Multi-focussed ultrasound generating device and ultrasonic surgical apparatus

Abstract

The multi-point focusing ultrasonic generating device and the ultrasonic surgical equipment can select the state of the multi-point focusing ultrasonic generating device according to the requirement in the operation, and the multi-point focusing ultrasonic generating device is adjusted to the focal point separation state to make the multiple transducers in the ultrasonic transducer array focus on at least two focal positions at the same time in the case that the treatment area is larger and the power requirement is lower, so that the multi-point synchronous treatment is realized, the treatment range of the multi-point focusing ultrasonic generating device is larger, the treatment efficiency is higher, the moving frequency of the multi-point focusing ultrasonic generating device in the operation is reduced, the treatment time is shortened, and the patient experience is improved; in the case that the power requirement is higher, the multi-point focusing ultrasonic generating device can be adjusted to the focal point combination state to ensure the treatment effect; the multi-point focusing ultrasonic generating device can be compatible with the operation with higher and lower power requirements, and the application range is wider.

Description

Technical Field

[0001] This disclosure relates to a multi-point focusing 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 the ultrasound transducer 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. However, when the area of ​​tissue to be ablated is large, the ultrasound generator needs to be moved to ensure that the focused ultrasound waves act on all parts of the tissue to be ablated, resulting in complete tissue ablation. This process is time-consuming, inefficient, and provides a poor patient experience. Summary of the Invention

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

[0004] This disclosure is achieved through the following technical solution: A multi-point focusing ultrasound generator includes a mounting assembly, an ultrasound generating assembly, and a driving assembly; the multi-point focusing ultrasound generator has a focus separation state and a focus unification state. The ultrasonic generating assembly includes an ultrasonic transducer array and a motion mechanism. The ultrasonic transducer array includes multiple transducers, and the motion mechanism includes multiple moving parts. Each moving part is connected to one of the transducers and is movably connected to the mounting assembly. The moving parts are configured to move relative to the mounting assembly in a direction parallel to the center line. The ultrasonic transducer array is configured such that, in the focal separation state, the multiple transducers simultaneously focus on at least two focusing positions set along the center line, and in the focal convergence state, the multiple transducers focus on the same focusing position. The multiple transducers are configured such that, in the focal convergence state, they are distributed on the same hemisphere with the center line as the axis, and in the focal separation state, they are distributed on at least two different hemispheres with the center line as the axis. The drive assembly is drivably connected to the moving member, and the drive assembly is configured to drive the moving member to move relative to the mounting assembly in a direction parallel to the center line, thereby causing the transducer connected thereto to move in a direction parallel to the center line, thereby switching the multi-point focusing ultrasound generator between the focus separation state and the focus unification state.

[0005] Optionally, the ultrasonic transducer array includes at least two transducer groups, each transducer group including a plurality of transducers; the motion mechanism includes at least two motion component groups, each motion component group including a motion component; each transducer in each transducer group is correspondingly connected to a motion component in a motion component group; in the focal separation state, each transducer in each transducer group is correspondingly focused at a focal position, and the at least two transducer groups are respectively correspondingly focused at at least two different focal positions.

[0006] Optionally, each of the moving parts groups includes the same number of moving parts, which are evenly arranged around the center line. On each moving part, the number and arrangement of the transducers are the same.

[0007] Optionally, the ultrasonic transducer array is a phased array ultrasonic transducer array, and the focusing position is spherical; In the focal separation state, each of the transducer groups is focused on a focal position, and two adjacent focal positions partially overlap in the extension direction of the center line. In the state of focal convergence, the at least two transducers focus on the same focal position.

[0008] Optionally, the ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group, wherein the first transducer group includes a plurality of first transducers, the second transducer group includes a plurality of second transducers, and the third transducer group includes a plurality of third transducers. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes a first motion component, and a first transducer is connected to the first motion component. The second motion component group includes a second motion component, and a second transducer is connected to the second motion component. The third motion component group includes a third motion component, and a third transducer is connected to the third motion component. In the focal separation state, the plurality of first transducers focus on a first focusing position, the plurality of second transducers focus on a second focusing position, and the plurality of third transducers focus on a third focusing position, with the first focusing position, the second focusing position, and the third focusing position arranged sequentially along the center line; In the focused state, the plurality of first transducers, the plurality of second transducers, and the plurality of third transducers are all focused on the second focusing position.

[0009] Optionally, the drive assembly includes a drive member and a transmission mechanism, wherein the drive member is drivably connected to the transmission mechanism, and the transmission mechanism is drivably connected to each of the moving members; In response to the drive member driving the transmission mechanism to move, the transmission mechanism drives the moving member to move in a direction parallel to the center line, so that the multi-point focusing ultrasound generator switches between the focus separation state and the focus unification state.

