodiment of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. As used below, the term "unit" or "module" can implement a combination of software and / or hardware for predetermined functions. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0095] The human body cavity includes the cardiovascular system, digestive system, respiratory system, reproductive and urinary tract system, etc., and the surrounding tissues of these systems are prone to lesions. For ablation treatment of these areas, interventional ablation can be used clinically to deliver the ablation catheter to the target position through the lumen for treatment. However, the existing ablation treatment technology cannot achieve real-time monitoring of the ablation area. During treatment, other image-assisted methods need to be used to monitor the treatment area, such as in vitro diagnostic ultrasound imaging, MRI (Magnetic Resonance Imaging), interventional catheter ultrasound imaging, etc. However, any in vitro imaging method cannot be completely aligned with the interventional ablation position in terms of anatomical position. If interventional catheter imaging is added, two catheters need to be inserted into the human body cavity. For those lesions associated with the main blood vessels or body cavities, the narrow lumen is difficult to accommodate two catheters. It can be seen that there is a risk of damaging the lumen function, and there may also be deviations in the coordination of the two systems of treatment and imaging, thereby affecting the treatment effect.

[0096] The present application also provides a control system for interventional ultrasound imaging and treatment, which uses a catheter to connect the control system to simultaneously realize the two modal functions of ultrasound imaging and ultrasound ablation. It can be used for ultrasound ablation of nerves for neuromodulation; for example, the diseases that can be treated include: heart failure, renal artery sympathetic denervation, pulmonary artery denervation and other similar neuromodulation diseases; or it can be used for ultrasound ablation of solid tissues, such as ablation of lung nodules, ablation of uterine fibroids and other diseases.

[0097] Fig. 9 This is a schematic diagram of the structure of the control system of interventional ultrasound imaging and treatment in one embodiment of the present application. In one embodiment, the control system of interventional ultrasound imaging and treatment may include a control module 100, an ultrasound imaging module 200 and an ultrasound treatment module 300. The control module 100 may be connected to the ultrasound imaging module and the ultrasound treatment module, respectively. The control module 100 may serve as the control core of the control system of interventional ultrasound imaging and treatment, control the ultrasound imaging module 200 and the ultrasound treatment module 300 to work according to the above control method, and receive feedback signals and data sent back by the ultrasound imaging module 200 and the ultrasound treatment module 300.

[0098] The control module 100 can be used to enter the first working mode in response to the first execution instruction. The first working mode can refer to the ultrasound imaging mode. In the first working mode, the system can implement the ultrasound imaging scanning function. The user can give the system the first execution instruction to instruct the system to enter the first working mode and start the interventional ultrasound imaging function.

[0099] In the first working mode, when the system performs the imaging step, the control module 100 can generate a first control signal to control the ultrasonic imaging module 200 to continue working, and use the ultrasonic imaging module 200 to obtain a real-time scanning image of the target detection area. After the ultrasonic imaging module 200 obtains the scanning image of the target detection area according to the first control signal, it can be transmitted back to the control module 100, so that the control module 100 can also determine whether there is a treatment target in the scanning image and determine the treatment area according to the scanning image, and the treatment area can be the area where the treatment target is located.

[0100] The control module 100 can also be used to enter a second working mode in response to a second execution instruction. The second working mode can refer to an ultrasound treatment mode. In the second working mode, the system can implement an ultrasound treatment function. After determining the treatment area, the user can give the system a second execution instruction to instruct the system to enter the second working mode and start the interventional ultrasound treatment function.

[0101] In the second working mode, the system may repeat the imaging step and the ultrasound treatment step in a preset execution order until the preset treatment time ends. The preset execution order may specify the execution order of the imaging step and the ultrasound treatment step, and may also specify the execution time of the imaging step and the ultrasound treatment step. The preset treatment time may refer to the duration of the second working mode, that is, the second working mode is time-limited.

[0102] In the second working mode, the system can perform the imaging step in the same manner as in the first working mode, that is, the control module 100 generates a first control signal to control the ultrasonic imaging module 200 to continue to work, and uses the ultrasonic imaging module 200 to obtain a real-time scanning image of the target detection area.

