A combined ultrasonic probe device and control method

Abstract

This invention discloses a combined ultrasound probe device, comprising a control unit, a motion unit, a pressure detection unit, a temperature detection unit, a camera unit, a combined ultrasound probe unit, a water system unit, an external control unit, and a transducer unit. The control unit is used for control and data interconnection; the motion unit is used for movement of the probe unit and transducer unit; the pressure detection unit is used to detect the contact pressure between the water bag and the human body; the temperature detection unit is used to detect the temperature of the medium water; the camera unit is used to acquire image data from the water bag; the combined ultrasound probe unit is used to acquire image data from the target area; the water system unit is used for water intake and drainage of the water bag; the external control unit communicates with the control unit for data exchange and information interconnection; and the transducer unit is used for ultrasound emission and transmission of transducer data parameters to the external control unit. This invention can find the optimal target position and precisely control the treatment energy while maintaining a comfortable treatment position for the patient.

Description

Technical Field

[0001] This invention relates to an ultrasound therapy device, specifically a combined ultrasound probe device and control method for use in a high-intensity focused ultrasound therapy system, belonging to the field of medical devices. Background Technology

[0002] In today's era of rapid scientific and technological advancements, the continuous updates and iterations of ultrasound technology, coupled with the increasing demand for non-invasive and precise treatments, have led to a growing application of high-intensity focused ultrasound (HIFU) diagnostic and treatment equipment in the field of non-invasive precision medicine. The characteristics of ultrasound diagnostic and treatment systems—targeting precision adjustment and energy precision control—have a significant impact on treatment outcomes.

[0003] An ultrasound therapy system typically consists of a positioning device, a medium water treatment device, a combined ultrasound probe (treatment head), control circuitry, and system software. The combined ultrasound probe is a crucial component of the ultrasound therapy system.

[0004] Most existing high-intensity focused ultrasound (HIFU) diagnostic systems on the market use bed-mounted or treatment head-mounted positioning devices. These two types of devices are relatively bulky, inflexible in operation, and have limited treatment head movement range. This places high demands on installation space and operator skill. Furthermore, due to the limited treatment head movement range, patients need to adjust their treatment posture according to the treatment head position and the defined lesion treatment area. Due to individual differences, different patients experience vastly different levels of comfort even with the same treatment posture. For patients, an uncomfortable posture is difficult to maintain until the end of treatment. Moreover, because the treatment effect of HIFU is easily affected by the ultrasound targeting accuracy, patient movement during treatment can cause deviations in targeting accuracy, resulting in significant differences in treatment effects for the same disease and the same treatment posture depending on the patient. In severe cases, treatment energy may concentrate outside the patient's lesion treatment area, potentially causing secondary harm. Summary of the Invention

[0005] The purpose of this invention is to provide a combined ultrasound probe device and control method that can find the optimal target position and precisely control the treatment energy while maintaining a comfortable treatment position for the patient. This invention also enables adaptive adjustment of the pressure between the water bag of the combined ultrasound therapy probe and the patient, intelligent control of the water bag volume, and real-time monitoring of skin heating. Furthermore, it can output pressure, temperature, position, and image data to other systems, enhancing the product's intelligent functionality and user-friendliness.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a combined ultrasonic probe device, comprising a control unit, a motion unit, a pressure detection unit, a temperature detection unit, a camera unit, a combined ultrasonic probe unit, a water system unit, an external control unit, and a transducer unit.

[0007] The control unit includes one or more processors, which are used to control the motion unit, pressure detection unit, temperature detection unit, and camera unit, and to communicate with the water system unit and external control unit for data interconnection.

[0008] The motion unit includes a mechanical motion actuator and a multi-dimensional motion mechanical structure, which are used to drive the combined ultrasonic probe unit and transducer unit to move.

[0009] The pressure detection unit is used to detect the contact pressure between the water bag and the human body;

[0010] The temperature detection unit is used to obtain the temperature of the medium water in the water system unit;

[0011] The camera unit is used to acquire image data from the water bladder;

[0012] The combined ultrasound probe unit includes two or more ultrasound imaging probes, which acquire image data of the target area through the ultrasound imaging probes.

[0013] The water system unit includes a water tank device, an inlet pipe, and an outlet pipe, and the control unit communicates with it to control the water inlet and outlet of the water tank;

[0014] The external control unit includes one or more central control units, and the control unit and the external control unit communicate to exchange data and interconnect information.

[0015] The transducer unit is controlled by an external control unit and is used to perform ultrasonic emission and transmit transducer data parameters to the external control unit.