[0010] Optionally, the transmission mechanism is rotatably connected to the mounting assembly, the transmission mechanism having a mating surface arranged circumferentially thereon, the mating surface including at least two mating segments of different heights; the moving member has a mating portion configured to mate with the mating surface; In the unified focus state, the mating portion of each of the moving parts is located at the same height in the mating section; in response to the rotation of the transmission mechanism relative to the mounting assembly, the mating surface rotates relative to the mating portion of the moving part until the mating portions of the plurality of moving parts are located at different heights in the mating sections, so that the moving part moves relative to the mounting assembly in a direction parallel to the center line, thereby switching the multi-point focusing ultrasound generator from the unified focus state to the separated focus state.

[0011] Optionally, the ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group, wherein the first transducer group includes a plurality of first transducers, the second transducer group includes a plurality of second transducers, and the third transducer group includes a plurality of third transducers. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes a plurality of first motion components, and a first transducer is connected to the first motion component. The second motion component group includes a plurality of second motion components, and a second transducer is connected to the second motion component. The third motion component group includes a plurality of third motion components, and a third transducer is connected to the third motion component. The mating surface includes a first mating section, a second mating section, and a third mating section whose heights decrease sequentially. In the focal separation state, the mating part of the first moving member is located in the first mating section, the plurality of first transducers are focused at the first focusing position, the mating part of the second moving member is located in the second mating section, the plurality of second transducer groups are focused at the second focusing position, the mating part of the third moving member is located in the third mating section, and the plurality of third transducers are focused at the third focusing position. The first focusing position, the second focusing position, and the third focusing position are arranged sequentially along the center line. In response to the transmission mechanism rotating through a preset angle, the mating part of the first moving member moves from the first mating section into the second mating section, the mating part of the second moving member remains in the second mating section, and the mating part of the third moving member moves from the third mating section into the second mating section, so that the multi-point focusing ultrasound generator moves from the focal separation state into the focal unification state. In the focused state, the mating portion of the first moving member, the mating portion of the second moving member, and the mating portion of the third moving member are all located in the second mating section, and the plurality of first transducers, the plurality of second transducers, and the plurality of third transducers are all focused on the second focusing position.

[0012] Optionally, a plurality of first moving parts are evenly arranged around the center line, a plurality of second moving parts are evenly arranged around the center line, and a plurality of third moving parts are evenly arranged around the center line. Any three adjacent moving parts include a first moving part, a second moving part, and a third moving part. Any two adjacent first mating sections and third mating sections are connected through the second mating sections.

[0013] Optionally, the transmission mechanism is provided with a mating groove along its circumference, the inner wall of the mating groove has the mating surface, and the mating part is accommodated in the mating groove.

[0014] Optionally, the transmission mechanism is rotatably connected to the mounting assembly, the output end of the drive member has a first tooth, the transmission mechanism has a second tooth, and the first tooth engages with the second tooth to driveably connect the drive member to the transmission mechanism.

[0015] Optionally, the mounting assembly includes a housing and a guide rod. The housing has an oblong hole extending in a direction perpendicular to the center line. One end of the guide rod has a mating pin, which is received in the oblong hole to allow one end of the guide rod to be movably connected to the housing. The other end of the guide rod is rotatably connected to the moving part.

[0016] Optionally, the mounting assembly includes a housing and a hemispherical bracket, the hemispherical bracket having a plurality of through holes extending in a direction parallel to the center line; In the state of focal convergence, each of the moving parts is correspondingly accommodated in one of the through holes; In the focal separation state, at least a portion of the moving part is located outside the through hole.

[0017] An ultrasound surgical device includes a multi-point focusing ultrasound generator, a robotic arm, and a trolley, as described above. The multi-point focusing ultrasound generator is connected to the robotic arm, and the robotic arm is movably connected to the trolley. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of a multi-point focusing ultrasound generator provided in an embodiment of the present disclosure.

[0019] Figure 2 for Figure 1 The diagram shows a three-dimensional view of the hidden housing of the multi-point focusing ultrasound generator, in which the multi-point focusing ultrasound generator is in a focal separation state.

[0020] Figure 3 for Figure 2 A magnified view of the area outlined in the middle frame.

[0021] Figure 4 for Figure 2 The diagram shows a three-dimensional view of the multi-point focusing ultrasound generator from another angle.

[0022] Figure 5 for Figure 1 The diagram shows a three-dimensional view of the hidden housing of the multi-point focusing ultrasound generator, in which the multi-point focusing ultrasound generator is in a state of unified focus.

[0023] Figure 6 for Figure 5 A magnified view of the area outlined in the middle frame.

[0024] Figure 7 for Figure 5 The diagram shows a three-dimensional view of the multi-point focusing ultrasound generator from another angle.

[0025] Figure 8 for Figure 1 The cross-sectional view of the multi-point focusing ultrasound generator shown is in a focal separation state, with the dotted line indicating the ultrasound focused at the first focusing position.

[0026] Figure 9 for Figure 1The cross-sectional view of the multi-point focusing ultrasound generator shown is in a focus separation state, with the dotted line indicating the ultrasound focused at the second focusing position.

