Transducer positioning determination device

Abstract

The embodiment of the invention discloses a transducer positioning determination device. The device comprises a distribution data determination module used for acquiring a medical image of a target object and determining distribution data of ultrasonic field energy of a transducer, the transducer being a transducer required for ultrasonic cavitation ablation; and the transducer positioning determination module is used for determining the transducer positioning of the transducer relative to the target object according to the medical image and the distribution data so as to place the transducer according to the transducer positioning. According to the technical scheme provided by the embodiment of the invention, the cost of ultrasonic cavitation ablation can be reduced under the condition of avoiding energy loss.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of ultrasonic transducers, and in particular to a transducer position determination device. Background Art

[0002] Ultrasonic cavitation ablation technology can use a transducer to convert electrical energy into ultrasonic mechanical waves, and then perform ultrasonic cavitation ablation through the ultrasonic mechanical waves.

[0003] At present, a transducer that can selectively activate some array elements is usually used to selectively turn off array elements that are blocked on the ultrasonic propagation path, thereby avoiding energy loss.

[0004] However, the cost of using the above transducers for ultrasonic cavitation ablation is high and needs to be solved urgently. Summary of the invention

[0005] An embodiment of the present invention provides a transducer position determination device, which can reduce the cost of ultrasonic cavitation ablation while avoiding energy loss.

[0006] According to one aspect of the present invention, a transducer position determination device is provided, which may include:

[0007] A distribution data determination module, used to obtain a medical image of a target object and determine distribution data of ultrasonic sound field energy of a transducer, wherein the transducer is a transducer required for ultrasonic cavitation ablation;

[0008] The transducer position determination module is used to determine the transducer position of the transducer relative to the target object based on the medical image and the distribution data, so as to place the transducer according to the transducer position.

[0009] The technical solution of the embodiment of the present invention obtains the medical image of the target object and determines the distribution data of the ultrasonic sound field energy of the transducer through the distribution data determination module, wherein the transducer is the transducer required for ultrasonic cavitation ablation, so as to determine the reasonable transducer position through the distribution data; through the transducer position determination module, the transducer position relative to the target object is determined according to the medical image and the distribution data, so as to place the transducer according to the transducer position to achieve the determination of the transducer position. The above technical solution can determine the transducer position that can make the ultrasonic mechanical wave avoid the obstruction on the ultrasonic propagation path as much as possible through the distribution data, so that the low-cost transducer that cannot be selected to activate some array elements can also avoid energy loss, thereby reducing the cost of ultrasonic cavitation ablation while avoiding energy loss.

[0010] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 It is a schematic diagram of the working principle of an array transducer;

[0013] Figure 2 is a structural block diagram of a transducer position determination device provided according to an embodiment of the present invention;

[0014] Figure 3 is a schematic diagram of a transducer in a transducer position determination device provided in an embodiment of the present invention;

[0015] Figure 4 is a schematic diagram of a spatial energy distribution in a transducer position determination device provided according to an embodiment of the present invention;

[0016] Figure 5 is a schematic diagram of a transducer installed on a parallel robot in a transducer position determination device provided by an embodiment of the present invention;

[0017] Figure 6 is a schematic diagram of another transducer installed on a parallel robot in a transducer position determination device provided by an embodiment of the present invention;

[0018] Figure 7 is a schematic diagram of a transducer simulation test in a transducer position determination device provided according to an embodiment of the present invention;

[0019] Figure 8 is a structural block diagram of another transducer position determination device provided according to an embodiment of the present invention;

[0020] Fig. 9 is a schematic diagram of a three-dimensional object image in another transducer position determination device provided according to an embodiment of the present invention;

[0021] Fig.10 It is a structural block diagram of another transducer position determination device provided according to an embodiment of the present invention.

[0022] Fig.11It is a schematic diagram of fusion results in another transducer position determination device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The situations of "target", "original", etc. are similar and will not be repeated here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0025] Before introducing the embodiments of the present invention, an exemplary description is given of the implementation process of the current ultrasonic cavitation ablation scheme using a transducer and the reasons for the high cost problem, so as to better understand why the scheme proposed in the embodiments of the present invention can reduce the cost of ultrasonic cavitation ablation while avoiding energy loss.