[0103] In the second working mode, when the system performs the ultrasonic treatment step, the control module 100 can generate a second control signal to control the ultrasonic treatment module 300 to continue working, and use the ultrasonic treatment module 300 to transmit the ultrasonic treatment signal to the treatment area. In the second working mode, the treatment area is determined by performing an image scan on the target detection area before treatment, and the ultrasonic treatment module can accurately transmit the ultrasonic treatment signal based on the location information of the treatment area. At the same time, after the ultrasonic treatment is completed, the target detection area is scanned again, and the treatment effect on the treatment area can be determined based on the latest scanned image.

[0104] It can be seen that in the second working mode, the system can achieve coordinated work of ultrasound imaging and ultrasound ablation by alternately repeating the imaging step and the ultrasound treatment step. Real-time scanning images are obtained through the imaging step, and ultrasound treatment signals are released to the treatment area through the ultrasound treatment step. By repeating the above steps, real-time monitoring of the treatment area can be achieved during the entire treatment process, and the monitoring of the treatment position is more accurate and efficient.

[0105] In addition, the control system of the above-mentioned interventional ultrasound imaging and treatment can use only one catheter connection system, without increasing the number of interventional catheters, to adapt to the treatment plan of penetrating the narrow position of the lumen and reduce damage to the lumen function. The control system of the above-mentioned interventional ultrasound imaging and treatment can obtain a scanned image of the target detection area by scanning and imaging the target detection area in the first working mode. After locating the treatment area based on the scanned image, the coordinated work of image acquisition and ultrasonic ablation can be achieved in the second working mode, and the scanned image of the target detection area can be acquired in real time, and ultrasonic energy can be emitted to the treatment area for treatment. The above-mentioned control system has both imaging and treatment functions, and achieves real-time monitoring of the treatment area during the entire treatment process. Compared with the solution of using other equipment for auxiliary monitoring, the control system provided by the present application is more accurate and efficient in monitoring the treatment position. At the same time, it can also reduce trauma to the human body and reduce treatment costs.

[0106] In one embodiment, in the second working mode, the system can repeat the x-frame imaging step and then execute the y-frame ultrasound treatment step in a preset execution order until the preset treatment time ends, wherein x and y are both greater than or equal to 0.

[0107] Specifically, in the second working mode, the system can first execute the x-frame imaging step, and use the ultrasonic imaging module 200 to obtain the x-frame scanning image of the target detection area; then execute the y-frame ultrasonic treatment step, and use the ultrasonic treatment module 300 to transmit y-frame ultrasonic treatment signals to the treatment area. The above two steps are repeated until the preset treatment time is over. It can be seen that in the second working mode, the interventional ultrasonic treatment ablation process and the ultrasonic imaging process are carried out in time. The user can observe the x-frame scanning image in real time after each y-frame ultrasonic treatment time to monitor the treatment situation of the target detection area in real time. After the preset treatment time is over, the user can also judge whether the treatment is completed based on the status of the treatment area in the latest scanning image. When the user judges that the treatment is not completed, the second execution instruction can be given again to control the system to enter the second working mode again to continue the ultrasonic treatment of the treatment area until the user judges that the treatment is completed.

[0108] Fig.10 1 is a schematic diagram of the structure of a control system for interventional ultrasound imaging and treatment in another embodiment of the present application. In one embodiment, the control system for interventional ultrasound imaging and treatment may further include a mechanical rotation module 400. The ultrasound imaging module 200 may include a first control unit 210, an ultrasound transmitting unit 220, an image transducer 230, and an ultrasound receiving unit 240.

