Piezoelectric ultrasonic transducer anti-idle-strike detection system and method

Abstract

The invention discloses an anti-idle-strike detection system and an anti-idle-strike detection method for a piezoelectric ultrasonic transducer, relates to the technical field of medical apparatuses and instruments, and solves the problem that the treatment of a patient and the economic loss are missed due to breakdown failure caused by misoperation and idle strike of an existing focused ultrasonic transducer. The system comprises a focused ultrasonic treatment probe, a probe driving module, a movement assembly and a treatment host. In the operation process of the system, the data analysis module processes two-stage signals in real time, temperature monitoring is combined, and power output is cut off when abnormity occurs. Through two-stage judgment, idle beating is eradicated, continuous power output at the same position is prevented, treatment safety is guaranteed, additional operation is not needed, and clinical training pressure is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a piezoelectric ultrasonic transducer anti-air-blast detection system and method. BACKGROUND

[0002] Ultrasonic technology has been widely used in the biomedical field due to its thermal, mechanical and cavitation effects. For example, piezoelectric ultrasonic transducers, especially focused piezoelectric ultrasonic transducers, work by converting electrical energy into acoustic energy through the piezoelectric effect and effectively transmitting it to the target area through a medium with acoustic impedance matching. However, the effective transmission of acoustic energy is heavily dependent on the smooth transition of the medium acoustic impedance in the transmission path. If the sound wave encounters an acoustic impedance mutation interface during transmission, strong reflection and refraction will occur, resulting in a large amount of acoustic energy being absorbed by the transducer itself and causing a sharp rise in the local temperature of the piezoelectric ceramic material. This temperature rise may cause the piezoelectric material to depolarize, resulting in performance degradation, or even directly cause the transducer to fail and be permanently damaged.

[0003] In actual clinical operations, the main causes of the above-mentioned acoustic impedance mutation, i.e. the "air-blast" phenomenon, include: the operator forgetting to apply ultrasonic coupling agent on the treatment head or the patient's skin before treatment; insufficient amount of coupling agent or loss of coupling agent during treatment; failure to turn off the device power output in time after treatment, causing the probe to work in the air; and failure of the probe to maintain consistent and good contact with the body surface due to patient movement or poor control of the mechanical arm motion trajectory during treatment.

[0004] Currently, the common prior art solutions mainly rely on the standardization and experience of the operator to avoid air-blast, and lack effective active detection and protection mechanisms. Although some devices are equipped with simple temperature sensors to monitor the temperature of the transducer, the temperature rise response is usually delayed, and by the time the over-temperature is detected, the transducer has already been overheated or even damaged, which cannot achieve early warning and immediate protection of air-blast risks.

[0005] Therefore, there is an urgent need in the art for a system and method that can accurately detect air-blast risks in real time and take protective measures quickly before the device is damaged, in order to ensure treatment safety, protect expensive ultrasonic treatment devices, avoid delays in patient treatment due to device failure, and prevent economic losses. SUMMARY

[0006] The purpose of the present application is to provide a piezoelectric ultrasonic transducer anti-air-blast detection system and method to solve the problems in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a piezoelectric ultrasonic transducer anti-air-blast detection method, the anti-air-blast detection method comprising: The first level judgment signal is generated by detecting the resistance value between the positive and negative electrode pieces in real time and according to the resistance value. The second level judgment signal is generated by detecting the motion trajectory data of the focused ultrasound treatment probe in real time through a 6-axis acceleration sensor in the probe driving module. The first level judgment signal and the second level judgment signal are comprehensively judged to determine whether there is an empty shot risk. When it is determined that there is an empty shot risk, the power output of the focused ultrasound treatment probe is controlled to be turned off or reduced.

