High-intensity focused ultrasound treatment system

Abstract

The utility model relates to a high-intensity focused ultrasound treatment system, which comprises a system control device used for driving a treatment head to emit and / or receive ultrasonic waves according to a control command and controlling the ultrasonic waves to be focused to a target focus of a treatment part, the system control device is also used for controlling the operation of the high-intensity focused ultrasound treatment system; the treatment head is used for transmitting and / or receiving the ultrasonic waves and focusing the ultrasonic waves to the target focus of the treatment part; and the mechanical arm is used for driving the treatment head to move. According to the utility model, high-intensity focused ultrasonic waves can be generated at a treatment part.

Description

Technical Field

[0001] This utility model relates to the field of medical instruments, and in particular to a high-intensity focused ultrasound therapy system. Background Technology

[0002] High-intensity focused ultrasound (HIFU) is a novel non-invasive therapeutic technique that has emerged in recent years. Its main principle is to use high-intensity, low-duty-cycle pulsed energy to act on the target tissue. Through extremely short, intense bursts of acoustic energy, controlled cavitation (microbubble formation) is induced within the focal volume. The dramatic expansion and collapse of these microbubbles mechanically homogenizes the cellular and tissue structures within the focal volume, transforming them into cell-free fluids or subcellular structures, thereby achieving the therapeutic goal. Currently, ultrasound cavitation technology shows great promise in the treatment of tumors and thrombosis.

[0003] High-intensity focused ultrasound (HIFU) therapy systems utilize energy at a focal point (focal region) to treat lesions. Because the focal point is typically small, the treatment head must be moved to treat the lesion point by point. To achieve these functions, high-intensity focused ultrasound therapy systems place high demands on their hardware, particularly the circuitry. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, the present invention provides a high-intensity focused ultrasound therapy system.

[0005] In a first aspect, this utility model provides a high-intensity focused ultrasound (HIFU) therapy system, the HIFU therapy system comprising:

[0006] The system control device is used to drive the treatment head to emit and / or receive ultrasound waves according to control commands, and to control the ultrasound waves to be focused at the target focal point of the treatment site. The system control device is also used to control the operation of the high-intensity focused ultrasound therapy system.

[0007] The treatment head is used to emit and / or receive the ultrasonic waves and focus the ultrasonic waves onto the target focal point of the treatment site;

[0008] A robotic arm is used to move the treatment head.

[0009] Optionally, the ultrasound emitted by the treatment head is high-intensity ultrasound, and when the treatment head is in working condition, it generates a peak negative pressure of 10MPa to 50MPa in the free field.

[0010] Optionally, the ultrasound emitted by the treatment head is high-intensity ultrasound, and when the treatment head is in working condition, it generates a peak positive pressure of 0MPa to 120MPa in a free field.

[0011] Optionally, the treatment head includes a housing and an ultrasonic transducer array consisting of a plurality of ultrasonic transducer units disposed on the housing, the ultrasonic transducer units being used to emit and / or receive the ultrasonic waves.

[0012] Optionally, the robotic arm includes at least three axes.

[0013] Optionally, the high-intensity focused ultrasound therapy system further includes:

[0014] An imaging head is disposed on the treatment head and moves with the movement of the treatment head. The imaging head is used to acquire images of the treatment site.

[0015] Optionally, the imaging head is also equipped with a lifting motor and a rotating motor;

[0016] The lifting motor is used to raise and lower the imaging head within the treatment head;

[0017] The rotary motor is used to rotate the imaging head within the treatment head.

[0018] Optionally, the high-intensity focused ultrasound therapy system further includes:

[0019] An input device for receiving control commands from outside the high-intensity focused ultrasound therapy system;

[0020] The display screen is used to display the operating parameters of the high-intensity focused ultrasound therapy system, including: images of the treatment site and treatment parameters.

[0021] Optionally, the display screen includes:

[0022] A first display screen is used to display images of the treatment area acquired by the imaging head;

[0023] A second display screen is used to display the treatment parameters.

[0024] Optionally, the system control device includes:

[0025] The main controller is used to control the operation of the high-intensity focused ultrasound therapy system according to the control commands.

[0026] An ultrasound generator is used to generate a delay control signal and a drive control signal according to the instructions of the main controller, so that the treatment head emits and / or receives the ultrasound waves to the target focal point under the delay control signal and the drive control signal;

[0027] A robotic arm controller is used to move the robotic arm and the treatment head in space according to the instructions of the main controller.