[0026] For example, ultrasonic cavitation ablation technology is a non-invasive ablation method. The latest development of ultrasonic cavitation ablation technology uses extremely short and high-intensity sound energy to focus in the subject's body to trigger controlled cavitation (microbubble formation) explosion to destroy tissue. In order to minimize the loss of the ultrasonic field energy of the transducer in the ultrasonic propagation path, and to avoid the ultrasonic field energy being affected by bones and gas tissues in the ultrasonic path, see Figure 1The ideal solution is to use a phased array ultrasonic transducer that can selectively activate some array elements. The phased array ultrasonic transducer can selectively close the array elements that are blocked on the ultrasonic propagation path to avoid path energy loss and improve safety. In addition, a focused array transducer can be used to achieve the transfer of focus within a certain area through phase adjustment between array elements. For example, an array transducer that can selectively control the spatial distribution of ultrasonic sound field energy can be used to avoid path energy loss. However, the above-mentioned array transducer has a high manufacturing cost and a complex electronic drive system.

[0027] In addition, the ultrasonic sound field energy of the single-element mechanically focused transducer is uniformly distributed in the form of a cone, passing through the object's tissue (such as skin, bones, and blood vessels, etc.) to reach the target area. However, the energy of the ultrasonic sound field energy of the single-element mechanically focused transducer is determined by the design of the transducer, and the energy distribution shape cannot be adjusted. Therefore, the current ultrasonic cavitation ablation scheme using a single-element mechanically focused transducer can only focus on the impact of the ultrasonic focusing depth and focus size on the safety and effectiveness of ablation, and cannot focus on the impact of the distribution of the ultrasonic sound field energy on the safety and effectiveness of the ultrasonic cavitation ablation process, which leads to the easy formation of ultrasonic sound field energy loss on the energy path during the ultrasonic cavitation ablation process, resulting in the ultrasonic sound field energy in the target area being lower than the threshold, and the inability to achieve an effective ultrasonic cavitation ablation process. In addition, the energy absorption on the energy path will cause unexpected heating or even damage to the tissue in the non-target area. Therefore, although the single-element mechanically focused transducer has a low cost, it cannot avoid energy loss.

[0028] In view of this, the embodiments of the present invention can determine the transducer placement that can make the ultrasonic mechanical wave avoid the obstruction on the ultrasonic propagation path as much as possible through the distribution data, so that the low-cost transducer that cannot be selected to activate some array elements can also avoid energy loss, thereby reducing the cost of ultrasonic cavitation ablation while avoiding energy loss. This will be explained in detail below.

[0029] Figure 2 1 is a structural block diagram of a transducer position determination device provided by an embodiment of the present invention. This embodiment can be applied to situations where ultrasonic cavitation ablation is required.

[0030] See also Figure 2 The transducer position determination device of the embodiment of the present invention comprises: a distribution data determination module 110 and a transducer position determination module 120; wherein,

[0031] A distribution data determination module 110 is used to obtain a medical image of a target object and determine distribution data of ultrasonic sound field energy of a transducer, wherein the transducer is a transducer required for ultrasonic cavitation ablation;

[0032] The transducer position determination module 120 is used to determine the transducer position of the transducer relative to the target object according to the medical image and the distribution data, so as to place the transducer according to the transducer position.

[0033] Among them, the target object is the object that requires ultrasonic cavitation ablation. Medical images are images obtained by collecting medical images of the target object; medical images can be three-dimensional images such as magnetic resonance imaging (MRI) images or computed tomography (CT), or two-dimensional or other multi-dimensional images. Ultrasonic sound field energy is the energy carried by ultrasonic wave propagation. Transducer positioning is the position of the transducer; transducer positioning can be, for example, at least one of the placement position, offset, and rotation angle of the transducer compared to the target object.

[0034] It is understandable that in order to reduce the cost of ultrasonic cavitation ablation, the transducer may be a single-element mechanically focused transducer; the transducer may also be other transducers that can achieve ultrasonic cavitation ablation. In the embodiments of the present invention, the type of transducer is not specifically limited.