[0027] Figure 10 for Figure 1 The cross-sectional view of the multi-point focusing ultrasound generator shown is in a focal separation state, with the dotted line indicating the ultrasound focused at the third focusing position.

[0028] Figure 11 for Figure 1 The diagram shows a cross-sectional view of a portion of the area where the first moving part of the multi-point focusing ultrasound generator is located, wherein the multi-point focusing ultrasound generator is in a focal separation state.

[0029] Figure 12 for Figure 1 The diagram shows a cross-sectional view of a portion of the area where the second moving part of the multi-point focusing ultrasound generator is located, wherein the multi-point focusing ultrasound generator is in a focal separation state.

[0030] Figure 13 for Figure 1 The diagram shows a cross-sectional view of a portion of the area where the third moving part of the multi-point focusing ultrasound generator is located, wherein the multi-point focusing ultrasound generator is in a focal separation state.

[0031] Figure 14 for Figure 1 The diagram shows a three-dimensional representation of the hemispherical support of the multi-point focusing ultrasound generator.

[0032] Figure 15 This is a three-dimensional schematic diagram of an ultrasonic surgical device provided in an embodiment of this disclosure.

[0033] The reference numerals in the above figures are: 1-Multi-point focusing ultrasonic generator; 100-Mounting assembly; 110-Housing; 111-Oval hole; 120-Guide rod; 121-Matching pin; 130-Hemispherical bracket; 131-Through hole; 200-Ultrasonic generator assembly; 211-Transducer; 211a-First transducer; 211b-Second transducer; 211c-Third transducer; 221-Moving component; 221a-First moving component; 2211a-First mating part; 221b-Second moving component; 2211b-Second mating part Part 1, 221c-Third moving part, 2211c-Third mating part; 300-Drive assembly, 310-Driver, 311-First tooth, 320-Transmission mechanism, 321-Mating section, 321a-First mating section, 321b-Second mating section, 321c-Third mating section, 322-Mating groove, 323-Second tooth; F1-First focusing position, F2-Second focusing position, F3-Third focusing position, M-Centerline; 2-Robot arm; 3-Trolley; 4-Operating table; 5-Patient. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Focused ultrasound technology can mechanically destroy tissue by applying focused ultrasound waves, thereby achieving tissue ablation. When the area of ​​tissue to be ablated is large, the ultrasound generator needs to be moved so that the focused ultrasound waves can act on various parts of the tissue to be ablated, so that the tissue can be completely ablated. This process is time-consuming, inefficient, and has a poor patient experience.

[0038] Based on this, refer to Figures 1 to 10 This disclosure provides a multi-point focusing ultrasound generator 1, including a mounting assembly 100, an ultrasound generator assembly 200, and a driving assembly 300; the multi-point focusing ultrasound generator 1 has a focus separation state and a focus unity state.

[0039] Reference Figure 4 and Figure 7 The ultrasonic generating assembly 200 includes an ultrasonic transducer array and a motion mechanism. The ultrasonic transducer array includes multiple transducers 211, and the motion mechanism includes multiple moving parts 221. Each moving part 221 is connected to a transducer 211 and is movably connected to the mounting assembly 100. The moving parts 221 are configured to move relative to the mounting assembly 100 in a direction parallel to the centerline. (Refer to...) Figure 2 , Figure 5 , Figures 8 to 10 The ultrasonic transducer array is configured such that, in a focus-separated state, multiple transducers 211 simultaneously focus on at least two focusing positions set along the center line M, and in a focus-unified state, multiple transducers 211 focus on the same focusing position. The multiple transducers 211 are configured to be distributed on the same hemisphere with the center line M as the axis in the focus-unified state, and distributed on at least two different hemispheres with the center line M as the axis in the focus-separated state.

[0040] The drive assembly 300 is drivably connected to the moving part 221. The drive assembly 300 is configured to drive the moving part 221 to move relative to the mounting assembly 100 in a direction parallel to the center line, thereby causing the transducer 211 connected thereto to move in a direction parallel to the center line, thereby switching the multi-point focusing ultrasound generator 1 between a focus separation state and a focus unification state.

[0041] The multi-point focusing ultrasound generator 1 provided in this embodiment has a focus separation state and a focus unification state. During surgery, the state of the multi-point focusing ultrasound generator 1 can be selected according to needs. For example, when the treatment area is large but the power requirement is low, the multi-point focusing ultrasound generator 1 can be adjusted to the focus separation state, so that multiple transducers 211 in the ultrasound transducer array simultaneously focus on at least two focusing positions, thereby achieving multi-point synchronous treatment. In this state, the treatment range of the multi-point focusing ultrasound generator 1 is large, the treatment efficiency is high, and it is beneficial to reduce the number of times the multi-point focusing ultrasound generator 1 is moved during the operation, shorten the treatment time, and improve the patient experience. When the power requirement is high, the multi-point focusing ultrasound generator 1 can be adjusted to the focus unification state to ensure the treatment effect. The multi-point focusing ultrasound generator 1 provided in this embodiment can be compatible with surgical procedures with both high and low power requirements, and can improve the patient experience in surgical procedures with low power requirements, thus having a wide range of applications.

