Control method and control system of ultrasonic therapeutic apparatus and ultrasonic therapeutic apparatus

Abstract

The invention discloses a control method and a control system of an ultrasonic therapeutic apparatus and the ultrasonic therapeutic apparatus, and the method comprises the following steps: S1, transmitting ultrasonic waves to skins at a plurality of target positions one by one for sampling, and receiving an ultrasonic echo signal of each target position, the plurality of target positions are obtained by a transducer of the ultrasonic therapeutic apparatus moving along a skin surface area directly facing the end face of a probe of the ultrasonic therapeutic apparatus; s2, converting the received ultrasonic echo signal into an ultrasonic image; s3, skin features of each target position in the ultrasonic image are extracted, the distance between the skin of each target position and the end face of the probe is calculated, the calculated maximum distance is compared with a target threshold value, and if the maximum distance is smaller than or equal to the target threshold value, it is judged that the end face of the probe is effectively attached to the surface of the skin; otherwise, judging that the end face of the probe is not effectively attached to the skin surface. Positioning is carried out through ultrasonic imaging, it is ensured that operation is carried out in the state that the end face of the probe is effectively attached to the skin surface area, and the using effect and safety are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic therapeutic apparatus, and in particular to a control method and a control system of an ultrasonic therapeutic apparatus and an ultrasonic therapeutic apparatus. Background Art

[0002] Ultrasound therapy technology has been widely recognized by the medical community for its unique efficacy and safety characteristics of long-term treatment without toxic side effects. Its in vitro non-invasive physical therapy is suitable for medical applications such as cancer treatment and urinary system lithotripsy in hospitals, and is increasingly valued and adopted in more clinical applications such as rehabilitation and beauty. Focused ultrasound therapy uses the thermal effect of ultrasound to rapidly increase the temperature within the target focal threshold through the thermal effect only at the focus, while having little effect on the temperature outside the focus threshold. Due to the different degrees of absorption of ultrasound energy by different tissues in the human body, the maximum effect of ultrasound occurs at the focus, thereby effectively absorbing energy at the target, especially in highly dense connective tissue (collagen), such as ligaments, tendons, fascia, joint capsules and scar tissues. The effect of ultrasound treatment is very significant.

[0003] The power of focused therapy ultrasound is relatively high. If the therapeutic device outputs ultrasound energy without effective bonding, the ultrasound focal threshold will not be able to effectively act on the target position. Focusing outside the target position may cause ineffective treatment or even patient injury. If the target position is the fascia layer, ineffective bonding will cause the ultrasound energy to focus on the superficial dermis or epidermis, causing skin burns; if it acts directly in the air, air is not a good ultrasound conduction and absorption medium, which will cause strong reflection of the ultrasound treatment signal, and the reflected ultrasound signal may damage the ultrasound probe. Therefore, how to ensure the effectiveness of the fit between the treatment end face and the target position is crucial to its treatment effect. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a control method, a control system and an ultrasonic therapeutic apparatus.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A control method for an ultrasonic therapeutic apparatus comprises the following steps:

[0007] S1, emitting ultrasonic waves to the skin of multiple target positions one by one for sampling, and receiving ultrasonic echo signals of each target position, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly facing the probe end face of the ultrasonic therapeutic apparatus;

[0008] S2, converting the received ultrasonic echo signal into an ultrasonic image;

[0009] S3. Extract the skin features of each target position in the ultrasound image, and calculate the distance between the skin of each target position and the probe end face, compare the calculated maximum distance with the target threshold, if the maximum distance is less than or equal to the target threshold, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

[0010] Preferably, in step S1, at least three target positions are divided.

[0011] Preferably, in step S1, an ultrasonic echo signal of a specified time length is received.

