Multi-degree-of-freedom ultrasonic cavitation ablation treatment equipment

Abstract

The invention provides multi-degree-of-freedom ultrasonic cavitation ablation treatment equipment. The multi-degree-of-freedom ultrasonic cavitation ablation treatment equipment comprises an ultrasonic treatment mechanism, a lifting rotating mechanism, a motion adjusting mechanism and an ultrasonic observation mechanism. The motion adjusting mechanism comprises a first adjusting mechanism, a second adjusting mechanism and a third adjusting mechanism, the first adjusting mechanism adjusts the positions of the ultrasonic treatment mechanism and the lifting rotating mechanism in the first direction, and the second adjusting mechanism adjusts the positions of the ultrasonic treatment mechanism and the lifting rotating mechanism in the second direction. The third adjusting mechanism adjusts the positions of the ultrasonic treatment mechanism and the lifting rotating mechanism in the third direction. The ultrasonic observation mechanism is movably connected with the ultrasonic treatment mechanism, and the lifting and rotating mechanism is connected with the ultrasonic observation mechanism and used for driving the ultrasonic observation mechanism to rotate and lift in the first direction. Based on cooperation of the lifting rotating mechanism and the motion adjusting mechanism, the focusing precision of the ultrasonic treatment mechanism is improved, and damage to normal tissue is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a multi-degree-of-freedom ultrasonic cavitation ablation treatment device. Background Art

[0002] Ultrasonic ablation treatment equipment mostly uses imaging probes (such as B-ultrasound probes) for guidance during the treatment process to accurately guide the therapeutic ultrasonic transducer to the position corresponding to the target organ tissue. In order to improve the accuracy of the guided position, it is particularly important to accurately control the movement of the imaging probe.

[0003] At present, domestic ultrasonic ablation treatment equipment mainly uses the thermal effect of ultrasound for ablation. It uses a smaller ultrasonic transducer, which requires less coupling agent (such as water). Therefore, the ultrasonic transducer is lighter and can withstand less force and torque, so the mechanical strength requirements for the motion and support structure are lower. However, with higher requirements for efficacy, ablation using the cavitation effect of ultrasound has been developed, but because the transducer (group) required for cavitation ablation is larger, more coupling agent is required, and the weight is also greater, this puts forward new and higher requirements for the motion and support structure, and the existing motion and support structure can no longer meet the motion control accuracy requirements. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a multi-degree-of-freedom ultrasonic cavitation ablation treatment device.

[0005] The present invention proposes a multi-degree-of-freedom ultrasonic cavitation ablation treatment device, which includes an ultrasonic treatment mechanism, a lifting and rotating mechanism, a motion adjustment mechanism and an ultrasonic observation mechanism. The motion adjustment mechanism includes a first adjustment mechanism, a second adjustment mechanism and a third adjustment mechanism. The first adjustment mechanism is connected to the ultrasonic treatment mechanism and the lifting and rotating mechanism, and is used to adjust the position of the ultrasonic treatment mechanism and the lifting and rotating mechanism in the first direction. The second adjustment mechanism is connected to the first adjustment mechanism, and is used to adjust the position of the ultrasonic treatment mechanism and the lifting and rotating mechanism in the second direction. The third adjustment mechanism is connected to the second adjustment mechanism, and is used to adjust the position of the ultrasonic treatment mechanism and the lifting and rotating mechanism in the third direction. The ultrasonic observation mechanism is movably connected to the ultrasonic treatment mechanism, and the lifting and rotating mechanism is connected to the ultrasonic observation mechanism, and is used to drive the ultrasonic observation mechanism to rotate relative to the ultrasonic treatment mechanism and to lift and lower along the first direction.

[0006] Further, the first adjustment mechanism includes a connecting seat, a first mounting seat, a first cover plate, a first slide, a first transmission assembly and a first motor. The connecting seat is connected to the second adjustment mechanism, the first mounting seat is vertically arranged on the connecting seat along the first direction, the first mounting seat forms a first mounting cavity, the first cover plate extends along the first direction and is arranged at the opening end of the first mounting cavity and is connected to the first mounting seat, the first slide is connected to the ultrasonic treatment mechanism and the lifting and rotating mechanism, the first motor and the first transmission assembly are both arranged on the first mounting seat, and the first motor is suspended on the end of the first mounting seat away from the connecting seat in the first direction and is located on the side of the first slide away from the lifting and rotating mechanism in the third direction. The first motor is connected to the first slide through the first transmission assembly, and the first transmission assembly is used to convert the rotational motion of the first motor into the linear motion of the first slide along the first direction.

[0007] Further, the third adjustment mechanisms are arranged in pairs, and the two third adjustment mechanisms are arranged at intervals along the second direction. The second adjustment mechanism is arranged on the two third adjustment mechanisms in the first direction, so that the two third adjustment mechanisms support the second adjustment mechanism together.

[0008] Furthermore, the second adjustment mechanism includes a second mounting seat, a second cover plate, a second slide, a second transmission assembly and a second motor. The second mounting seat is formed with a second mounting cavity, the second cover plate extends along the second direction and is arranged at the opening end of the second mounting cavity and is connected to the second mounting seat, the second slide is connected to the first adjustment mechanism, the second motor and the second transmission assembly are both arranged on the second mounting seat, and the second motor is located on the side of the second slide away from the lifting and rotating mechanism in the third direction, the second motor is connected to the second slide via the second transmission assembly, and the second transmission assembly is used to convert the rotational motion of the second motor into the linear motion of the second slide along the second direction.

[0009] Further, the third adjustment mechanism includes a third mounting seat, a third cover plate, a third slide, a third transmission assembly and a third motor. The third mounting seat is formed with a third mounting cavity, the third cover plate extends along the third direction and is arranged at the opening end of the third mounting cavity and is connected to the third mounting seat, the third slide is connected to the second adjustment mechanism, the third motor and the third transmission assembly are both arranged on the third mounting seat, and the third motor is located at one side of the third mounting seat in the third direction, the third motor is connected to the third slide via the third transmission assembly, and the third transmission assembly is used to convert the rotational motion of the third motor into the linear motion of the third slide along the third direction.