[0042] For example, the ultrasonic transducer array includes at least two transducer groups, each transducer group including multiple transducers 211; the motion mechanism includes at least two motion component groups, each motion component group including a motion component 221; each transducer 211 in each transducer group is correspondingly connected to a motion component 221 in a motion component group. In the focal separation state, each transducer 211 in each transducer group is correspondingly focused at a focal position, and at least two transducer groups are respectively correspondingly focused at at least two different focal positions. When the multi-point focusing ultrasonic generator 1 switches states, the drive component 300 drives the motion component 221 in the same motion component group to move, thereby changing the focal position focused by the transducer 211 in the same transducer group.

[0043] For example, refer to Figures 2 to 4 , Figures 8 to 10The ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group. The first transducer group includes multiple first transducers 211a, the second transducer group includes multiple second transducers 211b, and the third transducer group includes multiple third transducers 211c. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes a first motion component 221a, and the first transducer 211a is connected to the first motion component 221a. The second motion component group includes a second motion component 221b, and the second transducer 211b is connected to the second motion component 221b. The third motion component group includes a third motion component 221c, and the third transducer 211c is connected to the third motion component 221c. Reference Figure 2 , Figures 8 to 10 In the focus separation state, multiple first transducers 211a focus on the first focusing position F1, multiple second transducers 211b focus on the second focusing position F2, and multiple third transducers 211c focus on the third focusing position F3. The first focusing positions F1, the second focusing positions F2, and the third focusing positions F3 are arranged sequentially along the center line. For ease of demonstration, Figures 8 to 10 The image only shows the path of the ultrasonic waves emitted by transducer 211 located in the cross-section; Reference Figure 5 In the state of focal convergence, multiple first transducers 211a, multiple second transducers 211b, and multiple third transducers 211c are all focused at the second focal position F2.

[0044] For example, each moving part group includes the same number of moving parts 221, which are evenly arranged around the center line M. On each moving part 221, the number and arrangement of transducers 211 are identical. For example, referring to… Figure 4 and Figure 7 The first moving part group includes four first moving parts 221a evenly arranged around the center line M; the second moving part group includes four second moving parts 221b evenly arranged around the center line M; and the third moving part group includes four third moving parts 221c evenly arranged around the center line M. The number and arrangement of transducers 211 on each of the first moving parts 221a, each of the second moving parts 221b, and each of the third moving parts 221c are the same. Therefore, in the focal separation state, the ultrasound waves focused at each focal position are distributed in the same way, which helps to improve the consistency of the treatment effect at each focal position.

[0045] For example, the ultrasonic transducer array is a phased array ultrasonic transducer array with a spherical focusing position. In practical applications, the transducer 211 in the ultrasonic transducer array can be controlled to zoom within the spherical focusing position using a control unit with a built-in nonlinear multi-element focusing ultrasonic phased array algorithm. (Refer to...) Figure 2 , Figures 8 to 10In the focal separation state, each transducer group focuses on a corresponding focal position, and two adjacent focal positions partially overlap in the direction of the center line extension. This is to avoid gaps between adjacent focal positions due to installation errors, motion errors, etc., of the multi-point focusing ultrasound generator 1, thereby preventing unablated portions from forming in the treatment area and affecting the treatment effect. For example, the treatment areas of two adjacent focal positions can be set to overlap by 20% to 30%. Figure 5 In the state of focal convergence, at least two transducers 211 are focused at the same focal position.

[0046] For example, refer to Figure 2 and Figure 5 The drive assembly 300 includes a drive member 310 and a transmission mechanism 320. The drive member 310 is drivably connected to the transmission mechanism 320, and the transmission mechanism 320 is drivably connected to each moving member 221. In response to the drive member 310 driving the transmission mechanism 320 to move, the transmission mechanism 320 drives the moving member 221 to move in a direction parallel to the center line, so that the multi-point focusing ultrasound generator 1 switches between a focus separation state and a focus unification state. The drive member 310 synchronously drives each moving member 221 through the transmission mechanism 320, which helps to save the number of drive members 310 and reduce the weight and cost of the multi-point focusing ultrasound generator 1.

