An efficient sealed ultrasonic cavitation ablation treatment device

Abstract

The present invention provides an efficient sealed ultrasonic cavitation ablation treatment device, which includes an ultrasonic treatment mechanism, a lifting and rotating mechanism, a motion adjustment mechanism, a water base, an ultrasonic observation mechanism and a guiding connector. The ultrasonic treatment mechanism is hermetically connected to the water base, and the guiding connector is hermetically connected to the water base. The lifting and rotating mechanism includes a lifting module and a rotating module. The lifting module is connected to the water base, and the part of the rotating module located in the guiding connector is hermetically connected to the guiding connector during its movement. Based on the improvement of the overall structure of the device and the reasonable design of the spatial distribution between the lifting module and the rotating module and the ultrasonic treatment mechanism, the motion adjustment mechanism, the water base, the ultrasonic observation mechanism and the guiding connector, the ultrasonic treatment mechanism and the water base are in static seal, the guiding connector and the water base are in static seal, and the rotating module and the guiding connector are in dynamic seal. In this way, the sealing structure is simplified, the overall sealing performance of the device is improved and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a highly efficient sealed ultrasonic cavitation ablation treatment device. Background Art

[0002] Ultrasonic cavitation ablation treatment equipment mostly uses imaging probes (such as B-ultrasound probes) for guidance during the treatment process to accurately guide the 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 cavitation ablation treatment equipment mainly uses the thermal effect of ultrasound for ablation. It uses a smaller ultrasonic transducer, so the required coupling agent (such as water) is also less. Therefore, based on the light weight of the ultrasonic transducer, it can withstand less force and torque, so the 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 in size, more coupling agent is required, and the weight is also greater, which puts new and higher requirements on the support structure and sealing. Existing ultrasonic cavitation ablation treatment equipment uses the method of sealing the rotary motion mechanism and the axial motion mechanism separately. This sealing structure is relatively complex and costly. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a highly efficient sealed ultrasonic cavitation ablation treatment device.

[0005] The present invention proposes a highly efficient sealed ultrasonic cavitation ablation treatment device, which includes an ultrasonic treatment mechanism, a lifting and rotating mechanism, a motion adjustment mechanism, a water base, an ultrasonic observation mechanism and a guide connection member. The ultrasonic treatment mechanism is arranged on one side of the water base in the first direction and is sealed and connected to the water base. The guide connection member is arranged on the side of the water base away from the ultrasonic treatment mechanism and is sealed and connected to the water base. The lifting and rotating mechanism includes a lifting module and a rotating module, the lifting module is connected to the water base, one end of the rotating module is connected to the lifting module, and the other end is passed through the guide connection member and connected to the ultrasonic observation mechanism, and the part of the rotating module located in the guide connection member is sealed and connected to the guide connection member during its lifting and rotating movement. The ultrasonic observation mechanism is passed through the water base and is movably connected to the ultrasonic treatment mechanism, and the motion adjustment mechanism is connected to the water base, which is used to adjust the positions of the ultrasonic treatment mechanism and the ultrasonic observation mechanism via the water base.

[0006] Further, at least one first annular sealing groove is provided on the inner wall of the guiding connecting member, and a first annular sealing ring is arranged in the first annular sealing groove. The first annular sealing ring is configured to maintain a sealed connection between the rotating module and the inner wall of the guiding connecting member during the lifting movement and the rotating movement of the rotating module.

[0007] Further, the rotating module includes a base, a rotating table, a connecting shaft, and a rotating motor. The base is connected to the lifting module, the rotating table is arranged on the base and is movably connected to the base, the connecting shaft passes through the guiding connecting member and the water base and is connected to the ultrasonic observation mechanism, the rotating table is connected to one end of the connecting shaft away from the ultrasonic observation mechanism, and the rotating motor is arranged on the base and connected to the rotating table to drive the rotating table and the connecting shaft to rotate relative to the base. Wherein, during the lifting movement and the rotating movement of the connecting shaft, a sealed connection between the connecting shaft and the inner wall of the guiding connecting member is maintained through the first annular sealing ring.

[0008] Further, a first annular sealing member is arranged between the ultrasonic treatment mechanism and the water base, and the first annular sealing member is used for sealingly connecting the ultrasonic treatment mechanism and the water base.

[0009] Further, a second annular sealing member is arranged between the guiding connecting member and the water base, and the second annular sealing member is used for sealingly connecting the guiding connecting member and the water base.

[0010] Further, the rotating module further includes a collecting member, the collecting member is sleeved on the connecting shaft and together with the connecting shaft encloses a collecting groove, and the collecting groove is used for collecting the coupling agent leaking between the connecting shaft and the guiding connecting member. The collecting member is further provided with a pipe thread hole, the pipe thread hole is used for connecting a first joint, and the first joint is used for connecting a collecting pipe to discharge the coupling agent in the collecting groove.

[0011] Further, the ultrasonic treatment mechanism includes a flexible water tank, a support member, a laser, a transparent cover plate, a spring, and a plurality of ultrasonic treatment probes. The support member is disposed on one side of the water base in the first direction and is hermetically connected to the water base. The flexible water tank is disposed on the support member and connected to the support member. A through hole is provided at one end of the support member close to the water base, and the ultrasonic observation mechanism is movably connected to the support member through the through hole. A first mounting hole and a second mounting hole are provided on the support member. The laser is disposed in the first mounting hole, and one end of the laser is connected to the support member through the spring. The transparent cover plate is disposed at the end of the laser away from the spring and covers the first mounting hole. The plurality of ultrasonic treatment probes are respectively mounted into the corresponding second mounting holes and are hermetically connected to the inner walls of the second mounting holes.

[0012] Further, at least one second annular sealing groove is provided on the inner wall of the second mounting hole, a second annular sealing ring is provided in the second annular sealing groove, and the ultrasonic treatment probe is hermetically connected to the inner wall of the second mounting hole through the second annular sealing ring; the second annular sealing ring is an O-shaped sealing ring or a sealing ring with other cross-sectional shapes.

[0013] Further, a water injection port is further provided on the support member, a water injection pipe is configured to be disposed in the water injection port, and the water injection pipe is a bent structure for injecting water toward the bottom of the support member.

[0014] Further, the flexible water tank includes a main body portion, and a first flanging portion and a second flanging portion provided at both axial ends of the main body portion. The main body portion encloses a hollow cavity and has a first port close to the support member and a second port away from the support member. The first flanging portion is connected to the edge of the first port and extends in a direction away from the hollow cavity and is connected to the support member. The second flanging portion is connected to the edge of the second port and extends in a direction away from the hollow cavity. Wherein, the generatrix of the main body portion is wavy, arc-shaped, or polyline-shaped.

[0015] Further, the high-efficiency sealed ultrasonic cavitation ablation treatment device further includes a bed plate, the bed plate has a first stepped surface and a second stepped surface disposed higher than the first stepped surface. The first stepped surface is attached to the surface of the second flanging portion facing the first flanging portion and is connected to the second flanging portion. An overflow port is provided on the second stepped surface, and a second joint is provided in the overflow port. The second joint is used for connecting an overflow pipe.