[0012] Preferably, the step S2 specifically includes the following steps:

[0013] S21, receiving a radio frequency signal in the ultrasonic echo signal;

[0014] S22, converting the radio frequency signal into a complex signal;

[0015] S23, obtaining a complex signal without direct current components;

[0016] S24, performing signal extraction in a first frequency range on the complex signal from which the DC component has been removed to obtain a baseband complex envelope signal;

[0017] S25, performing signal extraction in a second frequency range on the complex signal without direct current components to obtain a second harmonic complex envelope signal;

[0018] S26, performing an inverse fast Fourier transform on the baseband complex envelope signal and then taking the modulus to form a baseband demodulation signal;

[0019] S27, performing an inverse fast Fourier transform on the second harmonic complex envelope signal and then taking the modulus to form a second harmonic demodulation signal;

[0020] S28, fusing the baseband demodulation signal and the second harmonic demodulation signal to obtain a fusion signal of the baseband and the second harmonic;

[0021] S29, repeat steps S21-S28 to obtain fusion signals corresponding to all ultrasonic echo signals.

[0022] Preferably, the step S2 further includes a step S210 of compressing all the fused signals acquired in the step S29 to obtain an image compression signal.

[0023] Preferably, the step S2 further includes a step S211 of performing a matrix transposition transformation on all acquired fusion signals or image compression signals to obtain the ultrasound image.

[0024] Preferably, in step S3, the skin features include a skin surface contour surface and a distance between the skin surface contour surface at each target position point and the probe end surface.

[0025] A control system for an ultrasonic therapeutic apparatus, comprising:

[0026] A sampling unit, used to emit ultrasonic waves to the skin of multiple target positions one by one for sampling, and receive ultrasonic echo signals of each of the target positions, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly facing the probe end face of the ultrasonic therapeutic apparatus;

[0027] a conversion unit, configured to convert the received ultrasonic echo signal into an ultrasonic image;

[0028] The judgment unit is used to extract the skin features of each target position in the ultrasound image, calculate the distance between the skin of each target position and the probe end face, compare the calculated maximum distance with the target threshold, and if the maximum distance is less than or equal to the target threshold, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

[0029] An ultrasonic therapeutic device includes a host, a probe, and a handle. The host includes an energy generator, a processor, and a memory. The probe includes a probe housing and a transducer. The handle includes a handle housing, an echo receiving sampling module, and a motor motion module. The energy generator controls the transducer to emit ultrasonic waves by sending an excitation signal to the transducer. The end face of the handle housing that is in contact with the skin surface is the handle end face. The memory stores a computer program that can be executed by the processor. When the computer program is executed, the method described above is implemented.

[0030] Preferably, the transducer includes a therapeutic transducer and an imaging transducer, and the motor motion module drives the therapeutic transducer and the imaging transducer to move synchronously.

[0031] The beneficial effects of the present invention are mainly reflected in:

[0032] 1. Generate an ultrasonic image by receiving ultrasonic echo signals from multiple target positions to calculate the distance between each target position and the probe end face. Compare the maximum distance with the target threshold to determine whether the probe end face and the skin mark area are effectively fitted. Ensure that the probe end face and the skin surface area are effectively fitted before performing ultrasonic treatment, thereby ensuring that the expected effect is achieved, avoiding accidental damage to the instrument, and ensuring effectiveness and safety of use.

[0033] 2. Sampling more than 3 target positions for judgment can improve the reliability of the judgment of the effectiveness of the fit and avoid partial fit;

[0034] 3. In the process of producing ultrasonic images using ultrasonic echo signals, the ultrasonic RF signal fundamental frequency envelope and second harmonic envelope can be quickly extracted by directly removing the noise frequency in the complex signal and directly extracting the envelope frequency in the complex signal. There is no need to use a window filter to perform low-pass filtering on the signal, which improves the processing process of RF signal demodulation in ultrasonic imaging and greatly reduces the amount of calculation for extracting the envelope from the RF signal. There is no need to use hardware such as FPGA in traditional methods, and envelope extraction can be implemented on the X86 platform, thereby reducing the hardware cost of the ultrasonic imaging system. The ultrasonic RF signal can be processed more conveniently and flexibly, and the fundamental frequency signal and the harmonic signal can be separated more conveniently, making ultrasonic harmonic imaging easier to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The technical solution of the present invention is further described below in conjunction with the accompanying drawings:

[0036] Figure 1 : Flow chart of the control method of ultrasonic therapeutic apparatus;