[0047] For example, refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 The transmission mechanism 320 is rotatably connected to the mounting assembly 100. For example, the rotation axis of the transmission mechanism 320 coincides with the center line M. The transmission mechanism 320 has a mating surface arranged circumferentially thereafter. The mating surface includes at least two mating segments 321 with different heights. It should be noted that the mating segments 321 with different heights refer to the different positions of the different mating segments 321 in the extension direction of the center line M. The mating segment 321 closer to the focal position is lower, and the mating segment 321 farther away from the focal position is higher. That is, with Figure 2 and Figure 5 With reference to the direction, the lower the mating section 321, the lower its height, and the higher the mating section 321, the higher its height; the moving part 221 has a mating portion, which is configured to mate with the mating surface. (Refer to...) Figure 5 and Figure 6 In the state of focal convergence, the mating parts of each moving part 221 are located at the same height in the mating section 321; refer to Figure 2 and Figure 3In response to the rotation of the transmission mechanism 320 relative to the mounting assembly 100, the mating surface rotates relative to the mating portion of the moving member 221 until the mating portions of multiple moving members 221 are located at different heights in the mating sections 321. This causes the moving member 221 to move relative to the mounting assembly 100 in a direction parallel to the center line, thereby switching the multi-point focusing ultrasonic generator 1 from a focused state to a focused state. By providing mating surfaces including mating sections 321 of different heights on the transmission mechanism 320 and mating portions that mate with the mating surfaces on the moving member 221, the transmission mechanism 320 can change the mating section 321 in contact with the mating portion by its own rotation, thereby changing the height of the moving member 221 to switch states, resulting in a simple structure.

[0048] For example, refer to Figures 2 to 7 The ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group. The first transducer group includes multiple first transducers 211a, the second transducer group includes multiple second transducers 211b, and the third transducer group includes multiple third transducers 211c. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes multiple first motion components 221a, and the first transducers 211a are connected to the first motion components 221a. The second motion component group includes multiple second motion components 221b, and the second transducer... Device 211b is connected to the second moving member 221b. The third moving member group includes multiple third moving members 221c. The third transducer 211c is connected to the third moving member 221c. For ease of explanation, the mating part of the first moving member 221a is the first mating part 2211a, the mating part of the second moving member 221b is the second mating part 2211b, and the mating part of the third moving member 221c is the third mating part 2211c. The mating surface includes a first mating section 321a, a second mating section 321b, and a third mating section 321c with successively decreasing heights.

[0049] Reference Figure 2 and Figure 3 In the focal separation state, the first mating part 2211a is located in the first mating section 321a, and multiple first transducers 211a are focused at the first focusing position; the second mating part 2211b is located in the second mating section 321b, and multiple groups of second transducers 211b are focused at the second focusing position; the third mating part 2211c is located in the third mating section 321c, and multiple third transducers 211c are focused at the third focusing position; the first focusing position F1, the second focusing position F2, and the third focusing position F3 are arranged sequentially along the centerline M; refer to Figure 5 and Figure 6In response to the transmission mechanism 320 rotating through a preset angle, the first mating part 2211a enters the second mating part 321b from the first mating section 321a, the second mating part 2211b remains in the second mating section 321b, and the third mating part 2211c enters the second mating section 321b from the third mating section 321c, so that the multi-point focusing ultrasonic generator 1 enters the focus unity state from the focus separation state; Reference Figure 5 and Figure 6 In the state of focal convergence, the first mating part 2211a, the second mating part 2211b and the third mating part 2211c are all located in the second mating section 321b, and multiple first transducers 211a, multiple second transducers 211b and multiple third transducers 211c are all focused at the second focal position F2.

[0050] It should be noted that, referring to Figures 2 to 7 Multiple first moving parts 221a are evenly arranged around the center line M, multiple second moving parts 221b are evenly arranged around the center line M, and multiple third moving parts 221c are evenly arranged around the center line M. Any three adjacent moving parts 221 each include a first moving part 221a, a second moving part 221b, and a third moving part 221c. Any two adjacent first mating sections 321a and third mating sections 321c are connected through a second mating section 321b. (Refer to...) Figure 3 and Figure 6 The transmission mechanism 320 rotates along a first rotation direction to switch the multi-point focusing ultrasound generator 1 from a focus separation state to a focus unification state, and rotates along a second rotation direction opposite to the first rotation direction to switch the multi-point focusing ultrasound generator 1 from a focus unification state to a focus separation state. The first rotation direction is as follows: Figure 3 and Figure 6 As shown by the solid arrow in the image, the second rotation direction is as follows: Figure 3 and Figure 6 As shown by the dashed arrows in the diagram; each first mating segment 321a is adjacent to a second mating segment 321b in the second rotation direction, and each third mating segment 321c is adjacent to a second mating segment 321b in the second rotation direction.

[0051] Therefore, in the focus separation state, in response to the transmission mechanism 320 rotating by a preset angle along the first rotation direction, the first mating part 2211a descends from the first mating section 321a to the second mating section 321b adjacent to the first mating section 321a in the second rotation direction, and the third mating part 2211c rises from the third mating section 321c to the second mating section 321b adjacent to the third mating section 321c in the second rotation direction. After relative movement with the second mating section 321b, the second mating part 2211b remains on the second mating section 321b, thereby enabling multi-point focusing. The sound generating device 1 switches from a focus separation state to a focus unity state. In the focus unity state, in response to the transmission mechanism 320 rotating the preset angle along the second rotation direction, the first mating part 2211a rises from the second mating section 321b to the first mating section 321a, and the third mating part 2211c falls from the second mating section 321b to the third mating section 321c. After the second mating part 2211b moves relative to the second mating section 321b, it remains on the second mating section 321b, thereby switching the multi-point focusing ultrasonic generating device 1 from a focus unity state to a focus separation state.