[0016] Further, 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 portions are located on both sides of the second mounting portion in the second direction, and each side plate portion is connected to the first mounting portion and the second mounting portion. The first mounting portion is connected to the motion adjustment mechanism and mounts the lifting and rotating mechanism, and the second mounting portion is provided with a plurality of stepped holes for fixedly mounting the ultrasonic treatment mechanism and a plurality of threaded holes for fixedly mounting the guiding connecting member.

[0017] Further, the ultrasonic observation mechanism includes a clamp, an imaging probe, and a video camera. The clamps are provided in pairs and clamp the imaging probe, the video camera is provided on one of the clamps, and the video camera is inclined towards the imaging probe. A drain port is provided on one of the clamps, and a third joint is provided in the drain port, and the third joint is used to connect a first water pipe, and an electromagnetic control valve is provided on the first water pipe.

[0018] Further, a second water pipe is also connected to a portion of the water pipe between the third joint and the electromagnetic control valve, and a manual control ball valve is provided on the second water pipe.

[0019] The beneficial effects of the present invention are as follows:

[0020] During the use of the high-efficiency sealed ultrasonic cavitation ablation treatment device, the spatial positions of the ultrasonic treatment mechanism, the lifting and rotating mechanism, and the ultrasonic observation mechanism thereon can be roughly adjusted through the motion adjustment mechanism, so that the ultrasonic treatment mechanism and the ultrasonic observation mechanism are guided to the position corresponding to the target organ tissue under the action of the motion adjustment mechanism. Then, the relative position between the ultrasonic observation mechanism and the target organ tissue can be finely adjusted through the lifting and rotating mechanism to obtain the precise position of the target organ tissue, so that the ultrasonic treatment mechanism can perform cavitation ablation on the target organ tissue at a suitable position. Thus, based on the cooperation of the lifting and rotating mechanism and the motion adjustment mechanism, the focusing accuracy of the ultrasonic treatment mechanism is greatly improved, and the damage to normal tissues is reduced, which meets the motion control accuracy requirements of the ultrasonic treatment mechanism during the cavitation ablation process.

[0021] Based on the improvement of the overall structure of the device and the reasonable design of the spatial distribution among the lifting module, the rotating module, the ultrasonic treatment mechanism, the motion adjustment mechanism, the water base, the ultrasonic observation mechanism and the guiding connecting piece, the seals between the ultrasonic treatment mechanism and the water base, between the guiding connecting piece and the water base are static seals, and the seal between the rotating module and the guiding connecting piece is a dynamic seal. In this way, there is only one dynamic seal point in the highly efficient sealed ultrasonic cavitation ablation treatment device of the present invention, thus simplifying the seal structure, improving the overall seal performance of the highly efficient sealed ultrasonic cavitation ablation treatment device and reducing the device cost.

[0022] In the present invention, the lifting and rotating mechanism and the motion adjustment mechanism together support the ultrasonic treatment mechanism and the coupling agent therein, thereby improving the support stability of the ultrasonic treatment mechanism and meeting the support performance requirements for the ultrasonic treatment mechanism during the cavitation ablation process. Moreover, the lifting and rotating mechanism drives the ultrasonic observation mechanism to rotate through the rotating module and drives the ultrasonic observation mechanism to lift along the first direction through the lifting module. With the superposition of the motion of the motion adjustment mechanism, the motion range of the ultrasonic observation mechanism can be expanded, keeping it at a low position that does not affect the propagation of the treatment ultrasound during treatment and approaching the tissue of the target organ sufficiently during observation.

[0023] The summary of the invention is provided to introduce a selection of concepts in a simplified form, which will be further described in the detailed implementation manners below. The summary of the invention is not intended to identify the key features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. Brief Description of the Drawings

[0024] By describing the exemplary embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present disclosure will become more apparent, wherein in the exemplary embodiments of the present disclosure, the same reference numerals generally represent the same components.

[0025] Figure 1 Shows a schematic structural diagram of the highly efficient sealed ultrasonic cavitation ablation treatment device of the present invention after removing the bed board;

[0026] Figure 2 Shows a schematic structural diagram of the highly efficient sealed ultrasonic cavitation ablation treatment device of the present invention with a bed board;

[0027] Figure 3 Is the schematic structural diagram after cutting along the A-A line in Figure 2 ;

[0028] Figure 4 Is a three-dimensional structure diagram of the guiding connecting piece;

[0029] Figure 5Shows a schematic diagram of the positional relationship among the lifting and rotating mechanism, the guiding connecting member, and the ultrasonic treatment mechanism of the present invention;

[0030] Figure 6 Shows a three-dimensional structure diagram of the ultrasonic treatment mechanism of the present invention;

[0031] Figure 7 Shows a schematic diagram of the internal structure of the support member of the ultrasonic treatment mechanism of the present invention;

[0032] Figure 8 Shows a schematic diagram of the connection relationship between the laser of the present invention and the support member;

[0033] Figure 9 Shows a three-dimensional structure diagram of the flexible water tank of the present invention;

[0034] Figure 10 Shows a three-dimensional structure diagram of the bed board of the present invention;

[0035] Figure 11 Shows a three-dimensional structure diagram of the water base of the present invention;

[0036] Figure 12 Shows a three-dimensional structure diagram of the first adjustment mechanism of the present invention;

[0037] Figure 13 Shows a three-dimensional structure diagram of the second adjustment mechanism of the present invention;

[0038] Figure 14 Shows a three-dimensional structure diagram of the third adjustment mechanism of the present invention;

[0039] Figure 15 Shows a three-dimensional structure diagram of the ultrasonic observation mechanism of the present invention.

[0040] Among them, the reference numerals are as follows:

[0041] 10. Ultrasonic treatment mechanism; 11. Flexible water tank; 111. Main body part; 112. First flanging part; 113. Second flanging part; 114. Second limiting part; 12. Support member; 121. Body part; 122. Third flanging part; 123. First limiting part; 13. Laser; 14. Transparent cover plate; 15. Spring; T4. First mounting hole; T5. Second mounting hole; T6. Water injection port; F1. First pressing ring; F2. Second pressing ring;

[0042] 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 member; 226. Collecting member; 23. First connecting plate; 24. Second connecting plate; D. Collecting groove; A. Notch;

[0043] 30. Movement adjustment mechanism; 31. First adjustment mechanism; 311. Connecting seat; 312. First mounting seat; 313. First cover plate; 314. First sliding table; 315. First motor; 32. Second adjustment mechanism; 321. Second mounting seat; 322. Second cover plate; 323. Second sliding table; 324. Second motor; 33. Third adjustment mechanism; 331. Third mounting seat; 332. Third cover plate; 333. Third sliding table; 334. Third motor;

[0044] 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. Step hole; T2. Threaded hole; T3. Through hole;

[0045] 50. Ultrasonic observation mechanism; 51. Fixture; 52. Imaging probe; 53. Video camera;

[0046] 60. Guide connecting member; 61. Sleeve portion; 62. Flange connecting portion; 61A. First annular sealing groove; C1. First annular sealing ring;

[0047] 70. Bed board; 71. First step surface; 72. Second step surface; 72A. Overflow port;

[0048] G1 First annular seal; E1. First joint; E2. Second joint; E3. Third joint;

[0049] Z. First direction; X. Second direction; Y. Third direction. Detailed implementation manners

[0050] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present disclosure are shown in the 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 so that the present disclosure will be more thorough and complete, and can fully convey the scope of the present disclosure to those skilled in the art.

