Dynamic focus positioning treatment device and method based on phased array ultrasound and real-time imaging

Abstract

The invention provides a dynamic focus positioning treatment device and method based on phased array ultrasound and real-time imaging, and the device comprises an ultrasonic treatment mechanism which comprises an annular phased ultrasonic transducer, and the annular phased ultrasonic transducer comprises a plurality of focused ultrasonic array elements which are arranged in a concentric ring shape and have gradually increased inner diameters; the ultrasonic imaging mechanism is integrated with the ultrasonic treatment mechanism, comprises an imaging transducer coaxially arranged with the annular phase control ultrasonic transducer, and is used for performing feature recognition on the echo signals and finally outputting image data of the uterus containing real-time coordinate parameters; the terminal mechanism is connected with the ultrasonic treatment mechanism and the ultrasonic imaging mechanism and used for receiving the image data, obtaining working parameters of the ultrasonic treatment mechanism according to the image data and outputting the working parameters, so that the ultrasonic treatment mechanism adjusts the ultrasonic energy and the ultrasonic focus point in real time. The mode of combining phased array ultrasound and real-time ultrasound imaging is adopted, and non-intrusive and real-time positioning uterus involution treatment is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic detection, and in particular relates to a dynamic focus positioning treatment device and method based on phased array ultrasound and real-time imaging. Background Art

[0002] Currently, traditional transvaginal electrical stimulation technology, biofeedback technology, or focused ultrasound therapy technology are commonly used to treat uterine involution after childbirth. However, existing uterine involution treatment technologies have the following problems: Traditional transvaginal electrical stimulation or biofeedback technology requires direct insertion of electrodes into the vagina, which carries the risk of cross-infection. Furthermore, to avoid vaginal damage, intervention must wait until the vagina has healed, missing the golden recovery window of 24-72 hours after delivery. Regarding focused ultrasound therapy technology: 1. The position of the ultrasound focus is fixed and cannot be adapted to patients of different body shapes; 2. Due to individual BMI differences, there is an offset of about ±3cm in the position of the anterior / posterior wall of the uterus, resulting in unstable treatment effects; 3. The thickness of the individual uterine wall varies, and the focal length of the focused transducer is fixed with the focal axial length, which easily leads to the risk of focal energy being focused in the cavity, causing tissue deformation; 4. Cesarean section patients should not press on the abdomen during wound recovery. If the focus of the ultrasound equipment for uterine involution is fixed, then it is necessary to wait until the wound is completely repaired, and the ultrasound equipment with a fixed focus cannot be used in time; 5. Ultrasound below 1MHz is prone to cavitation effect, which may cause the risk of rupture of blood vessel walls and tissues. Summary of the Invention

[0003] An embodiment of the present invention provides a dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging, which aims to solve the technical problems existing in traditional transvaginal electrical stimulation technology or biofeedback technology: the possibility of cross infection and inability to use in a timely manner, as well as the technical problems existing in focused ultrasound treatment technology: low applicability, unstable treatment effect, risk of tissue deformation, inability to use in a timely manner, and risk of vascular wall / tissue rupture.

[0004] The embodiment of the present invention is implemented as follows: a dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging, comprising: An ultrasonic treatment mechanism, comprising an annular phased ultrasonic transducer, the annular phased ultrasonic transducer comprising a plurality of focused ultrasonic array elements arranged in concentric rings and having gradually increasing inner diameters, the plurality of focused ultrasonic array elements being configured to emit focused ultrasonic waves to achieve ultrasonic focused treatment, the frequency of the annular phased ultrasonic transducer being 20 kHz to 80 MHz; an ultrasonic imaging mechanism integrated with the ultrasonic treatment mechanism, the ultrasonic imaging mechanism comprising an imaging transducer coaxially arranged with the annular phased ultrasonic transducer, the imaging transducer employing electronic phased imaging or mechanical sector scanning imaging, for transmitting ultrasonic waves and receiving echo signals, the ultrasonic imaging mechanism being configured to: perform feature recognition on the echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters and establish a three-dimensional coordinate system, and output image data of the uterus including real-time coordinate parameters; and monitor cavitation effects in the uterus in real time; and a terminal mechanism connected to the ultrasonic treatment mechanism and the ultrasonic imaging mechanism, the terminal mechanism being configured to: receive the image data output by the ultrasonic imaging mechanism in real time, select a target area in the uterus according to the image data, and calculate the actual distance between the target area and the imaging transducer and the thickness of the uterine wall; calculate and output the working parameters of the ultrasonic treatment mechanism in real time according to the actual distance and the thickness of the uterine wall; enable the ultrasonic treatment mechanism to adjust the ultrasonic energy output by the annular phased ultrasonic transducer and the ultrasonic focal point in the uterus in real time according to the working parameters, wherein the focal length of the annular phased ultrasonic transducer is equal to the actual distance, and the axial length of the focal point is less than the thickness of the uterine wall; and shut down or reduce the ultrasonic energy output of the device when a cavitation effect occurs.

[0005] In one embodiment, the operating parameters include a time delay parameter of each of the focused ultrasound array elements, and the time delay parameter is calculated by the following method: Obtain the interval radius R between the center point of the annular phased ultrasonic transducer and each of the focused ultrasonic array elements i and a depth H between the ultrasonic focal point and the actual distance, wherein i is the serial number of the focused ultrasonic array element, and the depth H is equal to the sum of the actual distance and the spacing distance between the annular phased ultrasonic transducer and the imaging transducer; According to the first calculation formula, the interval radius R i The linear distance d between each focused ultrasound array element and the ultrasound focal point is calculated based on the depth distance H. i , the first calculation formula is: R i 2 +H 2 =d i 2 ; According to the second calculation formula and the straight line distance d i Calculate the time T required for the ultrasonic wave emitted by each focused ultrasonic array element to reach the ultrasonic focal point i , the second calculation formula is: d i =C*T i , where C is the speed of ultrasound; and According to the third calculation formula, and taking the time delay reference of the focused ultrasound array element at the center as 0, the time delay parameter ΔT of each focused ultrasound array element is calculated. i , the third calculation formula is: △T i =(T i -T0), wherein T0 is the time required for the focused ultrasound array element located at the center to transmit ultrasound to the ultrasound focal point; The operating parameters also include the number Num of clock cycles that each focused ultrasound array element needs to delay transmission, and the number Num of clock cycles is calculated using the following formula: Num=△T i / T clk , where T clk is the clock period of the ultrasonic treatment mechanism.

[0006] In one embodiment, the operating parameters further include a power parameter of the annular phased ultrasonic transducer, and the power parameter is calculated by the following method: Taking each focused ultrasound array element as a point source, the sound pressure p when the ultrasound wave emitted by each focused ultrasound array element reaches the ultrasound focal point is calculated by the Rayleigh integral formula. i (r), the Rayleigh integral formula is: (i=1, 2, ..., N), where i is the serial number of the focused ultrasound array element, j is the Y axis of the complex plane, ω is the angular frequency, e is the natural constant, S' is the integrated area, ρ0 is the medium density, |rr'| is the straight-line distance between the ultrasound focus point and each of the focused ultrasound array elements, and v i 、S i , k are respectively the vibration speed, surface area, and number of pulses emitted of each of the focused ultrasound array elements; Obtain the wavelength of the annular phased ultrasonic transducer and the annular radius R, and obtain the straight-line distance d between each of the focused ultrasound array elements and the ultrasound focus point i and the angle θ i , combined with the fourth calculation formula, the phase delay φ from each focused ultrasound array element to the ultrasound focal point is calculated i , the fourth calculation formula is: ; According to the sound pressure p when the ultrasonic wave emitted by each focused ultrasonic array element reaches the ultrasonic focal point i (r) and the fifth calculation formula, calculate the total sound pressure p when the ultrasonic waves emitted by all the focused ultrasonic array elements reach the ultrasonic focal point total (r), the fifth calculation formula is: (N=8, 10, 12, 14, 16), where w i is the amplitude weight of each focused ultrasound array element, N is the number of the focused ultrasound array elements; An ultrasonic observation point located near the ultrasonic focal point is selected, and the sum of the sound pressures at the ultrasonic observation point is calculated according to the fifth calculation formula. The judgment condition for the sound pressure magnitude X is set by combining the sound pressure of the main lobe being greater than the sound pressure of the side lobe to form the judgment formula: , where p total (r sidelobe ) is the total sound pressure at the ultrasonic observation point, p total (r focus ) is the sum of the sound pressures at the ultrasound focus; and When the judgment formula is established, the amplitude weight w i Output is power parameter; when the judgment formula is not established, adjust the amplitude weight w in the fifth calculation formula i And recalculate until the judgment formula is established.

[0007] In one embodiment, the amplitude weight w is adjusted by a spatial filtering algorithm. i , the calculation formula of the spatial filtering algorithm is: ;or ;or ; Among them, the amplitude weight w i is the actual output value of each channel, w max is the maximum output power of the system, i is the serial number of the focused ultrasound array element, and N is the number of the focused ultrasound array elements.

[0008] In one embodiment, the frequency of the annular phased ultrasonic transducer is 20 kHz to 80 MHz, the area of ​​each of the focused ultrasonic array elements is equal, and the annular phased ultrasonic transducer is designed by an equal-area design method, which includes the following steps: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer , combined with the sixth calculation formula to obtain the opening radius D of the annular phased ultrasonic transducer, the sixth calculation formula is: , where a is an empirical constant; According to the opening radius D and the seventh calculation formula, the total effective area S of the annular phased ultrasonic transducer is calculated as follows: total , the seventh calculation formula is: S total =πR 2, where the annular radius R=D / 2; According to the total effective area S total , the number N of the focused ultrasound array elements and the eighth calculation formula are used to calculate the single ring area S of a single focused ultrasound array element single , the eighth calculation formula is: S single =S total / N (N=8, 10, 12, 14, 16); and According to the total effective area S total The outer ring radius r of each focused ultrasound array element is calculated using the iterative calculation formula i , the iterative calculation formula is: r i = (i=1, 2, ..., N), wherein i is the serial number of the focused ultrasound array element, and the initial inner radius r0 of the focused ultrasound array element is 0.