[0008] Further, the step of generating the first level judgment signal includes: detecting the resistance value between the positive and negative electrode pieces in real time; If the resistance value is greater than or equal to a first threshold R0, and the resistance value state maintains for more than a threshold T0, it is determined that there is an empty shot risk, and a first level abnormal signal is generated. If the resistance value is greater than or equal to a second threshold R1 and less than the first threshold R0, it is determined that the coupling agent is insufficient, and a first level warning signal is generated. If the resistance value is less than the second threshold R1, it is determined that the coupling agent is sufficient and the focused ultrasound treatment probe is well attached. Wherein, R1 is a preset second threshold representing the judgment threshold when the coupling agent is insufficient, and R0 is a preset first threshold representing the empty shot risk threshold. The first level judgment signal described above is of high priority and can directly cut off the power output of the focused ultrasound treatment probe.

[0009] Further, the step of generating the second level judgment signal includes: The running data of the focused ultrasound treatment probe in the X-axis, Y-axis and Z-axis directions is collected through the 6-axis acceleration sensor. The running data is filtered and processed to extract the Z-axis displacement change Z1. The process of extracting the Z-axis displacement change Z1 includes: According to a preset sampling frequency, the position coordinates of the focused ultrasound treatment probe in the Z-axis direction are recorded, and the recorded position coordinates are sorted in time sequence to obtain a Z-axis displacement sequence [Z1, Z2, Z3, …, Z n ]; Wherein, Z1, Z2, Z3, Z n n represent the first, second, third, and nth position coordinates, respectively. The system samples from the Z-axis displacement sequence using a sliding window with a preset data size of N. Whenever the system acquires new position data, the sliding window moves forward one step, discarding an old data point and adding a new data point. The standard deviation of the position data within the sliding window is calculated and used as the Z-axis displacement change Z1. The Z-axis displacement change Z1 is compared with a preset displacement threshold Zmax; If Z1≥Zmax, a second-level abnormal signal is generated, indicating a risk of missing shots; The aforementioned second-level judgment signal is mainly used to detect situations where the focused ultrasound treatment probe is partially suspended or the coupling agent is slightly insufficient. It is mainly indicated by pop-up windows or voice prompts, and the output is not directly cut off (unless accompanied by abnormal temperature).

[0010] Further steps for comprehensively assessing the risks of air-to-air strikes include: The risk assessment of air-launching should be based primarily on the first-level judgment signal. If the first-level judgment signal is normal, then the second-level judgment signal is used for auxiliary judgment. If any judgment signal indicates an abnormality, it is determined that there is a risk of missing the target.

[0011] Furthermore, the temperature of the focused ultrasound therapy probe is monitored in real time; If the temperature exceeds the preset temperature threshold TEMP_MAX, the power output of the focused ultrasound therapy probe will be forcibly shut down immediately, and a warning of overheating and dry-drying risk will be issued. The aforementioned monitoring of the focused ultrasound therapy probe is used to detect local temperature rise caused by dry-firing.

[0012] Furthermore, during the treatment process, the presence of mechanical stall risk is determined by the optocoupler trigger signal of the motion component and the running speed of the stepper motor. The process of determining whether there is a risk of mechanical stall by using the optocoupler trigger signal of the motion component and the running speed of the stepper motor includes: The system collects trigger signals from optical couplers installed at the start and end points of the robotic arm's motion trajectory in real time and records the start timestamp T. s and the end timestamp T e ; The encoder feedback signal of the stepper motor is acquired synchronously, and the real-time running speed V of the stepper motor is obtained through differential calculation. a Calculate the average running speed of the stepper motor. Where S represents the displacement of the motion according to the preset motion trajectory; Calculate the theoretical travel time of the robotic arm: Where L represents the optical coupler spacing, and V... c Indicates the speed of the instruction; Calculate the actual travel time of the robotic arm: ; Establish speed-time consistency metrics: ; Preset passage time threshold T max Speed-time consistency index threshold C max ; The risk assessment for stalled turns is based on a combination of the following conditions: Main condition: T a >T max ; Auxiliary condition 1: C > C max ; Auxiliary condition 2: V a <V c ; If any condition lasts for a duration exceeding a preset time threshold, there is a risk of mechanical stall. If there is a risk of mechanical stall, adjust the stepper motor torque or stop the stepper motor, and issue a warning message; The aforementioned anti-blocking mechanism is used to determine whether the robotic arm is blocked, and to prevent the probe from being suspended or poorly attached due to robotic arm malfunction.