[0051] The term "including" and its variations used herein mean open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The term "an exemplary embodiment" and "an embodiment" mean "at least one exemplary embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may be other explicit and implicit definitions below.

[0052] Figure 1The schematic diagram shows the structure of the highly efficient sealed ultrasonic cavitation ablation treatment device of the present invention after the bed plate is removed. Figure 2 The schematic diagram of the structure of the high-efficiency sealed ultrasonic cavitation ablation treatment device with a bed plate of the present invention is shown. Figure 3 For along Figure 2 Schematic diagram of the structure after being cut along the AA line.

[0053] Reference Figures 1 to 3 The highly efficient sealed ultrasonic cavitation ablation treatment device of the embodiment of the present invention includes an ultrasonic treatment mechanism 10, a lifting and rotating mechanism 20, a motion adjustment mechanism 30, a water base 40, an ultrasonic observation mechanism 50 and a guide connection member 60.

[0054] The ultrasonic treatment mechanism 10 is disposed on one side of the water base 40 in the first direction Z and is sealedly connected to the water base 40, and the guide connection member 60 is disposed on the side of the water base 40 away from the ultrasonic treatment mechanism 10 and is sealedly connected to the water base 40. In other words, the guide connection member 60 is disposed opposite to the ultrasonic treatment mechanism 10 in the first direction Z and is located on both sides of the water base 40 at the connection position with the water base 40.

[0055] Part of the lifting and rotating mechanism 20 is passed through the guide connecting piece 60 and the water base 40 and is connected to the ultrasonic observation mechanism 50. Part of the ultrasonic observation mechanism 50 is passed through the water base 40 and is movably connected to the ultrasonic treatment mechanism 10. The motion adjustment mechanism 30 is connected to the water base 40. The motion adjustment mechanism 30 can drive the water base 40 to move, so as to adjust the positions of the ultrasonic treatment mechanism 10 and the ultrasonic observation mechanism 50 through the water base 40.

[0056] The lifting and rotating mechanism 20 includes a lifting module 21 and a rotating module 22. The lifting module 21 is connected to the water base 40. One end of the rotating module 22 in the first direction Z is connected to the lifting module 21, and the other end is passed through the guide connector 60 and the water base 40 and connected to the ultrasonic observation mechanism 50. The rotating module 22 can drive the ultrasonic observation mechanism 50 to rotate, and the lifting module 21 can drive the ultrasonic observation mechanism 50 to move up and down along the first direction Z through the rotating module 22.

[0057] Furthermore, during the lifting and rotating movement of the ultrasonic observation mechanism 50 along with the rotating module 22 , the portion of the rotating module 22 located in the guiding connection member 60 always maintains a sealed connection with the guiding connection member 60 .

[0058] Understandably, since there is no relative movement between the ultrasonic treatment mechanism 10 and the water base 40, the seal between the ultrasonic treatment mechanism 10 and the water base 40 is a static seal; there is also no relative movement between the guiding connecting member 60 and the water base 40, so the seal between the guiding connecting member 60 and the water base 40 is also a static seal; while there is relative movement between the rotating module 22 and the guiding connecting member 60, the seal between the rotating module 22 and the guiding connecting member 60 is a dynamic seal.

[0059] In the present invention, during the use of the highly sealed ultrasonic cavitation ablation treatment device, the spatial positions of the handling ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20 and the ultrasonic observation mechanism 50 thereon can be roughly adjusted through the motion adjusting mechanism 30, so that the ultrasonic treatment mechanism 10 and the ultrasonic observation mechanism 50 are guided to the positions corresponding to the target organ tissue under the action of the motion adjusting mechanism 30. Then, the relative position between the ultrasonic observation mechanism 50 and the target organ tissue is finely adjusted through the lifting and rotating mechanism 20 to obtain the precise position of the target organ tissue, so that the ultrasonic treatment mechanism 10 can perform cavitation ablation on the target organ tissue at a suitable position. Thus, based on the cooperation of the lifting and rotating mechanism 20 and the motion adjusting mechanism 30, the focusing accuracy of the ultrasonic treatment mechanism 10 is greatly improved, and the damage to normal tissues is reduced, which meets the motion control accuracy requirements for the ultrasonic treatment mechanism 10 during the cavitation ablation process.

[0060] Based on the improvement of the overall structure of the device and the reasonable design of the spatial distribution among the lifting module 21, the rotating module 22, the ultrasonic treatment mechanism 10, the motion adjusting mechanism 30, the water base 40, the ultrasonic observation mechanism 50 and the guiding connecting member 60, the present invention makes the seal between the ultrasonic treatment mechanism 10 and the water base 40 a static seal, the seal between the guiding connecting member 60 and the water base 40 a static seal, and the seal between the rotating module 22 and the guiding connecting member 60 a dynamic seal. In this way, there is only one dynamic seal point in the highly sealed ultrasonic cavitation ablation treatment device of the present invention, thus simplifying the seal structure, improving the overall seal performance of the highly sealed ultrasonic cavitation ablation treatment device and reducing the device cost.

[0061] In the present invention, the lifting and rotating mechanism 20 and the motion adjusting mechanism 30 together support the ultrasonic treatment mechanism 10 and the coupling agent therein, thereby improving the support stability of the ultrasonic treatment mechanism 10 and meeting the support performance requirements for the ultrasonic treatment mechanism 10 during the cavitation ablation process. Moreover, the lifting and rotating mechanism 20 drives the ultrasonic observation mechanism 50 to rotate through the rotating module 22 and drives the ultrasonic observation mechanism 50 to lift along the first direction Z through the lifting module 21. Its superimposed motion with the motion of the motion adjusting 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 the treatment ultrasound during treatment, and be fully close to the tissue of the target organ during observation.

[0062] In addition, the high-efficiency sealed ultrasonic cavitation ablation treatment device of the present invention adopts a modular design, with stable and reliable quality, low cost, convenient maintenance, and low manufacturing and installation difficulty.

[0063] It should be noted that the first direction Z of the high-efficiency sealed ultrasonic cavitation ablation treatment device in the present invention is the direction of the lifting movement of the ultrasonic observation mechanism 50, and the first direction Z, the second direction X, and the third direction Y are three mutually perpendicular coordinate axis directions.

[0064] Figure 4 It is a three-dimensional structure diagram of the guiding connecting member.

[0065] Referring to Figure 3 and Figure 4 As shown in FIGS. 15 and 16, at least one first annular sealing groove 61A is provided on the inner wall of the guiding connecting member 60, and a first annular sealing ring C1 is arranged in the first annular sealing groove 61A. Among them, the first annular sealing ring C1 is arranged to maintain a sealed connection between the rotating module 22 and the inner wall of the guiding connecting member 60 during the lifting movement and the rotating movement of the rotating module 22.