[0037] Figure 2 : Flowchart of step 2;

[0038] Figure 3 : A schematic diagram of an ultrasonic therapeutic apparatus according to an embodiment of the present invention;

[0039] Figure 4 : A cross-sectional view of the probe and the handle in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0041] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0042] like Figure 1 to Figure 2As shown, in order to solve the problem of how to ensure the effectiveness of the fit between the treatment end surface and the target position, the present invention discloses a control method of an ultrasonic therapeutic apparatus, comprising the following steps:

[0043] S1, emitting ultrasonic waves to the skin of multiple target positions one by one for sampling, and receiving ultrasonic echo signals of each target position, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly facing the probe end face of the ultrasonic therapeutic apparatus;

[0044] S2, converting the received ultrasonic echo signal into an ultrasonic image;

[0045] S3. Extract the skin features of each target position in the ultrasound image, and calculate the distance between the skin of each target position and the probe end face, compare the calculated maximum distance with the target threshold, if the maximum distance is less than or equal to the target threshold, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

[0046] The present invention generates an ultrasonic image by receiving echo signals of ultrasonic waves at multiple target positions to calculate the distance between each target position and the probe end face, and determines whether the probe end face and the skin surface area are effectively fitted by comparing the maximum distance with the target threshold, thereby ensuring that ultrasonic treatment is performed when the probe end face and the skin surface area are effectively fitted, thereby ensuring that the expected effect is achieved, avoiding accidental damage to the instrument, and ensuring effectiveness and safety of use.

[0047] The control method provided in the embodiment of the present application is applied to an ultrasonic therapeutic apparatus. The ultrasonic therapeutic apparatus includes a host 1, a probe 2, and a handle 3. Specifically, the host 1 includes an energy generator, a processor, and a memory, the probe 2 includes a probe housing 201 and a transducer, and the handle 3 includes a handle housing 301, an echo receiving sampling module 302, and a motor motion module 303. The transducer includes a therapeutic transducer 202 and an imaging transducer 203, and the motor motion module 303 drives the therapeutic transducer 202 and the imaging transducer 203 to move synchronously.

[0048] The energy generator is used to send ultrasonic treatment and imaging excitation signals to the treatment transducer 202 and the imaging transducer 203 to control the treatment transducer 202 and the imaging transducer 203 to send ultrasonic waves. The processor is used to control the generation of positioning ultrasonic energy excitation signals, the reception of imaging echo signals, and the start and stop of ultrasonic treatment signals.

[0049] The probe housing 201 has a window through which ultrasound waves can be emitted, and the end face of the window is the end face of the probe that needs to be attached to the target area such as the skin surface. The treatment transducer 202 is used to receive treatment excitation signals to generate ultrasound waves; the imaging transducer 203 is used to receive imaging excitation signals to generate ultrasound waves and receive echoes to image and locate the skin surface area.

[0050] The echo receiving sampling module 302 and the motor motion module 303 are both built into the handle housing 301. The echo receiving sampling module 302 is electrically connected to the imaging transducer 203 to sample and analyze the ultrasonic echo signal received by the imaging transducer 203. The motor motion module 303 drives the treatment transducer 202 and the imaging transducer 203 inside the probe 2 to reciprocate by mechanically connecting to the probe 2, and can transmit the treatment transducer 202 and the imaging transducer 203 to various positions of the skin surface area for detection. The specific connection structure between the probe 2 and the handle 3 can be referred to in Publication No. CN115445111A.

[0051] The user places the probe end face on the skin surface area and activates the host 1 by pressing an activation button, which may be any suitable activation button, such as a handle activation button or a foot switch, etc. The host 1 receives the activation instruction and uses the control method of the ultrasonic therapeutic apparatus.

[0052] Specifically, in step S1, the skin surface area is divided into at least three target positions to cover the skin surface area as comprehensively as possible, thereby ensuring the reliability of the detection result and avoiding the situation where only the target position is partially fitted.

