Multi-beam in-vitro lithotripsy system based on multiple shock wave generators

Abstract

The invention relates to a multi-beam in-vitro lithotripsy system based on multiple shock wave generators. The multi-beam in-vitro lithotripsy system comprises an annular support, at least two shock wave generators, a calculus detection device, a calculation device, a driving device and a control device. The calculus detection device is used for determining the three-dimensional position and characteristics of the calculus in the body of the patient; the calculation device determines an optimal combination mode when each shock wave generator acts on the stone as a whole according to the three-dimensional position and the stone characteristics, wherein the optimal combination mode comprises an optimal emission position and optimal emission energy; the calculation device is further used for calculating the time when the shock waves emitted by the shock wave generators at the optimal emission positions reach the calculus; the driving device is used for driving each shock wave generator to move to each optimal launching position; and the control device controls the emission time and emission energy of each shock wave generator. According to the invention, the damage to surrounding tissues caused by single high-energy shock wave one-way impact on stones in the prior art can be avoided, and the stone crushing efficiency is improved.

Description

Technical Field

[0001] The invention relates to a medical device system, in particular to a multi-beam extracorporeal lithotripsy system based on multiple shock wave generators. Background Art

[0002] In the existing extracorporeal lithotripsy technology, the location of the stone in the human body is first determined by a stone detection device (such as a CT imaging system), and then a shock wave generator is used to emit shock waves to the location of the stone. When the high-energy shock wave acts on the stone, it will cause the stone to be stressed and move, and the moving stone will act on the surrounding tissues and cause damage to the surrounding tissues. Summary of the invention

[0003] In view of the above existing technical problems, the present invention proposes a multi-beam extracorporeal lithotripsy system based on multiple shock wave generators, which comprises:

[0004] an annular stent, the center of the annular stent being used for a patient to pass through;

[0005] at least two shock wave generators, which are movably located on the annular support and are respectively used to emit shock waves;

[0006] a stone detection device for determining the three-dimensional location of the stone in the patient's body and the characteristics of the stone;

[0007] a computing device, which is in communication with the stone detection device, and is used to determine the best combination mode when each shock wave generator acts on the stone as a whole according to the three-dimensional position and stone characteristics, wherein the best combination mode includes the best emission position and the best emission energy of each shock wave generator; the computing device is also used to calculate the time when the shock wave emitted by each shock wave generator at its best emission position reaches the stone;

[0008] A driving device, which is in communication with the computing device and is used to obtain the optimal launch position of each shock wave generator from the computing device and drive each shock wave generator to move to each optimal launch position;

[0009] The control device is connected to the computing device and each shock wave generator in communication, and is used to control the emission time and emission energy of each shock wave generator according to the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone and the optimal emission energy of each shock wave generator.

[0010] According to some embodiments of the present invention, the system further comprises a coupling unit for acoustically coupling each shock wave generator with the patient's body, wherein the coupling unit comprises a water bag or a gel bag.

[0011] According to some embodiments of the present invention, the computing device determines the optimal combination based on the fact that after the shock waves of each shock wave generator act on the stone, the unidirectional impact force of the stone on the surrounding tissue is minimized or the impact force directed to important tissues on one side of the human body is minimized.

[0012] According to some embodiments of the present invention, every two shock waves are opposite to each other, and the two shock waves opposite to each other are set to have equivalent energy to offset the unidirectional impact force caused by each other on the stone.

[0013] According to some embodiments of the present invention, the computing device further determines the optimal combination based on concentrating the stress inside the stone at the weakest point, and / or determines the optimal combination based on avoiding important tissues or interferences of the human body on the path of the shock wave.

[0014] According to some embodiments of the present invention, the system includes two shock wave generators, including a first shock wave generator and a second shock wave generator, the first shock wave generator is used to emit a first shock wave, and the second shock wave generator is used to emit a second shock wave; the computing device is used to determine the optimal emission position and emission energy of each shock wave generator when the first shock wave generator and the second shock wave generator are placed opposite to each other according to the three-dimensional position and stone characteristics.

[0015] According to some embodiments of the present invention, the stone detection device includes a CT imaging system and a magnetic resonance imaging system; the computing device establishes a density distribution geometric model based on the images output by the stone detection device, and simulates the propagation of multiple shock waves and the forces on the propagation path through a finite element analysis method.