[0010] Furthermore, the multi-degree-of-freedom ultrasonic cavitation ablation treatment device also includes a water base, and the ultrasonic treatment mechanism and the lifting and rotating mechanism are connected to the first adjustment mechanism through the water base. The water base includes a first mounting portion, a second mounting portion and a side plate portion. The first mounting portion extends along the first direction, the second mounting portion is connected to the first mounting portion and extends along the third direction, the side plate portion is located on both sides of the second mounting portion in the second direction, and each of the side plate portions is connected to the first mounting portion and the second mounting portion. The first mounting portion is connected to the first adjustment mechanism and the lifting and rotating mechanism is installed, and the second mounting portion is provided with a plurality of stepped holes for fixed installation of the ultrasonic treatment mechanism.

[0011] Furthermore, the water base is also provided with a first reinforcing rib, a second reinforcing rib and a third reinforcing rib. The first reinforcing rib is protrudingly provided on the first mounting portion along the third direction, and one end in the first direction is connected to the second mounting portion; the second reinforcing rib is protrudingly provided on the second mounting portion along the first direction, and one end in the third direction is connected to the first mounting portion; the third reinforcing rib is protrudingly provided on the second mounting portion along the first direction, and is located at one end of the second mounting portion away from the first mounting portion in the third direction and is connected to the two side plate portions.

[0012] Furthermore, the lifting and rotating mechanism includes a lifting module and a rotating module, the lifting module is connected to the first adjusting mechanism through the water base, and the rotating module is connected to the lifting module and the ultrasonic observation mechanism.

[0013] Furthermore, the rotating module includes a base, a rotating platform, a connecting shaft and a rotating motor. The base is connected to the lifting module, the rotating platform is arranged on the base and movably connected to the base, the connecting shaft is passed through the water base and can move up and down relative to the water base, and the rotating platform is connected to the ultrasonic observation mechanism through the connecting shaft. The rotating motor is arranged on the base and connected to the rotating platform to drive the rotating platform to rotate relative to the base.

[0014] Furthermore, the ultrasonic treatment mechanism includes a flexible water pool, a support, a laser, and a plurality of ultrasonic treatment probes. The support is arranged on the side of the water base away from the lifting and rotating mechanism in the first direction, the flexible water pool is arranged on the support and connected to the support, and a through hole is arranged at one end of the support close to the water base, and the ultrasonic observation mechanism is movably connected to the support through the through hole. Among them, the support is provided with a first mounting hole and a second mounting hole, a transparent cover is arranged on the first mounting hole, the laser is arranged in the first mounting hole, and the laser is connected to the support through a spring, and a plurality of the ultrasonic treatment probes are respectively installed in a corresponding one of the second mounting holes, so as to perform ultrasonic cavitation ablation on the tissue of the targeted organ.

[0015] Furthermore, the generatrix of the flexible water pool is in the shape of a wave, an arc, or a broken line.

[0016] Furthermore, the ultrasonic observation mechanism comprises a clamp, an imaging probe and a video camera. The clamps are arranged in pairs and clamp the imaging probe, the video camera is arranged on one of the clamps, and the video camera is arranged tilted toward the imaging probe.

[0017] The beneficial effects of the present invention are as follows: During the use of the multi-degree-of-freedom ultrasonic cavitation ablation treatment device, the first adjustment mechanism, the second adjustment mechanism and the third adjustment mechanism of the motion adjustment mechanism can be used to roughly adjust the spatial position of the ultrasonic treatment mechanism and the lifting and rotating mechanism and the ultrasonic observation mechanism thereon, so that the ultrasonic treatment mechanism and the ultrasonic observation mechanism are guided to the position corresponding to the targeted organ tissue under the action of the motion adjustment mechanism, and then the relative position of the ultrasonic observation mechanism and the targeted organ tissue is finely adjusted by the lifting and rotating mechanism to obtain the precise position of the targeted organ tissue, so that the ultrasonic treatment mechanism can perform cavitation ablation on the targeted organ tissue at the appropriate position, thereby greatly improving the focusing accuracy of the ultrasonic treatment mechanism based on the cooperation of the lifting and rotating mechanism and the motion adjustment mechanism, thereby reducing damage to normal tissues, which meets the motion control accuracy requirements for the ultrasonic treatment mechanism during cavitation ablation. In addition, the present application supports the ultrasonic treatment mechanism and the coupling agent therein together with the lifting and rotating mechanism and the motion adjustment mechanism, thereby improving the support stability of the ultrasonic treatment mechanism, and can meet the support performance requirements for the ultrasonic treatment mechanism during cavitation ablation. In addition, the multi-degree-of-freedom ultrasonic cavitation ablation treatment device of the present application adopts a modular design, with stable and reliable quality, low cost, easy maintenance, and low manufacturing and installation difficulty.

[0018] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0020] Figure 1 A structural stereogram of the multi-degree-of-freedom ultrasonic cavitation ablation treatment device of the present invention is shown; Figure 2 for Figure 1 The main view of Figure 3 A structural stereogram of a first adjusting mechanism of the present invention is shown; Figure 4 A structural stereogram of the second adjustment mechanism of the present invention is shown; Figure 5 A structural stereogram of a third adjusting mechanism of the present invention is shown; Figure 6 A structural stereogram of the water base of the present invention is shown; Figure 7A schematic diagram showing the positional relationship between the lifting and rotating mechanism, the guide connecting member and the ultrasonic treatment mechanism of the present invention; Figure 8 A structural stereogram of the ultrasonic treatment mechanism of the present invention is shown; Fig. 9 A schematic diagram showing the internal structure of the support member of the ultrasonic treatment mechanism of the present invention is shown; Fig.10 A schematic diagram showing the connection relationship between the laser and the support member of the present invention is shown; Fig.11 A structural stereogram showing the ultrasonic observation mechanism of the present invention.