[0028] Optionally, the system control device further includes:

[0029] The power supply circuit is connected to an external power source and is used to supply power to the high-intensity focused ultrasound therapy system.

[0030] An imaging head controller is used to control the imaging head so that it can acquire images of the treatment site in real time.

[0031] Optionally, the system control device further includes:

[0032] An uninterruptible power supply (UPS) is provided between the external power supply and the power circuit to maintain the normal operation of the high-intensity focused ultrasound therapy system when the external power supply fails.

[0033] Optionally, the master controller includes:

[0034] An industrial control computer is used to generate various system commands based on the control commands, and the system commands are used to control the operation of the high-intensity focused ultrasound therapy system.

[0035] The main control switch is used to send the system commands to the corresponding functional modules within the high-intensity focused ultrasound therapy system, and also to receive feedback information from the functional modules.

[0036] Optionally, the main controller may also include a video distributor for distributing the received display data to different displays.

[0037] Optionally, the ultrasound generator includes:

[0038] The logic control circuit is used to generate a delay control signal and also to control the operation of the ultrasonic generator;

[0039] A drive control circuit is used to receive the delay control signal and generate a drive control signal to drive the treatment head to emit the ultrasonic waves. The delay control signal is used to control each ultrasonic transducer unit of the treatment head to emit the ultrasonic waves according to a preset delay time, so that the ultrasonic waves emitted by the treatment head are focused on the target focal point.

[0040] A high-voltage generator is used to power the drive control circuit so that the ultrasonic waves generated by the treatment head produce the required energy at the target focal point.

[0041] Optionally, the logic control circuit includes:

[0042] At least one delay unit circuit, each of the delay unit circuits being connected to a drive unit circuit, the delay unit circuits being used to send the delay control signal to the drive unit circuit.

[0043] Optionally, the logic control circuit further includes:

[0044] An ultrasonic feedback circuit is used to enable the treatment head to receive reflected ultrasonic waves to form a transducer feedback signal, receive the transducer feedback signal, and send the transducer feedback signal to the main controller.

[0045] Optionally, the drive control circuit includes at least one of the drive unit circuits, the drive unit circuit comprising:

[0046] An isolation circuit is used to transmit the delay control signal to the drive buffer circuit;

[0047] The drive buffer circuit is used to buffer the delay control signal, and the buffered delay control signal serves as the first signal.

[0048] A power amplifier circuit is used to amplify the first signal into a second signal.

[0049] The filtering circuit is used to filter the second signal to become the third signal, and the filtering circuit is also used to transmit the third signal to the ultrasonic transducer in the treatment head.

[0050] The feedback acquisition circuit is used to acquire the working voltage signal and working current signal of the ultrasonic transducer unit in real time as the transducer feedback signal.

[0051] Optionally, the treatment head is disposed at the end of the robotic arm, and the robotic arm controller includes:

[0052] A first actuator is used to control the movement of the end effector of the robotic arm, the movement of the end effector of the robotic arm including rotation, lifting, and translation;

[0053] The robotic arm feedback circuit is used to feed back the status of the robotic arm to the main controller.

[0054] Optionally, the imaging head controller includes:

[0055] The second driver is used to drive the rotary motor to rotate the imaging head;

[0056] The third driver is used to drive the lifting motor, so that the imaging head rises and falls.

[0057] An imaging head acquisition circuit is used to enable the imaging head to acquire images of the treatment area in real time;

[0058] An imaging head feedback circuit is used to feed back the acquired images of the treatment area and the status of the imaging head to the main controller.

[0059] This invention provides a high-intensity focused ultrasound (HIFU) therapy system. The HIFU system includes: a system control device for driving a treatment head to emit and / or receive ultrasound waves according to control commands, and controlling the focusing of the ultrasound waves to a target focal point at the treatment site; the system control device also controls the operation of the HIFU system; the treatment head for emitting and / or receiving the ultrasound waves and focusing them to the target focal point at the treatment site; and a robotic arm for moving the treatment head. This invention can generate high-intensity focused ultrasound waves at the treatment site to create a cavitation effect within the target tissue. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0061] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 The diagram shown is a schematic of the high-intensity focused ultrasound therapy system of this invention.

[0063] Figure 2 The diagram shown is a structural schematic of the treatment head and robotic arm according to an embodiment of the present invention;

[0064] Figure 3 The diagram shown is a structural block diagram of the system control device according to an embodiment of the present invention.