[0016] Furthermore, the motion unit is composed of a robotic arm module and a combined motor, wherein the combined motor includes two linear stepper motors, several encoders, and photoelectric switches. The photoelectric switches are used to limit the upper and lower limits of the linear stepper motors, and the encoders are used to acquire the motor's position information and feed it back to the control unit for control adjustment.

[0017] Furthermore, the logical steps by which the control unit controls the movement of the stepper motor in the motion unit are as follows:

[0018] Step 1: The control unit calculates the number of steps required for the motor to move to the specified position;

[0019] Step 2: Determine if the motor's movement steps are 0;

[0020] Step 3: If the motor moves 0 steps, end the current control process;

[0021] Step 4: If the number of motor steps is not 0, drive the motor to execute the motion command;

[0022] Step 5: Wait for the motor to move to the designated position;

[0023] Step 6: Determine if the motor has moved to the designated position;

[0024] Step 7: If the motor does not move to the designated position, determine whether the limit photoelectric switch has been triggered;

[0025] Step 8: If the limit photoelectric switch is triggered, the movement ends;

[0026] Step 9: If the limit photoelectric switch is not triggered, return to step 6;

[0027] Step 10: If the motor moves to the specified position, read the encoder data to calculate the actual position of the motor;

[0028] Step 11: Determine if the motor needs motion compensation;

[0029] Step 12: If no compensation for motor movement is required, end this movement.

[0030] Step 13: If motor motion compensation is required, start controlling the motor to perform compensation motion;

[0031] Step 14: Determine whether the motor has triggered the limit photoelectric switch;

[0032] Step 15: If the limit photoelectric switch is triggered, the movement ends;

[0033] Step 16: If the limit photoelectric switch is not triggered;

[0034] Step 17: Determine whether the motor has completed the compensation motion;

[0035] Step 18: If the motor completes the compensation motion, end this motion.

[0036] Step 19: If the motor fails to complete the compensation motion, return to step 13.

[0037] Furthermore, the pressure detection unit includes multiple pressure sensors, which are installed inside and outside the water bladder of the combined ultrasonic probe unit. The control unit obtains the pressure difference between the inside and outside of the pressure detection unit to determine whether water needs to be added, drained, or replenished.

[0038] Furthermore, the control unit controls the detection logic steps for the contact pressure between the water bag and the human body as follows:

[0039] Step 1: The control unit begins to activate the pressure sensor's pressure value conversion;

[0040] Step 2: Read the pressure value from the pressure sensor;

[0041] Step 3: End pressure sensor value reading;

[0042] Step 4: The control unit begins to calculate the compensation value using the raw data. This compensation value is the deviation compensation after the sensor internally converts the analog signal into a digital signal.

[0043] Step 5: Determine if the original data is abnormal.

[0044] Step 6: If the original data is abnormal, the error flag is set to 1, a fault code is returned, and the process ends.

[0045] Step 7: If the raw data shows no abnormalities, calculate the pressure value;

[0046] Step 8: Return the calculated pressure value; end this process.

[0047] Furthermore, the logic steps for the control unit to control the temperature detection unit to perform real-time monitoring of the water temperature in the water system unit are as follows:

[0048] Step 1: The control unit issues a temperature detection command;

[0049] Step 2: Determine if the temperature measurement chip is in the initialization state;

[0050] Step 3: If in the initialization state, perform the initialization configuration of the temperature measurement chip;

[0051] Step 4: Complete the initial configuration and end the test;

[0052] Step 5: If the initialization state judgment result in Step 2 is not in the initialization state, determine whether it is in the transition state;

[0053] Step 6: If in a transition state; proceed to step 7; if not in a transition state; proceed to step 8;

[0054] Step 7: Issue the conversion command. Once the conversion command is issued, the test ends.

[0055] Step 8: If the status transition judgment result is negative, start judging whether it is in temperature reading state;

[0056] Step 9: If the temperature is not being read, end the process.

[0057] Step 10: If it is determined that the temperature is in the reading state, issue a command to obtain the temperature;

[0058] Step 11: Determine if the fault flag has been triggered;

[0059] Step 12: If the fault flag is triggered, read the fault code. After reading the fault code, end this process.

[0060] Step 13: If the fault flag is not triggered, read the temperature data. After reading the temperature data, end this process.

[0061] Step 14: Control unit 1 begins reading the data stored in the internal register of the temperature sensor, first determining whether the fault flag bit is 0;

[0062] Step 15: If the fault flag bit is not 0, return the fault code and end the function acquisition process;

[0063] Step 16: If the fault flag is 0, calculate the temperature data from the temperature sensor;

[0064] Step 17: Return the calculated temperature value to end the temperature function acquisition process.