[0021] The reference numerals are as follows: 10. Ultrasonic treatment mechanism; 11. Flexible water pool; 12. Support; 13. Laser; 14. Transparent cover; 15. Spring; T4. First mounting hole; T5. Second mounting hole; 20. lifting and rotating mechanism; 21. lifting module; 22. rotating module; 221. base; 222. rotating table; 223. connecting shaft; 224. rotating motor; 225. rotating connecting piece; 23. first connecting plate; 24. second connecting plate; A. notch; 30. Motion adjustment mechanism; 31. First adjustment mechanism; 311. Connecting seat; 312. First mounting seat; 313. First cover plate; 314. First slide; 315. First motor; 32. Second adjustment mechanism; 321. Second mounting seat; 322. Second cover plate; 323. Second slide; 324. Second motor; 33. Third adjustment mechanism; 331. Third mounting seat; 332. Third cover plate; 333. Third slide; 334. Third motor; 40, water base; 41, first mounting portion; 42, second mounting portion; 43, side plate portion; 44, first reinforcing rib; 45, second reinforcing rib; 46, third reinforcing rib; T1, stepped hole; T2, threaded hole; T3, through hole; 50. Ultrasonic observation mechanism; 51. Clamp; 52. Imaging probe; 53. Video camera; 60. Guide connector; Z, first direction; X, second direction; Y, third direction. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0023] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0024] Refer to the following Figures 1 to 11 To describe the multi-degree-of-freedom ultrasonic cavitation ablation treatment device of an embodiment of the present application.

[0025] Figure 1 The structure stereogram of the multi-degree-of-freedom ultrasonic cavitation ablation treatment device of the present invention is shown. Figure 2 for Figure 1 main view.

[0026] Reference Figure 1 and Figure 2 The multi-degree-of-freedom ultrasonic cavitation ablation treatment device of the embodiment of the present application includes an ultrasonic treatment mechanism 10, a lifting and rotating mechanism 20, a motion adjustment mechanism 30 and an ultrasonic observation mechanism 50.

[0027] The motion adjustment mechanism 30 includes a first adjustment mechanism 31, a second adjustment mechanism 32 and a third adjustment mechanism 33. The first adjustment mechanism 31 is connected to the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20, and is used to adjust the position of the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 in the first direction Z, the second adjustment mechanism 32 is connected to the first adjustment mechanism 31, and is used to adjust the position of the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 in the second direction X, and the third adjustment mechanism 33 is connected to the second adjustment mechanism 32, and is used to adjust the position of the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 in the third direction Y.

[0028] The ultrasonic observation mechanism 50 is movably connected to the ultrasonic treatment mechanism 10, and the lifting and rotating mechanism 20 is connected to the ultrasonic observation mechanism 50, and is used to drive the ultrasonic observation mechanism 50 to rotate relative to the ultrasonic treatment mechanism 10 and to lift and lower along the first direction Z.

[0029] It can be understood that the first direction Z, the second direction X, and the third direction Y of the multi-degree-of-freedom ultrasonic cavitation ablation treatment device in the present application are three coordinate axis directions that are perpendicular to each other. The motion adjustment mechanism 30 is a three-axis motion mechanism that can realize motion in the three coordinate axis directions to adjust the spatial position of the transport ultrasonic treatment mechanism 10 and the lifting and rotating mechanism 20 and the ultrasonic observation mechanism 50 thereon.

[0030] Therefore, in this example, during the use of the multi-degree-of-freedom ultrasonic cavitation ablation treatment device, the first adjustment mechanism 31, the second adjustment mechanism 32 and the third adjustment mechanism 33 of the motion adjustment mechanism 30 can be used to roughly adjust the spatial positions of the ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20 and the ultrasonic observation mechanism 50 thereon, so that the ultrasonic treatment mechanism 10 and the ultrasonic observation mechanism 50 are guided to the position corresponding to the targeted organ tissue under the action of the motion adjustment mechanism 30, and then the relative position of the ultrasonic observation mechanism 50 and the targeted organ tissue is finely adjusted through the lifting and rotating mechanism 20 to obtain the precise position of the targeted organ tissue, so that the ultrasonic treatment mechanism 10 can perform cavitation ablation on the targeted organ tissue at the appropriate position. Therefore, based on the cooperation between the lifting and rotating mechanism 20 and the motion adjustment mechanism 30, the focusing accuracy of the ultrasonic treatment mechanism 10 is greatly improved, thereby reducing damage to normal tissue, which meets the motion control accuracy requirements for the ultrasonic treatment mechanism 10 during cavitation ablation. Furthermore, the present application supports the ultrasonic treatment mechanism 10 and the coupling agent therein together with the lifting and rotating mechanism 20 and the motion adjustment mechanism 30, thereby improving the support stability of the ultrasonic treatment mechanism 10 and meeting the support performance requirements for the ultrasonic treatment mechanism 10 during cavitation ablation.

[0031] In addition, the multi-degree-of-freedom ultrasonic cavitation ablation treatment device of the present application adopts a modular design, with stable and reliable quality, low cost, easy maintenance, and low difficulty in manufacturing and installation.

[0032] Continue to refer to Figure 1 The third adjustment mechanisms 33 are arranged in pairs, and the two third adjustment mechanisms 33 are arranged at intervals along the second direction X. The second adjustment mechanism 32 is arranged on the two third adjustment mechanisms 33 in the first direction Z, so that the two third adjustment mechanisms 33 support the second adjustment mechanism 32 together.

[0033] In this embodiment, the second adjustment mechanism 32 spans over the two third adjustment mechanisms 33 to form a stable and reliable gantry-type X and Y direction motion mechanism. Since the second adjustment mechanism 32 lies flat on the two third adjustment mechanisms 33 as a whole, compared with the side-lying method, the moment arm of the moment formed by the second adjustment mechanism 32 and the overall load weight thereon can be reduced, thereby reducing the bending moment, making the overall structure of the device stable, and the ultrasonic treatment mechanism 10 is not prone to shaking when the device moves, thereby improving the focus accuracy of the ultrasonic treatment mechanism 10 and reducing damage to normal tissues.

[0034] Figure 3 A structural stereogram of the first adjustment mechanism of the present invention is shown.