[0053] In step S1, the imaging transducer 203 will emit a series of ultrasonic waves after receiving the excitation signal. Therefore, in order to ensure the accuracy of the result, the ultrasonic echo signal of the specified time length is received in step S1 and continuously sampled. The specified time length is determined according to the target detection distance, and the two comply with the calculation formula: t = L / v, where t is the echo reception sampling time, L is the target detection distance, and v is the ultrasonic propagation speed (the propagation speed in the human body is about 1540m / s). Usually t ranges from 0.1us to 100us. The sampled ultrasonic echo signal is stored in the memory and input into the processor to complete the imaging processing of step S2.

[0054] The step S2 specifically includes the following steps:

[0055] S21, receiving a radio frequency signal in the ultrasonic echo signal;

[0056] S22, converting the radio frequency signal into a complex signal;

[0057] S23, obtaining a complex signal without direct current components;

[0058] S24, performing signal extraction in a first frequency range on the complex signal from which the DC component has been removed to obtain a baseband complex envelope signal;

[0059] S25, performing signal extraction in a second frequency range on the complex signal without direct current components to obtain a second harmonic complex envelope signal;

[0060] S26, performing an inverse fast Fourier transform on the baseband complex envelope signal and then taking the modulus to form a baseband demodulation signal;

[0061] S27, performing an inverse fast Fourier transform on the second harmonic complex envelope signal and then taking the modulus to form a second harmonic demodulation signal;

[0062] S28, fusing the baseband demodulation signal and the second harmonic demodulation signal to obtain a fusion signal of the baseband and the second harmonic;

[0063] S29, repeat steps S21-S28 to obtain fusion signals corresponding to all ultrasonic echo signals.

[0064] In step S21, the received radio frequency signal is a time domain radio frequency signal RF_T(t), wherein the duration is T, the eigenfrequency is the ultrasonic transmission frequency ω0, and the sampling frequency is fs.

[0065] In step S22, the time domain RF signal RF_T(t) is transformed into a frequency domain RF signal RF_F(ω) using a fast Fourier transform (FFT). In this embodiment, the time domain RF signal is transformed into a frequency domain RF signal RF_F(ω) by fast Fourier transform. real (ω) and the imaginary part RF_F imag (ω), that is, converting the real signal input of the time domain RF signal into a complex signal output including a real part and an imaginary part, and using a two-dimensional array to store the real part and the imaginary part of the complex signal, so as to facilitate improving the calculation speed of the signal amplitude in the subsequent steps.

[0066] The formula (1) for transforming the time domain radio frequency signal RF_T(t) into the frequency domain radio frequency signal RF_F(ω) in step S2 is as follows:

[0067]

[0068] The conversion formula of the complex frequency domain signal is:

[0069]

[0070]

[0071] Usually, the radio frequency signal includes a DC signal, a carrier signal and a noise signal, and the carrier signal includes the envelope signal of the target tissue. Therefore, in step S23, the following formula is used:

[0072] RF_F real (1)=0 (4)

[0073] RF_F imag (1)=0 (5)

[0074] RF_S real (ω)=RF_F real (ω) 2≤ω≤fs / 2 (6)

[0075] RF_S imag (ω)=RF_F imag (ω) 2≤ω≤fs / 2 (7)

[0076] The DC removal operation is completed by setting the DC signal in the complex signal to zero, thereby obtaining a complex signal RF_S without the DC component. real (ω), RF_S imag (ω), the complex signal contains the target tissue information.

[0077] Since the baseband signal with a center frequency of ω0 is amplitude modulated by the envelope signal, its frequency is offset by ±ω E Therefore, in step S24, by comparing the center frequency ω0 and the frequency of the baseband signal after amplitude modulation (ω0±ω E ), the frequency range where the envelope signal is located can be determined, so as to directly extract the frequency range (first frequency range) where the baseband complex envelope signal of the target tissue is located, that is, the baseband complex envelope signal RF_BE of the target tissue can be obtained. real (ω), RF_BE imag (ω), the first frequency range corresponds to (ω0-ω E )~ω0. The formula used in step S24 is as follows:

[0078] RF_BE real (ω)=RF_S real (ω) (ω0-ω E )≤ω≤ω0 (8)

[0079] RF_BE imag (ω)=RF_S imag (ω) (ω0-ω E )≤ω≤ω0 (9)