[0066] Specifically, the first annular sealing ring C1 can be an O-ring or a star-shaped ring, or other shaped sealing ring structures.

[0067] In order to further improve the sealing performance between the rotating module 22 and the guiding connecting member 60, the number of the first annular sealing grooves 61A is multiple, and the multiple first annular sealing grooves 61A are arranged at intervals along the axial direction of the guiding connecting member 60, and a first annular sealing ring C1 is arranged in each first annular sealing groove 61A. In this way, through multi-stage sealing by multiple first annular sealing rings C1, the sealing performance between the rotating module 22 and the guiding connecting member 60 is greatly improved.

[0068] Referring to Figure 3 As shown in FIG. 17, a first annular seal G1 is provided between the ultrasonic treatment mechanism 10 and the water base 40, and the first annular seal G1 is used to seal and connect the ultrasonic treatment mechanism 10 and the water base 40 to maintain the seal between the ultrasonic treatment mechanism 10 and the water base 40. Specifically, the first annular seal G1 can be a ring gasket or a ring seal structure made of a soft material, such as a rubber gasket or a rubber seal.

[0069] A second annular seal (not shown) is provided between the guiding connecting member 60 and the water base 40, and the second annular seal is used to seal and connect the guiding connecting member 60 and the water base 40 to maintain the seal between the guiding connecting member 60 and the water base 40. Specifically, the second annular seal can be a ring gasket or a ring seal structure made of a soft material, such as a rubber gasket or a rubber seal.

[0070] The guiding connecting member 60 can be of a T-shaped sleeve structure. The guiding connecting member 60 includes a sleeve portion 61 and a flange connecting portion 62. The flange connecting portion 62 protrudes circumferentially from the sleeve portion 61. The sleeve portion 61 is provided with a first annular sealing groove 61A. The flange connecting portion 62 abuts against the water base 40 through a second annular sealing member and can be connected to the water base 40 by bolts.

[0071] Figure 5 The schematic diagram of the positional relationship among the lifting and rotating mechanism, the guiding connecting member, and the ultrasonic treatment mechanism of the present invention is shown.

[0072] Refer to Figure 3 and Figure 5 , the lifting module 21 is connected to the water base 40 through a first connecting plate 23, and the rotating module 22 is connected to the lifting module 21 through a second connecting plate 24.

[0073] The rotating module 22 includes a base 221, a rotating table 222, a connecting shaft 223, and a rotating motor 224. Among them, the base 221 is supported on the second connecting plate 24 and is connected to the lifting module 21 through the second connecting plate 24. The rotating table 222 is arranged on the base 221 and is movably connected to the base 221. The connecting shaft 223 passes through the guiding connecting member 60 and the water base 40 and is connected to the ultrasonic observation mechanism 50. The rotating table 222 is connected to one end of the connecting shaft 223 away from the ultrasonic observation mechanism 50. And the rotating motor 224 is arranged on the base 221 and is connected to the rotating table 222 to drive the rotating table 222 and the connecting shaft 223 to rotate relative to the base 221. Moreover, the connecting shaft 223 maintains a sealed connection with the inner wall of the guiding connecting member 60 through a first annular sealing ring C1 during its lifting and rotating movements.

[0074] 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 along with the motion adjusting mechanism 30, the ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20 and the ultrasonic observation mechanism 50 thereon can also move along with the water base 40. 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 guiding connecting member 60 and 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 guiding connecting member 60 and 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. Moreover, during the up-and-down movement and rotation movement of the connecting shaft 223, the first annular sealing ring C1 can always maintain the sealed connection between the connecting shaft 223 and the inner wall of the guiding connecting member 60, thereby ensuring the sealing performance and stability of the device during use. Among them, a certain gap can be set between the inner wall of the sleeve portion 61 and the outer peripheral surface of the connecting shaft 223, and a part of the first annular sealing ring C1 in the first annular sealing groove 61A can fill this gap and be in interference fit with the connecting shaft 223, so as to achieve both sealing and reducing the movement resistance.

[0075] The connecting shaft 223 passes through the first annular sealing ring C1 and its outer peripheral surface cooperates with the first annular sealing ring C1 to achieve a sealing effect, and in this way, the movement resistance can also be reduced. In addition, the rotating table 222 has a large transmission ratio, and a rotating motor 224 with a small power can meet the use requirements.

[0076] Referring to Figure 3 and Figure 5 , the rotating module 22 further includes a rotating connecting member 225. One end of the rotating connecting member 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 connecting member 225 can be an "I"-shaped hollow structure. Further, the rotating connecting member 225 is also provided with a notch A for cables and pipelines to pass through.

[0077] Continuing to refer to Figure 3 and Figure 5 , the rotating module 22 further includes a collecting member 226. The collecting member 226 is sleeved on the connecting shaft 223 and together with the connecting shaft 223 encloses a collecting groove D for collecting the coupling agent (such as water) that may leak between the connecting shaft 223 and the guiding connecting member 60.

[0078] Specifically, the collecting member 226 is also provided with a pipe thread hole for connecting a first joint E1, and the first joint E1 is used for connecting a collecting pipe (which can be a flexible pipe) to discharge the coupling agent in the collecting groove D to a designated position through the collecting pipe.

[0079] Figure 6 The three-dimensional structure diagram of the ultrasonic treatment mechanism of the present invention is shown, Figure 7 The internal structure schematic diagram of the support member of the ultrasonic treatment mechanism of the present invention is shown, Figure 8 The connection relationship schematic diagram between the laser of the present invention and the support member is shown, Figure 9 The three-dimensional structure diagram of the flexible water tank of the present invention is shown.

[0080] Referring to Figures 6 to 9 , the ultrasonic treatment mechanism 10 includes a flexible water tank 11, a support member 12, a laser 13, a transparent cover plate 14, a spring 15, and a plurality of ultrasonic treatment probes (not shown).

[0081] The support member 12 is disposed on one side of the water base 40 away from the lifting and rotating mechanism 20 in the first direction Z and is connected to the water base 40 (such as bolt connection), and a first annular seal G1 is disposed between the support member 12 and the water base 40 to ensure the seal between the two.

[0082] The flexible water tank 11 is disposed on the support member 12 and is connected to the edge of the support member 12. A through hole is provided at one end of the support member 12 close to the water base 40 (i.e., 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.

[0083] Wherein, a first mounting hole T4 and a second mounting hole T5 are provided on the inner wall of the cavity surrounded by the support member 12, as Figure 7 shown. The laser 13 is disposed in the first mounting hole T4. One end of the laser 13 is connected to the support member 12 through a spring 15. The transparent cover plate 14 is disposed at the end of the laser 13 away from the spring 15 and covers the first mounting hole T4, as Figure 8 shown.

[0084] A plurality of ultrasonic treatment probes are respectively disposed in the corresponding second mounting holes T5 (a plurality) and are hermetically connected to the inner wall of the second mounting hole T5, and the ultrasonic treatment probes can be fixed on the support member 12 through flanges and screws. The plurality of ultrasonic treatment probes cooperate to perform cavitation ablation on the target organ tissue.

