Variable focus ultrasonic generating device and ultrasonic surgical apparatus

Abstract

The present disclosure provides a variable focus ultrasonic generating device and an ultrasonic surgical apparatus, the variable focus ultrasonic generating device comprising a mounting frame, an ultrasonic transducer array and a zoom driving mechanism, the zoom driving mechanism being capable of changing the focusing position of ultrasonic waves emitted by the transducers in the ultrasonic transducer array by driving the transducers to rotate, one variable focus ultrasonic generating device being capable of adapting to multiple surgical procedures with different required depths of action, without the need to replace the variable focus ultrasonic generating device, thus without the need for complex system precision calibration, and the same apparatus being capable of being used in different departments; in the process of the variable focus ultrasonic generating device enabling the transducers in the ultrasonic transducer array to focus in at least two preset focusing positions, only the transducers are driven to rotate relative to the mounting frame, without the need to move the variable focus ultrasonic generating device as a whole, or to change the volume of the water bag; the variable focus ultrasonic generating device provided by the embodiment of the present disclosure is high in convenience, low in time cost and treatment cost.

Description

Technical Field

[0001] This disclosure relates to a variable focus ultrasound generator and an ultrasound surgical device. Background Technology

[0002] Focused ultrasound (FUS) technology has various applications in the medical field. For example, it can be used in liposuction surgery, utilizing the cavitation effect and micromechanical vibration of ultrasound transducers to break down excess fat cells under the skin, achieving weight loss and body contouring. It can also be used in tissue ablation surgeries such as tumor treatment, utilizing the powerful microjets and shock waves generated by cavitation bubbles during oscillation to directly mechanically damage cells and tissues, causing cell membrane rupture, organelle damage, and ultimately cell death, thus achieving tissue ablation. Different procedures require different depths of ultrasound penetration. For instance, liposuction typically requires ultrasound to be focused at 0-4 cm subcutaneously, while tumor ablation requires focusing at approximately 5-14 cm subcutaneously. This significant difference in required depth necessitates the use of multiple ultrasound generators with different focal depths, selecting the appropriate device for each procedure. Furthermore, each device change requires complex system calibration, leading to inconvenience, high time and treatment costs. Summary of the Invention

[0003] In view of the shortcomings of the prior art, this disclosure aims to provide a variable focus ultrasound generator and an ultrasound surgical device.

[0004] This disclosure is achieved through the following technical solution:

[0005] A variable-focus ultrasonic generator includes a mounting frame, an ultrasonic transducer array, and a variable-focus drive mechanism.

[0006] The ultrasonic transducer array includes at least two transducer groups, each transducer group including at least two transducers distributed on a partial spherical surface with the centerline of the ultrasonic transducer array as its axis. The at least two transducers in the same transducer group are distributed on an arc with a diameter coinciding with the centerline and located on the partial spherical surface. The at least two transducer groups are sequentially spaced apart in the circumferential direction of the centerline. The transducers are rotatably connected to the mounting frame. The ultrasonic transducer array is configured such that the ultrasonic waves emitted by the at least two transducers are selectively focused at at least two focusing positions, which are spaced apart along the centerline.

[0007] The zoom drive mechanism includes at least two transmission components and a drive component. The transmission component includes a transmission link rotatably connected to the transducer. In the same transducer group, any two adjacent transducers are connected through a transmission link in the same transmission component. The drive component is drivably connected to the transmission components and is configured to drive each transducer to rotate relative to the mounting bracket via the transmission components, thereby switching the focusing position of the ultrasonic waves emitted by the transducer.

[0008] Optionally, the ultrasonic transducer array is configured such that the ultrasonic waves emitted by the at least two transducers are focused at one of three focusing positions.

[0009] Optionally, the ultrasonic transducer array includes at least two transducer groups, each transducer group includes at least two transducers, the at least two transducers of the same transducer group are distributed on an arc line with the center line as the axis and located on the partial spherical surface, and the at least two transducer groups are arranged sequentially at intervals in the circumferential direction of the center line.

[0010] Optionally, the zoom drive mechanism includes at least two of the transmission components, and in the same transducer group, any two adjacent transducers are connected by a transmission link in the same transmission component.

[0011] Optionally, the drive component is drivably connected to each of the transmission components.

[0012] Optionally, the ultrasonic transducer array is a phased array ultrasonic transducer array.

[0013] Optionally, the transmission assembly further includes a transmission wheel, a transmission wire, and a reset component. One end of the transmission wire is connected to the transmission wheel, and the other end is connected to the transmission connecting rod. The reset component is connected to the transmission connecting rod and the mounting bracket.

[0014] In response to the rotation of the drive wheel along the take-up direction, the drive wheel drives one end of the drive wire to rotate along the take-up direction, causing the drive wire to wind onto the drive wheel, so that the other end of the drive wire drives the drive linkage to move, thereby causing the transducer to rotate in the first direction, and the reset member stores energy;

[0015] In response to the drive wheel rotating in a feeding direction opposite to the take-up direction, the drive wheel drives one end of the transmission wire to rotate in the feeding direction, the reset member releases energy to drive the transmission linkage to move, thereby causing the transducer to rotate in a second direction opposite to the first direction, and causing the transmission wire to be released from the drive wheel.