[0013] Furthermore, in order to better implement the above method, a piezoelectric ultrasonic transducer anti-drilling detection system is also provided, which includes: a focused ultrasound therapy probe, a probe drive module, a motion component, and a therapy host; The treatment surface of the focused ultrasound therapy probe is equipped with positive and negative electrode pads for contact detection; The probe drive module, connected to the focused ultrasound therapy probe, is used to detect the resistance value between the positive and negative electrode plates to generate a first-level judgment signal, and integrates a 6-axis accelerometer for detecting the motion state of the focused ultrasound therapy probe to generate a second-level judgment signal. Motion components are used to automate the operation of the focused ultrasound therapy probe; The treatment unit is connected in communication with the probe drive module. It is used to receive the first-level judgment signal and the second-level judgment signal, judge the risk of dry-shooting based on the first-level judgment signal and the second-level judgment signal, and control the power output of the focused ultrasound treatment probe to be turned off or reduced when the risk of dry-shooting is determined to exist.

[0014] Furthermore, focused ultrasound therapy probes are available in two types: handheld and automated. Automated probes are mounted on motion components for automated operation by robotic arms, while handheld probes are for manual operation. Both types of focused ultrasound therapy probes include a solid-state transducer, a temperature detection module, and a heat dissipation module. Solid-state transducers are used to transmit ultrasonic energy; The temperature detection module is used to monitor the temperature of the metal acoustic lens; The heat dissipation module includes a heat sink and a fan, which are used for heat dissipation to ensure stable operation of the solid-state transducer.

[0015] Furthermore, the motion components include: a robotic arm, a stepper motor, a motion control module, and an anti-stall module; The robotic arm is used to carry an automated focused ultrasound therapy probe. It can be pre-programmed with a motion trajectory and has the ability to move in three spatially perpendicular directions: the X-axis, Y-axis, and Z-axis. Combined with the driving force provided by the stepper motor, it drives the automated probe to complete automated operation according to the pre-programmed motion trajectory. Stepper motors are used to provide driving force for robotic arms; The motion control module receives the mode parameters set by the treatment host and drives the stepper motor to run according to the mode parameters; the motion control module maintains real-time communication with the treatment host and the probe drive module; The anti-blocking module is used to monitor and intervene in the operation status of the robotic arm by sending optocoupler trigger signals to both ends of the motion trajectory to the motion control module.

[0016] Furthermore, the treatment host includes: a main interface module, a transducer drive power output module, a data analysis and processing module, and a treatment plan module; The main interface module is used to display treatment information and prompts. The transducer drive power output module, together with the probe drive module and the solid-state transducer, forms an impedance matching circuit, which enables the solid-state transducer to output ultrasonic energy through the impedance matching circuit. The data analysis and processing module maintains real-time communication with the motion control module and the probe drive module, and monitors the communication data and operating status of each module in real time; it receives the first-level judgment signal sent by the probe drive module and the second-level judgment signal collected and preliminarily filtered by the 6-axis accelerometer to determine whether the solid-state transducer is making good contact; it receives the optocoupler trigger signal sent by the anti-stalling module of the motion component, and determines whether there is a stall problem in combination with the stepper motor running speed; when a system abnormality is detected, it issues a prompt message and takes adjustment measures. The treatment plan module has a built-in list of preset focused ultrasound treatment plans, and users can also customize and edit focused ultrasound treatment plans.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. Through a two-level judgment logic of "positive and negative electrode resistance judgment and 6-axis accelerometer trajectory analysis", combined with the temperature detection module to monitor the temperature rise of the solid-state transducer in real time, it can accurately identify the causes of dry-firing such as insufficient coupling agent, poor probe adhesion, and accidental suspension. In case of abnormality, it can quickly cut off the power output and avoid continuous power output at the same position, thus solving the problem of dry-firing breakdown of existing transducers and ensuring the safety of patient treatment and the stability of equipment.