[0065] Furthermore, the external control unit monitors the bubble situation in the water based on the image data transmitted by the camera unit; at the same time, the external control unit calculates the positional relationship between the camera and the human skin based on the distance from the target surface to the skin and the focal length, and then adjusts the focal length of the camera; and the external control unit sets a temperature alarm threshold, monitors the skin heating based on the data transmitted by the camera unit, and when the temperature exceeds the safe temperature threshold, the external control unit controls the ultrasonic emission to stop and sends a reminder signal to the operator.

[0066] Furthermore, the combined ultrasound probe unit is controlled by an external control unit, and the combined ultrasound probe unit transmits the acquired target area image data to the external control unit; the acquired target area image data includes grayscale image data, color image data and target area ultrasound RF data, and the target area ultrasound RF data is the original ultrasound echo signal after beamforming.

[0067] Furthermore, the steps for the control unit to communicate with the water system unit to control water inlet, drainage, and replenishment are as follows:

[0068] Step 1: The water system unit receives the water inlet command and performs initialization operations;

[0069] Step 2: Check if the water bladder is installed;

[0070] Step 3: If the water bladder is not installed, perform an error handling procedure and display a message indicating that the water bladder is not installed;

[0071] Step 4: If the water bag has been installed, determine whether drainage is required;

[0072] Step 5: If drainage is required, start the drainage process;

[0073] Step 6: If drainage is not required, start water intake, and monitor the internal and external pressure difference and water intake volume in real time during the water intake process;

[0074] Step 7: The control unit controls the motion unit to move the combined ultrasound probe unit to the initial zero position;

[0075] Step 8: The control unit reads the differential pressure value from the pressure sensor unit to determine whether water needs to be added;

[0076] Step 9: If you need to add water, return to Step 1;

[0077] Step 10: If no additional water is needed, the water intake process is complete.

[0078] Furthermore, the control unit transmits pressure, temperature, motor operating position, and camera image data to an external control unit, which then synchronizes the data to an external system to enhance the product's intelligent functionality and user-friendly operation.

[0079] The beneficial effects of this invention are as follows:

[0080] (1) It realizes multi-axis and multi-angle motion control based on the treatment position of the ultrasound probe target area, and can achieve intelligent target area planning and automatic movement and positioning of target area point treatment.

[0081] (2) Intelligent control of water volume in the ultrasonic probe water bladder was realized, and the water bladder was automatically controlled to enter, exit, and replenish water; thus improving the ease of use and intelligent operation of the device.

[0082] (3) It realizes the adaptive adjustment of the pressure of the ultrasound probe water bag against the human body; greatly improves the patient's comfort during treatment; and realizes the adaptive adjustment of the water bag pressure according to different body positions and different physical conditions.

[0083] (4) It realizes the visual detection of air bubbles in the medium water; and reduces the impact of air bubbles on the treatment effect.

[0084] (5) It realizes coupled skin heat detection, which improves patient comfort and treatment safety during treatment; and avoids secondary harm to patients caused by excessively high fever during treatment. Attached Figure Description

[0085] Figure 1 This is a schematic diagram of the device structure principle of the present invention;

[0086] In the diagram: 1-Control unit, 2-Motion unit, 21-Combined motor, 22-Robotic arm, 3-Pressure detection unit, 4-Temperature detection unit, 5-Camera unit, 6-Combined ultrasonic probe unit, 61-External ultrasonic probe, 62-Built-in ultrasonic probe, 7-Water system unit, 71-Water tank device, 72-Inlet pipe, 73-Drain pipe, 8-External control unit, 9-Transducer unit.

[0087] Figure 2This is a sectional view of the installation position and structure of the device of the present invention, wherein (a) is the front view and (b) is the side view;

[0088] In the diagram: 1-Control unit, 10-First photoelectric switch, 11-First linear motion stepper motor, 12-Second photoelectric switch, 13-Temperature sensor, 14-Pressure sensor, 15-Water inlet, 16-Ultrasonic transducer, 17-Built-in ultrasonic probe, 18-Water bladder, 19-External ultrasonic probe, 20-Second linear motion stepper motor, 21-Third photoelectric switch, 22-Fourth photoelectric switch, 23-Water outlet, 24-Robotic arm assembly.

[0089] Figure 3 This is a flowchart of the motor motion control process.

[0090] Figure 4 This is a flowchart of the pressure testing process.