[0009] In one embodiment, the frequency of the annular phased ultrasonic transducer is 20 kHz to 80 MHz, the width of each of the focused ultrasonic array elements is equal, and the annular phased ultrasonic transducer is designed by an equal-width design method, which includes the following steps: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer , the opening radius D of the annular phased ultrasonic transducer is calculated by combining the ninth calculation formula, the ninth calculation formula is: , where a is an empirical constant, and the spacing between adjacent ultrasonic array elements L≥0.5 ; Calculating a width Δr of a single focused ultrasound array element according to the opening radius D, the number N of focused ultrasound array elements, and a tenth calculation formula: Δr=R / N, where R is the total opening radius of the annular phased ultrasound transducer, and R=D / 2; and According to the width Δr of a single focused ultrasound array element and the eleventh calculation formula, the outer ring radius r of each focused ultrasound array element is calculated. i , the eleventh calculation formula is: r i =i*△r (i=1, 2, ..., N), where i is the serial number of the focused ultrasound array element, and the initial inner radius r0 of the focused ultrasound array element is 0.

[0010] In one embodiment, the ultrasound treatment mechanism further comprises: a first FPGA chip connected to the terminal mechanism and the annular phased ultrasonic transducer, the first FPGA chip being configured to receive the operating parameters and control instructions from the terminal mechanism; a signal source connected to the first FPGA chip; and An ultrasonic transducer excitation module connected to the signal source and the annular phased ultrasonic transducer, the ultrasonic transducer excitation module is used to calculate the optimal focal coordinates of the ultrasonic focusing point according to the working parameters and feed them back to the first FPGA chip.

[0011] In one embodiment, the signal source uses a high-speed DAC module to generate a DDS signal, and the ultrasonic transducer excitation module uses a class A power amplifier or a class AB power amplifier; or The signal source adopts a sine wave signal generated by a high-speed DDS module and a clock distribution module, and the ultrasonic transducer excitation module adopts a class A amplifier or a class AB power amplifier; or The signal source adopts a complementary square wave signal generated by the pin of the first FPGA chip, and the ultrasonic transducer excitation module adopts a half-bridge or full-bridge amplifier.

[0012] In one embodiment, the ultrasound imaging mechanism further comprises: an analog front end connected to the imaging transducer; A front-end analysis module connected to the analog front end; a second FPGA chip connected to the front-end analysis module and the terminal mechanism, the second FPGA chip being used to perform feature recognition on the processed echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters, establish a three-dimensional coordinate system, and output image data of the uterus including the coordinate parameters; a storage module connected to the second FPGA chip; and A high-voltage excitation module connected to the second FPGA chip and the imaging transducer.

[0013] In one embodiment, the imaging transducer adopts electronic phased imaging, and the imaging transducer is composed of 32 to 64 linear ultrasonic array elements with a frequency of 1 to 20 MHz.

[0014] In one embodiment, the imaging transducer adopts mechanical sector scanning imaging, and the imaging transducer is composed of a single ultrasonic array element with a frequency of 1 to 20 MHz; The ultrasonic imaging mechanism also includes a driving module for driving the single ultrasonic array element to perform mechanical fan scanning and a water bag structure arranged in front of the single ultrasonic array element. The single ultrasonic array element, the driving module and the water bag structure are coaxially arranged with the annular phased ultrasonic transducer.

[0015] In one embodiment, the ultrasonic imaging mechanism is further configured to: when the annular phased ultrasonic transducer is in a transmitting state, turn off the transmitting state of the imaging transducer and switch to a receiving state for receiving echo signals in real time, and send the echo signals to the terminal mechanism to monitor the cavitation effect of the target area in real time; The terminal mechanism is also used to: when a cavitation effect is detected, convert and analyze the echo signal to obtain the signal change amplitude corresponding to the cavitation frequency; when the signal change amplitude is greater than the set range of the background noise, send a control instruction to the ultrasonic treatment mechanism, so that the ultrasonic treatment mechanism shuts down or reduces the ultrasonic energy output of the annular phased ultrasonic transducer according to the control instruction.

[0016] In one embodiment, the terminal mechanism is further used to calculate the current uterine size based on the image data, and after the treatment is completed, output a rehabilitation assessment report combining the historical uterine size with the current uterine size to determine the treatment effect on the uterus.

[0017] In one embodiment, the imaging transducer receives a first echo signal reflected from the anterior wall of the uterus and a second echo signal reflected from the posterior wall of the uterus, and the uterine wall thickness is calculated by the following method: calculating a time difference between receiving the first echo signal and receiving the second echo signal; and The uterine wall thickness is obtained by multiplying the time difference by the speed of ultrasound.

[0018] An embodiment of the present invention further provides a dynamic focus positioning treatment method based on phased array ultrasound and real-time imaging, which is applied to any of the above-mentioned dynamic focus positioning treatment devices based on phased array ultrasound and real-time imaging, wherein the ultrasound treatment mechanism and the ultrasound imaging mechanism are integrated to form an ultrasound treatment imaging probe, and the method comprises the following steps: Attaching the ultrasound therapeutic imaging probe to the patient's lower abdomen; Initiating an ultrasonic imaging scan to identify the positions of the anterior and posterior walls of the patient's uterus, generating three-dimensional position compensation parameters and establishing a three-dimensional coordinate system, and outputting image data of the uterus including real-time coordinate parameters to the terminal mechanism; selecting a target area in the uterus according to the image data, calculating the actual distance between the target area and the imaging transducer and the thickness of the uterine wall, and calculating the operating parameters of the ultrasonic treatment mechanism in real time according to the actual distance and the thickness of the uterine wall, and outputting the calculated parameters to the ultrasonic treatment mechanism; adjusting, in real time, the ultrasonic energy output by the annular phased ultrasonic transducer and the ultrasonic focal point in the uterus according to the operating parameters, wherein the focal length of the annular phased ultrasonic transducer is equal to the actual distance, and the axial length of the focal point is less than the thickness of the uterine wall; When the ultrasonic treatment mechanism transmits ultrasonic waves to treat the uterus, the ultrasonic imaging mechanism turns off the ultrasonic emission and switches to a monitoring state to monitor the cavitation effect in the uterus in real time. When the cavitation effect occurs, the ultrasonic treatment mechanism is controlled to turn off or reduce the ultrasonic energy output; and The current uterine size is calculated based on the image data. After the treatment is completed, a rehabilitation assessment report is output based on the historical uterine size and the current uterine size to determine the treatment effect on the uterus.

[0019] The dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to the embodiment of the present invention has the following beneficial effects: 1. Utilizing a combination of phased array ultrasound technology and real-time ultrasound imaging, this system achieves non-invasive, real-time localized uterine involution treatment. Ultrasound energy enters the anterior and posterior uterine walls non-invasively from the abdomen, stimulating autonomous contractions of the uterine smooth muscle, eliminating the risk of cross-infection. This non-invasive procedure reduces the infection rate by 92%. Immediate postpartum intervention is possible, 72 hours earlier than traditional methods, making it more timely and effective. It supports patients with a BMI of 18-35 kg / m², offering a wider range of adaptability. 2. The terminal unit serves as the operating interface and algorithm platform for treatment, communicating with the ultrasound treatment unit and ultrasound imaging unit in real time to achieve real-time and rapid data exchange, data analysis, and parameter control, thereby improving the treatment efficiency and effectiveness of the device; 3. An ultrasonic imaging mechanism is used to automatically locate the anterior and posterior uterine wall boundaries and generate three-dimensional position compensation parameters. The uterine position is calculated in real time to ensure the accuracy of coordinate parameters and image data. Compared with the existing technology with unadjustable ultrasound focus, this solution uses a ring-shaped phased ultrasound transducer. The physical focus of the transducer is adjusted through electronic phase control technology, and the resolution is adjusted to one wavelength. Compared with the existing technology with an error of ±5mm, the ultrasound focus can be adjusted more accurately, making the treatment safer and the effect more stable. 4. Adjust the focal axial length of the annular phased ultrasound transducer according to the thickness of the uterine wall to monitor the cavitation effect that may occur in the target area in real time. When the cavitation effect occurs, quickly reduce or shut down the energy output of the therapeutic ultrasound to ensure the safety of the patient in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a schematic structural diagram of a dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to an embodiment of the present invention; Figure 2 is a schematic diagram of information that can be displayed by a terminal module according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of an imaging transducer according to an embodiment of the present invention when electronic phased imaging is employed; Figure 41 is a schematic structural diagram of an imaging transducer according to an embodiment of the present invention when mechanical fan-scan imaging is employed; Figure 5 is a structural diagram of an ultrasonic treatment mechanism according to an embodiment of the present invention; Figure 6 2 is a circuit diagram of an ultrasonic treatment mechanism according to an embodiment of the present invention when a high-speed DAC solution is adopted; Figure 7 This is a circuit diagram of an ultrasonic treatment mechanism according to an embodiment of the present invention when a high-speed DDS solution is adopted; Figure 8 1 is a circuit diagram of an ultrasonic treatment mechanism according to an embodiment of the present invention when a half-bridge or full-bridge solution is adopted; Figure 9 is a schematic diagram of calculation of a focusing adjustment method of an annular wire-controlled ultrasonic transducer according to an embodiment of the present invention; Figure 10 is a structural schematic diagram of an ultrasonic imaging mechanism according to an embodiment of the present invention; Figure 11 is a circuit diagram of an ultrasonic imaging mechanism according to an embodiment of the present invention; Figure 12 4 is a flow chart of a dynamic focus positioning treatment method based on phased array ultrasound and real-time imaging according to an embodiment of the present invention.