[0109] The first control unit 210 can be connected to the control module 100 and the mechanical rotation module 400 respectively, and the first control unit 210 can be used to generate a first drive signal, a receiving signal and a first rotation signal according to the first control signal. The user can directly input the ultrasound image parameters and the first rotation parameters to the system in a human-computer interaction manner; the user can also pre-configure relevant information in the system, such as the depth of the area to be detected, the imaging rate of the ultrasound image, the detection time of the ultrasound image, and other information, and the system will further determine the ultrasound image parameters and the first rotation parameters according to the user configuration information. After the control module 100 determines the ultrasound image parameters and the first rotation parameters, it can generate a first control signal based on the ultrasound image parameters and the first rotation parameters and transmit it to the first control unit 210.

[0110] The first control signal generated by the control module 100 can be used to transmit information, that is, to transmit the ultrasound image parameters and the first rotation parameter to the first control unit 210. The ultrasound image parameters may include but are not limited to the imaging frame rate FR, the area depth depth of the target detection area and the number of scans N, and the first rotation parameter may include the motor speed. The first control signal can also be used as a start instruction to instruct the first control unit 210 to control the mechanical rotation module 400, the ultrasound transmitting unit 220, the image transducer 230, and the ultrasound receiving unit 240 to work.

[0111] The first control unit 210 may include a control chip, which may calculate the motor speed according to the ultrasonic image parameters and the speed calculation formula. The speed calculation formula may be:

[0112]

[0113] Wherein, motor speed may be the motor speed, and the unit of motor speed may be degree / second [degree / s]; sound speed may be the transmission speed of the ultrasonic signal in the transmission medium, and the unit of transmission speed soundspeed may be meter / second [m / s]; N is the number of scans, that is, the number of times the ultrasonic signal is emitted and the echo signal is collected in one frame of ultrasonic image; FR is the imaging frame rate; depth is the area depth of the target detection area, and the unit of area depth depth is meter [m].

[0114] The control chip of the first control unit 210 converts the motor speed into a first rotation signal through a pre-set program and sends it to the mechanical rotation module 400, so as to use the first rotation signal to control the movement of the mechanical rotation module 400. The movement form of the mechanical rotation module 400 includes but is not limited to a combination of one or more of linear motion, rotational motion, and reciprocating motion. The movement direction of the mechanical rotation module 400 can also be arbitrarily set according to different application requirements.

[0115] The connection between the image transducer 230 and the mechanical rotation module 400 can be a mechanical connection. When the mechanical rotation module 400 moves, the mechanical rotation module 400 can drive the image transducer 230 to move synchronously, that is, the movement form and movement direction of the image transducer 230 are the same as the movement form and movement direction of the mechanical rotation module 400.

[0116] The ultrasonic transmitting unit 220 may be connected to the first control unit 210, and the control chip of the first control unit 210 may also generate a first driving signal according to the first control signal and transmit it to the ultrasonic transmitting unit 220. The first driving signal generated by the control chip may be used to drive the ultrasonic transmitting unit 220 to work.

[0117] In this embodiment, the first driving signal may also include a transmission waveform sent by the control chip of the first control unit 210, and the ultrasonic transmitting unit 220 may be a hardware circuit for stimulating the image transducer 230 to send a corresponding ultrasonic signal. The ultrasonic transmitting unit 220 may generate a first excitation signal for stimulating the image transducer 230 according to the first driving signal. The first excitation signal may also be a waveform signal. That is, the ultrasonic transmitting unit 220 may convert the transmission waveform machine code sent by the control chip of the first control unit 210 into a waveform signal for stimulating the image transducer 230 to work, and send the converted waveform signal to the image transducer 230 to stimulate the image transducer 230 to complete the transmission of the ultrasonic scanning signal.

[0118] The ultrasonic receiving unit 240 can be connected to the first control unit 210, and the control chip of the first control unit 210 can also generate a receiving signal according to the first control signal and transmit it to the ultrasonic receiving unit 240. The receiving signal generated by the control chip can be used to drive the ultrasonic receiving unit 240 to work. After the image transducer 230 completes the ultrasonic transmission, the control chip of the first control unit 210 can immediately transmit the receiving signal to the ultrasonic receiving unit 240 to start the echo signal acquisition. The acquisition duration of the ultrasonic receiving unit 240 can be limited in the receiving signal. During the acquisition duration, the ultrasonic receiving unit 240 continues to receive the echo signal reflected from the target detection area. The process in which the image transducer 230 transmits the ultrasonic detection signal to the target detection area and the ultrasonic receiving unit 240 completes the echo signal reflected from the target detection area can be defined as completing an image scanning process.