[0052] The above configuration allows the transmission mechanism 320 to simultaneously drive the first moving part 221a in the first moving part group and the third moving part 221c in the third moving part group by rotating itself, while maintaining the original height of the second moving part 221b in the second moving part group. The structure and action logic are simple.

[0053] For example, refer to Figure 3 and Figure 6 The transmission mechanism 320 has a mating groove 322 along its circumference. The inner wall of the mating groove 322 has a mating surface, and the mating part is accommodated in the mating groove 322. The mating groove 322 can restrict the mating part in the extension direction of the center line M, thereby improving the structural stability.

[0054] For example, refer to Figure 2 and Figure 5 The transmission mechanism 320 is rotatably connected to the mounting assembly 100. The output end of the drive member 310 has a first tooth 311, and the transmission mechanism 320 has a second tooth 323. The first tooth 311 and the second tooth 323 mesh to drive the drive member 310 to be drivably connected to the transmission mechanism 320. When the output end of the drive member 310 rotates, the first tooth 311 drives the second tooth 323 to rotate, thereby rotating the transmission mechanism 320.

[0055] In some embodiments, such as Figure 2 and Figure 5As shown, the rotation axis of the output end of the drive member 310 is perpendicular to the rotation axis of the transmission mechanism 320. The first tooth 311 is disposed in the circumferential direction of the output end of the drive member 310, and the second tooth 323 is disposed on the end face of the transmission mechanism 320 near the drive member 310. In other embodiments, the rotation axis of the output end of the drive member 310 may also be disposed parallel to the rotation axis of the transmission mechanism 320, with the first tooth 311 disposed in the circumferential direction of the output end of the drive member 310 and the second tooth 323 disposed in the circumferential direction of the transmission mechanism 320.

[0056] The driving component 310 can be a motor. In the focal separation state, the output end of the motor rotates forward, driving the transmission mechanism 320 to rotate in the first rotation direction until the motor encoder detects the position and the motor locks. This allows the multi-point focusing ultrasonic generator 1 to switch from the focal separation state to the focal unity state. In the focal unity state, the output end of the motor rotates in reverse, driving the transmission mechanism 320 to rotate in the second rotation direction until the motor encoder detects the position and the motor locks. This allows the multi-point focusing ultrasonic generator 1 to switch from the focal unity state to the focal separation state.

[0057] In some embodiments, refer to Figure 1 , Figure 2 , Figure 5 , Figures 11 to 13 The mounting assembly 100 includes a housing 110 and a guide rod 120. The housing 110 has an oblong hole 111 extending in a direction perpendicular to the center line M. One end of the guide rod 120 has a mating pin 121, which is received in the oblong hole 111 to allow one end of the guide rod 120 to be movably connected to the housing 110. The other end of the guide rod 120 is rotatably connected to the moving member 221. The engagement of the mating pin 121 with the oblong hole 111 ensures that the moving member 221 can only move in a direction parallel to the center line M, thus improving the stability of the moving member 221's movement.

[0058] In other embodiments, one of the moving member 221 and the housing 110 may have a guide groove and the other has a guide protrusion, with the guide groove and guide protrusion extending in a direction parallel to the center line M, so as to guide the movement of the moving member 221.

[0059] For example, refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 7 The mounting assembly 100 includes a housing 110 and a hemispherical bracket 130, as shown in the reference. Figure 14The hemispherical support 130 has a plurality of through holes 131 extending in a direction parallel to the center line; in the focal convergence state, each moving member 221 is correspondingly accommodated in one through hole 131; in the focal divergence state, at least a portion of the moving members 221 are located outside the through holes 131. The through holes 131 of the hemispherical support 130 provide movement space for the moving members 221 and can provide constraint and guidance for the movement of the moving members 221.

[0060] Reference Figure 15 This disclosure also provides an ultrasound surgical device, including a multi-point focusing ultrasound generator 1, a robotic arm 2, and a trolley 3 as provided in any of the above embodiments. The multi-point focusing 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 state of the multi-point focusing ultrasound generator 1, etc. The robotic arm 2 can drive the multi-point focusing ultrasound generator 1 to move, thereby changing the position where the ultrasound waves act. (See also...) Figure 14 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 multi-point focused ultrasound generator 1 is located above the patient 5 on the operating table 4. According to the surgical requirements, the position of the moving part 221 is adjusted by the drive component 300, thereby adjusting the state of the multi-point focused ultrasound generator 1. During the operation, the robotic arm 2 can drive the multi-point focused ultrasound generator 1 to move so that the ultrasound waves can completely cover the tissue that needs to be treated.