[0035] It is understandable that the distribution data is the data of the distribution of the ultrasonic sound field energy of the transducer. However, considering that the transducer can be spliced ​​by multiple small pieces that can generate ultrasound, the energy channels emitted toward the target area when the transducer is working are mainly concentrated on certain specific energy paths, such as Figure 3 , the energy channels are mainly concentrated on the energy paths numbered 1-4 corresponding to the lines connecting the four small pieces and the focus in the target area, so the distribution data can also be understood as the distribution data of the energy paths of the ultrasonic sound field energy of the transducer. It should be noted that different transducers may include different numbers of energy channels, and the energy channels may be numbered 1-N.

[0036] In the embodiment of the present invention, for example, a simulation test may be performed on the transducer to determine the distribution data of the ultrasonic sound field energy of the transducer. In the embodiment of the present invention, the method for determining the distribution data of the ultrasonic sound field energy of the transducer is not specifically limited.

[0037] It is understandable that during the ultrasonic cavitation ablation process, it is often necessary to add a hole in the middle of the transducer to install an imaging ultrasound probe for detection, see Figure 4 Schematic diagram of the spatial energy distribution of the transducer. Since the shapes and sizes of the holes for installing the imaging ultrasound probe are different, the energy distribution of the ultrasonic sound field energy of the transducer will be changed, making the ultrasonic sound field energy distribution in each direction inconsistent. The ultrasonic sound field energy is no longer uniformly distributed in a ring before gathering, but is concentrated in certain areas, such as Figure 4 The dark yellow part in the middle represents the energy transfer channel for high energy transfer. If this channel is blocked by ribs or other blocking areas during ultrasonic cavitation ablation, it will cause excessive energy consumption in the energy transfer channel, resulting in the ultrasonic sound field energy in the target area failing to reach the cavitation ablation threshold, which in turn leads to the inability to achieve effective ablation of the target area and increases the risk of exposure of other tissues (tissues in the blocked area absorb a large amount of energy, causing unexpected heating or damage). Therefore, in an embodiment of the present invention, the distribution data of the ultrasonic sound field energy can be used as a factor in determining the transducer position, and a more optimal transducer position can be determined, thereby improving the safety and effectiveness of ultrasonic cavitation ablation.

[0038] In the embodiment of the present invention, for example, the position of the transducer at which the ultrasonic sound field energy of the target object is least blocked can be determined as the transducer position according to the medical image and the distribution data. In the embodiment of the present invention, the method of determining the transducer position of the transducer compared to the target object according to the medical image and the distribution data is not specifically limited.

[0039] In the embodiment of the present invention, in order to place the transducer or change the focus point, etc., a parallel robot can be used to drive the transducer to move so as to place the transducer or change the focus point, so as to simply realize the electronic drive and control of the transducer and reduce the cost. Figure 5 and Figure 6 The transducer can be installed on the robotic arm of the parallel robot. The bearing structure between the transducer and the robotic arm can ensure that the transducer can be deflected 90° in the four axes of front, back, left, and right to adapt to the different body positions of the target object, so that the parallel robot can be used to drive the transducer to move, so as to place the transducer or change the focal point.

[0040] In an embodiment of the present invention, after placing the transducer according to the transducer position, the transducer placement position can be further refined by alignment and deflection adjustment. For example, after placing the transducer according to the transducer position, the transducer placement position can be further refined by alignment and deflection adjustment according to the body position of the target object and the transducer position. It is also possible to roughly place the transducer before placing the transducer according to the transducer position. For example, before placing the transducer according to the transducer position, the transducer can be roughly placed according to the body position of the target object, and then finely placed according to the transducer position.

[0041] In an embodiment of the present invention, the target area in the medical image can also be determined. Based on the target area, medical image and distribution data, after the transducer is placed according to the transducer positioning, the energy channel of the transducer can be kept as unobstructed as possible, thereby reducing the cost of ultrasonic cavitation ablation while avoiding energy loss, and achieving safe and effective ultrasonic cavitation ablation.