[0085] In this embodiment, based on the characteristics of the flexible water tank 11 itself, the flexible water tank 11 can be appropriately deformed during use. By connecting the lower part of the flexible water tank 11 to the edge of the support member 12, the amount of coupling agent can be saved, the weight of the ultrasonic treatment mechanism 10 can be reduced, the replacement and maintenance of the ultrasonic treatment mechanism 10 are facilitated, and the cables used in 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 hermetically connected to the support member 12, which can play a role in fixing and sealing. Since one end of the laser 13 far from the transparent cover plate 14 abuts against the support member 12 through the spring 15, not only can the laser 13 be axially positioned by the spring 15, but also the elasticity of the spring 15 can be utilized to make the laser 13 closely adhere to the transparent cover plate 14. Moreover, by hermetically connecting the ultrasonic treatment probe to the inner wall of the second mounting hole T5 on the support member 12, the leakage of the coupling agent can be reduced.

[0086] Specifically, both the first mounting hole T4 and the second mounting hole T5 are stepped holes. One end of the first mounting hole T4 far from the transparent cover plate 14 is blocked with sealant. At least one second annular seal groove (not shown) is provided on the inner wall of the second mounting hole T5, and a second annular sealing ring (not shown) is installed in the second annular seal groove. Among them, the second annular sealing ring can be an O-ring or a sealing ring with other cross-sectional shapes. The ultrasonic treatment probe and the inner wall of the second mounting hole T5 are hermetically connected through the second annular sealing ring.

[0087] In order to further improve the sealing performance between the ultrasonic treatment probe and the second mounting hole T5, the number of the second annular seal grooves is multiple, and the multiple second annular seal grooves are arranged at intervals along the axial direction of the second mounting hole T5. Each second annular seal groove is provided with a second annular sealing ring. In this way, through multi-segment sealing by multiple second annular sealing rings, the sealing performance between the ultrasonic treatment probe and the second mounting hole T5 is greatly improved.

[0088] The tail of the ultrasonic treatment probe extends out of the second mounting hole T5 to be exposed outside the support member 12, so as to facilitate timely and rapid replacement when the ultrasonic treatment probe fails.

[0089] Due to the shape of the target organ, it will block the light on one side. In order to avoid light blockage, four first mounting holes T4 can be arranged on the support member 12 at intervals of 90 degrees, so that two adjacent lasers 13 are installed at 90 degrees, as Figure 7 shown.

[0090] Since a single laser 13 emits fan-shaped light, two lasers 13 arranged at 90 degrees can form cross-shaped light. Therefore, based on the arrangement of 4 lasers 13 installed at 90 degrees, cross-shaped light can be seen no matter from which side of the target organ. Moreover, the cross-shaped light formed by two lasers 13 arranged at 90 degrees can be used for positioning, and the treatment focus is directly above the cross intersection point.

[0091] Preferably, 2 of the lasers 13 can be arranged at intervals along the second direction X, and 2 of the lasers 13 can be arranged at intervals 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 point.

[0092] A water injection port T6 is also provided on the support 12. A water injection pipe (not shown) is arranged inside the water injection port T6. The water injection pipe is of a bent structure and can be used to inject coupling agent circumferentially towards the bottom of the support 12 through a pump, thereby preventing the coupling agent with a certain pressure from splashing. In this way, it can be avoided that the coupling agent directly sprays out of the internal space of the support 12, which reduces the contact opportunity between the coupling agent and air, and further reduces the oxygen content in the coupling agent.

[0093] Refer to Figure 5 and Figure 9 , the flexible water tank 11 includes a main body portion 111, and a first flanging portion 112 and a second flanging portion 113 arranged at both axial ends of the main body portion 111.

[0094] The main body portion 111 encloses a hollow cavity and has a first port close to the support 12 and a second port far from the support 12. The first flanging portion 112 is connected to the edge of the first port and extends in a direction away from the hollow cavity and is connected to the support 12. The second flanging portion 113 is connected to the edge of the second port and extends in a direction away from the hollow cavity. Among them, the main body portion 111 can be selected with different morphological structures. For example, the generatrix of the main body portion 111 can be wavy (multi-folded structure), arc-shaped (drum-shaped structure), or polyline-shaped, so that the flexible water tank 11 has sufficient deformation ability and can be deformed appropriately in size during use.

[0095] Refer to Figure 5 and Figure 6, the support member 12 includes a main body portion 121, a third flanging portion 122 formed at one end of the main body portion 121 close to the flexible water pool 11, and a first limiting portion 123 formed at the outer edge of the third flanging portion 122. In the up-and-down direction Z, the first limiting portion 123 extends in the direction towards the flexible water pool 11, and the first limiting portion 123 and the third flanging portion 122 together enclose a first limiting groove for receiving the first flanging portion 112 of the flexible water pool 11. A first pressing ring F1 is further provided on the side of the first flanging portion 112 facing away from the third flanging portion 122, and the first pressing ring F1 cooperates with the third flanging portion 122 to press the first flanging portion 112 therebetween.

[0096] During the connection process of the flexible water pool 11 and the support member 12, the first pressing ring F1 is connected to the third flanging portion 122 of the support member 12 to press the first flanging portion 112 therebetween. Due to the flexibility of the flexible water pool 11 itself, when the first pressing ring F1 and the support member 12 press the first flanging portion 112 therebetween, it can directly play a sealing role, so there is no need to additionally provide other sealing structural parts.

[0097] Refer to Figure 6 and Figure 9 , a second limiting portion 114 extending in the up-and-down direction Z is further formed at the outer edge of the second flanging portion 113. In the up-and-down direction Z, the second limiting portion 114 extends in the direction away from the main body portion 111, and the second limiting portion 114 and the second flanging portion 113 together enclose a second limiting groove in which a second pressing ring F2 can be provided.

[0098] During the connection process of the flexible water pool 11 and the bed board 70, the second pressing ring F2 is connected to the bed board 70 to press the second flanging portion 113 therebetween. Due to the flexibility of the flexible water pool 11 itself, when the second pressing ring F2 and the bed board 70 press the second flanging portion 113 therebetween, it can directly play a sealing role, so there is no need to additionally provide other sealing structural parts.

[0099] Figure 10 The three-dimensional structure diagram of the bed board of the present invention is shown.

[0100] Refer to Figure 2 and Figure 10 , the high-efficiency sealing ultrasonic cavitation ablation treatment device further includes a bed board 70. The bed board 70 has a first step surface 71 and a second step surface 72 provided higher than the first step surface 71. The first step surface 71 fits on the surface of the second flanging portion 113 facing the first flanging portion 112 and is connected to the second flanging portion 113. An overflow port 72A is provided on the second step surface 72, and a second joint E2 is provided in the overflow port 72A. The second joint E2 is used to connect an overflow pipe (not shown) to discharge the overflowing coupling agent through the overflow pipe.