[0035] Reference Figure 3The first adjustment mechanism 31 includes a connecting seat 311 , a first mounting seat 312 , a first cover plate 313 , a first slide 314 , a first transmission assembly (not shown) and a first motor 315 .

[0036] The connecting seat 311 is connected to the second adjusting mechanism 32 , and the first mounting seat 312 is vertically disposed on the connecting seat 311 along the first direction Z.

[0037] The first mounting seat 312 forms a first mounting cavity, the first cover plate 313 extends along the first direction Z and is arranged at the opening end of the first mounting cavity and is connected to the first mounting seat 312, the first slide 314 is arranged between the first mounting seat 312 and the first cover plate 313 and is connected to the ultrasonic treatment mechanism 10 and the lifting and rotating mechanism 20.

[0038] The first motor 315 and the first transmission assembly are both disposed on the first mounting seat 312, and the first motor 315 is suspended at one end of the first mounting seat 312 away from the connecting seat 311 in the first direction Z, and is located at the side of the first slide 314 away from the lifting and rotating mechanism 20 in the third direction Y. The first motor 315 is connected to the first slide 314 through the first transmission assembly, and the first transmission assembly is used to convert the rotational motion of the first motor 315 into the linear motion of the first slide 314 along the first direction Z.

[0039] In this embodiment, in the first direction Z, the first adjustment mechanism 31 is integrally erected on the second adjustment mechanism 32, and since the first motor 315 is suspended on the end of the first mounting seat 312 away from the connecting seat 311 in the first direction Z, it is equivalent to inverting the first mounting seat 312 and the first motor 315 thereon on the connecting seat 311 as a whole, so that the size of the connecting seat 311 is minimized, thereby improving the space utilization rate of the first adjustment mechanism 31. In addition, since the first motor 315 is located on the side of the first slide 314 away from the lifting and rotating mechanism 20 in the third direction Y, it is equivalent to the first motor 315 and the lifting and rotating mechanism 20 being respectively located on both sides of the first slide 314 in the third direction Y. At this time, the first motor 315 can balance the lifting and rotating mechanism 20 and the partial bending moment formed by the weight of the coupling agent thereon, so that the overall structure of the device is stable, and the ultrasonic treatment mechanism 10 is not easy to shake when the device moves, thereby improving the focusing accuracy of the ultrasonic treatment mechanism 10, thereby reducing damage to normal tissues.

[0040] In an embodiment not shown, the first adjustment mechanism 31 further includes a first guide assembly, the first guide assembly includes a first guide rail, a first slider and a first rolling body, the first slider is connected to the first slide 314, and the first slider is rollingly connected to the first guide rail through the first rolling body, so that under the action of the first transmission assembly, the first slider can slide along the first guide rail with the first slide 314. Specifically, the first guide rail is used to guide and support the first slider and the first slide 314 thereon, and the first guide rail can be a linear guide rail, and the first guide rail can be provided in pairs.

[0041] Furthermore, the first transmission assembly may include a first pulley, a second pulley, a first synchronous belt, a first screw and a first nut. The first synchronous belt is connected to the first pulley and the second pulley, the first pulley is connected to the first motor 315, the second pulley is connected to the first screw, the first nut is connected to the first slide 314, the first screw is connected to the first nut and rotates under the action of the first motor 315, and the first nut drives the first slide 314 to move linearly along the first direction Z under the action of the rotation of the first screw.

[0042] Specifically, when the first motor 315 is started, the first motor 315 drives the first pulley to rotate, the first pulley drives the second pulley to rotate through the first synchronous belt, the second pulley drives the first screw to rotate, and the first screw drives the first nut to move linearly during rotation, so that the first nut drives the first slide 314 to move linearly along the first direction Z.

[0043] Figure 4 A structural stereogram of the second adjustment mechanism of the present invention is shown.

[0044] Reference Figure 4 The second adjustment mechanism 32 includes a second mounting seat 321 , a second cover plate 322 , a second slide 323 , a second transmission assembly (not shown) and a second motor 324 .

[0045] The second mounting seat 321 forms a second mounting cavity, the second cover plate 322 extends along the second direction X and is arranged at the open end of the second mounting cavity and is connected to the second mounting seat 321, the second slide 323 is arranged between the second mounting seat 321 and the second cover plate 322 and is connected to the first adjustment mechanism 31, the second motor 324 and the second transmission assembly are both arranged on the second mounting seat 321, and the second motor 324 is located on the side of the second slide 323 away from the lifting and rotating mechanism 20 in the third direction Y, the second motor 324 is connected to the second slide 323 through the second transmission assembly, and the second transmission assembly is used to convert the rotational motion of the second motor 324 into the linear motion of the second slide 323 along the second direction X.

[0046] In this embodiment, in the first direction Z, the second adjusting mechanism 32 lies flat between the first adjusting mechanism 31 and the third adjusting mechanism 33, and in the third direction Y, the second motor 324 is located on the side of the second slide 323 away from the lifting and rotating mechanism 20, which is equivalent to the second motor 324 and the lifting and rotating mechanism 20 being respectively located on both sides of the second slide 323 in the third direction Y. At this time, the second motor 324 can balance part of the bending moment formed by the weight of the lifting and rotating mechanism 20 and the coupling agent thereon, so that the overall structure of the equipment is stable, and the ultrasonic treatment mechanism 10 is not prone to jitter when the equipment moves, thereby improving the focusing accuracy of the ultrasonic treatment mechanism 10 and reducing damage to normal tissues.

[0047] In an embodiment not shown, the second adjustment mechanism 32 further includes a second guide assembly, which includes a second guide rail, a second slider and a second rolling body, the second slider is connected to the second slide 323, and the second slider is rollingly connected to the second guide rail through the first rolling body, so that under the action of the second transmission assembly, the second slider can slide along the second guide rail along with the second slide 323. Specifically, the second guide rail is used to guide and support the second slider and the second slide 323 thereon, and the second guide rail can be a linear guide rail, and the second guide rail can be provided in pairs.