[0016] Optionally, the drive assembly includes an output component and a drive component drivably connected to the output component, and the transmission assembly further includes an input component, the input component being interconnected with the transmission wheel and having a rotation axis coinciding with it, the rotation axis of the transmission wheel being parallel to the center line, the output component having a first tooth, the input component having a second tooth, and the first tooth meshing with the second tooth.

[0017] In response to the drive member driving the output member to rotate, the output member driving the input member to rotate, and the input driving the transmission wheel to rotate.

[0018] Optionally, the ultrasonic transducer array includes at least two transducer groups, each transducer group includes at least two transducers, and multiple transducer groups are arranged sequentially at intervals in the circumferential direction of the center line; the zoom drive mechanism includes at least two transmission components, and the transmission link in each transmission component is correspondingly connected to the transducer in one of the transducer groups. In the same transducer group, any two adjacent transducers are connected by a transmission link, and the first tooth meshes with the second tooth of the input component of each transmission component.

[0019] Optionally, the first tooth is annular, and the input element of each of the transmission components is spaced apart in the circumferential direction of the output element.

[0020] Optionally, the output end of the drive member is connected to an adapter, the adapter having a third tooth, and the output member also having a fourth tooth. The third tooth meshes with the fourth tooth, and the transmission ratio between the third tooth and the fourth tooth is the reciprocal of the transmission ratio between the first tooth and the second tooth.

[0021] Optionally, the mounting bracket includes a hemispherical cover and a support, the at least two focusing positions are located inside the hemispherical cover, the support is connected to the outside of the hemispherical cover, the transducer includes a connecting part and an ultrasonic generating part connected to each other, the hemispherical cover has a through hole, the ultrasonic generating part of each transducer is correspondingly accommodated in one of the through holes, one end of the connecting part is rotatably connected to the support, and the other end is rotatably connected to the transmission link.

[0022] Optionally, the transmission assembly further includes a pull rod and a mating portion connected to the pull rod and protruding relative to the pull rod, the pull rod being connected to the transmission link; the drive assembly includes an output member having at least two stop portions arranged circumferentially thereon, the at least two stop portions being spaced apart in the moving direction of the pull rod, the output member being configured to rotate so that different of the stop portions abut against the mating portion, thereby causing the mating portion to move and drive the transducer to rotate via the pull rod and the transmission link.

[0023] An ultrasound surgical device includes a variable-focus ultrasound generator, a robotic arm, and a trolley as described above. The variable-focus ultrasound generator is connected to the robotic arm, and the robotic arm is movably connected to the trolley. Attached Figure Description

[0024] Figure 1 This is a three-dimensional schematic diagram of a variable focus ultrasonic generator provided in an embodiment of the present disclosure.

[0025] Figure 2 for Figure 1 The cross-sectional view of the variable-focus ultrasonic generator shown shows that the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at a first focusing position.

[0026] Figure 3 for Figure 1 The cross-sectional view of the variable-focus ultrasonic generator shown shows that the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at a second focusing position.

[0027] Figure 4 for Figure 1 The cross-sectional view of the variable-focus ultrasonic generator shown shows that the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at the third focusing position.

[0028] Figure 5 for Figure 1 The diagram shows a dimensional calculation of a four-bar linkage consisting of two adjacent transducers, a transmission link, and a mounting frame in the variable focus ultrasonic generator.

[0029] Figure 6 for Figure 1 The image shows a bottom view of the variable focus ultrasonic generator.

[0030] Figure 7 for Figure 1 A three-dimensional schematic diagram of the ultrasonic transducer array and zoom drive mechanism of the variable-focus ultrasonic generator shown.

[0031] Figure 8 for Figure 7 A three-dimensional schematic diagram of a transducer group in the ultrasonic transducer array and a transmission component of the zoom drive mechanism.

[0032] Figure 9 for Figure 8 The diagram shows the interaction between a transducer in the transducer assembly and the transmission wheel and transmission wire of the transmission component.

[0033] Figure 10 for Figure 7 A three-dimensional schematic diagram of the output component of the drive assembly of the zoom drive mechanism shown.

[0034] Figure 11 for Figure 1 The diagram shows a top sectional view of the variable focus ultrasonic generator.

[0035] Figure 12 This is a schematic diagram of the cooperation between the output component and the transmission assembly of a variable focus ultrasonic generator provided in some other embodiments of the present disclosure, wherein the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at a focusing position.

[0036] Figure 13 for Figure 12 The diagram shows the interaction between the output component and the transmission assembly, where the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at another focusing position.

[0037] Figure 14 for Figure 12 The diagram shows the interaction between the output component and the transmission assembly, where the ultrasonic waves emitted by the transducers in the ultrasonic transducer array are focused at another focusing position.