[0016] According to some embodiments of the present invention, the computing device determines the propagation time for the shock wave emitted by the shock wave generator from its optimal emission position to reach the stone based on simulation calculations.

[0017] According to some embodiments of the present invention, each shock wave generator includes a reflection measuring device, which is used to measure the time it takes for the shock wave to reach the stone from its emission point and return, thereby determining the time it takes for the shock wave to reach the stone from the emission point and sending the time to the control device.

[0018] According to some embodiments of the present invention, each shock wave generator comprises an electromagnetic, piezoelectric or electro-hydraulic shock wave generator; and / or,

[0019] The annular support is fixed to the bed, and when the patient lies on the bed, the patient just passes through the center of the annular support, and the annular support can move along the bed in the longitudinal direction of the patient's body; and / or,

[0020] The inner diameter of the annular stent is adjustable to accommodate patients of different body sizes; and / or

[0021] The annular support is fixed to a base via a fixing rod and can move up and down along the fixing rod, and the base is used for the patient to stand and receive treatment; and / or,

[0022] A fixator is attached to the annular support for maintaining a fixed position of the patient relative to the support; and / or,

[0023] Each shock wave generator is made to implement a step-by-step energy increase, starting from a lower energy and gradually increasing to a suitable optimal energy.

[0024] Compared with the existing unidirectional impact lithotripsy technology, the present invention can make the force on the stone relatively balanced, avoiding the damage to the surrounding tissue caused by the original single high-energy shock wave unidirectionally impacting the stone. In addition, the multi-angle flexible combination method of the present invention can overcome the problem of stones being blocked and interfered by other important tissues of the human body, reduce the dead angle of stone crushing, improve the uniformity and integrity of stone crushing, and reduce the damage to important tissues by avoiding important tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A partial structural schematic diagram of a multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to some embodiments of the present invention is shown;

[0026] Figure 2 A schematic diagram showing a shock wave generator protruding in a radial direction according to some embodiments of the present invention;

[0027] Figure 3 A schematic diagram of a shock wave combination according to an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram showing the fixing of an annular stent according to some embodiments of the present invention is shown;

[0029] Figure 5 A schematic flow chart showing the lithotripsy process of a multi-beam extracorporeal lithotripsy system according to some embodiments of the present invention is shown. DETAILED DESCRIPTION

[0030] The present invention will be exemplarily described below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments in this application can be combined with each other without conflict. In addition, the described embodiments are only some embodiments of the present invention, not all embodiments.

[0031] In the present application, communication connection means that the two components of the communication connection can transmit signals to each other. The communication connection can be achieved through a wired connection such as a cable, optical fiber, etc., or through a wireless method such as Wi-Fi, Bluetooth, Zigbee, 4G / 5G, infrared, satellite communication, etc.

[0032] Figure 1 A partial structural schematic diagram of a multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to some embodiments of the present invention is shown. In the figure, 1 is a patient; 2 is a stone on the patient; 10 is an annular stent; 11, 12, 13 and 14 are exemplary shock wave generators; 15 is a stone detection device, 21 is a computing device, and 22 is a control device. The stone detection device can be, for example, a CT imaging system and a magnetic resonance imaging system. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators includes: an annular stent, at least two shock wave generators, a stone detection device, a computing device, a driving device and a control device.

[0033] A hole is formed in the center of the annular stent 10 for the patient to pass through, for example, for a part of the patient's body (such as the waist) to pass through. The material of the stent is a polymer stent that has minimal interference with CT imaging.

[0034] The annular support 10 is used to support the shock wave generator, so that the shock wave generator can rotate or move on the annular support to achieve multi-angle impact. In order to adapt to patients of different body sizes, the inner diameter of the support can be adjusted. According to some embodiments of the present invention, a fixator is attached to the annular support to keep the patient fixed relative to the support.

[0035] At least two shock wave generators (four in the figure) are movably located on the annular support and are used to emit shock waves respectively.