[0065] Figure 4 The diagram shown is a partial circuit diagram of the high-intensity focused ultrasound therapy system according to an embodiment of the present invention.

[0066] Figure 5 The diagram shown is a structural schematic of the ultrasonic generator according to an embodiment of the present invention. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0068] Figure 1 The diagram shown is a schematic of the high-intensity focused ultrasound therapy system of this invention. (Refer to...) Figure 1 The high-intensity focused ultrasound therapy system includes:

[0069] The system control device 110 is used to drive the treatment head 120 to emit and / or receive ultrasound waves according to control commands, and to control the ultrasound waves to be focused on the target focal point of the treatment site. The system control device 110 is also used to control the operation of the high-intensity focused ultrasound therapy system.

[0070] The treatment head 120 is used to emit and / or receive the ultrasonic waves and focus the ultrasonic waves to the target focal point of the treatment site;

[0071] The robotic arm 130 is used to move the treatment head 120.

[0072] In this embodiment of the invention, the ultrasonic waves emitted by the treatment head 120 are high-intensity ultrasonic waves. When the treatment head 120 is in working condition, it generates a peak negative pressure of 10MPa to 50MPa in the free field.

[0073] In this embodiment of the invention, the ultrasonic waves emitted by the treatment head 120 are high-intensity ultrasonic waves. When the treatment head 120 is in working condition, it generates a peak positive pressure of 0 MPa to 120 MPa in the free field.

[0074] When the high-intensity focused ultrasound transducer is in operation, it generates a peak negative pressure of 10MPa to 50MPa in a free field, meaning it can generate a peak negative pressure of 10MPa to 50MPa in a free field, producing 3333W / cm². 2 Up to 83333W / cm 2 The sound intensity.

[0075] Furthermore, when the high-intensity focused ultrasound transducer is in operation, the peak positive pressure generated in the free field is 0 MPa to 120 MPa, and it can generate 0 W / cm². 2 Up to 480000W / cm 2The high intensity of the sound can induce a cavitation effect in the target tissue at the focal point. When this high-intensity focused ultrasound transducer is used in an ultrasonic cavitation device, it can achieve the desired cavitation effect.

[0076] In one specific embodiment, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field is 10 MPa, and the sound intensity is 3333 W / cm². 2 The peak positive pressure is 10 MPa, and the sound intensity is 3333 W / cm². 2 .

[0077] In one specific embodiment, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field is 20 MPa, and the sound intensity is 13333 W / cm². 2 The peak positive pressure is 50 MPa, and the sound intensity is 83333 W / cm². 2 .

[0078] In one specific embodiment, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field is 30 MPa, and the sound intensity is 30,000 W / cm². 2 The peak positive pressure is 70 MPa, and the sound intensity is 163,333 W / cm². 2 .

[0079] In one specific embodiment, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field is 40 MPa, and the sound intensity is 53333 W / cm². 2 The peak positive pressure is 90 MPa, and the sound intensity is 270,000 W / cm². 2 .

[0080] In one specific embodiment, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field is 50 MPa, and the sound intensity is 83333 W / cm². 2 The peak positive pressure is 120 MPa, and the sound intensity is 480,000 W / cm². 2 .

[0081] In some other embodiments, when the high-intensity focused ultrasound transducer is in operation, the peak negative pressure in the free field can be any value from 10MPa to 50MPa, and the peak positive pressure can be any value from 0MPa to 120MPa.

[0082] In this embodiment of the present invention, the treatment head 120 includes a housing and an ultrasonic transducer array consisting of a plurality of ultrasonic transducer units disposed on the housing, wherein the ultrasonic transducer units are used to emit and / or receive the ultrasonic waves.

[0083] In this embodiment of the invention, the robotic arm 130 includes at least three axes.

[0084] In this embodiment of the utility model, the robotic arm 130 may also be a five-axis, six-axis, seven-axis or other axis.

[0085] In this embodiment of the invention, the high-intensity focused ultrasound therapy system further includes:

[0086] An imaging head is mounted on the treatment head 120 and moves with the treatment head 120. The imaging head is used to acquire images of the treatment site.

[0087] Figure 2 The diagram shown is a structural schematic of the treatment head and robotic arm according to an embodiment of this utility model. Figure 2 As shown, the robotic arm is 210, the treatment head is 220, and the imaging head is 230.