[0038] Figure 15 for Figure 1 A three-dimensional schematic diagram of the mounting bracket for the variable focus ultrasonic generator shown.

[0039] Figure 16 A schematic diagram of an ultrasonic surgical device provided in an embodiment of this disclosure.

[0040] The reference numerals in the above figures are:

[0041] 1- Variable focus ultrasonic generator; 100- Mounting bracket, 110- Hemispherical cover, 111- Through hole, 120- Support; 200- Ultrasonic transducer array, 210- Transducer group, 211- Transducer, 2111- Connecting part, 2112- Ultrasonic generator, 211-1- First transducer, 2111-1- First connecting part, 2112-1- First ultrasonic generator, 211-2- Second transducer, 2111-2- Second connecting part, 2112-2- Second ultrasonic generator; 300 - Zoom drive mechanism; 310 - Transmission assembly; 311 - Transmission link; 312 - Transmission wheel; 313 - Transmission wire; 314 - Reset component; 315 - Input component; 3151 - Second tooth; 316 - Tie rod; 317 - Mating part; 320 - Drive assembly; 321 - Output component; 3211 - First tooth; 3212 - Fourth tooth; 3213 - Stop part; 322 - Drive component; 3221 - Adapter component; 3222 - Third tooth; 400 - Housing; M - Centerline. -First focal position -Second focal position, - Third focusing position, A- First connection point, B- Second connection point, C- Third connection point, D- Fourth connection point; 2- Robotic arm; 3- Cart; 4- Operating table; 5- Patient. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0043] It is important to understand that the terms "proximal," "posterior," "distal," and "anterior" used in this article are relative to the clinician manipulating the handle assembly of the surgical instrument. The terms "proximal" and "posterior" refer to the portion closer to the clinician, while "distal" and "anterior" refer to the portion farther from the clinician. That is, the manipulating component is the proximal end, and the end effector is the distal end. For example, the proximal end of a component refers to the end relatively closer to the manipulating component, while the distal end refers to the end relatively closer to the end effector.

[0044] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0045] Focused ultrasound technology has various applications in the medical field. Different surgical procedures require different depths of ultrasound penetration. For example, liposuction usually requires ultrasound to be focused at 0cm to 4cm under the skin, while tumor ablation surgery requires ultrasound to be focused at about 5cm to 14cm under the skin. The difference in the depth of ultrasound focusing required for the two procedures is significant. Therefore, related technologies require the preparation of various ultrasound generators with different focal depths and the selection of an appropriate ultrasound generator according to the surgical procedure. Moreover, each time the ultrasound generator is changed, a complex system accuracy calibration is required, which is inconvenient to use and results in high time and treatment costs.

[0046] Based on this, refer to Figures 1 to 7This disclosure provides a variable-focus ultrasonic generator 1, including a mounting frame 100, an ultrasonic transducer array 200, and a variable-focus drive mechanism 300.

[0047] Reference Figure 7 The ultrasonic transducer array 200 includes at least two transducers 211, which are rotatably connected to the mounting bracket 100. The ultrasonic waves emitted by at least two transducers 211 in the ultrasonic transducer array 200 are configured to be selectively focused at at least two focusing positions, which are spaced apart along a center line M. The at least two transducers 211 are distributed on a portion of a sphere with the center line M as its axis, for example, referring to... Figures 2 to 4 In the ultrasonic transducer array 200, ultrasonic waves emitted by at least two transducers 211 are selectively focused at one of three focusing positions, which are: the first focusing position, the second focusing position, and the third focusing position. Second focal position and the third focal position ;

[0048] Reference Figure 1 and Figure 7 The zoom drive mechanism 300 includes a transmission assembly 310 and a drive assembly 320. The transmission assembly 310 includes a transmission link 311, which is rotatably connected to the transducer 211. The drive assembly 320 is drivably connected to the transmission assembly 310. The drive assembly 320 is configured to drive each transducer 211 to rotate relative to the mounting bracket 100 via the transmission assembly 310, so as to switch the focusing position of the ultrasonic waves emitted by the transducer 211.

[0049] The variable-focus ultrasound generator 1 provided in this embodiment is equipped with a zoom drive mechanism 300. The zoom drive mechanism 300 can change the focused position of the ultrasound waves emitted by the transducers 211 in the ultrasound transducer array 200 by driving the transducers 211 to rotate. One variable-focus ultrasound generator 1 can adapt to various surgical procedures with different required depths of action without the need to replace the variable-focus ultrasound generator 1. Therefore, there is no need for complex system precision calibration, and the same device can be used by different departments. In addition, during surgery, a water balloon needs to be placed between the variable-focus ultrasound generator 1 and the patient's abdomen as a medium for ultrasound transmission. In the process of the variable-focus ultrasound generator 1 provided in this embodiment driving the transducers 211 in the ultrasound transducer array 200 to focus at least one of the preset focusing positions through the zoom drive mechanism 300, only the transducers 211 are driven to rotate relative to the mounting frame 100. There is no need to move the entire variable-focus ultrasound generator 1, nor is there a need to change the volume of the water balloon. In summary, the variable-focus ultrasound generator 1 provided in this embodiment has high ease of use and low time and treatment costs.