[0119] The ultrasonic receiving unit 240 can also be connected to the control module 100, and the ultrasonic receiving unit 240 can transmit the collected echo signal back to the control module 100. The control module 100 can also generate a scan image based on the echo signal. In this embodiment, when the ultrasonic receiving unit 240 collects the echo signal, it can also record the acquisition time of the echo signal at the same time, and transmit the echo signal with the acquisition time to the control module 100. The control module 100 can form a scan image in time sequence. In this embodiment, a frame of scan image can be defined as an image formed by the echo signals obtained by N scans in one movement cycle of the mechanical rotation module 400 in the order of the acquisition time.

[0120] During the entire imaging step, the mechanical rotation module 400 moves continuously, so that the image transducer 230 also moves continuously in the target detection area, while transmitting the ultrasonic scanning signal. At the same time, the ultrasonic receiving unit 240 also continuously collects the echo signal reflected from the target detection area. The control chip of the first control unit 210 can control the transmission and reception of ultrasonic signals in a time sequence and feed back the data to the control module 100. The control module 100 can extract the structural information of the scanned area and obtain the scanned image of the target detection area according to the feedback data collection time sequence.

[0121] When the user determines that the imaging scan of the target detection area has been completed, the user can give a third execution instruction to the system to instruct the system to stop the imaging step, end the first working mode, and turn off the interventional ultrasound imaging function.

[0122] In one of the embodiments, after stopping the imaging step and ending the first working mode, the user can determine the treatment area by analyzing the scanned image of the target detection area. Specifically, the user can determine the area where the treatment target is located by analyzing the scanned image, and determine the boundary position of the area where the treatment target is located based on experience. The user can manually locate at least two positioning points for marking the treatment area in the direction of the boundary position in the scanned image. By marking at least two positioning points, at least two areas can be segmented. Among them, the fan-shaped area containing the treatment target can be defined as the treatment area, and the other parts of the scanned image except the treatment area can be defined as the non-treatment area.

[0123] When there is more than one treatment target in the scanned image, and the treatment targets are far apart, multiple positioning points can be calibrated to divide multiple different areas according to the distribution of the treatment targets. Users can define software functions to set multiple sector areas as treatment areas, and define other areas except the treatment area as non-treatment areas.

[0124] See also Fig. 9In one embodiment, the ultrasound treatment module 300 may include a second control unit 310 , an ultrasound excitation unit 320 and a treatment transducer 330 .

[0125] The second control unit 310 can be connected to the control module 100 and the mechanical rotation module 400 respectively, and the second control unit 310 can be used to generate a second drive signal and a second rotation signal according to the first control signal. The user can directly input the ultrasound treatment parameters and the second rotation parameters to the system in a human-computer interaction manner; the user can also pre-configure relevant information in the system, such as the ultrasound ablation intensity and frequency to be emitted, and the system further determines the ultrasound treatment parameters and the second rotation parameters according to the user configuration information.

[0126] The second rotation parameter may include a motor speed and a treatment time interval. In this embodiment, the motor speed may be the same as the motor speed calculated and determined in the first working mode; or the value of the regional depth may be changed according to the regional depth depth of the treatment target area, the frame rate FR and the number of scans N may be changed according to the operating frequency of the treatment transducer and the target power density and other information, and the motor speed may be recalculated according to the speed calculation formula.

[0127] The control module 100 can determine the angles of at least two points based on at least two positioning points and the 0-degree axis calibrated by the user in the scanned image, and the angles of the two positioning points can be angle1 and angle2, respectively. The 0-degree axis can be based on the center of the circle as the origin, and the axial direction of the 0-degree axis can be determined according to actual application requirements.