[0101] In this embodiment, through the cooperation between the second flanging portion 113 of the flexible water tank 11 and the first stepped surface 71, the upper part of the flexible water tank 11 can be fixed to the bed plate 70, facilitating the installation and disassembly between the flexible water tank 11 and the bed plate 70. Meanwhile, through the first flanging portion 112 of the flexible water tank 11, the lower part of the flexible water tank 11 is fixed to the support member 12, which can save the coupling agent and facilitate the maintenance and replacement of the entire ultrasonic treatment mechanism 10. Moreover, since the upper and lower parts of the flexible water tank 11 are respectively fixed to the bed plate 70 and the support member 12 without being connected to the water base 40, the flexible water tank 11 can move together with the support member 12, which is conducive to reducing the volume of the flexible water tank 11.

[0102] Specifically, the second joint E2 is a taper joint. A water receiving tray is provided at the bottom of the bed plate 70. One end of the overflow pipe is connected to the second joint E2, and the other end is located directly above and close to the water receiving tray to drain the overflowing coupling agent into the water receiving tray. Among them, in order to facilitate the taking and placing of the water receiving tray, the water receiving tray is detachably arranged at the bottom of the bed plate 70 for convenient extraction and replacement. This setting method of the water receiving tray is simple and convenient to use, and can be applied to occasions with a large amount of overflowing coupling agent.

[0103] In some embodiments, a plurality of overflow ports 72A can be provided on the second stepped surface 72 of the bed plate 70. A photoelectric water level sensor is connected to the overflow pipe corresponding to one of the overflow ports 72A. When water overflows, the photoelectric water level sensor can send a signal to the system software, and the software can display whether water overflows, thereby prompting the operator to perform relevant operations.

[0104] Figure 11 The three-dimensional structure diagram of the water base of the present invention is shown.

[0105] Refer to Figure 11 , the support member 12 of the ultrasonic treatment mechanism 10 is connected to the lifting module 21 of the lifting and rotating mechanism 20 through the water base 40 and the motion adjusting mechanism 30.

[0106] 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, and 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.

[0107] Among them, the first mounting portion 41 is connected to the motion adjusting mechanism 30 and mounts the lifting and rotating mechanism 20. The second mounting portion 42 is provided with a plurality of stepped holes T1 for the ultrasonic treatment mechanism 10 to be fixedly installed and a plurality of threaded holes T2 for the guiding connecting member 60 to be fixedly installed.

[0108] The second mounting portion 42 of the water base 40 is connected to the support member 12 of the ultrasonic treatment mechanism 10 through a plurality of stepped holes T1 and screws, so that the ultrasonic treatment mechanism 10 is installed on the water base 40. The second mounting portion 42 of the water base 40 is connected to the flange connection portion 62 of the guide connection member 60 through a plurality of threaded holes T2 and screws, so that the super-guide connection member 60 is installed on the water base 40. Among them, the second mounting portion 42 on the water base 40 is also provided with a through hole T3, and the ultrasonic observation mechanism 50 is penetrated through the guide connection member 60 and the through hole T3 to be movably connected with the ultrasonic treatment mechanism 10.

[0109] In this embodiment, the water base 40 bears the load and transmits the load to the motion adjustment mechanism 30, 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.

[0110] Further references Figure 11 The water base 40 is also provided with a first reinforcing rib 44 , a second reinforcing rib 45 and a third reinforcing rib 46 .

[0111] 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.

[0112] 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.

[0113] 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.

[0114] Continue to refer to Figure 1 and Figure 2, the motion adjustment mechanism 30 includes a first adjustment mechanism 31, a second adjustment mechanism 32, and a third adjustment mechanism 33. Among them, the first adjustment mechanism 31 is connected to the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 through the water base 40, and is used to adjust the positions 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 positions of the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 in the second direction X. The third adjustment mechanism 33 is connected to the second adjustment mechanism 32 and is used to adjust the positions of the ultrasonic observation mechanism 50 and the lifting and rotating mechanism 20 in the third direction Y.

[0115] The motion adjustment mechanism 30 is a three-axis motion mechanism, which can realize the motion in the three coordinate axis directions to adjust the spatial positions of the ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20, and the ultrasonic observation mechanism 50 thereon.

[0116] In this example, during the use of the high-efficiency sealed ultrasonic cavitation ablation treatment device, the spatial positions of the ultrasonic treatment mechanism 10, the lifting and rotating mechanism 20, and the ultrasonic observation mechanism 50 thereon can be roughly adjusted through the first adjustment mechanism 31, the second adjustment mechanism 32, and the third adjustment mechanism 33 of the motion adjustment mechanism 30, so that the ultrasonic treatment mechanism 10 and the ultrasonic observation mechanism 50 are guided to the positions corresponding to the target organ tissue under the action of the motion adjustment mechanism 30. Then, the relative position between the ultrasonic observation mechanism 50 and the target organ tissue is finely adjusted through the lifting and rotating mechanism 20 to obtain the precise position of the target organ tissue, so that the ultrasonic treatment mechanism 10 can perform cavitation ablation on the target organ tissue at a suitable 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 the damage to normal tissues, and it meets the motion control accuracy requirements of the ultrasonic treatment mechanism 10 during the cavitation ablation process.

[0117] 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 in the second direction X. Among them, 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.

[0118] 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.

[0119] Figure 12 A three-dimensional structural diagram of the first adjustment mechanism of the present invention is shown.

[0120] Reference Figure 12 The 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 .

[0121] 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.

[0122] 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.

[0123] 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.

[0124] In this embodiment, in the first direction Z, the first adjustment mechanism 31 is integrally erected on the second adjustment mechanism 32. Since the first motor 315 is suspended in the first direction Z at one end of the first mounting base 312 away from the connecting seat 311, it is equivalent to inverting the first mounting base 312 and the first motor 315 thereon as a whole on the connecting seat 311, thereby minimizing the size of the connecting seat 311, and thus improving the space utilization rate of the first adjustment mechanism 31. Moreover, since the first motor 315 is located on the side of the first sliding table 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 located on both sides of the first sliding table 314 in the third direction Y. At this time, the first motor 315 can balance a part of the bending moment formed by the weight of the coupling agent on the lifting and rotating mechanism 20 and itself, making the overall structure of the device stable. When the device moves, the ultrasonic treatment mechanism 10 is not prone to jitter, improving the focusing accuracy of the ultrasonic treatment mechanism 10, and further reducing the damage to normal tissues.

[0125] In an embodiment not shown, the first adjustment mechanism 31 further includes a first guiding assembly. The first guiding assembly includes a first guide rail, a first slider, and a first rolling body. The first slider is connected to the first sliding table 314, and the first slider is in rolling connection with 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 sliding table 314. Specifically, the first guide rail is used to guide and support the first slider and the first sliding table 314 thereon. The first guide rail can be a linear guide rail, and the first guide rails can be arranged in pairs.

[0126] Furthermore, the first transmission assembly may include a first pulley, a second pulley, a first synchronous belt, a first screw rod, and a first nut. Among them, 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 rod, the first nut is connected to the first sliding table 314, the first screw rod is connected to the first nut and rotates under the action of the first motor 315, and the first nut drives the first sliding table 314 to move linearly in the first direction Z under the rotation of the first screw rod.