[0036] According to some embodiments of the present invention, Figure 2 As shown (for simplicity, the Figure 1The shock wave generator may also protrude radially to make one end of the shock wave generator close to the patient's body according to actual needs (when a water bag or a gel bag is integrated inside the shock wave generator, such as the water bag 21 in the shock wave generator mentioned in CN 201098174Y, it can be installed at the front end of the shock wave generator, and when in use, it is necessary to apply a super coupling agent on the outside of the water bag), or close to the coupling unit in contact with the body (such as a water bag or a gel bag). In actual operation, a coupling agent can also be applied to the part of the water bag or the gel bag in contact with the skin to make the shock wave better coupled with the skin. According to some embodiments of the present invention, the inner diameter of the annular stent is adjustable to accommodate patients of different body sizes, and thereby one end of the shock wave generator on the annular stent is close to the patient's body or the coupling unit in contact with the body, so that the shock wave generator does not need to protrude radially.

[0037] The stone detection device 15 is used to determine the three-dimensional position of the stone in the patient's body and the stone characteristics. Figure 1 As shown in the figure, the stone detection device can be a CT imaging system and a magnetic resonance imaging system. The imaging system can be located at the patient's stone inspection position at the beginning, and after the inspection is completed, it can be moved to the bottom position of the figure relative to the patient. The stone detection device can image the water capsule and the gel capsule at the same time during imaging.

[0038] The three-dimensional position includes the absolute position of the stone in space or the relative position relative to a fixed point. The characteristics of the stone include the shape, size, composition and hardness of the stone. Specifically:

[0039] Shape: It can be divided into spherical, ellipsoidal, bifurcated, etc. For ellipsoidal stones, focusing the shock wave on the long axis of the stone can split it more effectively. For bifurcated stones, shock waves can be emitted from multiple angles to act on different branches of the stone.

[0040] Size: Larger stones generally require higher energies and more strokes to break up. Smaller stones can be broken up with lower energies and fewer strokes.

[0041] Location: Depending on the location of the stone in the kidney or ureter, the surrounding tissues and organs will also be different, and the parameters such as the incident angle of the shock wave need to be adjusted according to the specific location. For example, stones close to the renal pelvis or ureter wall need to be handled with more care to avoid damaging these tissues.

[0042] Composition and hardness: Different compositions of stones have different hardness and sensitivity to shock waves. For example, calcium oxalate stones are usually hard and require higher energy to break; uric acid stones are relatively soft and can be broken with lower energy.

[0043] The computing device 21 is communicatively connected with the stone detection device, and is used to determine the optimal combination of each shock wave generator when acting on the stone as a whole according to the three-dimensional position and stone characteristics, and the optimal combination includes the optimal emission position and optimal emission energy of each shock wave generator; the computing device is also used to calculate the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone.

[0044] According to some embodiments of the present invention, the computing device establishes a density distribution geometric model based on the image output by the stone detection device (such as the CT value in the image), and simulates the propagation of multiple shock waves and the force on the propagation path through the finite element analysis method. Based on the simulation calculation, the computing device can determine the propagation time of the shock wave emitted by the shock wave generator from its optimal emission position to the stone. As mentioned above, the stone detection device can image the water bag together when imaging, so the image of the water bag will also be included in the image. Therefore, the density distribution geometric model will completely cover various substances on the shock wave propagation path, so as to facilitate and accurately simulate the propagation time of the shock wave emitted from its optimal position to the stone.

[0045] According to some embodiments of the present invention, the computing device may determine the optimal combination based on the fact that after the shock waves of each shock wave generator act on the stone, the unidirectional impact force of the stone on the surrounding tissue is minimized or the impact force directed to important tissues on one side of the human body is minimized.

[0046] Figure 1 and 2 The emission directions of four shock wave generators are shown, wherein every two shock waves are opposite to each other, and the two shock waves opposite to each other can be set to have equivalent energy to offset the unidirectional impact force caused by each other on the stone, and thereby reduce the friction damage caused by the impact force to the tissue around the stone. The energy of each shock wave can also be set to one-fourth of the original unidirectional shock wave energy.

[0047] According to some embodiments of the present invention, the optimal combination is further determined based on concentrating the stress inside the stone at the weakest point; and / or the optimal combination is determined by avoiding important tissues or interferences of the human body on the path of the shock wave. According to some embodiments of the present invention, the above process of determining the optimal combination can also be combined with manual judgment, for example, the shock wave incident area or important organ area can be preliminarily selected manually. The computing device can determine the optimal incident direction and incident energy of each shock wave outside the circled range.