[0018] 2. The anti-blocking module of the motion component, combined with the trajectory algorithm, further avoids mechanical operation failures. The overall anomaly recognition accuracy is high and the response is timely, which can meet the diverse needs of manual operation and automated treatment.

[0019] 3. Compatible with handheld and automatic probes, and adapted to solid-state and liquid ultrasonic transducers; by reducing the cumulative damage caused by localized dry-firing, it effectively extends the service life of transducers, reduces equipment replacement costs for medical institutions, and improves the return on investment of equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the method flow of the piezoelectric ultrasonic transducer anti-aircraft attack detection system and method of the present invention; Figure 2 This is a schematic diagram of the system structure of a piezoelectric ultrasonic transducer anti-aircraft attack detection system and method according to the present invention; Figure 3 This is a schematic diagram of the solid-state transducer in the piezoelectric ultrasonic transducer anti-aircraft attack detection system and method of the present invention; In the diagram: a) Solid-state transducer housing; b) Silicone layer; c) Annular piezoelectric ceramic sheet; d) Anti-overflow adhesive processing groove; e) Conductive rod. Detailed Implementation

[0021] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: As Figure 1 As shown, the present invention provides a technical solution: a method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer, the method comprising: By setting positive and negative electrode plates on the surface of the focused ultrasound therapy probe, the resistance value between the positive and negative electrode plates is detected in real time, and a first-level judgment signal is generated based on the resistance value. The motion trajectory data of the focused ultrasound therapy probe is detected in real time by a 6-axis accelerometer installed in the probe drive module, and a second-level judgment signal is generated based on the motion trajectory data. Based on the first-level judgment signal and the second-level judgment signal, a comprehensive judgment is made as to whether there is a risk of missing the target. When a risk of dry-firing is detected, the power output of the focused ultrasound therapy probe is turned off or reduced. The steps for generating the first-level judgment signal include: Real-time detection of the resistance value between the positive and negative electrode plates; If the resistance value is greater than or equal to the first threshold R0, and the resistance value state is maintained for more than the threshold T0, then it is determined that there is a risk of missing the target and a first-level abnormal signal is generated. If the resistance value is greater than or equal to the second threshold R1 and less than the first threshold R0, then it is determined that the coupling agent is insufficient, and a first-level warning signal is generated. If the resistance value is less than the second threshold R1, it is determined that the coupling agent is sufficient and the focused ultrasound treatment probe fits well. Where R1 represents the judgment threshold when the coupling agent is insufficient, and R0 represents the risk threshold of empty firing; The steps for generating the second-level judgment signal include: The 6-axis accelerometer collects the movement data of the focused ultrasound therapy probe in the X, Y, and Z axes. The running data is filtered to extract the Z-axis displacement change Z1; The Z-axis displacement change Z1 is compared with a preset displacement threshold Zmax; If Z1≥Zmax, a second-level abnormal signal is generated, indicating a risk of missing shots; The steps for comprehensively assessing the risk of air-to-air strikes include: The risk assessment of air-launching should be based primarily on the first-level judgment signal. If the first-level judgment signal is normal, then the second-level judgment signal is used for auxiliary judgment. If any judgment signal indicates an abnormality, it is determined that there is a risk of missing the target.

[0023] Among them, the temperature of the focused ultrasound treatment probe is monitored in real time; If the temperature exceeds the preset temperature threshold TEMP_MAX, the power output of the focused ultrasound therapy probe will be forcibly shut down immediately, and a warning of overheating and dry-drying risk will be issued.

[0024] During the treatment process, the presence of mechanical stall risk is determined by the optical coupler trigger signal of the motion component and the running speed of the stepper motor. If there is a risk of mechanical stall, adjust the stepper motor torque or stop the stepper motor from running and issue a warning message.