[0042] The technical solution of the embodiment of the present invention obtains the medical image of the target object and determines the distribution data of the ultrasonic sound field energy of the transducer through the distribution data determination module, wherein the transducer is the transducer required for ultrasonic cavitation ablation, so as to determine the reasonable transducer position through the distribution data; through the transducer position determination module, the transducer position relative to the target object is determined according to the medical image and the distribution data, so as to place the transducer according to the transducer position to achieve the determination of the transducer position. The above technical solution can determine the transducer position that can make the ultrasonic mechanical wave avoid the obstruction on the ultrasonic propagation path as much as possible through the distribution data, so that the low-cost transducer that cannot be selected to activate some array elements can also avoid energy loss, thereby reducing the cost of ultrasonic cavitation ablation while avoiding energy loss.

[0043] An optional technical solution, a distribution data determination module, includes: a path data determination submodule, which is used to perform simulation tests on the transducer to determine the path data of the transducer; and a distribution data determination submodule, which is used to determine the distribution data of the ultrasonic sound field energy of the transducer based on the path data.

[0044] The path data is data related to the energy path of the ultrasonic sound field energy. The energy path is a path where the energy channels of the ultrasonic sound field energy are mainly concentrated.

[0045] In the embodiment of the present invention, for example, a simulation test may be performed on the transducer, and the distribution of the energy path of the ultrasonic sound field energy may be marked according to the simulation test result, and the path data of the transducer may be determined according to the marking result. In the embodiment of the present invention, the method of performing a simulation test on the transducer and determining the path data of the transducer is not specifically limited.

[0046] In the embodiment of the present invention, for example, the path data may be used as the distribution data of the ultrasonic sound field energy of the transducer. In the embodiment of the present invention, the method of determining the distribution data of the ultrasonic sound field energy of the transducer according to the path data is not specifically limited.

[0047] In an embodiment of the present invention, by performing simulation tests on the transducer, determining the path data of the transducer, and determining the distribution data of the ultrasonic sound field energy of the transducer based on the path data, it is possible to avoid energy loss caused by blocking the energy channel concentrated in the energy path and the impact on the safety and effectiveness of ultrasonic cavitation ablation. This can reduce the cost of ultrasonic cavitation ablation while avoiding energy loss, and ensure the safety and effectiveness of ultrasonic cavitation ablation.

[0048] Optionally, the path data includes at least one of a path energy magnitude and a path energy space corresponding to energy paths of the ultrasonic sound field energy.

[0049] The path energy size is the energy intensity of the ultrasonic sound field energy corresponding to the energy path. The path energy space can characterize the space size occupied by the energy path; the path energy space can include at least one of the space size occupied by the energy path, the energy path diameter, the energy path radius, the energy path length, the energy path cross-sectional area, and the energy path shape.

[0050] In an embodiment of the present invention, the path data includes at least one item in the path energy magnitude and path energy space respectively corresponding to the energy paths of the ultrasonic sound field energy, which can be helpful for the subsequent determination of the transducer placement to further avoid energy loss.

[0051] Based on the above scheme, another optional technical scheme, the path data determination submodule, includes: a path data determination unit, which is used to simulate the transducer on at least two parallel end faces parallel to the transducer, and complete the simulation results to obtain the path data of the transducer.

[0052] The parallel end faces are end faces that are parallel to each other and are used for performing transducer simulation testing.

[0053] For example, a simulation test can be performed on the transducer on at least two parallel end surfaces parallel to the transducer to obtain a simulation result that can represent the actual sound field distribution diagram, for example, see Figure 7 , the connection line of the same color balls on the two parallel end faces in the simulation results can represent the energy path, and different colors represent energy paths with different path energy sizes; Figure 7It can be seen that the energy path obtained by simulating the transducer on at least two parallel end faces parallel to the transducer only includes the energy path between the at least two parallel end faces. Therefore, the simulation results can be supplemented according to the direction of the existing energy path to obtain path data including at least one complete energy path. In the embodiment of the present invention, the method of performing simulation testing on the transducer on at least two parallel end faces parallel to the transducer and supplementing the obtained simulation results to obtain the path data of the transducer is not specifically limited.

[0054] In an embodiment of the present invention, by performing simulation testing on the transducer on at least two parallel end faces parallel to the transducer, the accuracy of the determined path data can be improved, and by completing the obtained simulation results to obtain the path data of the transducer, the comprehensiveness of the obtained path data can be improved.