[0088] In this embodiment of the present invention, the imaging head 230 is further provided with a lifting motor and a rotating motor;

[0089] The lifting motor is used to raise and lower the imaging head 230 within the treatment head 220;

[0090] The rotary motor is used to rotate the imaging head 230 within the treatment head 220.

[0091] In this embodiment of the invention, the high-intensity focused ultrasound therapy system further includes:

[0092] An input device for receiving control commands from outside the high-intensity focused ultrasound therapy system;

[0093] The display screen is used to display the operating parameters of the high-intensity focused ultrasound therapy system.

[0094] In this embodiment of the invention, the input device may be a keyboard, a voice input device, or the like.

[0095] In this embodiment of the invention, the working parameters include: an image of the treatment site and treatment parameters;

[0096] The display screen includes:

[0097] A first display screen is used to display images of the treatment area acquired by the imaging head;

[0098] A second display screen is used to display the treatment parameters.

[0099] Treatment parameters can include treatment information, feedback information from each functional module, and status information of each component such as the robotic arm and imaging head.

[0100] Figure 3The diagram shown is a structural block diagram of the system control device according to an embodiment of the present invention. Figure 4 The diagram shown is a partial circuit diagram of the high-intensity focused ultrasound therapy system according to an embodiment of the present invention.

[0101] The system control device 110 of this embodiment can be installed on the host computer. Figure 3 (Not shown in the image).

[0102] like Figure 3 , Figure 4 As shown, the system control device 110 includes:

[0103] The main controller 310 is used to control the operation of the high-intensity focused ultrasound therapy system according to the control command.

[0104] An ultrasound generator 320 is used to generate a delay control signal and a drive control signal according to the instructions of the main controller 310, so that the treatment head 120 emits the ultrasound waves to the target focal point under the delay control signal and the drive control signal;

[0105] The robotic arm controller 330 is used to cause the robotic arm 130 to move the treatment head 120 in space according to the instructions of the main controller 310.

[0106] In this embodiment of the present invention, the system control device 110 further includes:

[0107] The power supply circuit 1101 is connected to an external power supply and is used to power the high-intensity focused ultrasound therapy system.

[0108] The imaging head controller 340 is used to control the imaging head so that the imaging head can acquire images of the treatment site in real time.

[0109] In this embodiment of the present invention, the system control device 110 further includes:

[0110] An uninterruptible power supply 300 is provided between the external power supply and the power circuit 1101 to maintain the normal operation of the high-intensity focused ultrasound therapy system when the external power supply fails.

[0111] In this embodiment of the present invention, the main controller 310 includes:

[0112] An industrial control computer is used to generate various system commands based on the control commands, and the system commands are used to control the operation of the high-intensity focused ultrasound therapy system.

[0113] The main control switch is used to send the system commands to the corresponding functional modules within the high-intensity focused ultrasound therapy system, and also to receive feedback information from the functional modules.

[0114] In this embodiment of the present invention, the main controller 310 further includes a video distributor for distributing the received display data to different displays.

[0115] In this embodiment of the invention, the video distributor distributes the images of the treatment area captured by the imaging head to the first display screen, allowing the user to observe the images of the treatment area in real time and obtain information such as the condition of the treatment area. The video distributor can also distribute display data for displaying treatment parameters to the second display screen. The treatment data may include treatment information, feedback information from various functional modules, and status information of various components such as the robotic arm 130 and the imaging head, allowing the user to monitor the operation of each part of the system in real time and make adjustments accordingly.

[0116] In this embodiment of the utility model, such as Figure 3 As shown, the ultrasonic generator 320 includes:

[0117] The logic control circuit is used to generate a delay control signal and also to control the operation of the ultrasonic generator 320;

[0118] A drive control circuit is used to receive the delay control signal and generate a drive control signal to drive the treatment head to emit the ultrasonic waves. The delay control signal is used to control each ultrasonic transducer unit of the treatment head to emit the ultrasonic waves according to a preset delay time, so that the ultrasonic waves emitted by the treatment head 120 are focused on the target focal point.

[0119] A high-voltage generator is used to power the drive control circuit so that the ultrasonic waves generated by the treatment head produce the required energy at the target focal point.

[0120] In this embodiment of the utility model, the logic control circuit includes:

[0121] An ultrasonic feedback circuit is used to enable the treatment head to receive reflected ultrasonic waves to form a transducer feedback signal, receive the transducer feedback signal, and send the transducer feedback signal to the main controller 310.