[0025] Example 2: Figure 2As shown, in order to better implement the above method, a piezoelectric ultrasonic transducer anti-drilling detection system is also provided. The anti-drilling detection system includes: a focused ultrasound therapy probe, a probe drive module, a motion component, and a therapy host. The treatment surface of the focused ultrasound therapy probe is equipped with positive and negative electrode pads for contact detection; The probe drive module, connected to the focused ultrasound therapy probe, is used to detect the resistance value between the positive and negative electrode plates to generate a first-level judgment signal, and integrates a 6-axis accelerometer for detecting the motion state of the focused ultrasound therapy probe to generate a second-level judgment signal. Motion components are used to automate the operation of the focused ultrasound therapy probe; The treatment unit is connected in communication with the probe drive module. It is used to receive the first-level judgment signal and the second-level judgment signal, judge the risk of dry-shooting based on the first-level judgment signal and the second-level judgment signal, and control the power output of the focused ultrasound treatment probe to be turned off or reduced when the risk of dry-shooting is determined to exist.

[0026] The focused ultrasound therapy probes include two types: handheld and automated. The automated type is mounted on a motion assembly for automated operation by a robotic arm; the handheld type is for manual operation. Both types of focused ultrasound therapy probes include a solid-state transducer, a temperature detection module, and a heat dissipation module. See Figure 3 The solid-state transducer includes: a) a solid-state transducer housing, b) a silicone layer, c) annular piezoelectric ceramic sheet, d) an anti-overflow adhesive process groove, and e) a conductive rod. The solid-state transducer housing a serves as the main structure, with a silicone layer b covering its outer side. An anti-overflow adhesive process groove d is provided on the solid-state transducer housing a. An annular piezoelectric ceramic sheet c is installed inside the solid-state transducer housing a, and two conductive rods e are symmetrically installed on the annular piezoelectric ceramic sheet c. Among them, the solid-state transducer housing a is used to fix the metal acoustic lens; the convex spherical surface of the silicone layer b has a circular electrode plate area in the middle; the diameter of the circular electrode plate area is smaller than the projection of the circular area in the annular piezoelectric ceramic sheet c onto the convex spherical surface; the circular electrode plate area includes an outer ring positive electrode and an inner circle negative electrode, which are separated by an insulating material. Solid-state transducers are used to transmit ultrasonic energy; The temperature detection module is used to monitor the temperature of the metal acoustic lens; The heat dissipation module includes a heat sink and a fan, which are used for heat dissipation to ensure stable operation of the solid-state transducer.

[0027] The motion components include: a robotic arm, a stepper motor, a motion control module, and an anti-stall module; The robotic arm is used to carry an automated focused ultrasound therapy probe. It can be pre-programmed with a motion trajectory and has the ability to move in three spatially perpendicular directions: the X-axis, Y-axis, and Z-axis. Combined with the driving force provided by the stepper motor, it drives the automated probe to complete automated operation according to the pre-programmed motion trajectory. Stepper motors are used to provide driving force for robotic arms; The motion control module receives the mode parameters set by the treatment host and drives the stepper motor to run according to the mode parameters; the motion control module maintains real-time communication with the treatment host and the probe drive module; The anti-blocking module is used to monitor and intervene in the operation status of the robotic arm by sending optocoupler trigger signals to both ends of the motion trajectory to the motion control module.