[0055] Figure 8 It is a structural block diagram of another transducer position determination device provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the transducer position determination module includes: a three-dimensional object image determination submodule, which is used to determine the three-dimensional object image of the target object based on the medical image; a three-dimensional energy distribution model establishment submodule, which is used to establish a three-dimensional energy distribution model based on the distribution data; a transducer position determination submodule, which is used to determine the transducer position of the transducer relative to the target object based on the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0056] For details, see Figure 8 The transducer position determination device of this embodiment includes: a distribution data determination module 210 and a transducer position determination module 220, wherein the transducer position determination module 220 includes a three-dimensional object image determination submodule 2201, a three-dimensional energy distribution model establishment submodule 2202 and a transducer position determination submodule 2203; wherein,

[0057] A distribution data determination module 210 is used to obtain a medical image of a target object and determine distribution data of an ultrasonic sound field energy of a transducer, wherein the transducer is a transducer required for ultrasonic cavitation ablation;

[0058] The three-dimensional object image determination submodule 2201 is used to determine the three-dimensional object image of the target object according to the medical image;

[0059] The three-dimensional energy distribution model establishment submodule 2202 is used to establish a three-dimensional energy distribution model according to the distribution data;

[0060] The transducer position determination submodule 2203 is used to determine the transducer position of the transducer relative to the target object according to the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position.

[0061] The three-dimensional object image is a three-dimensional image of the target object; the three-dimensional object image may include, for example, the spatial position relationship of the target area to be ablated by the transducer and / or the occlusion area that will block the ultrasonic sound field energy, and the occlusion area may include, for example, at least one of the tissue area, bone area, organ area, and vascular area of ​​the target object. The three-dimensional energy distribution model is a three-dimensional model of the distribution of the ultrasonic sound field energy of the transducer.

[0062] In the embodiments of the present invention, see Fig. 9 For example, a three-dimensional human body image may be reconstructed from a medical image to obtain a three-dimensional object image of the target object. In the embodiment of the present invention, the method of determining the three-dimensional object image of the target object based on the medical image is not specifically limited.

[0063] In the embodiment of the present invention, for example, the distribution data may be in the form of a spatial energy distribution diagram, and a three-dimensional energy distribution model may be established based on the spatial energy distribution diagram. In the embodiment of the present invention, there is no specific limitation on the method of establishing a three-dimensional energy distribution model based on the distribution data.

[0064] In an embodiment of the present invention, for example, the three-dimensional energy distribution model can be deflected and / or rotated to adjust the spatial position relationship of the three-dimensional energy distribution model compared to the three-dimensional object image, determine the minimum position relationship of the three-dimensional energy distribution model with the minimum energy shielding compared to the three-dimensional object image, and determine the transducer placement of the transducer compared to the target object based on the minimum position relationship. In an embodiment of the present invention, there is no specific limitation on the method of determining the transducer placement of the transducer compared to the target object based on the three-dimensional object image and the three-dimensional energy distribution model.

[0065] The technical solution of the embodiment of the present invention is to determine the three-dimensional object image of the target object according to the medical image through the three-dimensional object image determination submodule, so as to determine the three-dimensional object image that is more suitable for determining the transducer position; to establish a three-dimensional energy distribution model according to the distribution data through the three-dimensional energy distribution model establishment submodule, so as to determine the three-dimensional energy distribution model that is more suitable for determining the transducer position; to determine the transducer position of the transducer relative to the target object according to the three-dimensional object image and the three-dimensional energy distribution model through the transducer position determination submodule, so as to place the transducer according to the transducer position, thereby determining the transducer position. The above technical solution can determine the transducer position that is more suitable for actual use according to the three-dimensional object image and the three-dimensional energy distribution model.

[0066] An optional technical solution, a three-dimensional object image determination submodule, includes: an occlusion area determination unit, used to determine a target area and an occlusion area in a medical image, wherein the target area is an area to be ablated by a transducer, and the occlusion area is an area that will block the energy of an ultrasonic sound field; a three-dimensional object image establishment unit, used to establish a three-dimensional object image of a target object based on the target area and the occlusion area.