[0061] The ultrasound surgical device provided in this embodiment includes a multi-point focusing ultrasound generator 1, which has a focus separation state and a focus unification state. During surgery, the state of the multi-point focusing ultrasound generator 1 can be selected according to needs. For example, when the treatment area is large but the power requirement is low, the multi-point focusing ultrasound generator 1 can be adjusted to the focus separation state, so that multiple transducers 211 in the ultrasound transducer array simultaneously focus on at least two focusing positions, thereby achieving multi-point synchronous treatment. In this state, the treatment range of the multi-point focusing ultrasound generator 1 is large, the treatment efficiency is high, and it is beneficial to reduce the number of times the multi-point focusing ultrasound generator 1 moves during surgery, simplify the action logic of the robotic arm 2, shorten the treatment time, and improve the patient experience. When the power requirement is high, the multi-point focusing ultrasound generator 1 can be adjusted to the focus unification state to ensure the treatment effect. The ultrasound surgical device provided in this embodiment is compatible with surgical procedures with both high and low power requirements, and can improve the patient experience in surgical procedures with low power requirements, thus having a wide range of applications.

[0062] In summary, the multi-point focusing ultrasound generator 1 provided in this embodiment has a focus separation state and a focus unification state. During surgery, the state of the multi-point focusing ultrasound generator 1 can be selected according to needs. For example, when the treatment area is large but the power requirement is low, the multi-point focusing ultrasound generator 1 can be adjusted to the focus separation state, so that multiple transducers 211 in the ultrasound transducer array simultaneously focus on at least two focusing positions, thereby enabling multi-point synchronous treatment. In this state, the treatment range of the multi-point focusing ultrasound generator 1 is large, the treatment efficiency is high, and it is beneficial to reduce the number of times the multi-point focusing ultrasound generator 1 is moved during the operation, shorten the treatment time, and improve the patient experience. When the power requirement is high, the multi-point focusing ultrasound generator 1 can be adjusted to the focus unification state to ensure the treatment effect. The multi-point focusing ultrasound generator 1 provided in this embodiment can be compatible with surgical procedures with both high and low power requirements, and has a wide range of applications.

[0063] 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.

[0064] 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 multi-point focusing ultrasound generator, characterized in that, It includes an installation component, an ultrasound generating component, and a driving component; the multi-point focusing ultrasound generating device has a focus separation state and a focus unity state; The ultrasonic generating assembly includes an ultrasonic transducer array and a motion mechanism. The ultrasonic transducer array includes multiple transducers, and the motion mechanism includes multiple moving parts. Each moving part is connected to one of the transducers and is movably connected to the mounting assembly. The moving parts are configured to move relative to the mounting assembly in a direction parallel to the centerline of the ultrasonic transducer array. The ultrasonic transducer array is configured such that, in the focal separation state, the multiple transducers simultaneously focus on at least two focusing positions set along the centerline, and in the focal convergence state, the multiple transducers focus on the same focusing position. The multiple transducers are configured such that, in the focal convergence state, they are distributed on the same hemisphere with the centerline as the axis, and in the focal separation state, they are distributed on at least two different hemispheres with the centerline as the axis. The drive assembly is drivably connected to the moving member, and the drive assembly is configured to drive the moving member to move relative to the mounting assembly in a direction parallel to the center line, thereby causing the transducer connected thereto to move in a direction parallel to the center line, thereby switching the multi-point focusing ultrasound generator between the focus separation state and the focus unification state.

2. The multi-point focusing ultrasound generator according to claim 1, characterized in that, The ultrasonic transducer array includes at least two transducer groups, each transducer group including multiple transducers; the motion mechanism includes at least two motion component groups, each motion component group including a motion component; each transducer in each transducer group is correspondingly connected to a motion component in a motion component group; in the focal separation state, each transducer in each transducer group is correspondingly focused at a focal position, and the at least two transducer groups are respectively correspondingly focused at at least two different focal positions.

3. The multi-point focusing ultrasound generator according to claim 2, characterized in that, Each of the moving parts groups includes the same number of moving parts, which are evenly arranged around the center line. On each moving part, the number and arrangement of the transducers are the same.

4. The multi-point focusing ultrasound generator according to claim 3, characterized in that, The ultrasonic transducer array is a phased array ultrasonic transducer array, and the focusing position is spherical; In the focal separation state, each of the transducer groups is focused on a focal position, and two adjacent focal positions partially overlap in the extension direction of the center line. In the state of focal convergence, the at least two transducers focus on the same focal position.

5. The multi-point focusing ultrasound generator according to any one of claims 2 to 4, characterized in that, The ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group. The first transducer group includes a plurality of first transducers, the second transducer group includes a plurality of second transducers, and the third transducer group includes a plurality of third transducers. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes a first motion component, and a first transducer is connected to the first motion component. The second motion component group includes a second motion component, and a second transducer is connected to the second motion component. The third motion component group includes a third motion component, and a third transducer is connected to the third motion component. In the focal separation state, the plurality of first transducers focus on a first focusing position, the plurality of second transducers focus on a second focusing position, and the plurality of third transducers focus on a third focusing position, with the first focusing position, the second focusing position, and the third focusing position arranged sequentially along the center line; In the focused state, the plurality of first transducers, the plurality of second transducers, and the plurality of third transducers are all focused on the second focusing position.