[0050] For example, refer to Figure 6 and Figure 7 The ultrasonic transducer array 200 includes at least two transducer groups 210, and each transducer group 210 includes at least two transducers 211. (Refer to...) Figures 2 to 4 At least two transducers 211 of the same transducer group 210 are distributed on an arc line whose diameter coincides with the center line M and is located on a portion of the spherical surface. For example, at least two transducers 211 of the same transducer group 210 are evenly distributed on an arc line whose diameter coincides with the center line M and is located on a portion of the spherical surface. At least two transducer groups 210 are arranged sequentially at intervals in the circumferential direction of the center line M. For example, at least two transducer groups 210 are evenly spaced in the circumferential direction of the center line M.

[0051] For example, the ultrasonic transducer array 200 is a phased array ultrasonic transducer array. The above-mentioned structural layout enables the ultrasonic waves emitted by the transducers 211 in the ultrasonic transducer array 200 to be zoomed in an approximately spherical three-dimensional space. For example, when the zoom drive mechanism 300 focuses the transducers 211 in the ultrasonic transducer array 200 to a focal position, in actual use, the transducers 211 in the ultrasonic transducer array 200 can be zoomed in an approximately spherical three-dimensional space centered on the focal position by the control unit with the built-in nonlinear multi-element focusing ultrasonic phased array algorithm.

[0052] For example, refer to Figure 7 The zoom drive mechanism 300 includes at least two transmission components 310. For example, the number of transmission components 310 is the same as the number of transducer groups 210 and they correspond one-to-one. (Refer to...) Figure 1 , Figure 7 and Figure 8 In the same transducer group 210, any two adjacent transducers 211 are connected by a transmission link 311 in the same transmission assembly 310. Thus, each transducer 211 in the same transducer group 210, together with each transmission link 311 in the corresponding transmission assembly 310 and the mounting frame 100, constitutes a multi-link mechanism. Therefore, each transducer 211 in the same transducer group 210 can be linked together. Only one transducer 211 or any transmission link 311 in the same multi-link mechanism needs to be driven to move the other components.

[0053] In order for the transducer 211 in the ultrasonic transducer array 200 to switch between at least two focusing positions, its dimensions need to be calculated. Figures 2 to 4 The variable-focus ultrasonic generator 1 shown is an example illustrating the calculation method. The ultrasonic waves emitted by at least two transducers 211 in the ultrasonic transducer array 200 are arranged sequentially along the center line M at the first focusing position. Second focal position and the third focus Focusing on one of the positions, a transducer group 210, a corresponding transmission component 310, and a mounting bracket 100 constitute a multi-link mechanism. This multi-link mechanism can be regarded as a combination of three sets of four-bar mechanisms, and two adjacent four-bar mechanisms share a single lever.

[0054] The calculation can begin with one of the four-bar linkages, referring to... Figure 5 In a four-bar linkage, two adjacent transducers 211 are a first transducer 211-1 and a second transducer 211-2. The first transducer 211-1 includes a first ultrasonic generator 2112-1 and a first connecting part 2111-1 connected to each other. The first connecting part 2111-1 has a first connection point A and a second connection point B. The first connection point A is rotatably connected to the mounting frame 100, for example, a bracket 120 rotatably connected to the mounting frame 100. The second connection point B is rotatably connected to the transmission link 311. The second transducer 211-2 includes a second ultrasonic generator 2112-2 and a second connecting part 2111-2 connected to each other. The second connecting part 2111-2 has a third connection point C and a fourth connection point D. The third connection point C is rotatably connected to the transmission link 311. The fourth connection point D is rotatably connected to the mounting frame 100, for example, a bracket 120 rotatably connected to the mounting frame 100.

[0055] The ultrasonic waves emitted by transducer 211 in the ultrasonic transducer array 200 are focused at the first focusing position. In this state, the angle between the line connecting the first connection point A and the second connection point B and the line connecting the first connection point A and the fourth connection point D is . The angle between the line connecting the third connection point C and the fourth connection point D and the line connecting the first connection point A and the fourth connection point D is . ;

[0056] The ultrasonic waves emitted by transducer 211 in the ultrasonic transducer array 200 are focused at the second focusing position. In this state, the angle between the line connecting the first connection point A and the second connection point B and the line connecting the first connection point A and the fourth connection point D is . The angle between the line connecting the third connection point C and the fourth connection point D and the line connecting the first connection point A and the fourth connection point D is . ;

[0057] The ultrasonic waves emitted by transducer 211 in the ultrasonic transducer array 200 are focused at the third focusing position. In this state, the angle between the line connecting the first connection point A and the second connection point B and the line connecting the first connection point A and the fourth connection point D is . The angle between the line connecting the third connection point C and the fourth connection point D and the line connecting the first connection point A and the fourth connection point D is . ;

[0058] , , , , , Both are angles in the direction from the first connection point A to the fourth connection point D.