[0048] Furthermore, the second transmission assembly includes a third pulley, a fourth pulley, a second synchronous belt, a second screw and a second nut. The second synchronous belt is connected to the third pulley and the fourth pulley, the third pulley is connected to the second motor 324, the fourth pulley is connected to the second screw, the second nut is connected to the second slide 323, the second screw is connected to the second nut and rotates under the action of the second motor 324, and the second nut drives the second slide 323 to move linearly along the second direction X under the rotation of the second screw.

[0049] Specifically, when the second motor 324 is started, the second motor 324 drives the third pulley to rotate, the third pulley drives the fourth pulley to rotate through the second synchronous belt, the fourth pulley drives the second screw to rotate, and the second screw drives the second nut to move linearly during rotation, so that the second nut drives the second slide 323 to move linearly along the second direction X.

[0050] Figure 5 A structural stereogram of the third adjustment mechanism of the present invention is shown.

[0051] Reference Figure 5 The third adjusting mechanism 33 includes a third mounting seat 331 , a third cover plate 332 , a third slide 333 , a third transmission assembly (not shown) and a third motor 334 .

[0052] The third mounting seat 331 forms a third mounting cavity, the third cover plate 332 extends along the third direction Y and is arranged at the open end of the third mounting cavity and is connected to the third mounting seat 331, the third slide 333 is arranged between the third mounting seat 331 and the third cover plate 332 and is connected to the second adjustment mechanism 32, the third motor 334 and the third transmission assembly are both arranged on the third mounting seat 331, and the third motor 334 is located on one side of the third mounting seat 331 in the third direction Y, the third motor 334 is connected to the third slide 333 through the third transmission assembly, and the third transmission assembly is used to convert the rotational motion of the third motor 334 into the linear motion of the third slide 333 along the third direction Y.

[0053] Understandably, if Figure 1 As shown, for the third adjustment mechanisms 33 arranged in pairs, the third slides 333 of the two third adjustment mechanisms 33 are connected to the second adjustment mechanism 32 through the same connecting plate to ensure synchronous adjustment of the two third adjustment mechanisms 33. Specifically, four pin holes are provided on the connecting plate, and the four pin holes are located in a straight line for connecting with the two third slides 333 respectively.

[0054] In an embodiment not shown, the third adjustment mechanism 33 further includes a third guide assembly, which includes a third guide rail, a third slider and a third rolling body. The third slider is connected to the third slide 333, and the third slider is connected to the third guide rail through the third rolling body, so that the third slider can slide along the third guide rail with the third slide 333 under the action of the third transmission assembly. Specifically, the third guide rail is used to guide and support the third slider and the third slide 333 thereon, and the third guide rail can be a linear guide rail, and the third guide rail can be provided in pairs.

[0055] Furthermore, the third transmission assembly includes a third coupling, a third screw and a third nut. The third motor 334 is connected to the third screw through the third coupling, the third nut is connected to the third slide 333, the third screw is connected to the third nut and rotates under the action of the third motor 334, and the third nut drives the third slide 333 to move linearly along the third direction Y under the action of the rotation of the third screw.

[0056] Figure 6 A structural stereogram of the water base of the present invention is shown.

[0057] Reference Figure 1 , Figure 2 and Figure 6 The multi-degree-of-freedom ultrasonic cavitation ablation treatment device also includes a water base 40 , and the ultrasonic treatment mechanism 10 and the lifting and rotating mechanism 20 are connected to the first adjustment mechanism 31 through the water base 40 .

[0058] The water base 40 includes a first mounting portion 41, a second mounting portion 42 and a side plate portion 43. The first mounting portion 41 extends along the first direction Z, the second mounting portion 42 is connected to the first mounting portion 41 and extends along the third direction Y, the side plate portion 43 is located on both sides of the second mounting portion 42 in the second direction X, and each side plate portion 43 is connected to the first mounting portion 41 and the second mounting portion 42. Among them, the first mounting portion 41 is connected to the first adjustment mechanism 31 and the lifting and rotating mechanism 20 is installed, and the second mounting portion 42 is provided with a stepped hole T1 for fixing and installing the ultrasonic treatment mechanism 10, so that the ultrasonic treatment mechanism 10 is connected to the second mounting portion 42 of the water base 40 through the screw and the stepped hole T1.

[0059] In this embodiment, the water base 40 bears the load and transmits the load to the first slide 314 of the first adjustment mechanism 31, and based on the position and connection relationship between the first mounting portion 41, the second mounting portion 42 and the side plate portion 43 of the water base 40, the overall support strength of the water base 40 is high, thereby improving the overall structural stability of the device. In addition, in order to further reduce the weight of the device, the water base 40 can be made of lightweight materials.

[0060] Further references Figure 6 The water base 40 is also provided with a first reinforcing rib 44 , a second reinforcing rib 45 and a third reinforcing rib 46 .

[0061] The first reinforcing rib 44 is protrudingly provided on the first mounting portion 41 along the third direction Y, and one end in the first direction Z is connected to the second mounting portion 42. The second reinforcing rib 45 is protrudingly provided on the second mounting portion 42 along the first direction Z, and one end in the third direction Y is connected to the first mounting portion 41. The third reinforcing rib 46 is protrudingly provided on the second mounting portion 42 along the first direction Z, and is located at one end of the second mounting portion 42 away from the first mounting portion 41 in the third direction Y and is connected to the two side plate portions 43.

[0062] In this embodiment, the first reinforcing rib 44 can reinforce the first mounting portion 41 and can also be directly used as the mounting base of the lifting and rotating mechanism 20. The second reinforcing rib 45 can increase the structural rigidity of the second mounting portion 42, and the third reinforcing rib 46 can increase the connection strength between the first mounting portion 41 and the second mounting portion 42. Therefore, based on the arrangement of the first reinforcing rib 44, the second reinforcing rib 45 and the third reinforcing rib 46, the structural strength of the water base 40 is significantly improved, thereby improving the overall structural stability of the device.

[0063] Specifically, the first reinforcing rib 44, the second reinforcing rib 45 and the third reinforcing rib 46 can all form a "U"-shaped rib structure or a "U"-like rib structure.