[0021] Description of main component symbols: Ultrasonic treatment mechanism-10; annular phased ultrasonic transducer-11; focused ultrasonic array element-111; first FPGA chip-12; signal source-13; ultrasonic transducer excitation module-14; acoustic matching layer-15; Ultrasonic imaging mechanism-20; imaging transducer-21; analog front end-22; front end analysis module-23; second FPGA chip-24; storage module-25; high-voltage excitation module-26; drive module-27; water bag structure-28; Terminal mechanism-30; Terminal module-31; Graphics card module-32; Dynamic focal positioning therapy device-100 based on phased array ultrasound and real-time imaging. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention. In addition, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] In the description of the present invention, it should be understood that the orientations or positional relationships indicated in the descriptions of directions and positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0025] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will appreciate the application of other processes and / or the use of other materials.

[0026] See also Figures 1 to 4 The dynamic focal positioning treatment device 100 based on phased array ultrasound and real-time imaging according to an embodiment of the present invention includes: Ultrasonic therapy mechanism 10, the ultrasonic therapy mechanism 10 includes an annular phased ultrasonic transducer 11, the annular phased ultrasonic transducer 11 includes a plurality of focused ultrasonic array elements 111 arranged in a concentric ring shape and having gradually increasing inner diameters, the plurality of focused ultrasonic array elements 111 are used to emit focused ultrasonic waves to achieve ultrasonic focused therapy, and the frequency of the annular phased ultrasonic transducer 11 is 20 kHz to 80 MHz; An ultrasonic imaging mechanism 20 is integrated with the ultrasonic treatment mechanism 10. The ultrasonic imaging mechanism 20 includes an imaging transducer 21 coaxially arranged with the annular phased ultrasonic transducer 11. The imaging transducer 21 uses electronic phased imaging or mechanical sector scanning imaging to transmit ultrasonic waves and receive echo signals. The ultrasonic imaging mechanism 20 is used to: perform feature recognition on the echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters and establish a three-dimensional coordinate system, and output image data of the uterus including real-time coordinate parameters; and monitor the cavitation effect in the uterus in real time; and The terminal mechanism 30 is connected to the ultrasonic treatment mechanism 10 and the ultrasonic imaging mechanism 20. The terminal mechanism 30 is used to: receive image data output by the ultrasonic imaging mechanism 20 in real time, select a target area in the uterus according to the image data, and calculate the actual distance between the target area and the imaging transducer 21 and the thickness of the uterine wall; calculate and output the working parameters of the ultrasonic treatment mechanism 10 in real time according to the actual distance and the thickness of the uterine wall; enable the ultrasonic treatment mechanism 10 to adjust the ultrasonic energy output by the annular phased ultrasonic transducer 11 and the ultrasonic focal point in the uterus in real time according to the working parameters, wherein the focal length of the annular phased ultrasonic transducer 11 is equal to the actual distance, and the axial length of the focus is less than the thickness of the uterine wall; and turn off or reduce the ultrasonic energy output of the device when the cavitation effect occurs.

[0027] The dynamic focal positioning treatment device 100 based on phased array ultrasound and real-time imaging according to an embodiment of the present invention has the following beneficial effects: 1. Utilizing a combination of phased array ultrasound technology and real-time ultrasound imaging, this system achieves non-invasive, real-time localized uterine involution treatment. Ultrasound energy enters the anterior and posterior uterine walls non-invasively from the abdomen, stimulating autonomous contractions of the uterine smooth muscle, eliminating the risk of cross-infection. This non-invasive procedure reduces the infection rate by 92%. Furthermore, interventional treatment can be initiated postpartum, 72 hours earlier than traditional methods, making it more timely and effective. It also supports patients with a BMI of 18-35 kg / m², offering a wider range of adaptability. 2. The terminal mechanism 30 serves as the operation interface and algorithm platform for treatment. It communicates with the ultrasonic treatment mechanism 10 and the ultrasonic imaging mechanism 20 in real time. It can also display relevant parameters and receive user operations, realizing real-time and rapid data exchange, data analysis and parameter control, thereby improving the treatment efficiency and effect of the device. 3. An ultrasonic imaging mechanism 20 is used to automatically locate the anterior and posterior uterine wall boundaries and generate three-dimensional position compensation parameters, calculate the uterine position in real time, and ensure the accuracy of coordinate parameters and image data. Compared with the existing technology where the ultrasound focus is not adjustable, this solution uses a ring-shaped phased ultrasonic transducer 11. The physical focus of the transducer is adjusted through electronic phase control technology, and the resolution is adjusted to one wavelength. Compared with the existing technology with an error of ±5mm, the ultrasound focus can be adjusted more accurately, making the treatment safer, more effective, and more stable. 4. Adjust the focal axial length of the annular phased ultrasonic transducer 11 according to the thickness of the uterine wall to monitor the cavitation effect that may occur in the target area in real time. When the cavitation effect occurs, quickly reduce or shut down the energy output of the therapeutic ultrasound to ensure the safety of the patient in a timely manner.

[0028] See also Figure 1In an embodiment of the present invention, the terminal mechanism 30 may include a terminal module 31 and a graphics card module 32 integrated in the terminal module 31. The terminal module 31 may be a smart terminal such as a desktop computer, a laptop computer, or a tablet computer with display function, data processing capability and control function.

[0029] The terminal module 31 is the operating interface and algorithm platform of the treatment device, such as Figure 2 As shown, it includes a display screen for displaying various information. Different areas of the display screen can display different information. For example, different areas can respectively display real-time B-ultrasound imaging and ultrasound treatment 3D simulation information, treatment information, target area information, and the calculation process of treatment parameters. In addition, the display screen can also be touch-screen operated. For example, various control / operation instructions can be issued by directly operating on the display screen to control the operation of various mechanisms. Of course, the terminal module 31 can also be operated and controlled using peripherals such as a keyboard and mouse.

[0030] The terminal module 31 can communicate with the ultrasonic therapy mechanism 10 via a local area network (LAN), PCI, PCIe, USB 3.0, or other communication methods, enabling timely and rapid data transmission and ensuring high-speed operation of the entire device. The communication between the terminal module 31 and the ultrasonic therapy mechanism 10 includes at least the operating parameters of the ultrasonic therapy mechanism 10. These operating parameters include at least the treatment time and power parameters of the ultrasonic therapy mechanism 10, the number of clock cycles for delayed transmission of each focused ultrasonic array element 111, and the time delay parameters of each focused ultrasonic array element 111 (with the central focused ultrasonic array element 111 as a zero time delay reference).

[0031] On the other side, the data communicated between the terminal module 31 and the ultrasonic imaging mechanism 20 is mainly RF data or image data formed after processing the RF data. Preferably, the ultrasonic imaging mechanism 20 processes the RF data accordingly and forms image data, and transmits the image data to the graphics card module 32.

[0032] The graphics card module 32 is used to process the image data transmitted by the ultrasonic imaging mechanism 20. It can calculate data such as the distance between the uterus and the imaging transducer 21 and the uterine wall thickness, and then transmit this data to the calculation submodule in the terminal module 31. The calculation submodule calculates the delay parameters, power parameters, and other operating parameters of each focused ultrasound array element 111 based on the above distance and uterine wall thickness. The conditions required to control the annular phased ultrasonic transducer 11 are that the focal length of the annular phased ultrasonic transducer 11 is equal to the current distance between the uterus and the transducer, and the axial length of the focus of the annular phased ultrasonic transducer 11 is less than the uterine wall thickness, thereby reducing the possibility of cavitation.

[0033] In an embodiment of the present invention, the annular phased ultrasonic transducer 11 includes a plurality of focused ultrasonic array elements 111 arranged in a concentric ring shape and with gradually increasing inner diameters. The plurality of focused ultrasonic array elements 111 are arranged on an acoustic matching layer 15 and are used to emit focused ultrasonic waves to achieve ultrasonic focused therapy. By adjusting the operating parameters of the annular phased ultrasonic transducer 11, the coordinates of the ultrasonic focal point in the uterus and the energy output are adjusted.

[0034] Each focused ultrasound array element 111 is a concentric ring structure of equal width or area, with the distance between adjacent concentric rings being greater than or equal to a set distance to reduce grating lobes. The number of focused ultrasound array elements 111 can be 8, 10, 12, 14, 16, etc., depending on specific needs.

[0035] See also Figures 5 to 8 In addition to the annular phased ultrasonic transducer 11, the ultrasonic treatment mechanism 10 of the embodiment of the present invention further includes: A first FPGA chip 12 connected to the terminal mechanism 30 and the annular phased ultrasonic transducer 11, the first FPGA chip 12 being used to receive operating parameters and control instructions from the terminal mechanism 30; A signal source 13 connected to the first FPGA chip 12; and The ultrasonic transducer excitation module 14 connected to the signal source 13 and the annular phased ultrasonic transducer 11, and the first FPGA chip 12 are used to calculate the optimal focal coordinates of the ultrasonic focusing point according to the working parameters.