[0059] The length of the line connecting the first connection point A and the second connection point B is 'a', the length of the line connecting the second connection point B and the third connection point C is 'b', the length of the line connecting the third connection point C and the fourth connection point D is 'c', and the length of the line connecting the first connection point A and the fourth connection point D is 'd'; For example Figure 5 A coordinate system is established as shown, with each member represented by a vector and its relative length taken:

[0060]

[0061] , , , , , l, m, and n satisfy the following equation:

[0062]

[0063]

[0064]

[0065] in:

[0066]

[0067] First focal position Second focal position Third focal position The position relative to mounting bracket 100 is determined based on actual usage requirements. , , , , , The specific values ​​are thus determined; based on the above calculations, the proportional relationships between a and b, a and c, and a and d can be derived, and the specific value of a can be determined according to actual needs, thereby determining the specific values ​​of b, c, and d. Thus, the dimensional calculations for a set of four-bar linkages are completed.

[0068] Then, the calculation continues for the set of four-bar linkages adjacent to the aforementioned set of four-bar linkages. The second transducer 211-2 in the aforementioned set of four-bar linkages is regarded as the first transducer 211-1 in the adjacent set of four-bar linkages, and the other transducer 211 in the adjacent set of four-bar linkages is regarded as the second transducer 211-2. The calculation continues in the above manner until the size of each set of four-bar linkages is determined, which ensures that the transducer 211 in the ultrasonic transducer array 200 can switch between at least two focusing positions.

[0069] For example, refer to Figure 7 The drive assembly 320 is drivably connected to each transmission assembly 310. When zooming is required, each transmission assembly 310 can be driven to move by only one drive assembly 320, thereby driving each transducer 211 to rotate relative to the mounting bracket 100. The control is simple and the cost is low.

[0070] In some embodiments, refer to Figure 8 The transmission assembly 310 also includes a transmission wheel 312, a transmission wire 313, and a reset member 314. One end of the transmission wire 313 is connected to the transmission wheel 312, and the other end is connected to the transmission connecting rod 311. For example, see reference... Figure 8 and Figure 9 One end of the transmission wire 313 can be connected to the rotatable connection between the transmission link 311 and the transducer 211; for example, one end of the transmission wire 313 can be connected to the rotatable connection between the transducer 211 closest to the transmission wheel 312 and the transmission link 311; for example, referring to Figure 9 The transmission wire 313 can be made of a deformable material such as metal wire or braided rope. When the transmission wheel 312 rotates, causing the transmission wire 313 to be subjected to a force along the winding or unwinding direction, the direction of the force is linear. However, the transmission wire 313 can adapt to the non-linear movement of one end connected to the transmission link 311 through its own deformation. The reset member 314 is connected to the transmission link 311 and the mounting bracket 100. For example, the reset member 314 is a spring; for example, the reset member 314 can be connected to the rotatable connection between the transducer 211 and the transmission link 311; for example, the reset member 314 can be connected to the rotatable connection between the transducer 211 furthest from the transmission wheel 312 and the transmission link 311.

[0071] Reference Figure 8 The direction of the solid arrow in the middle line responds to the rotation of the transmission wheel 312 along the wire take-up direction. The transmission wheel 312 drives one end of the transmission wire 313 to rotate along the wire take-up direction, causing the transmission wire 313 to wind onto the transmission wheel 312, so that the other end of the transmission wire 313 drives the transmission connecting rod 311 to move, thereby causing the transducer 211 to rotate in the first direction, and the reset member 314 stores energy.

[0072] Reference Figure 8The direction of the dashed arrow in the middle responds to the rotation of the transmission wheel 312 in the wire feeding direction opposite to the wire taking direction. The transmission wheel 312 drives one end of the transmission wire 313 to rotate in the wire feeding direction. The reset member 314 releases energy to drive the transmission connecting rod 311 to move, thereby causing the transducer 211 to rotate in the second direction opposite to the first direction, and causing the transmission wire 313 to be released from the transmission wheel 312.

[0073] The transducer 211 is rotated in the first direction by the pulling of the transmission wire 313, and rotated in the second direction by the springback of the reset member 314. Both the transmission wire 313 and the reset member 314 have deformation capabilities, which can prevent hard collisions with the connected parts from causing damage to the parts.

[0074] For example, refer to Figure 7 The drive assembly 320 includes an output component 321 and a drive component 322 drivably connected to the output component 321. The transmission assembly 310 also includes an input component 315, which is interconnected with the transmission wheel 312 and their rotation axes coincide. The rotation axis of the transmission wheel 312 is parallel to the center line M. Therefore, the direction of motion of the output end of the drive component 322 is the same as the direction of motion of the transmission wheel 312, eliminating the need to change the direction of motion through other transmission structures, resulting in a simple structure. (Refer to...) Figure 7 , Figure 10 and Figure 11 The output component 321 has a first tooth 3211, and the input component 315 has a second tooth 3151. The first tooth 3211 and the second tooth 3151 mesh, and the transmission between the output component 321 and the input component 315 is achieved through tooth meshing, resulting in high transmission accuracy. In response to the drive component 322 driving the output component 321 to rotate, the output component 321 drives the input component 315 to rotate, and the input drives the transmission wheel 312 to rotate.