[0091] Figure 5 This is a flowchart of the temperature detection process. Detailed Implementation

[0092] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0093] like Figure 1 As shown, a combined ultrasonic probe device and control method are disclosed. The device includes a control unit 1, a motion unit 2, a combined motor 21, a robotic arm 22, a pressure detection unit 3, a temperature detection unit 4, a camera unit 5, a combined ultrasonic probe unit 6, an external ultrasonic probe 61, an internal ultrasonic probe 62, a water system unit 7, a water tank device 71, a water inlet pipe 72, a water outlet pipe 73, an external control unit 8, and a transducer unit 9.

[0094] The control unit 1 includes one or more processors. Through electrical connections with the motion unit 2, pressure detection unit 3, temperature detection unit 3, and camera unit 5, it controls these units. Furthermore, the control unit 1 communicates with the water system unit 7 and the external control unit 8 via electrical connections, enabling information interconnection and data exchange. In this embodiment, the control unit 1 uses an STM32F1 series MCU from STMicroelectronics.

[0095] The motion unit 2 includes a mechanical motion actuator and a multi-dimensional motion mechanical structure. It is used to drive the combined ultrasound probe unit 6 to perform multi-axis, multi-angle movements. Specifically, the control unit 1 controls the motor in the motion unit 2 to drive the ultrasound probe unit 6. In this embodiment, the motion unit 2 is composed of a robotic arm module 22 and a combined motor 21. (Reference) Figure 2The combined motor 21 includes a 28 mm linear stepper motor, a 35 mm linear stepper motor, several encoders, and photoelectric limit switches, whose movement is controlled by the control unit 1. The photoelectric switches are used to limit the upper and lower limits of the linear stepper motors; the encoders are used to acquire the motor's position information and feed it back to the control unit 1 for adjustment. The thrust of the linear motors is calculated as F = Where F is the axial thrust, in Newtons (N); T is the input torque, in Newton-meters (N·m); and P is the lead screw, in meters (m). To ensure the efficiency of power transmission; Pi is the mathematical constant. In this embodiment, the thrust of the linear motion stepper motor is selected as 100N and 200N. Furthermore, since the motor's output torque decreases as the motor speed increases, the motor speed is also an important indicator in this embodiment.

[0096] Further reference Figure 3 The logic of control unit 1 controlling the movement of the stepper motor in motion unit 2 is as follows:

[0097] Step 1: Control unit 1 calculates the number of steps required for the motor to move to the specified position;

[0098] Step 2: Determine if the motor movement step count is 0 (the motor movement step count is the difference between the target position and the current position);

[0099] Step 3: If the motor moves 0 steps, end the current control process;

[0100] Step 4: If the number of motor steps is not 0, drive the motor to execute the motion command;

[0101] Step 5: Wait for the motor to move to the designated position;

[0102] Step 6: Determine if the motor has moved to the designated position;

[0103] Step 7: If the motor does not move to the designated position, determine whether the limit switch has been triggered;

[0104] Step 8: If the limit switch is triggered, the movement ends;

[0105] Step 9: If the limit switch is not triggered, return to step 6;

[0106] Step 10: If the motor moves to the specified position, read the encoder data to calculate the actual position of the motor;

[0107] Step 11: Determine if the motor needs motion compensation;

[0108] Step 12: If no compensation for motor movement is required, end this movement.

[0109] Step 13: If motor motion compensation is required, start controlling the motor to perform compensation motion;

[0110] Step 14: Determine whether the motor has triggered the limit switch.

[0111] Step 15: If the limit switch is triggered, end the current movement;

[0112] Step 16: If the limit switch is not triggered;

[0113] Step 17: Determine whether the motor has completed the compensation motion;

[0114] Step 18: If the motor completes the compensation motion, end this motion.

[0115] Step 19: If the motor fails to complete the compensation motion, return to step 13.

[0116] The pressure detection unit 3 includes one or more pressure sensors, and may also employ an array of pressure sensors. The control unit 1 acquires the pressure values ​​from the pressure sensors in the pressure detection unit 3 or the pressure difference between several pressure sensors, and communicates with the water system unit 7 to control water inlet, drainage, and replenishment. In this embodiment, multiple pressure sensors are used. Designed to be installed inside and outside the water bladder (hereinafter referred to as the water bladder) of the combined ultrasonic probe device, the control unit 1 acquires the internal and external pressure difference in the pressure detection unit 3 to determine whether water inlet, drainage, or replenishment is required. Furthermore, to simplify the usage process and enhance the intelligence of equipment operation, the external control unit 8 interacts with the control unit 1 via electrical communication, enabling one-click completion of the water inlet and drainage process. Specifically, the internal and external pressure difference range that can be monitored in this embodiment is ±2 kPa.