[0067] In the embodiment of the present invention, for example, a network model or the like can be used to segment the medical image to obtain the target area and the occlusion area in the medical image. In the embodiment of the present invention, the method for determining the target area and the occlusion area in the medical image is not specifically limited.

[0068] In the embodiment of the present invention, for example, a three-dimensional image reconstruction can be performed on the target area and the occlusion area to obtain a three-dimensional object image of the target object; another example is that a three-dimensional image reconstruction can be performed on a medical image including the target area and the occlusion area, and the target area and the occlusion area are annotated to obtain a three-dimensional object image of the target object; etc. In the embodiment of the present invention, a three-dimensional object image of the target object is established based on the target area and the occlusion area.

[0069] In the embodiment of the present invention, by establishing a three-dimensional object image of the target object according to the target area and the occluded area, the transducer placement that can accurately avoid energy loss can be determined.

[0070] Fig.10 It is a structural block diagram of another transducer position determination device provided by an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the transducer position determination submodule includes: an alternative positioning method determination unit, which is used to determine at least one alternative positioning method; a transducer position determination unit, which is used to determine the transducer position of the transducer relative to the target object from at least one alternative positioning method based on the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position. Among them, the explanations of the terms that are the same or corresponding to the above-mentioned embodiments are not repeated here.

[0071] For details, see Fig.10 The transducer position determination device of this embodiment includes: a distribution data determination module 310 and a transducer position determination module 320, the transducer position determination module 320 includes a three-dimensional object image determination submodule 3201, a three-dimensional energy distribution model establishment submodule 3202 and a transducer position determination submodule 3203, the transducer position determination submodule 3203 includes an alternative position determination unit 32031 and a transducer position determination unit 32032; wherein,

[0072] A distribution data determination module 310 is used to obtain a medical image of a target object and determine distribution data of ultrasonic sound field energy of a transducer, wherein the transducer is a transducer required for ultrasonic cavitation ablation;

[0073] The three-dimensional object image determination submodule 3201 is used to determine the three-dimensional object image of the target object according to the medical image;

[0074] The three-dimensional energy distribution model establishment submodule 3202 is used to establish a three-dimensional energy distribution model according to the distribution data;

[0075] The alternative positioning mode determining unit 32031 is used to determine at least one alternative positioning mode;

[0076] The transducer position determination unit 32032 is used to determine the transducer position relative to the target object from at least one alternative position method based on the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position.

[0077] Among them, the alternative positioning method is a positioning alternative for the transducer positioning.

[0078] In the embodiment of the present invention, for example, the offset and / or rotation scheme between the at least one determined three-dimensional object image and the three-dimensional energy distribution model can be used as at least one alternative positioning method, wherein the alternative positioning method can make the focus of the three-dimensional energy distribution model located in the target area in the three-dimensional object image. In the embodiment of the present invention, the method for determining at least one alternative positioning method is not specifically limited.

[0079] In an embodiment of the present invention, for example, for each of at least one alternative positioning method, a three-dimensional object image and a three-dimensional energy distribution model are placed according to the alternative positioning method to determine energy shielding conditions of energy paths in the three-dimensional energy distribution model by the blocked areas in the three-dimensional object image after placement; and according to the energy shielding conditions respectively corresponding to at least one alternative positioning method, the transducer positioning of the transducer relative to the target object is determined from at least one alternative positioning method. In an embodiment of the present invention, there is no specific limitation on the method of determining the transducer positioning of the transducer relative to the target object from at least one alternative positioning method according to the three-dimensional object image and the three-dimensional energy distribution model.

[0080] The technical solution of the embodiment of the present invention is to determine at least one alternative positioning method through an alternative positioning method determination unit to achieve the determination of the alternative positioning method; and to determine the transducer positioning of the transducer relative to the target object from at least one alternative positioning method according to the three-dimensional object image and the three-dimensional energy distribution model through a transducer positioning determination unit, so as to place the transducer according to the transducer positioning to achieve the determination of the transducer positioning. The above technical solution can determine the transducer positioning from at least one determined alternative positioning method, and the transducer positioning can be determined without multiple and large-scale positioning adjustment experiments, thereby improving the speed of determining the transducer positioning.