[0064] Figure 7A schematic diagram showing the positional relationship between the lifting and rotating mechanism, the guide connecting member and the ultrasonic treatment mechanism of the present invention is shown.

[0065] Reference Figure 7 The lifting and rotating mechanism 20 includes a lifting module 21, a rotating module 22, a first connecting plate 23 and a second connecting plate 24. The lifting module 21 is connected to the water base 40 through the first connecting plate 23, the rotating module 22 is connected to the lifting module 21 through the second connecting plate 24, and the ultrasonic observation mechanism 50 is connected to the rotating module 22.

[0066] In this embodiment, the ultrasonic observation mechanism 50 is driven to rotate by the rotating module 22, and is driven to move up and down along the first direction Z by the lifting module 21. The first adjustment mechanism 31, the second adjustment mechanism 32 and the third adjustment mechanism 33 of the superimposed motion adjustment mechanism 30 can expand the motion range of the ultrasonic observation mechanism 50, keep it at a low position that does not affect the propagation of therapeutic ultrasound during treatment, and fully approach the tissue of the target organ during observation.

[0067] Among them, the structure of the lifting module 21 can adopt the driving method of the first adjustment mechanism 31, the second adjustment mechanism 32 or the third adjustment mechanism 33 to realize the lifting and lowering movement of the ultrasonic observation mechanism 50 along the first direction Z, which is not described in detail in this application.

[0068] Continue to refer to Figure 7 The rotating module 22 includes a base 221, a rotating platform 222, a connecting shaft 223 and a rotating motor 224. The base 221 is supported on the second connecting plate 24 and connected to the lifting module 21 through the second connecting plate 24. The rotating platform 222 is arranged on the base 221 and movably connected to the base 221. The connecting shaft 223 is passed through the water base 40. The rotating platform 222 is connected to the ultrasonic observation mechanism 50 through the connecting shaft 223. The rotating motor 224 is arranged on the base 221 and connected to the rotating platform 222 to drive the rotating platform 222 to rotate relative to the base 221.

[0069] In this embodiment, the lifting module 21 of the lifting and rotating mechanism 20 is fixed on the water base 40. When the water base 40 moves in the corresponding directions along the first adjusting mechanism 31, the second adjusting mechanism 32, and the third adjusting mechanism 33 of the motion adjusting mechanism 30 respectively, the ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20, and the ultrasonic observation mechanism 50 thereon can also move together with the water base 40. Moreover, under the action of the lifting module 21, the connecting shaft 223 can drive the ultrasonic observation mechanism 50 to move up and down relative to the water base 40. Under the action of the rotating motor 224, the connecting shaft 223 can drive the ultrasonic observation mechanism 50 to rotate relative to the water base 40, thereby realizing the multi-directional movement of the ultrasonic observation mechanism 50 to observe the diseased tissue from multiple angles and monitor the treatment situation. In addition, the rotating table 222 has a large transmission ratio, and a rotating motor 224 with a small power can meet the usage requirements.

[0070] It can be understood that the connecting shaft 223 of the rotating module 22 is connected to the ultrasonic observation mechanism 50, which can not only realize the transmission of rotational motion but also the transmission of lifting motion, so as to realize the rotation and lifting motion of the ultrasonic observation mechanism 50. And the connecting shaft 223 can be a hollow structure for the cables and drainage pipes in the ultrasonic observation mechanism 50 to pass through.

[0071] Continue to refer to Figure 7 , the rotating module 22 further includes a rotating connector 225. One end of the rotating connector 225 is connected to the connecting shaft 223, and the other end is connected to the rotating table 222. Specifically, in order to ensure the connection stability, the rotating connector 225 can be an "I"-shaped hollow structure. Further, the rotating connector 225 is also provided with a notch A for the cables and pipes to pass through.

[0072] Continue to refer to Figure 6 and Figure 7 , the second mounting portion 42 on the water base 40 is also provided with a threaded hole T2 and a through hole T3. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device further includes a guiding connector 60. The guiding connector 60 is disposed on the side of the second mounting portion 42 on the water base 40 away from the ultrasonic treatment mechanism 10 and is connected to the second mounting portion 42 through the threaded hole T2 and a screw. Wherein, the ultrasonic observation mechanism 50 passes through the guiding connector 60 and the through hole T3 to be movably connected to the ultrasonic treatment mechanism 10. Wherein, in order to ensure the sealing of the device, the connecting shaft 223 is also hermetically connected to the guiding connector 60.

[0073] Figure 8 shows a three-dimensional structure diagram of the ultrasonic treatment mechanism of the present invention; Fig. 9 shows an internal structure schematic diagram of the support member of the ultrasonic treatment mechanism of the present invention, Fig.10 shows a schematic connection diagram of the laser and the support member of the present invention.

[0074] Reference Figures 8 to 10 The ultrasonic treatment mechanism 10 includes a flexible water pool 11, a support 12, a laser 13 and a plurality of ultrasonic treatment probes (not shown).

[0075] The support member 12 is arranged on the side of the water base 40 away from the lifting and rotating mechanism 20 in the first direction Z and is connected to the stepped hole T1 on the second mounting portion 42 of the water base 40 by screws. The flexible water pool 11 is arranged on the support member 12 and connected to the edge of the support member 12. A through hole is provided at the bottom of the support member 12. The ultrasonic observation mechanism 50 passes through the through hole on the support member 12 and is movably connected to the support member 12 through the through hole.

[0076] Among them, the inner wall of the support 12 is provided with a first mounting hole T4 and a second mounting hole T5, a transparent cover plate 14 is provided on the upper part of the first mounting hole T4, a laser 13 is provided in the first mounting hole T4, and the end of the laser 13 away from the transparent cover plate 14 is connected to the support 12 through a spring 15. A plurality of ultrasonic therapeutic probes are respectively provided in the corresponding second mounting holes T5 (multiple) for cavitation ablation of the targeted organ tissue. Specifically, the first mounting hole T4 and the second mounting hole T5 are both stepped holes, the end of the first mounting hole T4 away from the transparent cover plate 14 is blocked with sealant, an O-ring is installed in the second mounting hole T5, and the ultrasonic therapeutic probe is fixed to the support 12 through a flange and screws.