[0117] Furthermore, the pressure detection unit 3 is also used to control unit 1 to detect the contact pressure between the water bag and the human body, so as to achieve adaptive pressure between the water bag and the human body. It will adjust the pressure value between the water bag and the human body according to different body positions and physical conditions, automatically adjusting to the optimal treatment state.

[0118] Specifically, the pressure sensors in this embodiment are primarily digital pressure sensors. (See reference) Figure 4 The control unit 1 controls the contact pressure detection logic steps between the water bag and the human body as follows:

[0119] Step 1: Control unit 1 starts the pressure sensor pressure value conversion;

[0120] Step 2: Read the pressure value from the pressure sensor;

[0121] Step 3: Control unit 1 begins to activate the pressure sensor pressure value conversion;

[0122] Step 4: Read the pressure value from the pressure sensor;

[0123] Step 5: End pressure sensor value reading;

[0124] Step 6: Control unit 1 begins calculating the compensation value using the raw data. This compensation value is the deviation compensation after the sensor internally converts the analog signal to a digital signal;

[0125] Step 7: Determine if the original data is abnormal;

[0126] Step 8: If the original data is abnormal, set the error flag to 1, return the fault code, and end the process;

[0127] Step 9: If the raw data shows no abnormalities, calculate the pressure value;

[0128] Step 10: Return the calculated pressure value. End this process.

[0129] The temperature detection unit 4 is used by the control unit 1 to acquire the temperature of the medium water in the water system unit 7, so as to realize real-time monitoring of the water temperature in the water system unit 7. Specifically, refer to... Figure 5 In this embodiment, the logic steps of the control unit 1 controlling the temperature detection unit 4 to perform real-time monitoring of the water temperature of the water system unit 7 are as follows:

[0130] Step 1: Control unit 1 issues a temperature detection command;

[0131] Step 2: Determine if the temperature measurement chip is in the initialization state;

[0132] Step 3: If in the initialization state, perform the initialization configuration of the temperature measurement chip;

[0133] Step 4: Complete the initial configuration and end the test;

[0134] Step 5: If the initialization state determination result in Step 2 is not in the initialization state, determine whether it is in the transition state. The transition state indicates that the temperature measurement chip internally converts the analog signal to a digital signal and stores the digital signal in the internal register address of the temperature measurement chip.

[0135] Step 6: If in a transition state;

[0136] Step 7: Issue the conversion command. Once the conversion command is issued, the test ends.

[0137] Step 8: If the result of the "whether it is in the transition state" judgment in Step 5 is "no", start judging whether it is in the temperature reading state;

[0138] Step 9: If the temperature is not being read, end the process.

[0139] Step 10: If it is determined that the temperature is in the reading state, issue a command to obtain the temperature;

[0140] Step 11: Determine if the fault flag has been triggered;

[0141] Step 12: If the fault flag is triggered, read the fault code. After reading the fault code, end this process.

[0142] Step 13: If the fault flag is not triggered, read the temperature data; end the process after reading the temperature data.

[0143] Step 14: Control unit 1 begins reading the data stored in the internal register of the temperature sensor; first, it checks if the fault flag bit is 0;

[0144] Step 15: If the fault flag is not 0, return the fault code; end this temperature data acquisition process;

[0145] Step 16: If the fault flag is 0, calculate the temperature data from the temperature sensor;

[0146] Step 17: Return the calculated temperature value. End this temperature data acquisition process.

[0147] The camera unit 5 is used to acquire image data from the water bladder. The external control unit 8 can detect air bubbles in the water based on the image data transmitted by the camera unit 5. If the presence of air bubbles affects the treatment path and treatment effect, the external control unit 8 will issue an alarm and can access the camera interface to view the area and location of the air bubbles. The operator can adjust the patient's position or the ultrasound position based on this information, thereby reducing or eliminating the impact of air bubbles on the treatment effect.

[0148] Furthermore, the positional relationship between the camera and the human skin is calculated based on the target-to-skin distance and focal length, and the camera's focal length is adjusted accordingly. Furthermore, camera unit 5 can monitor the heating of the coupled skin. Furthermore, the external control unit 8 can set a temperature alarm threshold. Based on the data transmitted by camera unit 5, it monitors skin heating; when the temperature exceeds the safe temperature threshold, the external control unit 8 stops ultrasonic transmission and sends a warning signal to the operator. In this embodiment, by using the collaboration of multiple miniature wide-angle cameras, the ultrasonic probe's water bladder image data is acquired without blind spots. The data from two cameras is bundled by a hub integrated on the board, and the image can be transmitted to the external control unit 8 for image data processing via a single data cable.