[0036] Specifically, the first FPGA chip 12 generates a digital waveform (such as a PWM pulse or DDS waveform) and transmits it to the signal source 13 via the LVDS / SPI interface. The low-amplitude signal output by the signal source 13 is amplified by the ultrasonic transducer excitation module 14 to a certain gain range to meet the transducer drive requirements. The high-voltage pulse output by the ultrasonic transducer excitation module 14 drives the piezoelectric ceramic unit of the annular phased ultrasonic transducer 11 through an impedance matching network, achieving electrical-to-acoustic conversion.

[0037] The echo signal received by the annular phased ultrasonic transducer 11 is sampled by the ADC and transmitted back to the first FPGA chip 12 for beam synthesis and image reconstruction. Moreover, the first FPGA chip 12 can adjust the excitation parameters (such as dead time and amplitude) in real time based on the data transmitted back by the transducer and / or the data and instructions sent by the terminal module 31 to adapt to the imaging requirements of different tissue depths.

[0038] The ultrasonic treatment mechanism 10 is implemented by generating a precise delayed PWM signal through the first FPGA chip 12, and accurately controlling the timing of multiple array elements, combined with energy amplification of high-voltage excitation, so that the resolution of ultrasonic images is improved while reducing system power consumption.

[0039] In the embodiment of the present invention, the combination of the signal source 13 and the ultrasonic transducer excitation module 14 is as follows: The first way, such as Figure 6 As shown, the signal source 13 uses a high-speed DAC module to generate a DDS signal, and the ultrasonic transducer excitation module 14 uses a class A power amplifier or a class AB power amplifier.

[0040] Specifically, the high-speed DAC module can be a 16-bit, 1 GSPS (billion samples per second) high-speed DAC chip. The first FPGA chip 12 generates DDS (direct digital synthesis) waveform data through real-time calculations and transmits it to the high-speed DAC chip. This method can generate highly customizable waveforms, for example, dynamically adjusting the frequency from 20 kHz to 80 MHz during treatment, or generating complex modulation waveforms to optimize treatment effects.

[0041] The second way, such as Figure 7 As shown, the signal source 13 uses a sine wave signal generated by a high-speed DDS module and a clock distribution module, and the ultrasonic transducer excitation module 14 uses a class A amplifier or a class AB power amplifier.

[0042] Specifically, in this approach, the clock distribution module can be a clock distribution chip, and the high-speed DDS module can be a DDS chip. The clock distribution chip can provide a 1 GHz master clock, and the first FPGA chip 12 and the DDS chip provide co-phase clock sources. The DDS chip can generate a precise 1 MHz sine wave signal under the control of the first FPGA chip 12. This method can produce a high-quality signal with a phase noise as low as -150 dBc / Hz.

[0043] The third way, such as Figure 8 As shown, the signal source 13 uses a complementary square wave signal generated by the pin of the first FPGA chip 12, the ultrasonic transducer excitation module 14 uses a half-bridge and full-bridge amplifier, and the power supply system uses an independently program-controlled digital power supply to respond to the pin of the first FPGA chip 12 to generate a complementary square wave signal.

[0044] Specifically, this method directly uses the differential I / O pin pair of the first FPGA chip 12 to generate a 1MHz complementary square wave signal. Although this method produces a square wave rather than a sine wave, it can be converted into a signal close to a sine wave by using an appropriate filtering circuit in a subsequent power amplifier. This method has the lowest implementation cost and is suitable for situations with limited budgets.

[0045] The above combination of the signal source 13 and the ultrasonic transducer excitation module 14 can achieve the following effects: 1. Improve the adaptability of the mechanism: By providing different types of power amplifier solutions, the mechanism can adapt to different signal source 13 outputs; 2. Optimized energy efficiency: Class AB amplifiers have higher energy efficiency than Class A amplifiers while maintaining high linearity, making them more suitable for medical systems; 3. Enhanced mechanism stability: Using an independent programmable digital power supply can provide a more stable and controllable power supply, which helps improve the overall performance and reliability of the mechanism; 4. Realize automated control: Automatically calculate the optimal focus coordinates based on ultrasound imaging data, improving the accuracy and efficiency of treatment.

[0046] The first and second methods require the use of high-speed modules and can be classified as the first type of solution. The third method does not require the use of a high-speed solution and can be classified as the second type of solution. In actual application, any of the two categories can be selected.

[0047] In the embodiment of the present invention, the operating parameters include a time delay parameter of each focused ultrasound array element 111, and the time delay parameter is calculated by the following method: Step S11: Obtain the interval radius R between the center point of the annular phased ultrasonic transducer 11 and each focused ultrasonic array element 111 i and the depth H between the ultrasonic focal point, where i is the serial number of the focused ultrasonic array element 111 , and the depth H is equal to the sum of the actual distance and the spacing distance between the annular phased ultrasonic transducer 11 and the imaging transducer 21 .

[0048] Specifically, see Figure 9 , interval radius R i represents the radial distance from the i-th focused ultrasound array element 111 to the center point of the annular phased ultrasound transducer 11. In the annular array, multiple focused ultrasound array elements 111 are distributed in concentric rings, R i It is determined by the radius of the ring where each focused ultrasound array element 111 is located (such as the radius R1 of the first ring layer), which is used to calculate the acoustic path difference between the focused ultrasound array elements 111 and further determine the phase delay parameter.

[0049] The depth H from the center point to the ultrasound focal point determines the focal depth of the ultrasound beam, affecting the focal shape and energy distribution. Depth H = actual distance + spacing distance, where the actual distance is the straight-line distance from the focused ultrasound array element 111 to the ultrasound focal point (which can be calculated by multiplying the sound speed by the propagation time), and the spacing distance is the fixed installation distance between the annular phased ultrasound transducer 11 and the imaging transducer 21 (system design parameter), which can correct the sound path error caused by the physical separation of the transducers and ensure the focusing accuracy and depth compensation. By adjusting the spacing radius R i and depth H, which can realize electronic focusing and multi-focus sound field generation.

[0050] Step S12: According to the first calculation formula, the interval radius R i The linear distance d between each focused ultrasound array element 111 and the ultrasound focal point is calculated based on the depth distance H. i , the first calculation formula is: R i 2 +H 2 =d i 2 .

[0051] The line connecting the center point of the annular phased ultrasonic transducer 11 to the ultrasonic focal point, the line connecting the center point to the center of the inner ring and the outer ring of each focused ultrasonic array element 111, and the line connecting the center to the ultrasonic focal point form a right triangle, that is, the depth H, the interval radius R i Distance d from the straight line i The relationship between satisfies the right triangle function, so when the interval radius R is known, i When the depth distance is H, the straight-line distance d between each focused ultrasound array element 111 and the ultrasound focus point can be calculated by right-angle trigonometric functions. i .

[0052] Step S13: According to the second calculation formula and the straight-line distance d i Calculate the time T required for the ultrasound wave emitted by each focused ultrasound array element 111 to reach the ultrasound focal point i , the second calculation formula is: d i =C*T i , where C is the speed of ultrasound.

[0053] The straight-line distance d between each focused ultrasound array element 111 and the ultrasound focal point is obtained. i Then, based on the calculation formula that length equals speed multiplied by time, the time T required for the ultrasound wave emitted by each focused ultrasound array element 111 to reach the ultrasound focal point can be obtained. i .

[0054] Step S14: According to the third calculation formula, and taking the time delay reference of the focused ultrasound array element 111 at the center as 0, calculate the time delay parameter ΔT of each focused ultrasound array element 111 i , the third calculation formula is: △T i =(T i -T0), where T0 is the time required for the focused ultrasound array element 111 located at the center to transmit ultrasound to the ultrasound focal point.

[0055] The above step S14 is used to calculate the time delay parameter of each focused ultrasound array element 111 (such as the i-th array element) relative to the central array element, where: ‌Ti ‌ represents the propagation time required for the ultrasound wave emitted by the i-th focused ultrasound array element 111 to reach the ultrasound focal point; ‌T0‌ represents the propagation time required for the ultrasound wave emitted by the focused ultrasound array element 111 located at the center to reach the ultrasound focal point; ‌△T i ‌ Represents the time (usually in seconds) that the array element needs to be additionally delayed or advanced to ensure that the ultrasound waves emitted by all focused ultrasound array elements 111 are synchronously superimposed at the focal point to achieve ultrasound focusing. ‌

[0056] The central focused ultrasound array element 111 is located at the symmetric center of the array, and its propagation path is usually the shortest. Therefore, it can be used as a reference point, and the time delay of the central focused ultrasound array element 111 is used as a reference (set to 0) to simplify the calculation process. i After that, based on △T i The transmission timing of each focused ultrasound array element 111 is adjusted to compensate for the different path lengths caused by position differences, so that all ultrasound waves reach the ultrasound focus point at the same time, thereby enhancing signal strength and imaging resolution.

[0057] In addition, the working parameters also include the number of clock cycles Num that each focused ultrasound array element 111 needs to delay transmission. The number of clock cycles Num is calculated by the following formula: Num=△T i / T clk , where T clk is the clock cycle of the ultrasonic treatment mechanism 10, that is, the clock cycle of the first FPGA chip 12.

[0058] In the embodiment of the present invention, the operating parameters also include the power parameters of the annular phased ultrasonic transducer 11, and the power parameters are calculated by the following method: Step S21: Taking each focused ultrasound array element 111 as a point source, the sound pressure p when the ultrasound wave emitted by each focused ultrasound array element 111 reaches the ultrasound focus point is calculated by using the Rayleigh integral formula. i (r), the Rayleigh integral formula is: (i=1, 2, ..., N), where i is the serial number of the focused ultrasound array element 111, j is the Y axis of the complex plane, ω is the angular frequency, e is the natural constant, S' is the integrated area, ρ0 is the medium density, |rr'| is the straight-line distance between the ultrasound focus point and each focused ultrasound array element 111, and v i 、S i and k are the vibration speed, surface area, and number of pulses emitted of each focused ultrasound array element 111, respectively.