[0127] Specifically, when starting the first motor 315 to work, 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 rod to rotate. During the rotation of the first screw rod, the first nut is driven to move linearly, so that the first nut drives the first sliding table 314 to move linearly in the first direction Z.

[0128] Figure 13 The three-dimensional structure diagram of the second adjustment mechanism of the present invention is shown.

[0129] Refer to Figure 13, the second adjustment mechanism 32 includes a second mounting base 321, a second cover plate 322, a second sliding table 323, a second transmission assembly (not shown), and a second motor 324.

[0130] The second mounting base 321 forms a second mounting cavity. The second cover plate 322 extends along the second direction X and is disposed at the open end of the second mounting cavity and connected to the second mounting base 321. The second sliding table 323 is disposed between the second mounting base 321 and the second cover plate 322 and connected to the first adjustment mechanism 31. The second motor 324 and the second transmission assembly are both disposed on the second mounting base 321, and the second motor 324 is located on the side of the second sliding table 323 away from the lifting and rotating mechanism 20 in the third direction Y. The second motor 324 is connected to the second sliding table through the second transmission assembly. The second transmission assembly is configured to convert the rotational motion of the second motor 324 into a linear motion of the second sliding table 323 along the second direction X.

[0131] In this embodiment, in the first direction Z, the second adjustment mechanism 32 lies flat between the first adjustment mechanism 31 and the third adjustment mechanism 33, and in the third direction Y, the second motor 324 is located on the side of the second sliding table 323 away from the lifting and rotating mechanism 20. This is equivalent to the second motor 324 and the lifting and rotating mechanism 20 being located on both sides of the second sliding table 323 in the third direction Y. At this time, the second motor 324 can balance a partial bending moment formed by the weight of the lifting and rotating mechanism 20 and the coupling agent thereon, making the overall structure of the device stable. When the device moves, the ultrasonic treatment mechanism 10 is not prone to jitter, improving the focusing accuracy of the ultrasonic treatment mechanism 10, and thus reducing the damage to normal tissues.

[0132] In an embodiment not shown, the second adjustment mechanism 32 further includes a second guiding assembly. The second guiding assembly includes a second guide rail, a second slider, and a second rolling body. The second slider is connected to the second sliding table 323, and the second slider is in rolling connection with the second guide rail through the first rolling body, so that the second slider can slide along the second guide rail with the second sliding table 323 under the action of the second transmission assembly. Specifically, the second guide rail is used to guide and support the second slider and the second sliding table 323 thereon. The second guide rail can be a linear guide rail, and the second guide rails can be arranged in pairs.

[0133] Furthermore, the second transmission assembly includes a third pulley, a fourth pulley, a second synchronous belt, a second screw rod, and a second nut. Among them, 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 rod, the second nut is connected to the second sliding table 323, the second screw rod is connected to the second nut and rotates under the action of the second motor 324, and the second nut drives the second sliding table 323 to move linearly along the second direction X under the rotation of the second screw rod.

[0134] Specifically, when starting the operation of the second motor 324, the second motor 324 drives the third pulley to rotate. The third pulley drives the fourth pulley to rotate through the second synchronous belt, and the fourth pulley drives the second screw rod to rotate. During the rotation of the second screw rod, it drives the second nut to move linearly, so that the second nut drives the second slide table 323 to move linearly along the second direction X.

[0135] Figure 14 Fig. shows a three-dimensional structural view of the third adjustment mechanism of the present invention.

[0136] Refer to Figure 14 , the third adjustment mechanism 33 includes a third mounting base 331, a third cover plate 332, a third slide table 333, a third transmission component (not shown), and a third motor 334.

[0137] The third mounting base 331 forms a third mounting cavity. The third cover plate 332 extends along the third direction Y and is disposed at the opening end of the third mounting cavity and connected to the third mounting base 331. The third slide table 333 is disposed between the third mounting base 331 and the third cover plate 332 and connected to the second adjustment mechanism 32. The third motor 334 and the third transmission component are both disposed on the third mounting base 331, and the third motor 334 is located on one side of the third mounting base 331 in the third direction Y. The third motor 334 is connected to the third slide table 333 through the third transmission component. The third transmission component is used to convert the rotational motion of the third motor 334 into the linear motion of the third slide table 333 along the third direction Y.

[0138] It can be understood that, as Figure 1 shown, for the paired third adjustment mechanisms 33, the third slide tables 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 on a straight line for connecting with the two third slide tables 333 respectively.

[0139] In an embodiment not shown, the third adjustment mechanism 33 further includes a third guiding component. The third guiding component includes a third guide rail, a third slider, and a third rolling body. The third slider is connected to the third slide table 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 table 333 under the action of the third transmission component. Specifically, the third guide rail is used to guide and support the third slider and the third slide table 333 thereon. The third guide rail can be a linear guide rail, and the third guide rails can be provided in pairs.

[0140] Further, the third transmission assembly includes a third coupling, a third screw, and a third nut. Among them, the third motor 334 is connected to the third screw through the third coupling. The third nut is connected to the third sliding table 333. The third screw is connected to the third nut and rotates under the action of the third motor 334. The third nut drives the third sliding table 333 to linearly move along the third direction Y under the rotation of the third screw.

[0141] Here, it should be noted that the structure of the lifting module 21 of the lifting and rotating mechanism 20 can adopt the driving method of the first adjusting mechanism 31, the second adjusting mechanism 32, or the third adjusting mechanism 33 to realize the lifting movement of the ultrasonic observation mechanism 50 along the first direction Z. The present invention will not elaborate in detail.

[0142] The motors in the first adjusting mechanism 31, the second adjusting mechanism 32, and the third adjusting mechanism 33 of the motion adjusting mechanism 30 in 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. It can detect information such as vibration and overload, and compare with sample data, which can avoid sudden shutdown of the equipment; 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 motors can also be driven by stepping motors.

[0143] Figure 15 The three-dimensional structure diagram of the ultrasonic observation mechanism of the present invention is shown.

[0144] Refer to Figure 15 , the ultrasonic observation mechanism 50 includes a fixture 51, an imaging probe 52, and a video camera 53. Among them, the fixtures 51 are arranged in pairs and clamp the imaging probe 52, and the video camera 53 is arranged on one of the fixtures 51 and is inclined towards the imaging probe 52.

[0145] The lifting and rotating mechanism 20 is connected to the fixture 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, it can provide a preliminary basis for the positioning and movement of the ultrasonic observation mechanism 50 and the imaging probe 52, and setting the video camera 53 to be inclined towards the imaging probe 52 can make the imaging probe 52 within the field of view of the video camera 53.

[0146] Specifically, the imaging probe 52 can be imaged and observed by adopting B-mode and Doppler mode or 3D "volume" ultrasonic imaging.

[0147] Refer to Figure 3 and Figure 15, a drain port is provided at the lower part of one of the jigs 51, and a third joint E3 is provided in the drain port. The third joint E3 is used to connect a first water connecting pipe (not shown), and an electromagnetic control valve is provided on the first water connecting pipe. Specifically, the third joint E3 can be a tapered joint. Further, a second water connecting pipe is also connected to a portion of the water connecting pipe between the third joint E3 and the electromagnetic control valve, and a manual control ball valve is provided on the second water connecting pipe.