[0149] The combined ultrasound probe unit 6 includes two or more ultrasound imaging probes. It acquires image data of the target area through the ultrasound imaging probes, including grayscale image data and color image data; simultaneously, it acquires ultrasound RF data of the target area. The ultrasound RF data is the raw ultrasound echo signal after beamforming. In this embodiment, the combined ultrasound probe unit 6 consists of an external ultrasound probe 61 and an internal ultrasound probe 62. Further, refer to... Figure 1 The transducer unit 9 is fixedly assembled with the combined ultrasonic probe unit 6 via mechanical structural components. The motion unit 2 is controlled by the control unit 1 to move together. For details, please refer to... Figure 1 The 28mm linear motion stepper motor, the built-in ultrasonic probe 62, and the transducer unit 9 are assembled and fixed by mechanical structural components. The stepper motor is controlled by the control unit 1 to drive the built-in ultrasonic probe 62 and the transducer unit 9 to move in the Z-axis direction.

[0150] The transducer unit 9 is electrically connected to the external control unit 8 and is mainly used for ultrasonic emission and for the external control unit 8 to read transducer data parameters.

[0151] The water system unit 7 includes a water tank device 71, an inlet pipe 72, and an outlet pipe 73. It is mainly controlled by a control unit 1 that communicates with the external water tank control system to control the water inlet, outlet, and replenishment of the water tank.

[0152] The water tank device 71 is used for communication between the control unit 1 and the water tank device 71. It controls the water inlet, outlet, and replenishment of the water tank.

[0153] The water inlet pipe 72 is used by the water tank device 71 to inject medium water into the water bag through the water inlet pipe 72.

[0154] The drain pipe 73 is used by the water bag to discharge the medium water to the water tank device 71 for storage.

[0155] Specifically, control unit 1 communicates with water system unit 7 to control water inlet, drainage, and replenishment. The detailed process is as follows:

[0156] Step 1: Upon receiving the water inlet command, water system unit 7 performs initialization. Initialization includes checking the usage time of the medium water (generally set to no more than 7 days in this device), detecting internal and external air pressure, and checking the water level in water tank 71. If any abnormality occurs during initialization, an abnormal status message is displayed. The system determines whether to continue operation based on the abnormal status.

[0157] Step 2: Check if the water bladder is installed. The water bladder installation detection method is as follows: Control unit 1 controls motion unit 2 to move combined ultrasonic probe unit 6 to the highest position, while detecting the internal and external pressure difference and comparing it with the set range; if it is lower than the set range, it indicates that the pressure is too low; if an abnormality occurs, it will indicate an abnormal state.

[0158] Step 3: If the water bladder is not installed, perform an error handling procedure and display a message indicating that the water bladder is not installed;

[0159] Step 4: If the water bag has been installed, determine whether drainage is necessary; drainage before filling the water bag is to eliminate air bubbles in the water bag that could affect the treatment effect.

[0160] Step 5: If drainage is required, start the drainage process;

[0161] Step 6: If drainage is not required, begin water intake; during the water intake process, the pressure difference between the inside and outside and the water intake volume (which can be calculated from the water flow rate and the water intake time) are monitored in real time and controlled. In this embodiment, the minimum internal pressure is -23000Pa, and the range of the internal and external pressure difference is -600Pa to +300Pa.

[0162] Step 7: Control unit 1 controls motion unit 2 to move combined ultrasound probe unit 6 to the initial zero position;

[0163] Step 8: Control unit 1 reads the internal pressure difference value in pressure sensor unit 3 to determine whether water needs to be added;

[0164] Step 9: If you need to add water, return to Step 1;

[0165] Step 10: If no additional water is needed, the water intake process is complete.

[0166] The external control unit 8 includes one or more central control units. Control unit 1 and external control unit 8 communicate electrically for data exchange and information interconnection. Control unit 1 transmits data such as pressure, temperature, motor position, and bubble images to external control unit 8. External control unit 8 can synchronize data to other systems to enhance the product's functional intelligence and user-friendliness. Furthermore, transducer unit 9 and combined ultrasonic probe unit 6 are controlled by external control unit 8. Combined ultrasonic probe unit 6 transmits acquired target area image data to external control unit 8.

[0167] The external control unit 8 can also control the ultrasonic emission and information reading of the transducer unit 9.