[0128] The control module 100 can calculate the time point when the therapeutic transducer 330 rotates to the two positioning points within a 360-degree circular rotation time of the motor according to the motor speed and the positioning angles of at least two positioning points, thereby determining the treatment time interval of the therapeutic transducer 330 in the treatment area within a movement time, that is, the treatment time interval can be [angle1 / motor speed, angle2 / motor speed]. That is, after the therapeutic transducer 330 starts to move, the therapeutic transducer 330 moves in the treatment area within the treatment time interval.

[0129] After the control module 100 determines the ultrasound image parameter and the second rotation parameter, it can generate a second control signal based on the ultrasound image parameter and the second rotation parameter and transmit it to the second control unit 310. The first control signal generated by the control module 100 can be used to transmit information, that is, to transmit the ultrasound image parameter and the second rotation parameter to the second control unit 310. The second control signal can also be used as a start instruction to instruct the second control unit 310 to control the mechanical rotation module 400, the ultrasound excitation unit 320, and the treatment transducer 330 to work.

[0130] The second control unit 310 may also include a control chip, which converts the motor speed into a second rotation signal through a preset program and sends it to the mechanical rotation module 400, so as to use the second rotation signal to control the movement of the mechanical rotation module 400. The movement form and movement direction of the mechanical rotation module 400 in the ultrasonic treatment step may be at least partially the same as the movement form and movement direction in the imaging step, or may be completely different.

[0131] The connection between the therapeutic transducer 330 and the mechanical rotation module 400 can also be a mechanical connection. When the mechanical rotation module 400 moves, the mechanical rotation module 400 can also drive the therapeutic transducer 330 to move synchronously, that is, the movement form and movement direction of the therapeutic transducer 330 are also the same as the movement form and movement direction of the mechanical rotation module 400.

[0132] The ultrasonic excitation unit 320 can be connected to the second control unit 310. After the mechanical rotation module 400 starts to move, the control chip of the second control unit 310 can also generate a second drive signal within the treatment time interval and transmit it to the ultrasonic excitation unit 320. That is, when the mechanical rotation module 400 drives the treatment transducer 330 to move within the angle range corresponding to the treatment area, the control chip of the second control unit 310 generates a second drive signal to drive the ultrasonic excitation unit 320 to work, thereby achieving the technical effect that the treatment transducer 330 transmits an ultrasonic treatment signal in the treatment area and does not transmit an ultrasonic treatment signal in the non-treatment area.

[0133] In this embodiment, the second driving signal may also include a transmission waveform sent by the control chip of the second control unit 310, and the ultrasonic excitation unit 320 may be a hardware circuit for exciting the image transducer 230 to send a corresponding ultrasonic signal. The ultrasonic excitation unit 320 may generate a second excitation signal for exciting the therapeutic transducer 330 according to the second driving signal. The second excitation signal may also be a waveform signal. That is, the ultrasonic excitation unit 320 may convert the transmission waveform machine code sent by the control chip of the second control unit 310 into a waveform signal for exciting the therapeutic transducer 330 to work, and send the converted waveform signal to the therapeutic transducer 330 to stimulate the therapeutic transducer 330 to complete the transmission of the ultrasonic ablation signal.

[0134] Specifically, when the system is in the second working mode, the control module 100 can control the ultrasound imaging module 200 to first execute the x-frame imaging step, and use the ultrasound imaging module 200 to obtain the x-frame scanning image of the target detection area; the control module 100 then controls the ultrasound treatment module 300 to execute the y-frame ultrasound treatment step, and uses the ultrasound treatment module 300 to transmit y-frame ultrasound treatment signals to the treatment area. The above two steps are repeated to form the dual-mode function of the system, and the dual-mode function is continuously executed until the preset treatment time ends.

[0135] In one embodiment, the image transducer 230 and the therapeutic transducer 330 used in the control system can be arranged in the same catheter, and there are no special requirements for the device selection of the image transducer 230 and the therapeutic transducer 330, and any transducer whose structural dimensions meet the catheter diameter requirements can be used for this system. At the same time, when the image transducer 230 and the therapeutic transducer 330 are arranged in the same catheter, there are no special requirements for the structural position relationship of the image transducer 230 and the therapeutic transducer 330 in the catheter, and any structural relationship that can make the treatment and image scanning sections the same can be used for this system.