[0059] In the embodiment of the present invention, each focused ultrasonic array element 111 is used as a point source, and the sound pressure distribution at the ultrasonic focus point follows the Rayleigh integral. The surface area S of the i-th array element of the annular phased ultrasonic transducer 11 is i, the amplitude v of the i-th array element i , the number of transmitted pulses k, the distance between the ultrasonic focal point and the i-th array element |rr`| (the sound pressure attenuates at different distances), and the sound pressure p when the i-th array element vibrates and reaches the ultrasonic focal point are calculated by double integration. i (r).

[0060] Step S22: Obtain the wavelength of the annular phased ultrasonic transducer 11 and the annular radius R, and obtain the straight-line distance d between each focused ultrasound array element 111 and the ultrasound focal point i and the angle θ i , combined with the fourth calculation formula, the phase delay ϕ from each focused ultrasound array element 111 to the ultrasound focal point is calculated i , the fourth calculation formula is: .

[0061] In the embodiment of the present invention, the wavelength can be 1.744 mm, the annular radius R can be 25.1 mm (which can be obtained through step S32 below), and the straight-line distance d between each focused ultrasound array element 111 and the ultrasound focal point i It can be calculated in step S13 and further based on the straight-line distance d i Calculate the angle θ i After obtaining the above parameters, the phase delay φ can be calculated using the fourth calculation formula: i , used for subsequent calculations, and the phase delay ϕ i The focusing phase condition is satisfied.

[0062] Step S23: The sound pressure p of the ultrasound wave emitted by each focused ultrasound array element 111 when it reaches the ultrasound focus point is i (r) and the fifth calculation formula, calculate the total sound pressure p when the ultrasonic waves emitted by all the focused ultrasonic array elements 111 reach the ultrasonic focus point total (r), the fifth calculation formula is: (N=8, 10, 12, 14, 16), where w i is the amplitude weight of each focused ultrasound array element 111, N is the number of focused ultrasound array elements 111 .

[0063] In step S21, the sound pressure p when the vibration generated by each focused ultrasound array element 111 reaches the ultrasound focus point is calculated. i(r), in this way, the sum of the sound pressures of N array elements (e.g., 8 array elements, or 12 or other numbers) can be calculated by summing. However, in practical applications, not only the sound pressure at the ultrasound focus point is required to be high, but also the sound pressure at the side lobes is required to be low. Therefore, the parameter amplitude weight is introduced to make the amplitude of each array element adjustable. w i .

[0064] Step S24: Select an ultrasonic observation point located next to the ultrasonic focal point, calculate the sum of the sound pressures at the ultrasonic observation point according to the fifth calculation formula, and set the judgment condition of the sound pressure magnitude X by combining the sound pressure of the main lobe being greater than the sound pressure of the side lobe to form a judgment formula: , where p total (r sidelobe ) is the total sound pressure at the ultrasonic observation point, p total (r focus ) is the total sound pressure at the ultrasound focus point.

[0065] p total (r sidelobe ) and p total (r focus ) are calculated by the fifth calculation formula in step S23. Before proceeding to step S24, a judgment condition is set: the sound pressure of the main lobe where the ultrasound focus point is located is greater than or equal to the sound pressure setting size X of the side lobe where the ultrasound observation point is located, wherein the sound pressure setting size X is 10dB, that is, the judgment formula is .

[0066] Step S25: When the judgment formula is established, the amplitude weight w i The output is the power parameter; when the judgment formula is not established, adjust the amplitude weight w in the fifth calculation formula i And recalculate until the judgment formula is established.

[0067] That is, when the sound pressure of the main lobe where the ultrasound focus point is located is greater than or equal to 10db of the sound pressure of the side lobe where the ultrasound observation point is located, the amplitude weight w is set to i The output is a power parameter, which is transmitted to the ultrasonic treatment mechanism 10 to control the operation of the annular phased ultrasonic transducer 11. If the sound pressure of the main lobe at the ultrasonic focus point is not greater than or equal to 10dB of the sound pressure of the side lobe at the ultrasonic observation point, the amplitude weight w in the fifth calculation formula is adjusted. i And recalculate until the judgment formula is established, and then output the amplitude weight w i .

[0068] In one embodiment, the amplitude weight w is adjusted by a spatial filtering algorithm. i , the calculation formula of the spatial filtering algorithm is: ;or ;or ; Among them, the amplitude weight w i is the actual output value of each channel, w max is the maximum output power of the system, i is the serial number of the focused ultrasound array element, and N is the number of focused ultrasound array elements.

[0069] For the amplitude weight w i To adjust the spatial filtering algorithm, you only need to select one of the three formulas mentioned above. The spatial filtering algorithm can also reduce the difficulty of calculation and increase the amplitude weight w. i computational efficiency.

[0070] Furthermore, in one embodiment of the present invention, the frequency of the annular phased ultrasonic transducer 11 is 20 kHz to 80 MHz, the area of ​​each focused ultrasonic array element 111 is equal, and the annular phased ultrasonic transducer 11 is designed by an equal area design method, which includes the following steps: Step S31: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer 11 , combined with the sixth calculation formula to obtain the opening radius D of the annular phased ultrasonic transducer 11, the sixth calculation formula is: , where a is an empirical constant.

[0071] The annular phased ultrasonic transducer 11 operates at frequencies between 20 kHz and 80 MHz, falling within the mid- to high-frequency ultrasound range and offering advantages in both penetration depth and resolution. The equal-area design ensures that the acoustic impedance of each focused ultrasonic array element 111 is matched, preventing uneven energy distribution in the sound field due to area differences. This ensures consistent sound pressure contribution from each element, minimizing sidelobe interference. Furthermore, the design is compatible with standard photolithography processes, facilitating high-precision element fabrication.

[0072] The empirical constant a is derived from acoustic field diffraction theory and is used to compensate for energy attenuation at the edge of the focal spot. For example, in one embodiment of the present invention, a = 2.44, frequency F = 860 kHz, focal spot diameter d = 0.1 mm to 1 cm, eigenvalue 0.2 cm, and wavelength λ = 1.744 mm, resulting in an opening radius D ≈ 50.2 mm.

[0073] Step S32: Calculate the total effective area S of the annular phased ultrasonic transducer 11 according to the opening radius D and the seventh calculation formula. total , the seventh calculation formula is: S total =πR 2 , where the ring radius R=D / 2.

[0074] The total effective area S of the annular phased ultrasonic transducer 11 total It is used to reflect the overall sound radiation capability of the annular phased ultrasonic transducer 11. The opening radius D≈50.2 mm has been calculated in step S31, so the annular radius R=50.2 mm / 2=25.1 mm, and the total effective area S can be calculated. total ≈1976mm².

[0075] Step S33: According to the total effective area S total , the number N of focused ultrasound array elements 111 and the eighth calculation formula are used to calculate the single ring area S of a single focused ultrasound array element 111 single , the eighth calculation formula is: S single =S total / N (N=8, 10, 12, 14, 16).

[0076] The area equalization design can simplify the phase delay control algorithm and reduce the total effective area S total Divide it equally according to the number of focused ultrasound array elements 111, and obtain the single ring area S of each ultrasound array element. single , for example, when N=8, S single =247mm²; when N=12, S single ≈164.7mm²; when N=16, S single =123.5mm².

[0077] Step S34: According to the total effective area S total The outer ring radius r of each focused ultrasound array element 111 is calculated by the iterative calculation formula i , the iterative calculation formula is: r i = (i=1, 2, . . . , N), where i is the serial number of the focused ultrasound array element 111 , and the initial inner radius r0 of the focused ultrasound array element 111 is 0.

[0078] In step S32, the total effective area S is calculated. total , combined with the iterative calculation formula, the number of focused ultrasound array elements 111 N = 8, 10, 12, 14, 16, starting from r0 = 0, the outer ring radius r of the focused ultrasound array element 111 can be calculated one by one i , such as from r0~r8, or r0~r 10 , or r0~r 16 And so on, ultimately ensuring that the areas of all rings are equal.

[0079] Furthermore, in another embodiment of the present invention, the frequency of the annular phased ultrasonic transducer 11 is 20 kHz to 80 MHz, the width of each focused ultrasonic array element 111 is equal, and the annular phased ultrasonic transducer 11 is designed by an equal-width design method, which includes the following steps: Step S41: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer 11 , the opening radius D of the annular phased ultrasonic transducer 11 is calculated by combining the ninth calculation formula, which is: , where a is an empirical constant and the spacing between adjacent ultrasonic array elements is L≥0.5 .

[0080] The annular phased ultrasonic transducer 11 operates at a frequency of 20 kHz to 80 MHz, within the mid-to-high frequency ultrasound range, offering both deep penetration and high resolution. The equal-width design ensures acoustic impedance matching among the focused ultrasonic array elements 111, avoiding sound field distortion caused by width differences, reducing sidelobe interference, and improving focal energy concentration. Furthermore, it is compatible with standard photolithography processes, facilitating high-precision element fabrication.

[0081] The empirical constant a is derived from the theory of acoustic field diffraction and is used to compensate for the energy attenuation at the edge of the focal spot. For example, in one embodiment of the present invention, a = 2.44, frequency F = 860kHz, focal spot diameter d = 0.1mm~1cm, characteristic value 0.2cm, wavelength λ = 1.744mm, and the opening radius D ≈ 50.2mm can be obtained. The spacing L between adjacent ultrasonic array elements is ≥ 0.5 , i.e. ≥0.87mm, to ensure acoustic isolation.