[0168] Furthermore, when the control unit 1 and the water system unit 7 control the inlet and outlet of the water system, before the water enters, the external control unit and control unit 1 will control the robotic arm 22 and the motor module 21 in the motion unit 2 to return to their initial zero position. This is to prevent safety hazards caused by the center of gravity shift of the combined ultrasonic probe device during the inlet and outlet of the water system.

[0169] Furthermore, control unit 1 and external control unit 8 communicate and exchange data. Control unit 1 drives and controls the stepper motor of motion unit 2, while external control unit 8 controls the robotic arm of motion unit 2. This enables the combined ultrasound probe device to find the optimal treatment target position based on the patient's position.

[0170] Specifically, if the patient's position and the water-filled balloon of the combined ultrasound probe device are on the same vertical line, then there is no need to control the tilt of the water-filled balloon. The motor is directly controlled to move the water-filled balloon to the treatment area. If there is a certain tilt angle between the patient's position and the water-filled balloon, first control the motor to move the water-filled balloon to the treatment area, then adjust the tilt angle of the water-filled balloon. The tilt angle of the water-filled balloon can be detected simultaneously during this process.

[0171] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the scope of protection of the present invention in any way, and all technical solutions obtained by equivalent substitution or other means fall within the scope of protection of the present invention. Parts not covered in this invention are the same as or can be implemented using existing technology.

Claims

1. A combined ultrasonic probe device, characterized in that, It includes a control unit, a motion unit, a pressure detection unit, a temperature detection unit, a camera unit, a combined ultrasonic probe unit, a water system unit, an external control unit, and a transducer unit. The control unit includes one or more processors, which are used to control the motion unit, pressure detection unit, temperature detection unit, and camera unit, and to communicate with the water system unit and external control unit for data interconnection. The motion unit includes a mechanical motion actuator and a multi-dimensional motion mechanical structure, which are used to drive the combined ultrasonic probe unit and transducer unit to move. The pressure detection unit is used to detect the contact pressure between the water bag and the human body; The temperature detection unit is used to obtain the temperature of the medium water in the water system unit; The camera unit is used to acquire image data from the water bladder; The combined ultrasound probe unit includes two or more ultrasound imaging probes, which acquire image data of the target area through the ultrasound imaging probes. The water system unit includes a water tank device, an inlet pipe, and an outlet pipe, and the control unit communicates with it to control the water inlet and outlet of the water tank; The external control unit includes one or more central control units, and the control unit and the external control unit communicate to exchange data and interconnect information. The transducer unit is controlled by an external control unit and is used to perform ultrasonic emission and transmit transducer data parameters to the external control unit.

2. The combined ultrasonic probe device according to claim 1, characterized in that, The motion unit consists of a robotic arm module and a combined motor. The combined motor includes two linear stepper motors, several encoders, and photoelectric switches. The photoelectric switches are used to limit the upper and lower limits of the linear stepper motors, and the encoders are used to acquire the motor's position information and feed it back to the control unit for control adjustment.

3. The combined ultrasonic probe device according to claim 2, characterized in that, The logic steps by which the control unit controls the movement of the stepper motor in the motion unit are as follows: Step 1: The control unit calculates the number of steps required for the motor to move to the specified position; Step 2: Determine if the motor's movement steps are 0; Step 3: If the motor moves 0 steps, end the current control process; Step 4: If the number of motor steps is not 0, drive the motor to execute the motion command; Step 5: Wait for the motor to move to the designated position; Step 6: Determine if the motor has moved to the designated position; Step 7: If the motor does not move to the designated position, determine whether the limit photoelectric switch has been triggered; Step 8: If the limit photoelectric switch is triggered, the movement ends; Step 9: If the limit photoelectric switch is not triggered, return to step 6; Step 10: If the motor moves to the specified position, read the encoder data to calculate the actual position of the motor; Step 11: Determine if the motor needs motion compensation; Step 12: If no compensation for motor movement is required, end this movement. Step 13: If motor motion compensation is required, start controlling the motor to perform compensation motion; Step 14: Determine whether the motor has triggered the limit photoelectric switch; Step 15: If the limit photoelectric switch is triggered, the movement ends; Step 16: If the limit photoelectric switch is not triggered; Step 17: Determine whether the motor has completed the compensation motion; Step 18: If the motor completes the compensation motion, end this motion. Step 19: If the motor fails to complete the compensation motion, return to step 13.