[0081] An optional technical solution, a transducer position determination unit, includes: a fusion result obtaining subunit, used for, for each alternative positioning method in at least one alternative positioning method, according to the alternative positioning method, fusing the three-dimensional object image and the three-dimensional energy distribution model to obtain a fusion result; a transducer position determination subunit, used for determining the transducer position of the transducer relative to the target object from at least one alternative positioning method according to the fusion results corresponding to the at least one alternative positioning method, so as to place the transducer according to the transducer position.

[0082] In the embodiments of the present invention, see Fig.11 For example, for each of the at least one alternative positioning method, the three-dimensional object image and the three-dimensional energy distribution model may be fused into the same dimension according to the offset and / or rotation scheme of the alternative positioning method to obtain a fusion result. In the embodiment of the present invention, the method of fusing the three-dimensional object image and the three-dimensional energy distribution model according to the alternative positioning method to obtain the fusion result is not specifically limited.

[0083] In the embodiment of the present invention, there is no specific limitation on the manner of determining the transducer placement of the transducer relative to the target object from the at least one alternative placement manner for the fusion results respectively corresponding to the at least one alternative placement manner.

[0084] In an embodiment of the present invention, by fusing the three-dimensional object image and the three-dimensional energy distribution model to obtain a fusion result, the three-dimensional object image and the three-dimensional energy distribution model can be fused into the same dimension, thereby improving the accuracy of the determined transducer positioning.

[0085] Based on the above scheme, another optional technical scheme, the transducer position determination subunit, is specifically used to: determine the energy shielding situation of the ultrasonic sound field energy under the alternative positioning methods according to the fusion result; determine the transducer position of the transducer relative to the target object from at least one alternative positioning method according to the energy shielding situation corresponding to at least one alternative positioning method, so as to place the transducer according to the transducer position.

[0086] The energy occlusion situation refers to the situation where the three-dimensional object image occludes the three-dimensional energy distribution model. The energy occlusion situation can be specifically understood as the situation where the occlusion area in the three-dimensional object image occludes the energy path in the three-dimensional energy distribution model.

[0087] It should be noted that for each alternative positioning method, the energy shielding situation of the ultrasonic sound field energy in the alternative positioning method is determined according to the fusion result.

[0088] In the embodiment of the present invention, for example, the overlapping area between the occlusion area in the three-dimensional object image and the energy path in the three-dimensional energy distribution model in the fusion result can be determined, and the energy occlusion situation is determined according to the overlapping area. In the embodiment of the present invention, the method of determining the energy occlusion situation of the ultrasonic sound field energy in the alternative positioning mode according to the fusion result is not specifically limited.

[0089] In an embodiment of the present invention, according to the energy shielding conditions respectively corresponding to at least one alternative positioning method, an alternative positioning method with the least shielding energy size and / or shielding energy space of the ultrasonic sound field energy can be determined from at least one alternative positioning method as the transducer positioning of the transducer relative to the target object. In an embodiment of the present invention, according to the energy shielding conditions respectively corresponding to at least one alternative positioning method, a method for determining the transducer positioning of the transducer relative to the target object from at least one alternative positioning method is not specified.

[0090] Exemplarily, the energy blocking situation may include the path blocking situation corresponding to at least one energy path in the three-dimensional energy distribution model; according to the path energy size corresponding to at least one energy path and at least one item in the path energy space, the energy blocking weight corresponding to at least one energy path is determined; for each alternative positioning method in at least one alternative positioning method, the blocking degree can be determined according to the path blocking situation corresponding to at least one energy path and the energy blocking weight; according to the blocking degree corresponding to at least one alternative positioning method, the transducer positioning of the transducer relative to the target object is determined from at least one alternative positioning method to ensure that the energy path corresponding to the energy channel is as unobstructed as possible, especially to find an acoustic path with less attenuation for the largest energy channel, to ensure that the energy path of the largest energy channel is as unobstructed as possible, thereby further ensuring that the ultrasound imaging plane is not obstructed, ensuring that most of the ultrasound sound field energy effectively reaches the target area, ensuring that the energy density in the target area achieves effective ablation, and thereby improving the safety and effectiveness of ultrasonic cavitation ablation.