[0048] like Figure 3As shown, schematic diagrams of shock wave combinations according to other embodiments of the present invention are shown. Blood vessels and bones are distributed around the stone position shown in the figure. Therefore, when the computing device determines the impact direction of the four shock waves, it must first avoid the blood vessels and bone areas to prevent damage to the blood vessels and prevent the shock waves from being blocked by the bones. As shown in the figure, the computing device excludes the blood vessels and bone areas, and selects the best shock wave incident combination in the other four areas, as shown by the four arrows in the figure, each arrow corresponds to a shock wave. The blood vessels and bone areas can be manually circled by medical staff, or the computing device can be judged according to the CT value in the image, or the computing device can directly identify the specific blood vessels and bone areas with the help of intelligent recognition technology and avoid them.

[0049] The driving device (not shown) is in communication connection with the computing device, and is used for acquiring the optimal launching position of each shock wave generator from the computing device, and driving each shock wave generator to move to each optimal launching position.

[0050] The driving device may include a plurality of driving motors and a bearing base, wherein the bearing base is used to bear each shock wave generator, and the driving motor provides power output to drive the bearing base to move along the annular support to a desired position on the support and / or protrude radially.

[0051] In addition to driving the supporting base to protrude radially, thereby causing the shock wave generator to protrude radially, the driving device of the present invention drives each shock wave generator to move to each optimal launching position and also covers the situation where an additional motor is provided for the shock wave generator to drive the shock wave generator to protrude radially relative to its supporting base.

[0052] According to some embodiments of the present invention, Figure 4 As shown, in order to make the height of the shock wave generator suitable, for example, just consistent with the height of the stone, a driving motor can be used to move the annular support along the rod 17 to the height. The height data can be determined from the stone position obtained by the stone detection device.

[0053] Since the devices or technologies for achieving free movement, precise positioning (including circular or radial movement) and locking of a target in three-dimensional space by motor drive are well known to those skilled in the art (common ones include camera gimbal movement and control devices), they will not be described in detail here. In addition, in the present application, the driving device may also be just a movable or lockable bearing base, and the positioning of the shock wave generator on the bearing base can be achieved by moving the movable bearing base to the appropriate position indicated by it and locking it through artificial external force.

[0054] The control device 22 is communicatively connected with the computing device 21 and each shock wave generator 11-14, and is used to control the emission time and emission energy of each shock wave generator according to the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone and the optimal emission energy of each shock wave generator, so that each shock wave reaches the stone at the same time.

[0055] According to the above description, the shock wave generator has different times of reaching the stone due to its different positions. Therefore, in order to achieve the simultaneous arrival of each shock wave at the stone, it is necessary to calculate the time when each shock wave reaches the stone, and to control the emission time to achieve the simultaneous arrival of each shock wave at the stone. In addition to the aforementioned method of determining the propagation time of the shock wave emitted by the shock wave generator from its optimal emission position to the stone by simulation calculation, according to some embodiments of the present invention, it is also possible to load a reflection measurement device on each shock wave generator to measure the time when the shock wave reaches the stone from its emission point and returns, so as to determine the time when the shock wave reaches the stone from the emission point, and send the time to the control device. For example, the reflection measurement device records the time when the shock wave emitter emits the shock wave, and then records the arrival time of the shock wave of the same frequency transmitted back in the opposite direction of the same axis. The calculation device obtains the time and performs calculations to determine the time when the shock wave reaches the stone from its emission point.

[0056] According to some embodiments of the present invention, the multi-beam extracorporeal lithotripsy system includes two shock wave generators, the two shock wave generators include a first shock wave generator and a second shock wave generator, the first shock wave generator is used to emit a first shock wave, and the second shock wave generator is used to emit a second shock wave; the computing device is used to determine the optimal emission position and emission energy of each shock wave generator when the first shock wave generator and the second shock wave generator are placed oppositely according to the three-dimensional position and stone characteristics. The opposite placement means that the two are at an angle of 180 degrees, and the shock waves emitted by the two are opposite to each other.