[0136] See also Fig. 9 In one embodiment, the mechanical rotation module 400 may include a motor 410 and a cable 420 .

[0137] The first control unit 210 can be connected to the motor 410 via a cable 420, and the cable 420 can be used to achieve electrical connection between the first control unit 210 and the motor 410. In addition, the motor 410 can also be connected to the image transducer 230 via the cable 420, and the cable 420 can simultaneously achieve electrical and mechanical connection between the motor 410 and the image transducer 230.

[0138] The first control unit 210 transmits the first rotation signal to the motor 410 through the cable. The motor 410 can work according to the first rotation signal. At the same time, the motor 410 drives the image transducer 230 to rotate in the catheter through the transmission of the cable 420 .

[0139] Similarly, the second control unit 310 can be connected to the motor 410 via a cable 420, and the cable 420 can be used to achieve electrical connection between the second control unit 310 and the motor 410. In addition, the motor 410 can also be connected to the therapeutic transducer 330 via the cable 420, and the cable 420 can simultaneously achieve electrical and mechanical connection between the motor 410 and the therapeutic transducer 330.

[0140] The second control unit 310 transmits the second rotation signal to the motor 410 through the cable, and the motor 410 can work according to the second rotation signal. At the same time, the motor 410 drives the treatment transducer 330 to rotate in the catheter through the cable 420. In the ultrasonic treatment step, when the treatment transducer 330 performs a treatment scan on the treatment area, the rotation direction of the motor 410 can rotate in one or more directions. The second rotation signal generated by the second control unit 310 can control the motor 410 to rotate back and forth in the treatment area to achieve scanning treatment.

[0141] In one embodiment, the control system for interventional ultrasound imaging and treatment may further include a display module 500. The display module 500 may be connected to the control module 100, and the display module 500 may be used to display the scanned image. After the control module 100 forms a scanned image based on the data fed back by the ultrasound imaging module 200, it may be transmitted to the display module 500 to display the scanned image. The user may intuitively analyze the scanned image on the display module 500, and further, the user may also mark the treatment area on the scanned image by human-computer interaction with the display module 500. The display module 500 may also display various data used in the system, including but not limited to ultrasound imaging parameters, ultrasound treatment parameters, first rotation parameters and second rotation parameters. The user may check and calibrate the various data displayed on the display module 500 to ensure the accuracy of various operations in the system.

[0142] It is understandable that the various embodiments of the above methods, devices, etc. in this specification are described in a progressive manner, and the same / similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For related parts, refer to the description of other method embodiments.

[0143] Fig.11 This is a schematic diagram of the structure of a device for implementing a control method for interventional ultrasound imaging and treatment in one embodiment of the present application. Fig.11 The control device S00 for interventional ultrasound imaging and treatment may include a processing component S20, which further includes one or more processors, and a memory resource represented by a memory S22 for storing instructions executable by the processing component S20, such as an application. The application stored in the memory S22 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component S20 is configured to execute instructions to perform the above-mentioned control method for interventional ultrasound imaging and treatment.

[0144] The control device S00 for interventional ultrasound imaging and treatment may further include: a power supply component S24 configured to perform power management of the control device S00 for interventional ultrasound imaging and treatment, a wired or wireless network interface S26 configured to connect the control device S00 for interventional ultrasound imaging and treatment to a network, and an input / output (I / O) interface S28. The control device S00 for interventional ultrasound imaging and treatment may operate based on an operating system stored in the memory S22, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD or the like.

[0145] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory S22 including instructions, and the above instructions can be executed by a processor of the control device S00 for interventional ultrasound imaging and treatment to complete the above method. The storage medium can be a computer-readable storage medium, for example, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0146] In an exemplary embodiment, a computer program product is also provided. The computer program product includes instructions. The instructions can be executed by a processor of the control device S00 for interventional ultrasound imaging and treatment to complete the above method.