4. The combined ultrasonic probe device according to claim 1, characterized in that, The pressure detection unit includes multiple pressure sensors, which are installed inside and outside the water bladder of the combined ultrasonic probe unit. The control unit obtains the pressure difference between the inside and outside of the pressure detection unit to determine whether water needs to be added, drained, or replenished.

5. A combined ultrasonic probe device according to claim 1 or 4, characterized in that, The control unit controls the detection logic steps for the contact pressure between the water bag and the human body as follows: Step 1: The control unit begins to activate the pressure sensor's pressure value conversion; Step 2: Read the pressure value from the pressure sensor; Step 3: End pressure sensor value reading; Step 4: The control unit begins to calculate the compensation value using the raw data. This compensation value is the deviation compensation after the sensor internally converts the analog signal into a digital signal. Step 5: Determine if the original data is abnormal. Step 6: If the original data is abnormal, the error flag is set to 1, a fault code is returned, and the process ends. Step 7: If the raw data shows no abnormalities, calculate the pressure value; Step 8: Return the calculated pressure value; end this process.

6. The combined ultrasonic probe device according to claim 1, characterized in that, The logic steps for the control unit to control the temperature detection unit to perform real-time monitoring of the water temperature in the water system unit are as follows: Step 1: The control unit issues a temperature detection command; Step 2: Determine if the temperature measurement chip is in the initialization state; Step 3: If in the initialization state, perform the initialization configuration of the temperature measurement chip; Step 4: Complete the initial configuration and end the test; Step 5: If the initialization state judgment result in Step 2 is not in the initialization state, determine whether it is in the transition state; Step 6: If in a transition state; proceed to step 7; if not in a transition state; proceed to step 8; Step 7: Issue the conversion command. Once the conversion command is issued, the test ends. Step 8: If the status transition judgment result is negative, start judging whether it is in temperature reading state; Step 9: If the temperature is not being read, end the process. Step 10: If it is determined that the temperature is in the reading state, issue a command to obtain the temperature; Step 11: Determine if the fault flag has been triggered; Step 12: If the fault flag is triggered, read the fault code. After reading the fault code, end this process. Step 13: If the fault flag is not triggered, read the temperature data. After reading the temperature data, end this process. Step 14: Control unit 1 begins reading the data stored in the internal register of the temperature sensor, first determining whether the fault flag bit is 0; Step 15: If the fault flag bit is not 0, return the fault code and end the function acquisition process; Step 16: If the fault flag is 0, calculate the temperature data from the temperature sensor; Step 17: Return the calculated temperature value to end the temperature function acquisition process.

7. The combined ultrasonic probe device according to claim 1, characterized in that, The external control unit monitors the bubble situation in the water based on the image data transmitted by the camera unit; at the same time, the external control unit calculates the positional relationship between the camera and the human skin based on the distance from the target surface to the skin and the focal length, and then adjusts the focal length of the camera; and the external control unit sets a temperature alarm threshold, monitors the skin heating based on the data transmitted by the camera unit, and when the temperature exceeds the safe temperature threshold, the external control unit controls the ultrasonic emission to stop and sends a reminder signal to the operator.

8. The combined ultrasonic probe device according to claim 1, characterized in that, The combined ultrasound probe unit is controlled by an external control unit, which transmits the acquired target area image data to the external control unit. The acquired target area image data includes grayscale image data, color image data, and target area ultrasound RF data, wherein the target area ultrasound RF data is the original ultrasound echo signal after beamforming.

9. A combined ultrasonic probe device according to claim 1, characterized in that, The steps for the control unit to communicate with the water system unit to control water inlet, drainage, and replenishment are as follows: Step 1: The water system unit receives the water inlet command and performs initialization operations; Step 2: Check if the water bladder is installed; Step 3: If the water bladder is not installed, perform an error handling procedure and display a message indicating that the water bladder is not installed; Step 4: If the water bag has been installed, determine whether drainage is required; Step 5: If drainage is required, start the drainage process; Step 6: If drainage is not required, start water intake, and monitor the internal and external pressure difference and water intake volume in real time during the water intake process; Step 7: The control unit controls the motion unit to move the combined ultrasound probe unit to the initial zero position; Step 8: The control unit reads the differential pressure value from the pressure sensor unit to determine whether water needs to be added; Step 9: If you need to add water, return to Step 1; Step 10: If no additional water is needed, the water intake process is complete.

10. A combined ultrasonic probe device according to claim 1, characterized in that, The control unit transmits pressure, temperature, motor operating position, and camera image data to an external control unit, which then synchronizes the data to an external system to enhance the product's intelligent functionality and user-friendly operation.

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