[0028] The treatment host includes: a main interface module, a transducer drive power output module, a data analysis and processing module, and a treatment plan module; The main interface module is used to display treatment information and prompts. The transducer drive power output module, together with the probe drive module and the solid-state transducer, forms an impedance matching circuit, which enables the solid-state transducer to output ultrasonic energy through the impedance matching circuit. The data analysis and processing module maintains real-time communication with the motion control module and the probe drive module, and monitors the communication data and operating status of each module in real time; it receives the first-level judgment signal sent by the probe drive module and the second-level judgment signal collected and preliminarily filtered by the 6-axis accelerometer to determine whether the solid-state transducer is making good contact; it receives the optocoupler trigger signal sent by the anti-stalling module of the motion component, and determines whether there is a stall problem in combination with the stepper motor running speed; when a system abnormality is detected, it issues a prompt message and takes adjustment measures. The treatment plan module has a built-in list of preset focused ultrasound treatment plans, and users can also customize and edit focused ultrasound treatment plans. In an embodiment of the present invention, when performing ultrasound uterine involution treatment using the above-described system, the following steps are included: Medical staff can assess a patient's condition and, if the condition is suitable for unattended care, can implement an automated treatment plan. The patient lies flat, and an appropriate amount of coupling agent is applied evenly to the area to be treated. Then, the running trajectory is set, and the position of the motion module is adjusted to ensure good contact between the therapeutic silicone ball surface of the ultrasound probe and the patient's body surface. The standard for good contact is that the area of ​​the silicone ball surface (including the middle electrode) in contact with the patient's body is greater than or equal to 75% of its total area. Then, the treatment plan is selected in the treatment host module, and the button is clicked to start the treatment. During the treatment, the data analysis and processing module continuously obtains the inter-electrode resistance judgment results sent by the treatment probe drive module and generates the first-level judgment signal; Meanwhile, the data analysis and processing module is also monitoring the running trajectory information output by the treatment probe drive module in real time, generating a second-level judgment signal through a local trajectory algorithm, and recording position changes; In addition, during the treatment process, the optocoupler trigger signal sent by the motion control module will be combined with the current motor running speed by the data analysis and processing module to determine whether there is a stall problem.

[0029] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for detecting anti-dry-firing of piezoelectric ultrasonic transducers, characterized in that: The anti-aircraft attack detection method includes: By setting positive and negative electrode plates on the surface of the focused ultrasound therapy probe, the resistance value between the positive and negative electrode plates is detected in real time, and a first-level judgment signal is generated based on the resistance value. The motion trajectory data of the focused ultrasound therapy probe is detected in real time by a 6-axis accelerometer installed in the probe drive module, and a second-level judgment signal is generated based on the motion trajectory data. Based on the first-level judgment signal and the second-level judgment signal, a comprehensive judgment is made as to whether there is a risk of missing the target. When a risk of dry-firing is detected, the power output of the focused ultrasound therapy probe is controlled to be turned off or reduced.

2. The method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer according to claim 1, characterized in that: The step of generating the first-level judgment signal includes: Real-time detection of the resistance value between the positive and negative electrode plates; If the resistance value is greater than or equal to the first threshold R0, and the resistance value state is maintained for more than the threshold T0, then it is determined that there is a risk of missing the target and a first-level abnormal signal is generated. If the resistance value is greater than or equal to the second threshold R1 and less than the first threshold R0, then it is determined that the coupling agent is insufficient, and a first-level warning signal is generated. If the resistance value is less than the second threshold R1, it is determined that the coupling agent is sufficient and the focused ultrasound treatment probe fits well. Where R1 represents the judgment threshold when the coupling agent is insufficient, and R0 represents the risk threshold of empty firing.

3. The method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer according to claim 1, characterized in that: The step of generating the second-level judgment signal includes: The 6-axis accelerometer collects the movement data of the focused ultrasound therapy probe in the X, Y, and Z axes. The running data is filtered to extract the Z-axis displacement change Z1; The Z-axis displacement change Z1 is compared with a preset displacement threshold Zmax; If Z1≥Zmax, a second-level abnormal signal is generated, indicating a risk of missing shots.

4. The method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer according to claim 1, characterized in that: The steps for comprehensively assessing the risk of flying in the air include: The risk assessment of air-launching should be based primarily on the first-level judgment signal. If the first-level judgment signal is normal, then the second-level judgment signal is used for auxiliary judgment. If any judgment signal indicates an abnormality, it is determined that there is a risk of missing the target.

5. The method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer according to claim 1, characterized in that: It also includes the following steps: Real-time monitoring of the temperature of the focused ultrasound therapy probe; If the temperature exceeds the preset temperature threshold TEMP_MAX, the power output of the focused ultrasound therapy probe will be forcibly shut down immediately, and a warning of overheating and dry-drying risk will be issued.