[0080] Similarly, since the second harmonic signal with a center frequency of 2ω0 is amplitude modulated by the envelope signal, its frequency is offset by ±ωE Therefore, in step S25, by comparing the center frequency 2ω0 and the frequency of the second harmonic signal after amplitude modulation (2ω0±ω E ), the frequency range where the envelope signal is located can be determined, and the frequency range (second frequency range) where the second harmonic complex envelope signal of the target tissue is located can be directly extracted to obtain the second harmonic complex envelope signal RF_HE of the target tissue real (ω), RF_HE imag (ω), the second frequency range corresponds to (2ω0-ω E )~2ω0. The formula used in step S25 is as follows:

[0081] RF_HE real (ω)=RF_S real (ω) (2ω0-ω E )≤ω≤2ω0 (10)

[0082] RF_HE imag (ω)=RF_S imag (ω) (2ω0-ω E )≤ω≤2ω0 (11)

[0083] In step S26, the baseband complex envelope signal in the frequency domain is subjected to an inverse fast Fourier transform (IFFT) to obtain a complex time domain signal RF_BET of the baseband complex envelope signal. real (t), RF_BET imag (t), the inverse fast Fourier transform formula is the same as above and will not be repeated here.

[0084] The complex time domain signal RF_BET real (t), RF_BET imag (t) is subjected to a modulo operation to obtain the baseband envelope RF_BEN(t) of the RF signal.

[0085] The formula used in step S26 is as follows:

[0086]

[0087] In step S27, the second harmonic complex envelope signal in the frequency domain is subjected to an inverse fast Fourier transform (IFFT) to obtain a complex time domain signal RF_HET of the second harmonic complex envelope signal. real (t), RF_HET imag (t).

[0088] The complex time domain signal RF_HET real (t), RF_HET imag(t) is subjected to a modulo operation to obtain the second harmonic envelope RF_HEN(t) of the RF signal.

[0089] The formula used in S27 is as follows:

[0090]

[0091] In step S2, the direct frequency operation of the ultrasonic RF signal in the complex frequency domain, through the steps of DC removal, low-pass filtering, demodulation and envelope acquisition, greatly reduces the computational complexity of the commonly used RF signal demodulation algorithm, so that the X86 platform can complete the real-time demodulation of the ultrasonic RF signal without adding FPGA to complete the demodulation processing, which greatly saves the hardware cost and development difficulty of the ultrasonic imaging system.

[0092] In ultrasound tissue harmonic imaging, since harmonics gradually increase with propagation depth and then gradually weaken, the nonlinear effect between the probe and the skin is not obvious, and there are almost no harmonics, so the use of tissue harmonic imaging can eliminate artifacts caused by near-field multiple reflections. The deeper the propagation distance of harmonics in the tissue, the greater the harmonic sound pressure, and then it will attenuate, which makes the maximum value of the harmonic sound pressure deeper than the maximum value of the fundamental wave sound pressure. At the same time, harmonics will only attenuate when they echo, so the attenuation is smaller than the fundamental wave, so it can effectively eliminate the near field of ultrasound images and improve the clarity of deeper tissues.

[0093] In step S28, the correlation coefficient of the baseband demodulation signal and the second harmonic demodulation signal is first calculated to determine their correlation curve; specifically, the correlation coefficient ρ is calculated by calculating the variance D(RF_HEN) of the second harmonic demodulation signal, the variance D(RF_BEN) of the baseband demodulation signal, and the covariance Cov(RF_HEN, RF_BEN) of the two signals. BH , thereby determining the fixed correlation curve of the two signals. The specific formula is as follows:

[0094]

[0095] When the signal fusion is determined by calculating the inflection point value ρ0 of the correlation curve, the weight W of the baseband demodulation signal B and the weight W of the second harmonic demodulation signal H The specific formula is as follows:

[0096]

[0097] When the inflection point value ρ0=0, the corresponding Cov(RF_HEN, RF_BEN) value is obtained, and thus the corresponding baseband demodulation signal weight W can be obtained. B and the weight W of the second harmonic demodulated signal H .