[0075] For example, refer to Figure 7 and Figure 11 In the ultrasonic transducer array 200, there are at least two transducer groups 210, each transducer group 210 includes at least two transducers 211, and the at least two transducer groups 210 are arranged sequentially at intervals in the circumferential direction of the center line M. The zoom drive mechanism 300 includes at least two transmission components 310, and the transmission link 311 in each transmission component 310 is correspondingly connected to the transducer 211 in a transducer group 210. In the embodiment in which any two adjacent transducers 211 in the same transducer group 210 are connected by a transmission link 311, the first tooth 3211 meshes with the second tooth 3151 of the input component 315 of each transmission component 310, so that one output component 321 can simultaneously drive the input component 315 of each transmission component 310 to rotate, and the action of each transmission component 310 is highly consistent.

[0076] For example, refer to Figure 7, Figure 10 and Figure 11 The first tooth 3211 is annular, and the input element 315 of each transmission component 310 is spaced apart in the circumferential direction of the output element 321. For example, the input element 315 of each transmission component 310 is evenly spaced apart in the circumferential direction of the output element 321. For example, the output element 321 is annular, and the first tooth 3211 is located inside the output element 321.

[0077] For example, refer to Figure 1 The variable-focus ultrasonic generator 1 also includes a housing 400, in which the mounting bracket 100, the ultrasonic transducer array 200, and the zoom drive mechanism 300 are all housed; for example, an output member 321 having an annular first tooth 3211 is rotatably connected to the housing 400.

[0078] For example, refer to Figure 7 The output end of the drive unit 322 is connected to an adapter 3221, and the adapter 3221 has a third tooth 3222, as shown in the figure. Figure 7 and Figure 10 The output component 321 also has a fourth tooth 3212, and the third tooth 3222 meshes with the fourth tooth 3212. The transmission between the adapter 3221 and the output component 321 is realized through the meshing of the teeth, and the transmission accuracy is high. The transmission ratio between the third tooth 3222 and the fourth tooth 3212 and the transmission ratio between the first tooth 3211 and the second tooth 3151 are reciprocals of each other. Therefore, when the adapter 3221 rotates through an angle, the input component 315 rotates through the same angle. The rotation angle output by the drive component 322 does not require complicated calculation and the control is simple.

[0079] For example, refer to Figure 7 The adapter 3221 and the input 315 can use the exact same gears, see reference. Figure 7 and Figure 10 The parameters of the first tooth 3211 and the fourth tooth 3212 on the output component 321 are the same, which can reduce the design difficulty.

[0080] In other embodiments, reference is made to Figures 12 to 14The transmission assembly 310 further includes a pull rod 316 and a mating portion 317 connected to the pull rod 316 and protruding relative to the pull rod 316. The pull rod 316 is connected to the transmission link 311. The drive assembly 320 includes an output member 321, which has at least two stop portions 3213 arranged circumferentially thereon. The at least two stop portions 3213 are spaced apart in the moving direction of the pull rod 316. The output member 321 is configured to rotate so that different stop portions 3213 abut against the mating portion 317, thereby causing the mating portion 317 to move and drive the transducer 211 to rotate via the pull rod 316 and the transmission link 311. Whenever the mating portion 317 moves to abut against a stop portion 3213, the transducer 211 in the ultrasonic transducer array 200 is focused at a focusing position.

[0081] It should be noted that, Figures 12 to 14 The diagram shows a set of stop parts 3213, pull rods 316, and mating parts 317. In an ultrasonic transducer array 200, at least two transducer groups 210 are included, each transducer group 210 includes at least two transducers 211, and the at least two transducer groups 210 are arranged sequentially at intervals in the circumferential direction of the center line M. The zoom drive mechanism 300 includes at least two transmission components 310, and the transmission link 311 in each transmission component 310 is correspondingly connected to the transducer 211 in a transducer group 210. In an embodiment in which any two adjacent transducers 211 in the same transducer group 210 are connected by a transmission link 311, a corresponding number of the above-mentioned structures can be provided so that the output component 321 can drive the transducer 211 in each transducer group 210 to rotate.

[0082] For example, refer to Figures 1 to 4 , Figure 6 and Figure 15 The mounting bracket 100 includes a hemispherical cover 110 and a support 120. At least two focusing positions are located inside the hemispherical cover 110. The support 120 is connected to the outside of the hemispherical cover 110. The transducer 211 includes a connecting part 2111 and an ultrasonic generating part 2112 that are connected to each other. The hemispherical cover 110 has a through hole 111. The ultrasonic generating part 2112 of each transducer 211 is correspondingly accommodated in a through hole 111. One end of the connecting part 2111 is rotatably connected to the support 120, and the other end is rotatably connected to the transmission link 311. In an embodiment of the variable-focus ultrasonic generator 1 including a housing 400, the housing 400 and the hemispherical cover 110 together form a receiving space. The support 120, the connection part 2111 of the transducer 211 in the ultrasonic transducer array 200, and the zoom drive mechanism 300 are all housed in this receiving space, which can prevent the internal structure from being exposed. The through hole 111 can both expose the ultrasonic generator 2112 on the outside of the hemispherical cover 110 so that it can smoothly emit ultrasonic waves, and provide the ultrasonic generator 2112 with movement space to adapt to the zoom action.