[0057] According to some embodiments of the present invention, the stone detection device detects in real time the changes in the three-dimensional position of the stone in the patient's body and the changes in the stone characteristics during the lithotripsy process; the calculation device is used to re-determine the optimal emission position and optimal emission energy of each shock wave generator according to the changes in the three-dimensional position and stone characteristics, and calculate the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone. Accordingly, by re-controlling the emission time, each shock wave can reach the stone at the same time. For example, the position and fragmentation of the stone can be monitored in real time through image guidance (such as X-ray or ultrasound), and real-time adjustments can be made as needed.

[0058] According to some embodiments of the present invention, each shock wave generator comprises an electromagnetic, piezoelectric or electro-hydraulic shock wave generator.

[0059] According to some embodiments of the present invention, an individualized treatment plan can also be implemented during the lithotripsy process: an individualized treatment plan is formulated according to the specific conditions of the patient and the stones, including selecting the appropriate energy level, number of impacts, frequency and bandwidth, etc.

[0060] According to some embodiments of the present invention, each shock wave generator implements a step-by-step energy increase, starting from a lower energy and gradually increasing to a suitable optimal energy to reduce damage to surrounding tissues.

[0061] According to some embodiments of the present invention, the annular support can be fixed at a certain position in space, for example, it can be fixed to a hospital bed, and when the patient lies on the bed, the patient just passes through the center of the annular support. Moreover, the annular support can move along the bed in the longitudinal direction of the patient's body, so that the lithotripsy operation can be performed at a suitable position.

[0062] According to some embodiments of the present invention, the annular support can also be fixed to a base 16 via a fixing rod 17, and can move up and down along the fixing rod, and the patient can stand on the base to receive treatment, such as Figure 4 shown.

[0063] The following describes a lithotripsy process of a multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to some embodiments of the present invention, the process comprising:

[0064] S1. Position the patient in the ring support and maintain a fixed position.

[0065] For example, a fixator may be attached to the annular support to keep the patient in a fixed position. Meanwhile, a water bag or a gel bag may be arranged between the patient and the shock wave generator, and the size of the annular support may be adjusted so that the patient or the water bag or the gel bag may be in full contact with the shock wave generator on the support.

[0066] S2. Use a stone detection device to determine the three-dimensional location of the stone in the patient's body and the characteristics of the stone.

[0067] As mentioned above, the stone detection device can be a CT imaging system and a magnetic resonance imaging system, etc. The imaging system can simultaneously image the water capsule or the gel capsule during imaging.

[0068] S3. Enable the computing device to obtain the three-dimensional position and stone characteristics and determine the best combination of each shock wave generator as a whole when acting on the stone according to the three-dimensional position and stone characteristics, wherein the best combination includes the best emission position and the best emission energy of each shock wave generator; the computing device is also used to calculate the time when the shock wave emitted by each shock wave generator at its best emission position reaches the stone.

[0069] S4. The driving device obtains the optimal launch position of each shock wave generator from the computing device, and drives each shock wave generator to move to each optimal launch position.

[0070] refer to Figure 4 The entire support can be moved to the height of the patient's stone by the driving device on the rod 17, and then the shock wave generator can be moved to the corresponding optimal position by the driving devices on the annular support.

[0071] In addition, in step S2, the water bag and the like can be imaged together. Therefore, in order to avoid interference of the shock wave generator with the imaging, the shock wave generator can be installed on the annular bracket in step S4. At the same time, the shock wave generator should not affect the original imaging effect as much as possible during installation. For example, the shock wave generator can be installed on a bearing base that is already in close contact with the water bag. The outer contour of the bearing base constitutes the periphery of the shock wave generator. The material of the bearing base is a polymer material that has the least interference with CT imaging.

[0072] In the present application, the driving device may also be merely a movable or lockable supporting base, and the positioning of the shock wave generator on the supporting base can be achieved by moving the movable supporting base to the appropriate position indicated by it and locking it through artificial external force.

[0073] S5. The control device controls the emission time and emission energy of each shock wave generator according to the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone and the optimal emission energy of each shock wave generator, so that each shock wave reaches the stone at the same time.

[0074] According to some embodiments of the present invention, the stone detection device detects in real time the changes in the three-dimensional position of the stone in the patient's body and the changes in the stone characteristics during the lithotripsy process; the calculation device is used to re-determine the optimal emission position and optimal emission energy of each shock wave generator according to the changes in the three-dimensional position and stone characteristics, and calculate the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone. Accordingly, by re-controlling the emission time, each shock wave can reach the stone at the same time. For example, the position and fragmentation of the stone can be monitored in real time through image guidance (such as X-ray or ultrasound), and real-time adjustments can be made as needed.