[0098] Among them, the weight W B and W H Determined by the following two fuzzy functions:

[0099]

[0100]

[0101] According to the weight W of the baseband demodulation signal B and the weight W of the second harmonic demodulation signal H , the baseband demodulation signal and the second harmonic demodulation signal are weighted and summed point by point to obtain the fusion signal RF_FUSE(t) of the baseband and the second harmonic. The specific formula is as follows:

[0102] RF_FUSE(t)=RF_HEN(t)*W H +RF_BEN(t)*W B (19)

[0103] The steps S21 to S28 are a process of processing a radio frequency signal in an ultrasonic echo signal. In step S29, all ultrasonic echo signals received in step S1 are processed by repeating steps S21 to S28 to obtain a fusion signal corresponding to all received ultrasonic echo signals.

[0104] At this point, the process may directly proceed to step S211 to perform matrix transposition transformation on all acquired fusion signals to obtain a frame of the ultrasound image.

[0105] When it is necessary to obtain an ultrasound B-mode image, after step S28, step S29 is required to compress all the fused signals obtained in step S29 to obtain an image compression signal. Specifically, the image compression signal is formed by logarithmically compressing the fused signal RF_FUSE(t), thereby compressing the high dynamic range signal into a low dynamic range, so that the output range of the image compression signal Gray(t) is [0, 255], so as to achieve the range of grayscale image display.

[0106] The following formula is used in step S9:

[0107] Gray(t)=A*log(RF_FUSE(t)+1)+C (20)

[0108] In the formula (18), in order to prevent the logarithm log from being infinite when the true number of 0, logarithmic compression can be performed when RF_FUSE(t)(t)≥0, and the data error caused by logarithmic compression can be ignored by adding 1, where A and C are constants, and their specific values ​​are known in the art and will not be described here. Of course, in addition to logarithmic compression, other known compression methods can also be used to compress the fused data into grayscale data, and the corresponding compression method will not be described here.

[0109] In step S3, the ultrasound image obtained in step S2 is used to extract skin features of each target position through a skin feature extraction algorithm model. The skin feature extraction algorithm model includes but is not limited to a classical traditional feature extraction algorithm (such as SIFT (Scale-Invariant Feature Transform) or HOG (Histogram of Oriented Gradients)), a machine learning algorithm, a neural network algorithm (such as a CNN convolutional neural network, a Transformer neural network architecture based on a self-attention mechanism), etc.

[0110] The skin features include a skin surface contour surface and a distance between the skin surface contour surface at each target position point and the probe end surface.

[0111] Then, the distance between each target position and the probe end face is calculated based on the skin features extracted from each target position, and the calculated maximum distance is compared with the target threshold value. The target threshold value is the maximum distance judgment value for effective adhesion between the probe end face and the skin surface area, so as to determine whether the probe end face and the skin surface area are effectively adhered by comparing with the maximum distance. The target threshold value can be a fixed value or a threshold value that varies according to different usage areas. The range of the target threshold value is generally 0.1mm to 1mm. If the maximum distance is less than or equal to the target threshold value, it is determined that the probe end face and the skin surface are effectively adhered. At this time, the energy generator can send a treatment excitation signal to control the treatment transducer 202 to generate ultrasonic waves; otherwise, it is determined that the probe end face and the skin surface are not effectively adhered, and the treatment transducer 202 is not excited, and the user is prompted.

[0112] The present invention also discloses a control system of an ultrasonic therapeutic apparatus, comprising a sampling unit, for emitting ultrasonic waves to the skin of multiple target positions one by one for sampling, and receiving an ultrasonic echo signal of each of the target positions, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly opposite to the probe end face of the ultrasonic therapeutic apparatus; a conversion unit, for converting the received ultrasonic echo signal into an ultrasonic image; and a judgment unit, for extracting the skin features of each target position in the ultrasonic image, and calculating the distance between the skin of each target position and the probe end face, and comparing the calculated maximum distance with a target threshold value, and if the maximum distance is less than or equal to the target threshold value, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