[0122] The logic control circuit also includes:

[0123] At least one delay unit circuit, each of the delay unit circuits being connected to a drive unit circuit, the delay unit circuits being used to send the delay control signal to the drive unit circuit.

[0124] In this embodiment of the present invention, the drive control circuit includes at least one of the drive unit circuits, and the drive unit circuit includes:

[0125] An isolation circuit is used to transmit the delay control signal to the drive buffer circuit;

[0126] The drive buffer circuit is used to buffer the delay control signal, and the buffered delay control signal serves as the first signal.

[0127] A power amplifier circuit is used to amplify the first signal into a second signal.

[0128] The filtering circuit is used to filter the second signal to become the third signal, and the filtering circuit is also used to transmit the third signal to the ultrasonic transducer in the treatment head 120.

[0129] The feedback acquisition circuit is used to acquire the working voltage signal and working current signal of the ultrasonic transducer unit in real time as the transducer feedback signal.

[0130] Figure 5 The diagram shown is a structural schematic of the ultrasonic generator according to an embodiment of the present invention. Figure 5 As shown, 510 is the ultrasonic generator board; 520 is the drive control circuit board; and 521 is the drive unit circuit.

[0131] In this embodiment of the invention, the treatment head 120 is disposed at the end of the robotic arm 130, and the robotic arm controller 330 includes:

[0132] A first actuator is used to control the movement of the end effector of the robotic arm 130, the movement of the end effector of the robotic arm 130 including rotation, lifting, and translation;

[0133] The robotic arm feedback circuit is used to feed back the status of the robotic arm 130 to the main controller 310.

[0134] In this embodiment of the present invention, the imaging head controller 340 includes:

[0135] The second driver is used to drive the rotary motor to rotate the imaging head;

[0136] The third driver is used to drive the lifting motor, so that the imaging head rises and falls.

[0137] An imaging head acquisition circuit is used to enable the imaging head to acquire images of the treatment area in real time;

[0138] An imaging head feedback circuit is used to feed back the acquired images of the treatment area and the status of the imaging head to the main controller 310.

[0139] In this embodiment of the invention, treatment parameter information is input through input device 370. The main controller 310 transmits the treatment parameter information to the robotic arm controller 330, which then moves the treatment head 120 via the robotic arm 130 and positions it above the lesion. The main controller 310 transmits the treatment parameter information to the ultrasound generator 320, driving and exciting the focused ultrasound transducer to generate the corresponding focused ultrasound waves, thereby producing the required ultrasound shape and energy at the target focal point. The main controller 310 transmits the treatment parameter information to the imaging head controller 340, controlling the imaging head... Figure 4 (Not shown in the image) The imaging head is moved by a lifting motor 380 and a rotating motor 390 to acquire images and collect treatment parameters in real time. The acquired images are then uploaded to the main controller 310 and displayed on the first display screen 350 and the second display screen 360.

[0140] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A high intensity focused ultrasound treatment system, characterized by, The high-intensity focused ultrasound treatment system comprises: a system control device for driving the treatment head to emit and / or receive ultrasonic waves according to a control command and for controlling the ultrasonic waves to be focused at a target focus point of a treatment site, and for controlling operation of the high-intensity focused ultrasound treatment system; the treatment head for emitting and / or receiving the ultrasonic waves and for focusing the ultrasonic waves at the target focus point of the treatment site; a mechanical arm for moving the treatment head.

2. The system of claim 1, wherein, The ultrasonic waves emitted by the treatment head are high-intensity ultrasonic waves, and the treatment head generates a peak negative pressure of 10 MPa to 50 MPa in a free field when in an operating state.

3. The system of claim 1, wherein, The ultrasonic waves emitted by the treatment head are high-intensity ultrasonic waves, and the treatment head generates a peak positive pressure of 0 MPa to 120 MPa in a free field when in an operating state.

4. The system of claim 1, wherein, The treatment head comprises a shell and an ultrasonic transducer array composed of a plurality of ultrasonic transducer units arranged on the shell, the ultrasonic transducer units being configured to emit and / or receive the ultrasonic waves.

5. The system of claim 1, wherein, The mechanical arm comprises at least three axes.

6. The system of claim 1, wherein, The high-intensity focused ultrasound treatment system further comprises: an imaging head arranged on the treatment head, the imaging head moving with the treatment head, and the imaging head being configured to acquire a treatment site image.

7. The system of claim 6, wherein, The imaging head is further provided with a lifting motor and a rotating motor; the lifting motor being configured to lift and lower the imaging head in the treatment head; the rotating motor being configured to rotate the imaging head in the treatment head.