[0077] In this embodiment, based on the characteristics of the flexible water pool 11 itself, the flexible water pool 11 can be appropriately deformed when in use, and the lower part of the flexible water pool 11 is connected to the edge of the support member 12, which can save the amount of coupling agent, reduce the weight of the ultrasonic treatment mechanism 10, facilitate the replacement and maintenance of the ultrasonic treatment mechanism 10, and the cables used by the ultrasonic treatment mechanism 10 do not need to be waterproof. Among them, the transparent cover plate 14 on the upper part of the first mounting hole T4 is used for light transmission and is sealed with the support member 12, which can play a role in fixing and sealing. In addition, since the end of the laser 13 away from the transparent cover plate 14 is abutted against the support member 12 through the spring 15, not only can the laser 13 be axially positioned by the spring 15, but the elasticity of the spring 15 can also be used to make the laser 13 close to the transparent cover plate 14.

[0078] Due to the shape of the target organ, the light on one side will be blocked. In order to avoid blocking the light, four first mounting holes T4 can be set on the support member 12 at intervals of 90 degrees, so that the four lasers 13 can be installed at 90 degrees. Fig. 9 shown.

[0079] Since a single laser 13 emits fan-shaped light, two lasers 13 arranged at 90 degrees can form a cross light, so based on the arrangement of four lasers 13 installed at 90 degrees, the cross light can be seen no matter which side of the target organ is viewed from. In addition, the cross light formed by the two lasers 13 arranged at 90 degrees can be used for positioning, and the treatment focus is directly above the cross intersection.

[0080] Preferably, two of the lasers 13 can be spaced apart along the second direction X, and two of the lasers 13 can be spaced apart along the third direction Y. Then, by moving the ultrasonic treatment mechanism 10 and the ultrasonic observation mechanism 50 in the second direction X and the third direction Y, the treatment focus can be quickly and conveniently made to coincide with the treatment target.

[0081] The flexible water pool 11 can adopt structures of different forms. For example, the generatrix of the flexible water pool 11 can be wavy (multi-fold structure), arc-shaped (drum-shaped structure), broken line-shaped, etc., so that the flexible water pool 11 has sufficient deformation ability and can be deformed to an appropriate size when in use.

[0082] Fig.11 A structural stereogram showing the ultrasonic observation mechanism of the present invention.

[0083] Reference Fig.11 The ultrasonic observation mechanism 50 includes a clamp 51, an imaging probe 52 and a video camera 53. The clamps 51 are arranged in pairs and clamp the imaging probe 52, and the video camera 53 is arranged on one of the clamps 51 and tilted toward the imaging probe 52.

[0084] The lifting and rotating mechanism 20 is connected to the clamp 51 through the connecting shaft 223 of the rotating module 22, and is used to drive the ultrasonic observation mechanism 50 to lift and rotate. Based on the setting of the video camera 53, a preliminary basis can be provided for the positioning and movement of the ultrasonic observation mechanism 50 and the imaging probe 52, and the video camera 53 is tilted toward the imaging probe 52, so that the imaging probe 52 can be within the field of view of the video camera 53.

[0085] Specifically, the imaging probe 52 may use B-mode, Doppler mode or 3D “volume” for imaging and observation.

[0086] Finally, it should be noted that the motors in the first adjustment mechanism 31, the second adjustment mechanism 32 and the third adjustment mechanism 33 of the motion adjustment mechanism 30 of the present invention and the motors in the lifting module 21 and the rotating module 22 of the lifting and rotating mechanism 20 can all be servo motors, and are controlled by a 6-axis linkage motion controller, which can detect vibration, overload and other information and compare them with sample data to avoid sudden equipment shutdown; it can also alarm based on abnormal information; and, the feedback adjustment method between the servo motor and the controller can be automatically adjusted to avoid vibration caused by individual differences; in addition, it can also be set on the display screen with a mouse and keyboard through software. Of course, in order to reduce costs, the above-mentioned motors can also be driven by stepper motors.

[0087] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A multi-degree-of-freedom ultrasonic cavitation ablation treatment device, characterized in that: It comprises an ultrasonic treatment mechanism (10), a lifting and rotating mechanism (20), a motion regulating mechanism (30) and an ultrasonic observation mechanism (50); The motion adjustment mechanism (30) comprises a first adjustment mechanism (31), a second adjustment mechanism (32) and a third adjustment mechanism (33); The first adjustment mechanism (31) is connected to the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20) and is used to adjust the positions of the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20) in a first direction (Z); the second adjustment mechanism (32) is connected to the first adjustment mechanism (31) and is used to adjust the positions of the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20) in a second direction (X); and the third adjustment mechanism (33) is connected to the second adjustment mechanism (32) and is used to adjust the positions of the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20) in a third direction (Y); The ultrasonic observation mechanism (50) is movably connected to the ultrasonic treatment mechanism (10), and the lifting and rotating mechanism (20) is connected to the ultrasonic observation mechanism (50) and is used to drive the ultrasonic observation mechanism (50) to rotate relative to the ultrasonic treatment mechanism (10) and to lift and lower along the first direction (Z).

2. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The first adjustment mechanism (31) comprises a connecting seat (311), a first mounting seat (312), a first cover plate (313), a first slide table (314), a first transmission assembly and a first motor (315); The connecting seat (311) is connected to the second adjusting mechanism (32); the first mounting seat (312) is vertically arranged on the connecting seat (311) along the first direction (Z); the first mounting seat (312) forms a first mounting cavity; the first cover plate (313) extends along the first direction (Z) and is arranged at an open end of the first mounting cavity and is connected to the first mounting seat (312); the first slide table (314) is connected to the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20); the first motor (315) and the first transmission assembly are both provided with The first motor (315) is placed on the first mounting seat (312), and is suspended on one end of the first mounting seat (312) away from the connecting seat (311) in the first direction (Z), and is located on the side of the first slide (314) away from the lifting and rotating mechanism (20) in the third direction (Y). The first motor (315) is connected to the first slide (314) via the first transmission component, and the first transmission component is used to convert the rotational motion of the first motor (315) into the linear motion of the first slide (314) along the first direction (Z).

3. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The third adjustment mechanisms (33) are arranged in pairs, and the two third adjustment mechanisms (33) are arranged at intervals along the second direction (X); The second adjustment mechanism (32) is arranged on the two third adjustment mechanisms (33) in the first direction (Z), so that the two third adjustment mechanisms (33) support the second adjustment mechanism (32) together.

4. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The second adjustment mechanism (32) comprises a second mounting seat (321), a second cover plate (322), a second slide table (323), a second transmission assembly and a second motor (324); The second mounting seat (321) forms a second mounting cavity, the second cover plate (322) extends along the second direction (X) and is arranged at the open end of the second mounting cavity and is connected to the second mounting seat (321), the second slide (323) is connected to the first adjustment mechanism (31), the second motor (324) and the second transmission assembly are both arranged on the second mounting seat (321), and the second motor (324) is located on the side of the second slide (323) away from the lifting and rotating mechanism (20) in the third direction (Y), the second motor (324) is connected to the second slide (323) via the second transmission assembly, and the second transmission assembly is used to convert the rotational motion of the second motor (324) into the linear motion of the second slide (323) along the second direction (X).

5. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The third adjustment mechanism (33) comprises a third mounting seat (331), a third cover plate (332), a third slide table (333), a third transmission assembly and a third motor (334); The third mounting seat (331) forms a third mounting cavity, the third cover plate (332) extends along the third direction (Y) and is arranged at the open end of the third mounting cavity and is connected to the third mounting seat (331), the third slide (333) is connected to the second adjustment mechanism (32), the third motor (334) and the third transmission assembly are both arranged on the third mounting seat (331), and the third motor (334) is located on one side of the third mounting seat (331) in the third direction (Y), the third motor (334) is connected to the third slide (333) through the third transmission assembly, and the third transmission assembly is used to convert the rotational motion of the third motor (334) into the linear motion of the third slide (333) along the third direction (Y).

6. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to any one of claims 1 to 5, characterized in that: The multi-degree-of-freedom ultrasonic cavitation ablation treatment device further comprises a water base (40), and the ultrasonic treatment mechanism (10) and the lifting and rotating mechanism (20) are connected to the first adjustment mechanism (31) via the water base (40); The water base (40) comprises a first mounting portion (41), a second mounting portion (42) and a side plate portion (43); The first mounting portion (41) extends along the first direction (Z), the second mounting portion (42) is connected to the first mounting portion (41) and extends along the third direction (Y), the side plate portions (43) are located on both sides of the second mounting portion (42) in the second direction (X), and each of the side plate portions (43) is connected to the first mounting portion (41) and the second mounting portion (42); The first mounting portion (41) is connected to the first adjustment mechanism (31) and is provided with the lifting and rotating mechanism (20), and the second mounting portion (42) is provided with a plurality of stepped holes (T1) for fixedly mounting the ultrasonic treatment mechanism (10).

7. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 6, characterized in that: The water base (40) is further provided with a first reinforcing rib (44), a second reinforcing rib (45) and a third reinforcing rib (46); The first reinforcing rib (44) is protrudingly disposed on the first mounting portion (41) along the third direction (Y), and one end in the first direction (Z) is connected to the second mounting portion (42); The second reinforcing rib (45) is protrudingly disposed on the second mounting portion (42) along the first direction (Z), and one end in the third direction (Y) is connected to the first mounting portion (41); The third reinforcing rib (46) is protrudingly arranged on the second mounting portion (42) along the first direction (Z), and is located at an end of the second mounting portion (42) away from the first mounting portion (41) in the third direction (Y) and is connected to the two side plate portions (43).

8. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 6, characterized in that: The lifting and rotating mechanism (20) comprises a lifting module (21) and a rotating module (22); the lifting module (21) is connected to the first adjusting mechanism (31) via the water base (40); and the rotating module (22) is connected to the lifting module (21) and the ultrasonic observation mechanism (50).

9. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 8, characterized in that: The rotating module (22) comprises a base (221), a rotating platform (222), a connecting shaft (223) and a rotating motor (224); The base (221) is connected to the lifting module (21); the rotating platform (222) is arranged on the base (221) and is movably connected to the base (221); the connecting shaft (223) is passed through the water base (40) and is capable of lifting and lowering relative to the water base (40); and the rotating platform (222) is connected to the ultrasonic observation mechanism (50) via the connecting shaft (223); The rotating motor (224) is arranged on the base (221) and connected to the rotating platform (222) to drive the rotating platform (222) to rotate relative to the base (221).

10. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 6, characterized in that: The ultrasonic treatment mechanism (10) comprises a flexible water pool (11), a support member (12), a laser (13) and a plurality of ultrasonic treatment probes; The support member (12) is arranged on a side of the water base (40) away from the lifting and rotating mechanism (20) in the first direction (Z), the flexible water pool (11) is arranged on the support member (12) and connected to the support member (12), and a through hole is provided at one end of the support member (12) close to the water base (40), and the ultrasonic observation mechanism (50) is movably connected to the support member (12) through the through hole; The support member (12) is provided with a first mounting hole (T4) and a second mounting hole (T5); a transparent cover plate (14) is provided on the first mounting hole (T4); the laser (13) is provided in the first mounting hole (T4), and the laser (13) is connected to the support member (12) via a spring (15); a plurality of ultrasonic treatment probes are respectively installed in a corresponding one of the second mounting holes (T5) to perform ultrasonic cavitation ablation on tissue of a target organ.

11. The multi-degree-of-freedom ultrasonic cavitation ablation treatment device according to claim 10, characterized in that: The generatrix of the flexible water pool (11) is wavy, arc-shaped, or broken-line-shaped; and / or The ultrasonic observation mechanism (50) comprises a clamp (51), an imaging probe (52) and a video camera (53); The clamps (51) are arranged in pairs and clamp the imaging probe (52); the video camera (53) is arranged on one of the clamps (51), and the video camera (53) is arranged to be tilted toward the imaging probe (52).

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