[0147] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.12 As shown, Fig.12 This is an internal structure diagram of a computer device in one of the embodiments of the present application. The computer device includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to users and tasks used in the above-mentioned interventional ultrasound imaging and treatment control method. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for interventional ultrasound imaging and treatment is implemented.

[0148] Those skilled in the art will understand that Fig.12The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0149] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0150] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the hardware + program embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] It should be noted that the above-mentioned devices, electronic devices, servers, etc. may also include other implementation methods according to the description of the method embodiments, and the specific implementation methods may refer to the description of the relevant method embodiments. At the same time, the new embodiments composed of the mutual combination of the features between the various methods and device, equipment, and server embodiments still fall within the scope of implementation covered by the present disclosure, and will not be described one by one here.

[0152] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0153] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A control method for interventional ultrasound imaging and treatment, characterized in that: include: Entering a first working mode in response to a first execution instruction, in which an imaging step is repeatedly executed, the imaging step comprising controlling an ultrasonic imaging module to acquire a scanned image of a target detection area; determining a treatment area according to the scanned image; In response to the second execution instruction, the second working mode is entered. In the second working mode, the imaging step and the ultrasound treatment step are repeated in a preset execution order until the preset treatment time ends. The ultrasound treatment step includes controlling the ultrasound treatment module to transmit an ultrasound treatment signal to the treatment area.

2. The control method for interventional ultrasound imaging and treatment according to claim 1, characterized in that: The preset execution order is to first execute the imaging step of x frames and then execute the ultrasound treatment step of y frames, wherein x and y are both greater than or equal to 0.

3. The control method for interventional ultrasound imaging and treatment according to claim 1, characterized in that: The controlling the ultrasonic imaging module to obtain a scanned image of the target detection area comprises: determining an ultrasound image parameter and a first rotation parameter; A first control signal is generated according to the ultrasonic image parameter and the first rotation parameter; the first control signal is used to control the ultrasonic image module to control the mechanical rotation module to drive the image transducer to rotate according to the first rotation parameter, and is also used to control the ultrasonic image module to control the image transducer to transmit an ultrasonic scanning signal to the target detection area according to the ultrasonic image parameter; Acquiring an echo signal reflected from the target detection area; The scanned image is generated according to the echo signal.

4. The control method for interventional ultrasound imaging and treatment according to claim 3, characterized in that: The ultrasonic imaging parameters include imaging frame rate, area depth of target detection area and scanning times, the first rotation parameter includes motor speed, and the determining of the ultrasonic imaging parameters and the first rotation parameter includes: Obtaining ultrasound imaging parameters; The motor speed is determined according to the ultrasonic image parameters and the speed calculation formula.

5. The control method for interventional ultrasound imaging and treatment according to claim 4, characterized in that: The speed calculation formula includes: In the formula, motor speed is the motor speed, and the unit of the motor speed is degree / second; sound speed is the transmission speed of the ultrasonic signal in the transmission medium, and the unit of the transmission speed is meter / second; N is the number of scans, FR is the imaging frame rate, depth is the area depth of the target detection area, and the unit of the area depth is meter.

6. The control method for interventional ultrasound imaging and treatment according to claim 1 or 2, characterized in that: Before determining the treatment area according to the scanned image, the method further includes: In response to the third execution instruction, the image forming step is stopped.

7. The control method for interventional ultrasound imaging and treatment according to claim 1, characterized in that: The controlling the ultrasonic treatment module to transmit ultrasonic treatment energy to the treatment area comprises: determining a second rotation parameter and an ultrasound treatment parameter; A second control signal is generated according to the second rotation parameter and the ultrasonic treatment parameter; the second control signal is used to control the ultrasonic imaging module to control the mechanical rotation module to drive the treatment transducer to rotate according to the second rotation parameter, and is also used to control the ultrasonic imaging module to control the imaging transducer to emit an ultrasonic treatment signal when the treatment transducer rotates to the treatment area according to the second rotation parameter and the ultrasonic treatment parameter.