[0083] Reference Figure 16 This disclosure also provides an ultrasonic surgical device, including a variable-focus ultrasound generator 1, a robotic arm 2, and a trolley 3 as provided in any of the above embodiments. The variable-focus ultrasound generator 1 is connected to the robotic arm 2, and the robotic arm 2 is movably connected to the trolley 3. A controller can be installed in the trolley 3 to control the movement of the robotic arm 2 and the zoom of the variable-focus ultrasound generator 1, etc.; the robotic arm 2 can drive the variable-focus ultrasound generator 1 to move, thereby changing the position where the ultrasound waves act. (See also...) Figure 16 The ultrasonic surgical device provided in this embodiment is placed next to the operating table 4. The height of the robotic arm 2 relative to the trolley 3 can be adjusted so that the variable-focus ultrasonic generator 1 is positioned above the patient 5 on the operating table 4. Depending on the surgical procedure to be performed, the transducer 211 is driven to rotate by the zoom drive mechanism 300 to adjust the focusing position of the ultrasonic transducer array 200, thereby adjusting the depth of action of the variable-focus ultrasonic generator 1. In the embodiment where the ultrasonic transducer array 200 is a phased array ultrasonic transducer array, the ultrasonic waves emitted by the transducer 211 in the ultrasonic transducer array 200 can be focused electronically in an approximately spherical three-dimensional space centered on the aforementioned focusing position, applying the ultrasonic waves to the tissue in the approximately spherical three-dimensional space. During the surgery, the robotic arm 2 can drive the variable-focus ultrasonic generator 1 to move so that the ultrasonic waves can completely cover the tissue to be acted upon.

[0084] The ultrasonic surgical device provided in this disclosure includes the variable-focus ultrasound generator 1 provided in any of the above embodiments. The variable-focus ultrasound generator 1 is equipped with a zoom drive mechanism 300. The zoom drive mechanism 300 can change the focused position of the ultrasonic waves emitted by the transducers 211 in the ultrasound transducer array 200 by driving the transducers 211 to rotate. One variable-focus ultrasound generator 1 can adapt to various surgical procedures with different required depths of action, eliminating the need to replace the variable-focus ultrasound generator 1. Therefore, complex system precision calibration is unnecessary, and the same device can be used by different departments. Furthermore, during surgery… A water bladder is required between the variable-focus ultrasound generator 1 and the patient's abdomen as a medium for ultrasound transmission. In the process of the variable-focus ultrasound generator 1 provided in this embodiment focusing the transducer 211 in the ultrasound transducer array 200 at one of the preset at least two focusing positions through the zoom drive mechanism 300, only the transducer 211 is driven to rotate relative to the mounting frame 100. There is no need to move the variable-focus ultrasound generator 1 as a whole, nor is there a need to change the volume of the water bladder. In addition, the variable-focus ultrasound generator 1 itself has a certain ability to change the depth of action, which is beneficial to shorten the lifting stroke of the robotic arm 2.

[0085] In summary, the variable-focus ultrasound generator 1 provided in this embodiment is equipped with a zoom drive mechanism 300. The zoom drive mechanism 300 can change the focused position of the ultrasound waves emitted by the transducers 211 in the ultrasound transducer array 200 by driving the transducers 211 to rotate. One variable-focus ultrasound generator 1 can adapt to various surgical procedures with different required depths of action without the need to replace the variable-focus ultrasound generator 1. Therefore, there is no need for complex system precision calibration, and the same device can be used by different departments. In addition, during surgery, a water balloon needs to be placed between the variable-focus ultrasound generator 1 and the patient's abdomen as a medium for ultrasound transmission. In the process of the variable-focus ultrasound generator 1 provided in this embodiment driving the transducers 211 in the ultrasound transducer array 200 to focus at least one of the preset focusing positions through the zoom drive mechanism 300, only the transducers 211 are driven to rotate relative to the mounting frame 100. There is no need to move the variable-focus ultrasound generator 1 as a whole, nor is there a need to change the volume of the water balloon. In summary, the variable-focus ultrasound generator 1 provided in this embodiment has high ease of use and low time and treatment costs.