[0075] For details about each device, please refer to the previous Figure 1-4 The description made will not be repeated here.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. It should be noted that although the structure of the device of the present invention and the method of its operation are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flowchart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution.

Claims

1. A multi-beam extracorporeal lithotripsy system based on multiple shock wave generators, comprising: an annular stent, the center of the annular stent being used for a patient to pass through; at least two shock wave generators, which are movably located on the annular support and are respectively used to emit shock waves; a stone detection device for determining the three-dimensional location of the stone in the patient's body and the characteristics of the stone; a computing device, which is in communication with the stone detection device, and is used to determine the best combination mode when each shock wave generator acts on the stone as a whole according to the three-dimensional position and stone characteristics, wherein the best combination mode includes the best emission position and the best emission energy of each shock wave generator; the computing device is also used to calculate the time when the shock wave emitted by each shock wave generator at its best emission position reaches the stone; A driving device, which is in communication with the computing device and is used to obtain the optimal launch position of each shock wave generator from the computing device and drive each shock wave generator to move to each optimal launch position; The control device is connected to the computing device and each shock wave generator in communication, and is used to control the emission time and emission energy of each shock wave generator according to the time when the shock wave emitted by each shock wave generator at its optimal emission position reaches the stone and the optimal emission energy of each shock wave generator.

2. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 1, characterized in that: The invention also comprises a coupling unit for acoustically coupling each shock wave generator with the patient's body, wherein the coupling unit comprises a water bag or a gel bag.

3. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 2, characterized in that: The calculation device determines the best combination based on the fact that after the shock waves of each shock wave generator act on the stone, the unidirectional impact force of the stone on the surrounding tissue is minimized or the impact force directed to an important tissue of the human body on one side is minimized.

4. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 3, characterized in that: Every two shock waves are opposite to each other, and the two shock waves opposite to each other are set to have equivalent energy to offset the unidirectional impact force caused by each other on the stone.

5. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 3, characterized in that: The calculation device further determines the optimal combination based on concentrating the stress inside the stone at the weakest point, and / or determines the optimal combination based on avoiding important tissues or interferences of the human body on the path of the shock wave.

6. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 3, characterized in that: The invention comprises two shock wave generators, wherein the two shock wave generators comprise a first shock wave generator and a second shock wave generator, wherein the first shock wave generator is used for emitting a first shock wave, and the second shock wave generator is used for emitting a second shock wave; The computing device is used to determine the optimal emission position and emission energy of each shock wave generator when the first shock wave generator and the second shock wave generator are placed opposite to each other according to the three-dimensional position and stone characteristics.

7. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 3, characterized in that: The stone detection device includes a CT imaging system and a magnetic resonance imaging system; the computing device establishes a density distribution geometric model based on the image output by the stone detection device, and simulates the propagation of multiple shock waves and the force on the propagation path through a finite element analysis method.

8. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 7, characterized in that: The calculation device determines the propagation time for the shock wave emitted by the shock wave generator from its optimal emission position to reach the stone based on simulation calculation.

9. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 1 or 2, characterized in that: Each shock wave generator includes a reflection measuring device, which is used to measure the time it takes for the shock wave to reach the stone from its emission point and return, and thereby determine the time it takes for the shock wave to reach the stone from the emission point, and send this time to the control device.

10. The multi-beam extracorporeal lithotripsy system based on multiple shock wave generators according to claim 1 or 2, characterized in that: Each shock wave generator includes an electromagnetic, piezoelectric or electro-hydraulic shock wave generator; and / or, The annular support is fixed to the bed, and when the patient lies on the bed, the patient just passes through the center of the annular support, and the annular support can move along the bed in the longitudinal direction of the patient's body; and / or, The inner diameter of the annular stent is adjustable to accommodate patients of different body sizes; and / or The annular support is fixed to a base via a fixing rod and can move up and down along the fixing rod, and the base is used for the patient to stand and receive treatment; and / or, A fixator is attached to the annular support for maintaining a fixed position of the patient relative to the support; and / or, Each shock wave generator is made to implement a step-by-step energy increase, starting from a lower energy and gradually increasing to a suitable optimal energy.

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