8. The control method for interventional ultrasound imaging and treatment according to claim 7, characterized in that: Determining the treatment area according to the scanned image comprises: Marking at least two positioning points of the area where the treatment target is located on the scanned image; The treatment area is determined according to the positioning point.

9. The control method for interventional ultrasound imaging and treatment according to claim 8, characterized in that: The second rotation parameter includes a motor speed and a treatment time interval, and determining the second rotation parameter includes: Determine the motor speed and the positioning angles corresponding to at least two of the positioning points; The treatment time interval is determined according to the motor speed and the positioning angle.

10. A control system for interventional ultrasound imaging and treatment, characterized in that: It includes a control module, an ultrasonic imaging module and an ultrasonic treatment module, wherein the control module is connected to the ultrasonic imaging module and the ultrasonic treatment module respectively. The control module is used to enter a first working mode in response to a first execution instruction. In the first working mode, the imaging step is repeatedly performed. The imaging step includes the control module generating a first control signal, and the first control signal is used to control the ultrasound imaging module to obtain a scanned image of a target detection area. The control module is also used to determine the treatment area according to the scanned image. The control module is also used to enter a second working mode in response to a second execution instruction. In the second working mode, the imaging step and the ultrasound treatment step are repeated in a preset execution order until the preset treatment time ends. The ultrasound treatment step includes the control module generating a second control signal, and the second control signal is used to control the ultrasound treatment module to transmit an ultrasound treatment signal to the treatment area; The ultrasonic imaging module is used to obtain a scanned image of the target detection area according to the first control signal; The ultrasonic treatment module is used to transmit an ultrasonic treatment signal to the treatment area according to the second control signal.

11. The control system for interventional ultrasound imaging and treatment according to claim 10, characterized in that: The system further comprises a mechanical rotation module, and the ultrasound imaging module comprises: a first control unit, connected to the control module and the mechanical rotation module respectively, and configured to generate a first driving signal, a receiving signal and a first rotation signal according to the first control signal; an ultrasonic transmitting unit, connected to the first control unit, and configured to generate a first excitation signal according to the first driving signal; an image transducer, connected to the ultrasonic transmitting unit and the mechanical rotation module respectively, the mechanical rotation module is used to drive the image transducer to rotate according to the first rotation signal, and the image transducer is used to transmit the ultrasonic scanning signal to the target detection area according to the first excitation signal; an ultrasonic receiving unit, connected to the first control unit and the control module respectively, and configured to collect an echo signal reflected by the target detection area according to the received signal; The control module is also used to generate the scan image according to the echo signal.

12. The control system for interventional ultrasound imaging and treatment according to claim 10, characterized in that: The system further comprises a mechanical rotation module, and the ultrasound treatment module comprises: a second control unit, connected to the control module and the mechanical rotation module respectively, and configured to generate a second driving signal and a second rotation signal according to the first control signal; an ultrasonic excitation unit, connected to the second control unit, and configured to generate a second excitation signal according to the second drive signal; The therapeutic transducer is connected to the ultrasonic excitation unit and the mechanical rotation module respectively. The mechanical rotation module is used to drive the therapeutic transducer to rotate according to the second rotation signal, and the therapeutic transducer is used to transmit the therapeutic ultrasonic signal to the treatment area according to the second excitation signal.

13. The control system for interventional ultrasound imaging and treatment according to claim 11 or 12, characterized in that: The mechanical rotation module includes a motor and a cable, the first control unit is connected to the motor through the cable, the motor is connected to the image transducer through the cable, the motor works according to the first rotation signal and drives the image transducer to rotate through the cable transmission; The second control unit is connected to the motor through the cable, and the motor is connected to the therapeutic transducer through the cable. The motor works according to the second rotation signal and drives the therapeutic transducer to rotate through the cable transmission.

14. The control system for interventional ultrasound imaging and treatment according to claim 10, characterized in that: The system further comprises a display module connected to the control module and used for displaying the scanned image.

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