6. The multi-point focusing ultrasound generator according to claim 1, characterized in that, The drive assembly includes a drive component and a transmission mechanism. The drive component is drivably connected to the transmission mechanism, and the transmission mechanism is drivably connected to each of the moving components. In response to the drive member driving the transmission mechanism to move, the transmission mechanism drives the moving member to move in a direction parallel to the center line, so that the multi-point focusing ultrasound generator switches between the focus separation state and the focus unification state.

7. The multi-point focusing ultrasound generator according to claim 6, characterized in that, The transmission mechanism is rotatably connected to the mounting assembly, and the transmission mechanism has a mating surface arranged circumferentially thereon, the mating surface including at least two mating segments of different heights; the moving member has a mating portion configured to mate with the mating surface; In the unified focus state, the mating portion of each of the moving parts is located at the same height in the mating section; in response to the rotation of the transmission mechanism relative to the mounting assembly, the mating surface rotates relative to the mating portion of the moving part until the mating portions of the plurality of moving parts are located at different heights in the mating sections, so that the moving part moves relative to the mounting assembly in a direction parallel to the center line, thereby switching the multi-point focusing ultrasound generator from the unified focus state to the separated focus state.

8. The multi-point focusing ultrasound generator according to claim 7, characterized in that, The ultrasonic transducer array includes a first transducer group, a second transducer group, and a third transducer group. The first transducer group includes a plurality of first transducers, the second transducer group includes a plurality of second transducers, and the third transducer group includes a plurality of third transducers. The motion mechanism includes a first motion component group, a second motion component group, and a third motion component group. The first motion component group includes a plurality of first motion components, and a first transducer is connected to the first motion component. The second motion component group includes a plurality of second motion components, and a second transducer is connected to the second motion component. The third motion component group includes a plurality of third motion components, and a third transducer is connected to the third motion component. The mating surface includes a first mating section, a second mating section, and a third mating section whose heights decrease sequentially. In the focal separation state, the mating part of the first moving member is located in the first mating section, the plurality of first transducers are focused at the first focusing position, the mating part of the second moving member is located in the second mating section, the plurality of second transducer groups are focused at the second focusing position, the mating part of the third moving member is located in the third mating section, and the plurality of third transducers are focused at the third focusing position. The first focusing position, the second focusing position, and the third focusing position are arranged sequentially along the center line. In response to the transmission mechanism rotating through a preset angle, the mating part of the first moving member moves from the first mating section into the second mating section, the mating part of the second moving member remains in the second mating section, and the mating part of the third moving member moves from the third mating section into the second mating section, so that the multi-point focusing ultrasound generator moves from the focal separation state into the focal unification state. In the focused state, the mating portion of the first moving member, the mating portion of the second moving member, and the mating portion of the third moving member are all located in the second mating section, and the plurality of first transducers, the plurality of second transducers, and the plurality of third transducers are all focused on the second focusing position.

9. The multi-point focusing ultrasound generator according to claim 8, characterized in that, Multiple first moving parts are evenly arranged around the center line, multiple second moving parts are evenly arranged around the center line, and multiple third moving parts are evenly arranged around the center line. Any three adjacent moving parts include the first moving part, the second moving part, and the third moving part. Any two adjacent first mating sections and the third mating sections are connected through the second mating sections.

10. The multi-point focusing ultrasound generator according to any one of claims 7 to 9, characterized in that, The transmission mechanism is provided with a mating groove along its circumference, the inner wall of the mating groove has the mating surface, and the mating part is accommodated in the mating groove.

11. The multi-point focusing ultrasound generator according to claim 6, characterized in that, The transmission mechanism is rotatably connected to the mounting assembly. The output end of the drive member has a first tooth, and the transmission mechanism has a second tooth. The first tooth and the second tooth mesh to drive the drive member drivably connected to the transmission mechanism.

12. The multi-point focusing ultrasound generator according to claim 1, characterized in that, The mounting assembly includes a housing and a guide rod. The housing has an oblong hole extending in a direction perpendicular to the center line. One end of the guide rod has a mating pin, which is received in the oblong hole to allow one end of the guide rod to be movably connected to the housing. The other end of the guide rod is rotatably connected to the moving part.

13. The multi-point focusing ultrasound generator according to claim 1, characterized in that, The mounting assembly includes a housing and a hemispherical bracket, the hemispherical bracket having a plurality of through holes extending in a direction parallel to the center line; In the state of focal convergence, each of the moving parts is correspondingly accommodated in one of the through holes; In the focal separation state, at least a portion of the moving part is located outside the through hole.

14. An ultrasonic surgical device, characterized in that, The device includes a multi-point focusing ultrasound generator as described in any one of claims 1 to 13, and further includes a robotic arm and a trolley, wherein the multi-point focusing ultrasound generator is connected to the robotic arm, and the robotic arm is movably connected to the trolley.

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