[0148] Since the drain port is provided at the lower part of the jig 51, when the imaging probe 52 descends to the bottom of the support member 12, the position of the drain port is at the lowest point of the coupling agent, which is beneficial to discharging all the coupling agent, and the discharging effect is good. Moreover, when it is necessary to discharge the coupling agent, the electromagnetic control valve can be controlled to open by operating a button, or the manual control ball valve can be manually controlled when the electromagnetic control valve is powered off to discharge the coupling agent.

[0149] The embodiments of the present disclosure have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skill in the art in the technical field to understand the embodiments disclosed herein.

Claims

1. A highly efficient sealed ultrasonic cavitation ablation treatment device, characterized in that: It comprises an ultrasonic treatment mechanism (10), a lifting and rotating mechanism (20), a motion adjustment mechanism (30), a water base (40), an ultrasonic observation mechanism (50), and a guide connection member (60); The ultrasonic treatment mechanism (10) is arranged on one side of the water base (40) in a first direction (Z) and is sealedly connected to the water base (40); The guide connection member (60) is arranged on a side of the water base (40) facing away from the ultrasonic treatment mechanism (10) and is sealedly connected to the water base (40); The lifting and rotating mechanism (20) comprises a lifting module (21) and a rotating module (22); the lifting module (21) is connected to the water base (40); one end of the rotating module (22) is connected to the lifting module (21); the other end of the rotating module (22) is passed through the guide connecting member (60) and is connected to the ultrasonic observation mechanism (50); and the portion of the rotating module (22) located in the guide connecting member (60) is sealed and connected to the guide connecting member (60) during the lifting and rotating movements of the rotating module (22); The ultrasonic observation mechanism (50) is inserted into the water base (40) and is movably connected to the ultrasonic treatment mechanism (10); the movement adjustment mechanism (30) is connected to the water base (40) and is used to adjust the positions of the ultrasonic treatment mechanism (10) and the ultrasonic observation mechanism (50) via the water base (40); At least one first annular sealing groove (61A) is provided on the inner wall of the guide connecting member (60), and a first annular sealing ring (C1) is provided in the first annular sealing groove (61A); The rotating module (22) comprises a base (221), a rotating platform (222), a connecting shaft (223) and a rotating motor (224); The connecting shaft (223) is arranged through the guide connecting member (60) and the water base (40) and is connected to the ultrasonic observation mechanism (50); the rotating platform (222) is connected to an end of the connecting shaft (223) away from the ultrasonic observation mechanism (50); and the connecting shaft (223) maintains a sealed connection with the inner wall of the guide connecting member (60) via the first annular sealing ring (C1) during its lifting and lowering movement and rotational movement.

2. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The first annular sealing ring (C1) is configured to maintain a sealed connection between the rotating module (22) and the inner wall of the guide connection member (60) during the lifting and rotating movement of the rotating module (22).

3. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 2, characterized in that: 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 rotating motor (224) is arranged on the base (221) and is connected to the rotating platform (222) to drive the rotating platform (222) and the connecting shaft (223) to rotate relative to the base (221).

4. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: A first annular seal (G1) is provided between the ultrasonic treatment mechanism (10) and the water base (40), the first annular seal (G1) being used for sealingly connecting the ultrasonic treatment mechanism (10) and the water base (40); and / or A second annular seal is provided between the guide connection piece (60) and the water base (40), the second annular seal being used to seal the guide connection piece (60) and the water base (40).

5. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 3, characterized in that: The rotating module (22) further comprises a collecting member (226), wherein the collecting member (226) is sleeved on the connecting shaft (223) and together with the connecting shaft (223) forms a collecting groove (D), wherein the collecting groove (D) is used to collect coupling agent leaked between the connecting shaft (223) and the guide connecting member (60); The collecting member (226) is also provided with a pipe threaded hole, the pipe threaded hole is used to connect to a first joint (E1), and the first joint (E1) is used to connect to a collecting pipe to discharge the coupling agent in the collecting tank (D).

6. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: The ultrasonic treatment mechanism (10) comprises a flexible water pool (11), a support member (12), a laser (13), a transparent cover plate (14), a spring (15), and a plurality of ultrasonic treatment probes; The support member (12) is arranged on one side of the water base (40) in the first direction (Z) and is sealedly connected to the water base (40); the flexible water pool (11) is arranged on the support member (12) and is connected to the support member (12); 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); the laser (13) is arranged in the first mounting hole (T4); one end of the laser (13) is connected to the support member (12) via the spring (15); and the transparent cover plate (14) is arranged at an end of the laser (13) away from the spring (15) and covers the first mounting hole (T4); The plurality of ultrasonic treatment probes are respectively installed in the corresponding second mounting holes (T5) and are sealed and connected to the inner wall of the second mounting holes (T5).

7. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 6, characterized in that: At least one second annular sealing groove is provided on the inner wall of the second mounting hole (T5), a second annular sealing ring is provided in the second annular sealing groove, and the ultrasonic treatment probe is sealedly connected to the inner wall of the second mounting hole (T5) via the second annular sealing ring; and / or The support member (12) is also provided with a water injection port (T6), and a water injection pipe is provided in the water injection port (T6), and the water injection pipe is a curved structure for injecting water toward the bottom of the support member (12).

8. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 6, characterized in that: The flexible water pool (11) comprises a main body (111) and a first flange portion (112) and a second flange portion (113) arranged at two axial ends of the main body (111); The main body (111) is arranged to form a hollow cavity and has a first port close to the support member (12) and a second port away from the support member (12); the first flange portion (112) is connected to an edge of the first port and extends in a direction away from the hollow cavity and is connected to the support member (12); the second flange portion (113) is connected to an edge of the second port and extends in a direction away from the hollow cavity; Wherein, the generatrix of the main body (111) is in the shape of a wave, an arc, or a broken line.

9. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 8, characterized in that: The highly efficient sealed ultrasonic cavitation ablation treatment device further comprises a bed plate (70), the bed plate (70) comprising a first step surface (71) and a second step surface (72) arranged higher than the first step surface (71), the first step surface (71) being in contact with a surface of the second flange portion (113) facing the first flange portion (112) and being connected to the second flange portion (113); The second step surface (72) is provided with an overflow port, and a second joint (E2) is provided in the overflow port. The second joint (E2) is used to connect to an overflow pipe.

10. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: 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 a 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 motion adjustment mechanism (30) 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 fixed installation of the ultrasonic treatment mechanism (10) and a plurality of threaded holes (T2) for fixed installation of the guide connection member (60).

11. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 1, characterized in that: 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); One of the clamps (51) is provided with a drain port, a third joint (E3) is provided in the drain port, the third joint (E3) is used to connect to a first water receiving pipe, and an electromagnetic control valve is provided on the first water receiving pipe.

12. The highly efficient sealed ultrasonic cavitation ablation treatment device according to claim 11, characterized in that: The portion of the water receiving pipe between the third joint (E3) and the electromagnetic control valve is also connected to a second water receiving pipe, and a hand-controlled ball valve is arranged on the second water receiving pipe.

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