[0113] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0114] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for an ultrasonic therapeutic apparatus, characterized in that: The steps include: S1, emitting ultrasonic waves to the skin of multiple target positions one by one for sampling, and receiving ultrasonic echo signals of each target position, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly facing the probe end face of the ultrasonic therapeutic apparatus; S2, converting the received ultrasonic echo signal into an ultrasonic image; S3. Extract the skin features of each target position in the ultrasound image, and calculate the distance between the skin of each target position and the probe end face, compare the calculated maximum distance with the target threshold, if the maximum distance is less than or equal to the target threshold, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

2. The control method of the ultrasonic therapeutic apparatus according to claim 1, characterized in that: In the step S1, at least three target positions are divided.

3. The control method of the ultrasonic therapeutic apparatus according to claim 2, characterized in that: In the step S1, an ultrasonic echo signal of a specified time length is received.

4. The control method of the ultrasonic therapeutic apparatus according to claim 1 or 3, characterized in that: The step S2 specifically includes the following steps: S21, receiving a radio frequency signal in the ultrasonic echo signal; S22, converting the radio frequency signal into a complex signal; S23, obtaining a complex signal without direct current components; S24, performing signal extraction in a first frequency range on the complex signal from which the DC component has been removed to obtain a baseband complex envelope signal; S25, performing signal extraction in a second frequency range on the complex signal without direct current components to obtain a second harmonic complex envelope signal; S26, performing an inverse fast Fourier transform on the baseband complex envelope signal and then taking the modulus to form a baseband demodulation signal; S27, performing an inverse fast Fourier transform on the second harmonic complex envelope signal and then taking the modulus to form a second harmonic demodulation signal; S28, fusing the baseband demodulation signal and the second harmonic demodulation signal to obtain a fusion signal of the baseband and the second harmonic; S29, repeat steps S21-S28 to obtain fusion signals corresponding to all ultrasonic echo signals.

5. The control method of the ultrasonic therapeutic apparatus according to claim 4, characterized in that: The step S2 further includes a step S210 of compressing all the fused signals acquired in the step S29 to obtain an image compression signal.

6. The control method of the ultrasonic therapeutic apparatus according to claim 4, characterized in that: The step S2 further includes a step S211 of performing a matrix transposition transformation on all acquired fusion signals or image compression signals to obtain the ultrasound image.

7. The control method of the ultrasonic therapeutic apparatus according to claim 1, characterized in that: In step S3, the skin features include the skin surface contour surface and the distance between the skin surface contour surface at each target position point and the probe end surface.

8. A control system for an ultrasonic therapeutic apparatus, characterized in that: include A sampling unit, used to emit ultrasonic waves to the skin of multiple target positions one by one for sampling, and receive ultrasonic echo signals of each of the target positions, wherein the multiple target positions are obtained by moving the transducer of the ultrasonic therapeutic apparatus along the skin surface area directly facing the probe end face of the ultrasonic therapeutic apparatus; a conversion unit, configured to convert the received ultrasonic echo signal into an ultrasonic image; The judgment unit is used to extract the skin features of each target position in the ultrasound image, calculate the distance between the skin of each target position and the probe end face, compare the calculated maximum distance with the target threshold, and if the maximum distance is less than or equal to the target threshold, it is determined that the probe end face and the skin surface are effectively fitted; otherwise, it is determined that the probe end face and the skin surface are not effectively fitted.

9. An ultrasonic therapeutic apparatus, comprising a main unit (1), a probe (2), and a handle (3), characterized in that: The host (1) includes an energy generator, a processor and a memory, the probe (2) includes a probe housing (201) and a transducer, the handle (3) includes a handle housing (301), an echo receiving sampling module (302) and a motor motion module (303), the energy generator controls the transducer to emit ultrasonic waves by sending an excitation signal to the transducer, the end face of the handle housing (301) in contact with the skin surface is the handle end face, and the memory stores a computer program executable by the processor, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

10. The ultrasonic therapeutic apparatus according to claim 9, characterized in that: The transducer comprises a therapeutic transducer (202) and an imaging transducer (203), and the motor motion module (303) drives the therapeutic transducer (202) and the imaging transducer (203) to move synchronously.

Images