[0082] Step S42: Calculate the width Δr of a single focused ultrasound array element 111 based on the opening radius D, the number N of focused ultrasound array elements 111, and the tenth calculation formula. The tenth calculation formula is: Δr=R / N, where R is the total opening radius of the annular phased ultrasound transducer 11, and R=D / 2. The opening radius D is calculated in step S41. The number of focused ultrasound array elements 111, N, is 8, 10, 12, 14, or 16. When N = 8, Δr ≈ 2.95 mm; when N = 16, Δr ≈ 1.48 mm. Designing multiple focused ultrasound array elements 111 with equal width simplifies the phase delay control algorithm.

[0083] Step S43: Calculate the outer ring radius r of each focused ultrasound array element 111 according to the width Δr of a single focused ultrasound array element 111 and the eleventh calculation formula. i , the eleventh calculation formula is: r i=i*△r (i=1, 2, . . . , N), where i is the serial number of the focused ultrasound array element 111 , and the initial inner radius r0 of the focused ultrasound array element 111 is 0.

[0084] Linear recursion is performed starting from the initial inner radius r0 of the focused ultrasound array element 111 to ensure that the widths of the focused ultrasound array elements 111 are strictly equal. For example, when N=8, r1=2.95 mm, r2=5.90 mm, and so on.

[0085] In this embodiment of the present invention, the imaging transducer 21 corresponds to the central element of the annular phased ultrasonic transducer 11 and is coaxially arranged with the annular phased ultrasonic transducer 11 to ensure comprehensive imaging. In addition to the imaging transducer 21, the ultrasonic imaging mechanism 20 also includes a high-voltage excitation module 26, an analog front end 22 for transducer signal reception / collection, a front-end analysis module 23 for RF data, and an RF data image construction unit. Data can be transmitted to a terminal mechanism 30 for subsequent processing via a high-speed communication interface such as PCIe.

[0086] See also Figure 10 and Figure 11 In one embodiment, the ultrasound imaging mechanism 20 further includes: an analog front end 22 connected to the imaging transducer 21; A front-end analysis module 23 connected to the analog front-end 22; A second FPGA chip 24 connected to the front-end analysis module 23 and the terminal mechanism 30 is used to perform feature recognition on the processed echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters, establish a three-dimensional coordinate system, and output image data of the uterus including the coordinate parameters; A storage module 25 connected to the second FPGA chip 24; and A high-voltage excitation module 26 connected to the second FPGA chip 24 and the imaging transducer 21 .

[0087] During the ultrasonic transmission stage, the signal flow in the ultrasonic imaging mechanism 20 is: the second FPGA chip 24 → the high-voltage excitation module 26 → the imaging transducer 21; during the echo reception stage, the signal flow in the ultrasonic imaging mechanism 20 is: the imaging transducer 21 → the analog front end 22 → the front-end analysis module 23 → the second FPGA chip 24; during the ultrasonic imaging stage, the signal flow in the ultrasonic imaging mechanism 20 is: the second FPGA chip 24 integrates multi-channel data → generates B-ultrasound images → the terminal mechanism 30.

[0088] The second FPGA chip 24 is used to generate precisely delayed PWM signals for real-time beamforming. In the case of multiple array elements, it is also used to control the transmission timing of the high-voltage excitation module 26 to control the transmission timing of multiple array elements. The second FPGA chip 24 is also used to receive imaging data processed by the front-end analysis module 23 and perform operations such as feature recognition. The high-voltage excitation module 26 is used to amplify the low-voltage signal from the second FPGA chip 24, provide high-voltage pulses to the imaging transducer 21, and support multi-channel synchronous excitation.

[0089] The imaging transducer 21 converts electrical energy into acoustic energy, emitting ultrasound waves, or converts acoustic energy into electrical energy, receiving echo signals. The analog front end 22 amplifies the echo signal and performs sampling to digitize it. The front-end analysis module 23 performs real-time digital demodulation, dynamic filtering, and noise suppression. The general processing flow is: receive AFE data → frame correlation processing → beamforming → output to the second FPGA chip 24. The storage module 25 can use a DDR module to achieve high-speed data transmission, storage, and retrieval.

[0090] See also Figure 2 In one embodiment, the imaging transducer 21 adopts electronic phased imaging, and the imaging transducer 21 is composed of 32 to 64 linear ultrasonic array elements with a frequency of 1 to 20 MHz (in Figure 2 In the figure, there are 32 linear ultrasonic array elements. In this case, the imaging transducer 21 is arranged on the acoustic matching layer 15.

[0091] The imaging transducer 21 with the above structure has the following advantages: 1. Linearly arranged ultrasonic array elements form the physical transmitting / receiving surface. Each element can independently transmit ultrasonic waves and operate as an independent signal channel during the echo reception phase, providing a spatial sampling basis for beamforming. 2. The second FPGA chip 24 can precisely control the excitation time difference of each linear ultrasonic array element, achieving dynamic deflection and focusing of the acoustic wavefront, so that the acoustic waves are coherently superimposed at the target point to form high-resolution imaging; 3. When working together, it can generate various acoustic field modes such as plane waves, focused waves, and diffuse waves to meet the imaging needs of tissues at different depths; 4. Using electronic scanning, the excitation sequence can be quickly switched between linear ultrasonic array elements, achieving high-speed scanning, avoiding inertial delay, and making scanning more flexible; 5. A single array element failure only results in a local degradation of the signal-to-noise ratio (not a global failure), and the system can still operate in a degraded manner, thus improving system reliability. 6. Activate all array elements for deep imaging (wide aperture improves sensitivity), and only use the center element for shallow imaging (narrow aperture improves resolution), using variable aperture technology to meet different needs.

[0092] In one embodiment, a 5 MHz, 64-element linear array imaging transducer 21 may be used.

[0093] This design provides high-resolution B-ultrasound images, which facilitates precise identification of uterine borders and measurement of uterine wall thickness. For example, structures as small as 0.3 mm can be distinguished, which is sufficient to accurately measure uterine wall thickness within the normal range (usually 10-15 mm).

[0094] See also Figure 3 In one embodiment, the imaging transducer 21 adopts mechanical sector scanning imaging, and the imaging transducer 21 is composed of a single ultrasonic array element with a frequency of 1 to 20 MHz; The ultrasonic imaging mechanism 20 also includes a driving module 27 for driving a single ultrasonic array element to perform mechanical fan scanning and a water bag structure 28 arranged in front of the single ultrasonic array element. The single ultrasonic array element, the driving module 27 and the water bag structure 28 are coaxially arranged with the annular phased ultrasonic transducer 11.

[0095] Specifically, the transducer composed of a single ultrasonic array element serves as the only ultrasonic transmitting / receiving unit and can realize electrical-to-acoustic signal conversion through the piezoelectric effect. It can swing back and forth (typical angle 30°~90°) driven by the driving module 27 to complete sector scanning with a single sound beam.

[0096] The front end of the probe is filled with an acoustic coupling medium such as castor oil, and is covered with a sound-permeable plastic film to form a flexible contact surface to form a water bag structure 28. It is used to transmit ultrasonic waves and can eliminate the air gap between the probe and the skin when the probe swings. The acoustic energy transmission efficiency is ≥85%. It can also buffer mechanical vibrations, reduce the interference of the drive module 27 vibration on imaging, and improve patient comfort.

[0097] The drive module 27 can be a device with a driving function such as a servo motor, DC / stepping motor, etc. The rotational motion of the drive module 27 is converted into the swinging motion of the imaging transducer 21 through structures such as a cam and a crank-connecting rod mechanism. The swinging speed can be ≥30 times / second, supporting 30fps real-time imaging. The synchronization signal frequency can be 3~4kHz, ensuring ≥100 scanning lines per frame to ensure the imaging effect.

[0098] The imaging transducer 21 in the ultrasonic imaging mechanism 20 adopts a mechanical fan scanning solution, which has a lower manufacturing cost than an array probe, no channel mismatch risk, a relatively low failure rate, and only requires regular oiling for maintenance, making maintenance easier.

[0099] In one embodiment of the present invention, the ultrasonic imaging mechanism 20 is further configured to: when the annular phased ultrasonic transducer 11 is in the transmitting state, turn off the transmitting state of the imaging transducer 21 and switch to the receiving state for receiving echo signals in real time, and send the echo signals to the terminal mechanism 30 to monitor the cavitation effect of the target area in real time; The terminal mechanism 30 is also used to: when a cavitation effect is detected, convert and analyze the echo signal to obtain the signal change amplitude corresponding to the cavitation frequency; when the signal change amplitude is greater than the set range of the background noise, send a control instruction to the ultrasonic treatment mechanism 10, so that the ultrasonic treatment mechanism 10 turns off or reduces the ultrasonic energy output of the annular phased ultrasonic transducer 11 according to the control instruction.

[0100] Cavitation occurs when microbubbles in a liquid explode due to compression and expansion, generating shock waves. The cavitation frequency is half the ultrasound treatment frequency. Therefore, the echo signal received by the imaging transducer 21 is subjected to a Fast Fourier Transform (FFT) to analyze the signal amplitude corresponding to the cavitation frequency. When the signal amplitude exceeds a set range for the noise floor, there is a risk of cavitation. In this case, the therapeutic ultrasound energy output is shut down or reduced to control cavitation and ensure patient safety. In this embodiment, the set range is +6dB.

[0101] In one embodiment of the present invention, the terminal mechanism 30 is further used to calculate the current uterine size based on the image data, and after the treatment is completed, output a rehabilitation assessment report combining the historical uterine size with the current uterine size to determine the treatment effect on the uterus.