[0086] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0087] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A variable-focus ultrasonic generator, characterized in that, Includes mounting bracket, ultrasonic transducer array, and zoom drive mechanism; The ultrasonic transducer array includes at least two transducer groups, each transducer group including at least two transducers distributed on a partial spherical surface with the centerline of the ultrasonic transducer array as its axis. The at least two transducers in the same transducer group are distributed on an arc with a diameter coinciding with the centerline and located on the partial spherical surface. The at least two transducer groups are sequentially spaced apart in the circumferential direction of the centerline. The transducers are rotatably connected to the mounting frame. The ultrasonic transducer array is configured such that the ultrasonic waves emitted by the at least two transducers are selectively focused at at least two focusing positions, which are spaced apart along the centerline. The zoom drive mechanism includes at least two transmission components and a drive component. The transmission component includes a transmission link rotatably connected to the transducer. In the same transducer group, any two adjacent transducers are connected through a transmission link in the same transmission component. The drive component is drivably connected to the transmission components and is configured to drive each transducer to rotate relative to the mounting bracket via the transmission components, thereby switching the focusing position of the ultrasonic waves emitted by the transducer.

2. The variable focus ultrasonic generator according to claim 1, characterized in that, The ultrasonic transducer array is configured such that ultrasonic waves emitted by at least two of the transducers are selectively focused at one of three focusing positions.

3. The variable focus ultrasonic generator according to claim 1, characterized in that, The drive component is drivably connected to each of the transmission components.

4. The variable focus ultrasonic generator according to claim 1, characterized in that, The ultrasonic transducer array is a phased array ultrasonic transducer array.

5. The variable-focus ultrasonic generator according to any one of claims 1 to 4, characterized in that, The transmission assembly further includes a transmission wheel, a transmission wire, and a reset component. One end of the transmission wire is connected to the transmission wheel, and the other end is connected to the transmission connecting rod. The reset component is connected to the transmission connecting rod and the mounting bracket. In response to the rotation of the drive wheel along the take-up direction, the drive wheel drives one end of the drive wire to rotate along the take-up direction, causing the drive wire to wind onto the drive wheel, so that the other end of the drive wire drives the drive linkage to move, thereby causing the transducer to rotate in the first direction, and the reset member stores energy; In response to the drive wheel rotating in a feeding direction opposite to the take-up direction, the drive wheel drives one end of the transmission wire to rotate in the feeding direction, the reset member releases energy to drive the transmission linkage to move, thereby causing the transducer to rotate in a second direction opposite to the first direction, and causing the transmission wire to be released from the drive wheel.

6. The variable focus ultrasonic generator according to claim 5, characterized in that, The drive assembly includes an output component and a drive component drivably connected to the output component. The transmission assembly also includes an input component, which is interconnected with the transmission wheel and has a rotation axis that coincides with the transmission wheel. The rotation axis of the transmission wheel is parallel to the center line. The output component has a first tooth, and the input component has a second tooth. The first tooth meshes with the second tooth. In response to the drive member driving the output member to rotate, the output member driving the input member to rotate, and the input driving the transmission wheel to rotate.

7. The variable focus ultrasonic generator according to claim 6, characterized in that, The ultrasonic transducer array includes at least two transducer groups, each transducer group includes at least two transducers, and multiple transducer groups are arranged sequentially at intervals in the circumferential direction of the center line; the zoom drive mechanism includes at least two transmission components, and the transmission link in each transmission component is correspondingly connected to a transducer in a transducer group. In the same transducer group, any two adjacent transducers are connected by a transmission link, and the first tooth meshes with the second tooth of the input component of each transmission component.

8. The variable focus ultrasonic generator according to claim 7, characterized in that, The first tooth is annular, and the input element of each of the transmission components is spaced apart in the circumferential direction of the output element.

9. The variable focus ultrasonic generator according to claim 8, characterized in that, The output end of the drive unit is connected to an adapter, the adapter has a third tooth, and the output unit also has a fourth tooth. The third tooth meshes with the fourth tooth, and the transmission ratio between the third tooth and the fourth tooth is the reciprocal of the transmission ratio between the first tooth and the second tooth.

10. The variable focus ultrasonic generator according to claim 1, characterized in that, The mounting frame includes a hemispherical cover and a support. The at least two focusing positions are located inside the hemispherical cover, and the support is connected to the outside of the hemispherical cover. The transducer includes a connecting part and an ultrasonic generating part that are connected to each other. The hemispherical cover has a through hole, and the ultrasonic generating part of each transducer is correspondingly accommodated in one of the through holes. One end of the connecting part is rotatably connected to the support, and the other end is rotatably connected to the transmission link.

11. The variable-focus ultrasonic generator according to any one of claims 1 to 4, characterized in that, The transmission assembly further includes a pull rod and a mating portion connected to the pull rod and protruding relative to the pull rod, the pull rod being connected to the transmission link; the drive assembly includes an output member having at least two stop portions arranged circumferentially thereon, the at least two stop portions being spaced apart in the moving direction of the pull rod, the output member being configured to rotate so that different of the stop portions abut against the mating portion, thereby causing the mating portion to move and drive the transducer to rotate via the pull rod and the transmission link.

12. An ultrasonic surgical device, characterized in that, The device includes a variable-focus ultrasonic generator as described in any one of claims 1 to 11, and further includes a robotic arm and a trolley, wherein the variable-focus ultrasonic generator is connected to the robotic arm, and the robotic arm is movably connected to the trolley.

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