[0091] Optionally, the energy shielding condition includes at least one of shielding energy magnitude and shielding energy space.

[0092] The occlusion energy magnitude is the magnitude of the occluded energy intensity. The occlusion energy space is the size of the space of the occluded energy path. The occlusion energy space may be, for example, the volume of the occluded energy path.

[0093] In an embodiment of the present invention, the path data includes at least one item in the path energy magnitude and path energy space respectively corresponding to the energy paths of the ultrasonic sound field energy, which can be helpful for the subsequent determination of the transducer placement to further avoid energy loss.

[0094] In an embodiment of the present invention, by determining the transducer placement relative to the target object from at least one alternative placement method according to the energy blocking conditions respectively corresponding to at least one alternative placement method, the determined transducer placement can ensure that the energy path corresponding to the energy channel is as unblocked as possible.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A transducer position determination device, characterized in that: include: A distribution data determination module, used to obtain a medical image of a target object and determine distribution data of an ultrasonic sound field energy of a transducer, wherein the transducer is a transducer required for ultrasonic cavitation ablation; The transducer position determination module is used to determine the transducer position of the transducer relative to the target object according to the medical image and the distribution data, so as to place the transducer according to the transducer position.

2. The device according to claim 1, characterized in that The transducer position determination module comprises: A three-dimensional object image determination submodule, used to determine the three-dimensional object image of the target object according to the medical image; A three-dimensional energy distribution model establishment submodule is used to establish a three-dimensional energy distribution model according to the distribution data; The transducer position determination submodule is used to determine the transducer position of the transducer compared to the target object based on the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position.

3. The device according to claim 2, characterized in that The transducer position determination submodule includes: An alternative positioning method determining unit, used to determine at least one alternative positioning method; A transducer position determination unit is used to determine the transducer position of the transducer relative to the target object from the at least one alternative position determination method based on the three-dimensional object image and the three-dimensional energy distribution model, so as to place the transducer according to the transducer position.

4. The device according to claim 3, characterized in that The transducer position determination unit comprises: a fusion result obtaining subunit, configured to fuse the three-dimensional object image and the three-dimensional energy distribution model according to each of the at least one alternative positioning mode to obtain a fusion result; The transducer position determination subunit is used to determine the transducer position of the transducer compared to the target object from the at least one alternative positioning method according to the fusion results corresponding to the at least one alternative positioning method, so as to place the transducer according to the transducer position.

5. The device according to claim 4, characterized in that The transducer position determination subunit is specifically used for: Determining, according to the fusion result, an energy shielding condition of the ultrasonic sound field energy in the alternative positioning mode; According to energy shielding conditions respectively corresponding to the at least one alternative positioning method, the transducer positioning of the transducer compared to the target object is determined from the at least one alternative positioning method, so as to place the transducer according to the transducer positioning.

6. The device according to claim 5, characterized in that The energy shielding condition includes at least one of shielding energy size and shielding energy space.

7. The device according to claim 2, characterized in that The three-dimensional object image determination submodule comprises: An occlusion region determination unit, configured to determine a target region and an occlusion region in the medical image, wherein the target region is a region to be ablated by the transducer, and the occlusion region is a region that will block the energy of the ultrasonic sound field; The three-dimensional object image establishing unit is used to establish a three-dimensional object image of the target object according to the target area and the occlusion area.

8. The device according to claim 1, characterized in that The distribution data determination module comprises: A path data determination submodule, used to perform a simulation test on the transducer to determine the path data of the transducer; The distribution data determination submodule is used to determine the distribution data of the ultrasonic sound field energy of the transducer according to the path data.

9. The device according to claim 8, characterized in that The path data includes at least one of the path energy magnitude and the path energy space respectively corresponding to the energy paths of the ultrasonic sound field energy.

10. The device according to claim 8, characterized in that The path data determination submodule includes: The path data determination unit is used to perform simulation test on the transducer on at least two parallel end surfaces parallel to the transducer, and to complete the obtained simulation results to obtain the path data of the transducer.

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