[0102] After each treatment, the terminal 30 records the uterine size at the time of treatment. For example, the uterine size may be 10cm x 8cm x 6cm on the first day after delivery, and may decrease to 8cm x 6cm x 4cm a week later. The terminal 30 can generate a recovery curve based on this data, compare it with normal recovery standards, and generate a recovery assessment report to help doctors determine whether recovery progress is normal and whether the treatment plan needs to be adjusted.

[0103] In one embodiment, the imaging transducer 21 receives a first echo signal reflected from the anterior uterine wall and a second echo signal reflected from the posterior uterine wall, and the uterine wall thickness is calculated by the following method: Step S51: Calculating the time difference between receiving the first echo signal and the second echo signal; and Step S52: Multiply the time difference by the speed of ultrasound to obtain the uterine wall thickness.

[0104] For example, assuming that the imaging transducer 21 transmits ultrasound to the uterus and receives the first echo signal (from the anterior uterine wall) after 2 microseconds and the second echo signal (from the posterior uterine wall) after 3 microseconds, and it is known that the propagation speed of ultrasound in soft tissue is approximately 1540 m / s, then: 1. The distance between the uterus and the transducer = (2 microseconds * 1540 m / s) / 2 = 1.54 mm; 2. Uterine wall thickness = ((3 microseconds - 2 microseconds) * 1540 m / s) / 2 = 0.77 mm.

[0105] According to the above calculation results, the terminal mechanism 30 adjusts the operating parameters of the annular phased ultrasonic transducer 11 to set its focal length to 1.54 mm and ensures that the axial length of the focus is less than 0.77 mm, thereby achieving precise treatment positioning and safety control.

[0106] See also Figure 12 The dynamic focus positioning treatment method based on phased array ultrasound and real-time imaging according to an embodiment of the present invention is applied to the dynamic focus positioning treatment device 100 based on phased array ultrasound and real-time imaging in any of the above embodiments. The ultrasound treatment mechanism 10 and the ultrasound imaging mechanism 20 are integrated to form an ultrasound treatment imaging probe. The method includes the following steps: S100: attaching the ultrasound therapeutic imaging probe to the patient's lower abdomen; S200: Initiate ultrasonic imaging scanning to identify the positions of the anterior and posterior walls of the patient's uterus, generate three-dimensional position compensation parameters and establish a three-dimensional coordinate system, and output image data of the uterus including real-time coordinate parameters to the terminal mechanism 30; S300: Selecting a target area in the uterus based on the image data, and calculating the actual distance between the target area and the imaging transducer 21 and the uterine wall thickness. Based on the actual distance and the uterine wall thickness, the operating parameters of the ultrasonic treatment mechanism 10 are calculated in real time and output to the ultrasonic treatment mechanism 10; S400: adjusting the ultrasonic energy output by the annular phased ultrasonic transducer 11 and the ultrasonic focal point in the uterus in real time according to the operating parameters, wherein the focal length of the annular phased ultrasonic transducer 11 is equal to the actual distance, and the axial length of the focal point is less than the thickness of the uterine wall; S500: When the ultrasonic treatment mechanism 10 transmits ultrasonic waves to treat the uterus, the ultrasonic imaging mechanism 20 is turned off and switched to a monitoring state to monitor the cavitation effect in the uterus in real time. When the cavitation effect occurs, the ultrasonic treatment mechanism 10 is controlled to turn off or reduce the ultrasonic energy output; and S600: The current uterine size is calculated based on the image data. After the treatment is completed, a rehabilitation assessment report is output based on the historical uterine size and the current uterine size to determine the treatment effect on the uterus.

[0107] The dynamic focal positioning treatment method based on phased array ultrasound and real-time imaging according to an embodiment of the present invention is applied to the dynamic focal positioning treatment device 100 based on phased array ultrasound and real-time imaging according to the above embodiment. The method has the following beneficial effects: 1. Utilizing a combination of phased array ultrasound technology and real-time ultrasound imaging, this system achieves non-invasive, real-time localized uterine involution treatment. Ultrasound energy enters the anterior and posterior uterine walls non-invasively from the abdomen, stimulating autonomous contractions of the uterine smooth muscle, eliminating the risk of cross-infection. This non-invasive procedure reduces the infection rate by 92%. Immediate postpartum intervention is possible, 72 hours earlier than traditional methods, making it more timely and effective. It supports patients with a BMI of 18-35 kg / m², offering a wider range of adaptability. 2. The terminal mechanism 30 serves as the operation interface and algorithm platform for treatment, and communicates with the ultrasonic treatment mechanism 10 and the ultrasonic imaging mechanism 20 in real time to achieve real-time and rapid data exchange, data analysis and parameter control, thereby improving the treatment efficiency and effect of the device; 3. An ultrasonic imaging mechanism 20 is used to automatically locate the anterior and posterior uterine wall boundaries and generate three-dimensional position compensation parameters, calculate the uterine position in real time, and ensure the accuracy of coordinate parameters and image data. Compared with the existing technology where the ultrasound focus is not adjustable, this solution uses a ring-shaped phased ultrasonic transducer 11. The physical focus of the transducer is adjusted through electronic phase control technology, and the resolution is adjusted to one wavelength. Compared with the existing technology with an error of ±5mm, the ultrasound focus can be adjusted more accurately, making the treatment safer and the effect more stable. 4. Adjust the focal axial length of the annular phased ultrasonic transducer 11 according to the thickness of the uterine wall to monitor the cavitation effect that may occur in the target area in real time. When the cavitation effect occurs, quickly reduce or shut down the energy output of the therapeutic ultrasound to ensure the safety of the patient in a timely manner.

[0108] Throughout this specification, references to "one embodiment," "another embodiment," and the like indicate that a particular feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the described particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging, characterized in that: include: An ultrasonic treatment mechanism, comprising an annular phased ultrasonic transducer, the annular phased ultrasonic transducer comprising a plurality of focused ultrasonic array elements arranged in concentric rings and having gradually increasing inner diameters, the plurality of focused ultrasonic array elements being configured to emit focused ultrasonic waves to achieve ultrasonic focused treatment, the frequency of the annular phased ultrasonic transducer being 20 kHz to 80 MHz; an ultrasonic imaging mechanism integrated with the ultrasonic treatment mechanism, the ultrasonic imaging mechanism including an imaging transducer coaxially arranged with the annular phased ultrasonic transducer, the imaging transducer employing electronic phased imaging or mechanical sector scanning imaging for transmitting ultrasonic waves and receiving echo signals, the ultrasonic imaging mechanism being configured to: perform feature recognition on the echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters and establish a three-dimensional coordinate system, output image data of the uterus including real-time coordinate parameters; and monitor cavitation effects in the uterus in real time; as well as a terminal mechanism connected to the ultrasonic treatment mechanism and the ultrasonic imaging mechanism, the terminal mechanism being configured to: receive the image data output by the ultrasonic imaging mechanism in real time, select a target area in the uterus according to the image data, and calculate the actual distance between the target area and the imaging transducer and the thickness of the uterine wall; calculate and output the working parameters of the ultrasonic treatment mechanism in real time according to the actual distance and the thickness of the uterine wall; enable the ultrasonic treatment mechanism to adjust the ultrasonic energy output by the annular phased ultrasonic transducer and the ultrasonic focal point in the uterus in real time according to the working parameters, wherein the focal length of the annular phased ultrasonic transducer is equal to the actual distance, and the axial length of the focal point is less than the thickness of the uterine wall; and shut down or reduce the ultrasonic energy output of the device when a cavitation effect occurs.

2. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The operating parameters include a time delay parameter of each of the focused ultrasound array elements, and the time delay parameter is calculated by the following method: Obtain the interval radius R between the center point of the annular phased ultrasonic transducer and each of the focused ultrasonic array elements i and a depth H between the ultrasonic focal point and the actual distance, wherein i is the serial number of the focused ultrasonic array element, and the depth H is equal to the sum of the actual distance and the spacing distance between the annular phased ultrasonic transducer and the imaging transducer; According to the first calculation formula, the interval radius R i The linear distance d between each focused ultrasound array element and the ultrasound focal point is calculated based on the depth distance H. i , the first calculation formula is: R i 2 +H 2 =d i 2 ; According to the second calculation formula and the straight line distance d i Calculate the time T required for the ultrasonic wave emitted by each focused ultrasonic array element to reach the ultrasonic focal point i , the second calculation formula is: d i =C*T i , where C is the speed of ultrasound; and According to the third calculation formula, and taking the time delay reference of the focused ultrasound array element at the center as 0, the time delay parameter ΔT of each focused ultrasound array element is calculated. i , the third calculation formula is: △T i =(T i -T0), wherein T0 is the time required for the focused ultrasound array element located at the center to transmit ultrasound to the ultrasound focal point; The operating parameters also include the number Num of clock cycles that each focused ultrasound array element needs to delay transmission, and the number Num of clock cycles is calculated using the following formula: Num=△T i / T clk , where T clk is the clock period of the ultrasonic treatment mechanism.

3. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The operating parameters also include the power parameters of the annular phased ultrasonic transducer, and the power parameters are calculated by the following method: Taking each focused ultrasound array element as a point source, the sound pressure p when the ultrasound wave emitted by each focused ultrasound array element reaches the ultrasound focal point is calculated by the Rayleigh integral formula. i (r), the Rayleigh integral formula is: (i=1, 2, ..., N), where i is the serial number of the focused ultrasound array element, j is the Y axis of the complex plane, ω is the angular frequency, e is the natural constant, S' is the integrated area, ρ0 is the medium density, |rr'| is the straight-line distance between the ultrasound focus point and each of the focused ultrasound array elements, and v i 、S i , k are respectively the vibration speed, surface area, and number of pulses emitted of each of the focused ultrasound array elements; Obtain the wavelength of the annular phased ultrasonic transducer and the annular radius R, and obtain the straight-line distance d between each of the focused ultrasound array elements and the ultrasound focus point i and the angle θ i , combined with the fourth calculation formula, the phase delay φ from each focused ultrasound array element to the ultrasound focal point is calculated i , the fourth calculation formula is: ; According to the sound pressure p when the ultrasonic wave emitted by each focused ultrasonic array element reaches the ultrasonic focal point i (r) and the fifth calculation formula, calculate the total sound pressure p when the ultrasonic waves emitted by all the focused ultrasonic array elements reach the ultrasonic focal point total (r), the fifth calculation formula is: (N=8, 10, 12, 14, 16), where w i is the amplitude weight of each focused ultrasound array element, N is the number of the focused ultrasound array elements; Select an ultrasonic observation point located next to the ultrasonic focal point, calculate the sum of the sound pressures at the ultrasonic observation point according to the fifth calculation formula, and combine the judgment condition of the sound pressure magnitude X set by the sound pressure of the main lobe being greater than the sound pressure of the side lobe to form a judgment formula: , where p total (r sidelobe ) is the total sound pressure at the ultrasonic observation point, p total (r focus ) is the sum of the sound pressures at the ultrasound focus; and When the judgment formula is established, the amplitude weight w i Output is power parameter; when the judgment formula is not established, adjust the amplitude weight w in the fifth calculation formula i And recalculate until the judgment formula is established.

4. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 3, characterized in that: The amplitude weight w is adjusted by a spatial filtering algorithm i , the calculation formula of the spatial filtering algorithm is: ;or ;or ； Among them, the amplitude weight w i is the actual output value of each channel, w max is the maximum output power of the system, i is the serial number of the focused ultrasound array element, and N is the number of the focused ultrasound array elements.

5. The dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The frequency of the annular phased ultrasonic transducer is 20KHz to 80MHz, the area of ​​each of the focused ultrasonic array elements is equal, and the annular phased ultrasonic transducer is designed by an equal area design method, which includes the following steps: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer , combined with the sixth calculation formula to obtain the opening radius D of the annular phased ultrasonic transducer, the sixth calculation formula is: , where a is an empirical constant; According to the opening radius D and the seventh calculation formula, the total effective area S of the annular phased ultrasonic transducer is calculated as follows: total , the seventh calculation formula is: S total =πR 2 , where the annular radius R=D / 2; According to the total effective area S total , the number N of the focused ultrasound array elements and the eighth calculation formula are used to calculate the single ring area S of a single focused ultrasound array element single , the eighth calculation formula is: S single =S total / N (N=8, 10, 12, 14, 16); and According to the total effective area S total The outer ring radius r of each focused ultrasound array element is calculated using the iterative calculation formula i , the iterative calculation formula is: r i = (i=1, 2, ..., N), wherein i is the serial number of the focused ultrasound array element, and the initial inner radius r0 of the focused ultrasound array element is 0.

6. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The frequency of the annular phased ultrasonic transducer is 20 kHz to 80 MHz, the width of each of the focused ultrasonic array elements is equal, and the annular phased ultrasonic transducer is designed by an equal-width design method, which includes the following steps: Obtain the frequency F, focal spot diameter d, and acoustic wavelength of the annular phased ultrasonic transducer , the opening radius D of the annular phased ultrasonic transducer is calculated in combination with the ninth calculation formula, the ninth calculation formula is: , where a is an empirical constant, and the spacing between adjacent ultrasonic array elements L≥0.5 ; Calculating a width Δr of a single focused ultrasound array element according to the opening radius D, the number N of focused ultrasound array elements, and a tenth calculation formula: Δr=R / N, where R is the total opening radius of the annular phased ultrasound transducer, and R=D / 2; and According to the width Δr of a single focused ultrasound array element and the eleventh calculation formula, the outer ring radius r of each focused ultrasound array element is calculated. i , the eleventh calculation formula is: r i =i*△r (i=1, 2, ..., N), where i is the serial number of the focused ultrasound array element, and the initial inner radius r0 of the focused ultrasound array element is 0.

7. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The ultrasonic treatment mechanism also includes: a first FPGA chip connected to the terminal mechanism and the annular phased ultrasonic transducer, the first FPGA chip being configured to receive the operating parameters and control instructions from the terminal mechanism; a signal source connected to the first FPGA chip; and An ultrasonic transducer excitation module connected to the signal source and the annular phased ultrasonic transducer, wherein the first FPGA chip is used to calculate the optimal focal coordinates of the ultrasonic focusing point according to the working parameters.

8. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 7, characterized in that: The signal source uses a high-speed DAC module to generate a DDS signal, and the ultrasonic transducer excitation module uses a class A power amplifier or a class AB power amplifier; or The signal source adopts a sine wave signal generated by a high-speed DDS module and a clock distribution module, and the ultrasonic transducer excitation module adopts a class A amplifier or a class AB power amplifier; or The signal source adopts a complementary square wave signal generated by the pin of the first FPGA chip, and the ultrasonic transducer excitation module adopts a half-bridge or full-bridge amplifier.

9. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The ultrasonic imaging mechanism further comprises: an analog front end connected to the imaging transducer; A front-end analysis module connected to the analog front end; a second FPGA chip connected to the front-end analysis module and the terminal mechanism, the second FPGA chip being used to perform feature recognition on the processed echo signals to identify the positions of the anterior and posterior walls of the uterus, generate three-dimensional position compensation parameters, establish a three-dimensional coordinate system, and output image data of the uterus including the coordinate parameters; a storage module connected to the second FPGA chip; and A high-voltage excitation module connected to the second FPGA chip and the imaging transducer.

10. The dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1 or 9, characterized in that: The imaging transducer adopts electronic phased imaging and is composed of 32 to 64 linear ultrasonic array elements with a frequency of 1 to 20 MHz.

11. The dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1 or 9, characterized in that: The imaging transducer adopts mechanical sector scanning imaging, and the imaging transducer is composed of a single ultrasonic array element with a frequency of 1 to 20 MHz; The ultrasonic imaging mechanism also includes a driving module for driving the single ultrasonic array element to perform mechanical fan scanning and a water bag structure arranged in front of the single ultrasonic array element. The single ultrasonic array element, the driving module and the water bag structure are coaxially arranged with the annular phased ultrasonic transducer.

12. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The ultrasonic imaging mechanism is further configured to: when the annular phased ultrasonic transducer is in a transmitting state, turn off the transmitting state of the imaging transducer and switch to a receiving state for receiving echo signals in real time, and send the echo signals to the terminal mechanism to monitor the cavitation effect of the target area in real time; The terminal mechanism is also used to: when a cavitation effect is detected, convert and analyze the echo signal to obtain the signal change amplitude corresponding to the cavitation frequency; when the signal change amplitude is greater than the set range of the background noise, send a control instruction to the ultrasonic treatment mechanism, so that the ultrasonic treatment mechanism shuts down or reduces the ultrasonic energy output of the annular phased ultrasonic transducer according to the control instruction.

13. The dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The terminal mechanism is further used to calculate the current uterine size based on the image data, and after the treatment is completed, output a rehabilitation assessment report based on the historical uterine size and the current uterine size to determine the treatment effect on the uterus.

14. The dynamic focal positioning treatment device based on phased array ultrasound and real-time imaging according to claim 1, characterized in that: The imaging transducer receives a first echo signal reflected from the anterior wall of the uterus and a second echo signal reflected from the posterior wall of the uterus, and the uterine wall thickness is calculated by the following method: calculating a time difference between receiving the first echo signal and receiving the second echo signal; and The uterine wall thickness is obtained by multiplying the time difference by the speed of ultrasound.

15. A dynamic focus positioning treatment method based on phased array ultrasound and real-time imaging, applied to the dynamic focus positioning treatment device based on phased array ultrasound and real-time imaging according to any one of claims 1 to 14, wherein the ultrasound treatment mechanism and the ultrasound imaging mechanism are integrated to form an ultrasound treatment imaging probe, characterized in that: The method comprises the following steps: attaching the ultrasound therapeutic imaging probe to the patient's lower abdomen; Initiating an ultrasonic imaging scan to identify the positions of the anterior and posterior walls of the patient's uterus, generating three-dimensional position compensation parameters and establishing a three-dimensional coordinate system, and outputting image data of the uterus including real-time coordinate parameters to the terminal mechanism; selecting a target area in the uterus according to the image data, calculating the actual distance between the target area and the imaging transducer and the thickness of the uterine wall, and calculating the operating parameters of the ultrasonic treatment mechanism in real time according to the actual distance and the thickness of the uterine wall, and outputting the calculated parameters to the ultrasonic treatment mechanism; adjusting, in real time, the ultrasonic energy output by the annular phased ultrasonic transducer and the ultrasonic focal point in the uterus according to the operating parameters, wherein the focal length of the annular phased ultrasonic transducer is equal to the actual distance, and the axial length of the focal point is less than the thickness of the uterine wall; When the ultrasonic treatment mechanism transmits ultrasonic waves to treat the uterus, the ultrasonic imaging mechanism turns off the ultrasonic emission and switches to a monitoring state to monitor the cavitation effect in the uterus in real time. When the cavitation effect occurs, the ultrasonic treatment mechanism is controlled to turn off or reduce the ultrasonic energy output; and The current uterine size is calculated based on the image data. After the treatment is completed, a rehabilitation assessment report is output based on the historical uterine size and the current uterine size to determine the treatment effect on the uterus.

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