8. The system of claim 6, wherein, The high-intensity focused ultrasound treatment system further comprises: an input device configured to receive the control command from outside the high-intensity focused ultrasound treatment system; a display screen configured to display operating parameters of the high-intensity focused ultrasound treatment system, the operating parameters comprising a treatment site image and treatment parameters.

9. The system of claim 8, wherein, The display screen comprises: a first display screen configured to display the treatment site image acquired by the imaging head; a second display screen configured to display the treatment parameters.

10. The system of claim 1, wherein, The system control device comprises: a master controller configured to control operation of the high-intensity focused ultrasound treatment system according to the control command; an ultrasonic generator configured to generate a delay control signal and a driving control signal according to an instruction of the master controller, so that the treatment head emits and / or receives the ultrasonic waves to the target focus point under the delay control signal and the driving control signal; a mechanical arm controller configured to move the mechanical arm to move the treatment head in space according to an instruction of the master controller.

11. The system of claim 10, wherein, The system control device further comprises: a power supply circuit connected to an external power supply and configured to supply power to the high-intensity focused ultrasound treatment system; an imaging head controller configured to control the imaging head to acquire a treatment site image in real time.

12. The system of claim 11, wherein, The system control device further comprises: an uninterruptible power supply arranged between the external power supply and the power supply circuit and configured to maintain normal operation of the high-intensity focused ultrasound treatment system when the external power supply is abnormally powered off.

13. The system of claim 10, wherein, The master controller comprises: The industrial computer is configured to generate a plurality of system commands according to the control commands, and the system commands are configured to control operation of the high-intensity focused ultrasound treatment system. The master control switch is configured to send the system commands to corresponding functional modules in the high-intensity focused ultrasound treatment system, and is further configured to receive feedback information from the functional modules.

14. The system of claim 13, wherein, The master control further comprises a video distributor configured to distribute the received display data to different display screens.

15. The system of claim 10, wherein, The ultrasonic generator comprises: a logic control circuit configured to generate a delay control signal and control operation of the ultrasonic generator; a drive control circuit configured to receive the delay control signal and generate a drive control signal to drive the treatment head to emit the ultrasonic waves, wherein the delay control signal is configured to control each ultrasonic transducer unit of the treatment head to emit the ultrasonic waves according to a preset delay time, so that the ultrasonic waves emitted by the treatment head are focused at the target focal point; a high-voltage generator configured to supply power to the drive control circuit, so that the ultrasonic waves generated by the treatment head generate a required energy at the target focal point.

16. The system of claim 15, wherein, The logic control circuit comprises: at least one delay unit circuit, each of which is connected to a drive unit circuit, and the delay unit circuit is configured to send the delay control signal to the drive unit circuit.

17. The system of claim 16, wherein, The logic control circuit further comprises: an ultrasonic feedback circuit configured to enable the treatment head to receive reflected ultrasonic waves to form a transduction feedback signal, receive the transduction feedback signal, and send the transduction feedback signal to the master control.

18. The system of claim 16, wherein, The drive control circuit comprises at least one drive unit circuit, and the drive unit circuit comprises: an isolation circuit configured to transmit the delay control signal to a drive buffer circuit; the drive buffer circuit configured to buffer the delay control signal, and the buffered delay control signal is a first signal; a power amplifier circuit configured to amplify the first signal to a second signal; a filter circuit configured to filter the second signal to a third signal, and the filter circuit is further configured to transmit the third signal to an ultrasonic transducer unit in the treatment head; a feedback acquisition circuit configured to acquire a working voltage signal and a working current signal of the ultrasonic transducer unit in real time as a transduction feedback signal.

19. The system of claim 10, wherein, The treatment head is arranged at the end of the mechanical arm, and the mechanical arm controller comprises: a first driver configured to control movement of the end of the mechanical arm, wherein the movement of the end of the mechanical arm includes rotation, lifting, and translation; a mechanical arm feedback circuit configured to feed back a state of the mechanical arm to the master control.

20. The system of claim 11, wherein, The imaging head controller comprises: a second driver configured to drive a rotating motor to rotate the imaging head; a third driver configured to drive a lifting motor to lift and lower the imaging head; an imaging head acquisition circuit configured to enable the imaging head to acquire images of the treatment site in real time; an imaging head feedback circuit configured to feed back the acquired images of the treatment site and a state of the imaging head to the master control.

Images