6. The method for detecting anti-dry-firing of a piezoelectric ultrasonic transducer according to claim 1, characterized in that: It also includes the following steps: During the treatment process, the optical coupler trigger signal of the motion component and the running speed of the stepper motor are used to determine whether there is a risk of mechanical stall. If there is a risk of mechanical stall, adjust the stepper motor torque or stop the stepper motor from running and issue a warning message.

7. A piezoelectric ultrasonic transducer anti-dry-firing detection system, used to execute the piezoelectric ultrasonic transducer anti-dry-firing detection method according to any one of claims 1-6, characterized in that: The anti-aircraft attack detection system includes: a focused ultrasound treatment probe, a probe drive module, a motion component, and a treatment host; The treatment surface of the focused ultrasound therapy probe is provided with positive and negative electrode plates for contact detection; The probe driving module is connected to the focused ultrasound therapy probe and is used to detect the resistance value between the positive and negative electrode plates to generate a first-level judgment signal. It also integrates a 6-axis accelerometer for detecting the motion state of the focused ultrasound therapy probe to generate a second-level judgment signal. The motion component is used to automate the operation of the focused ultrasound therapy probe; The treatment host is communicatively connected to the probe drive module and is used to receive a first-level judgment signal and a second-level judgment signal, determine the risk of missed treatment based on the first-level judgment signal and the second-level judgment signal, and control the power output of the focused ultrasound treatment probe to be turned off or reduced when the risk of missed treatment is determined to exist.

8. The piezoelectric ultrasonic transducer anti-aircraft attack detection system according to claim 7, characterized in that: The focused ultrasound therapy probe includes two types: handheld and automated. The automated type is used to be mounted on the motion assembly for automated operation by a robotic arm; the handheld type is used for manual operation. Both types of focused ultrasound therapy probes include a solid-state transducer, a temperature detection module, and a heat dissipation module; The solid-state transducer is used to transmit ultrasonic energy; The temperature detection module is used to monitor the temperature of the metal acoustic lens; The heat dissipation module includes a heat sink and a fan for heat dissipation, ensuring the stable operation of the solid-state transducer.

9. The piezoelectric ultrasonic transducer anti-aircraft attack detection system according to claim 7, characterized in that: The motion components include: a robotic arm, a stepper motor, a motion control module, and an anti-stall module; The robotic arm is used to carry an automated focused ultrasound therapy probe. It can be pre-programmed with a motion trajectory and has the ability to move in three directions that are perpendicular to each other in space: the X-axis, Y-axis, and Z-axis. Combined with the driving force provided by the stepper motor, it drives the automated probe to complete automated operation according to the pre-programmed motion trajectory. The stepper motor is used to provide driving force for the robotic arm; The motion control module is used to receive the mode parameters set by the treatment host and drive the stepper motor to run according to the mode parameters; the motion control module maintains real-time communication with the treatment host and the probe drive module; The anti-blocking module is used to monitor and intervene in the operation status of the robotic arm by sending optocoupler trigger signals at both ends of the motion trajectory to the motion control module.

10. A piezoelectric ultrasonic transducer anti-aircraft attack detection system according to claim 7, characterized in that: The treatment host includes: a main interface module, a transducer drive power output module, a data analysis and processing module, and a treatment plan module; The main interface module is used to display treatment information and prompts. The transducer drive power output module, together with the probe drive module and the solid-state transducer, forms an impedance matching circuit, through which the solid-state transducer outputs ultrasonic energy. The data analysis and processing module maintains real-time communication with the motion control module and the probe drive module, and monitors the communication data and operating status of each module in real time; it receives the first-level judgment signal sent by the probe drive module and the second-level judgment signal collected and preliminarily filtered by the 6-axis accelerometer to determine whether the solid-state transducer is making good contact; it receives the optocoupler trigger signal sent by the anti-stalling module of the motion component, and determines whether there is a stall problem in combination with the stepper motor running speed; when a system abnormality is detected, it issues a prompt message and takes adjustment measures. The treatment plan module has a built-in list of preset focused ultrasound treatment plans, and can also customize and edit focused ultrasound treatment plans.

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