Automatic treatment device with image guidance

Abstract

The utility model relates to the technical field of ultrasonic treatment equipment, in particular to an automatic treatment device with image guidance, which is characterized in that a host is arranged on one side of a control console, a follow-up arm is mounted on the control console, a first mounting hole is formed in the working end of the follow-up arm, a colposcope is mounted in the first mounting hole, a treatment arm is mounted at the working end of the follow-up arm, and the treatment arm is mounted on the control console. A second mounting hole and a third mounting hole are formed in the treatment arm, a treatment gun is mounted in the second mounting hole, a laser head is mounted in the third mounting hole, and the laser head, the treatment gun and the colposcope are all connected with the console. A colposcope image corresponds to coordinate information positioned by a laser head, so that accurate positioning and uniform movement of a treatment position are realized, non-uniform speed and inaccurate position of a treatment gun which is manually moved are avoided, and the treatment efficiency is improved; visualization of a real-time path and an ultrasonic dose when the treatment gun works is achieved, the condition of the treatment process is known in real time, the ultrasonic treatment dose is accurately mastered, the treatment position is accurately positioned, and the treatment mode is optimized.

Description

Technical Field

[0001] This utility model relates to the field of ultrasound therapy equipment technology, and in particular to an automated treatment device with image guidance, used to treat gynecological vulvar and cervical lesions. It uses colposcope images and laser head positioning coordinates to mark the location, plan the treatment path and treatment parameters (treatment power, time, etc.), accurately control the ultrasound treatment dosage, and achieve automated treatment. Background Technology

[0002] Ultrasonic gynecological treatment devices are medical equipment that utilizes ultrasound technology to treat gynecological diseases. These devices are commonly used to treat cervical diseases, vulvar diseases, etc., and have advantages such as being non-invasive, painless, and allowing for rapid recovery. Ultrasound is a high-frequency sound wave, with a frequency higher than the range of human hearing. In ultrasonic gynecological treatment, ultrasound energy is converted into heat energy, which acts on the diseased tissue. As ultrasound waves propagate through the tissue, they generate heat through friction, raising the temperature of the diseased tissue and thus achieving a therapeutic effect. This thermal effect can promote blood circulation, accelerate tissue repair, and reduce inflammation. The mechanical vibration of ultrasound can loosen tissue adhesions and improve tissue elasticity and function. However, existing ultrasonic gynecological treatment devices have the following drawbacks:

[0003] First, existing ultrasound gynecological (cervical, vulvar) treatment devices rely solely on the clinician's personal feelings and treatment experience for the treatment plane and depth. They are operated manually and lack a scientific treatment planning path. It is impossible to intuitively and accurately grasp the treatment dosage parameters. Due to the complexity of the cavity and the rich nervous system, the uncontrollability of the treatment dosage poses safety risks in actual treatment.

[0004] Secondly, none of the gynecological treatment devices currently on the market have mechanical treatment arms. They use traditional manual gripping of the treatment gun and rely on feeling to perform treatment. When the treatment gun enters the cervix, it will block the person's view, making it impossible to observe the actual situation inside the cervix. The person can only rely on feeling to probe the treatment point.

[0005] Third, none of the treatment guns in the gynecological treatment devices currently on the market have pressure sensors. Doctors rely solely on touch to judge whether the treatment gun is in contact with the affected area, whether it is in place, and whether the pressure is appropriate, or to ask the patient how they feel. This not only lacks real-time accuracy but also has too many subjective factors.

[0006] Fourth, none of the gynecological treatment devices currently on the market have intelligent treatment software, cannot evaluate treatment effectiveness, and cannot provide doctors with any reference. Summary of the Invention

[0007] The technical problem to be solved by this utility model is: in order to solve the problems existing in the prior art mentioned above, to provide an automated treatment device with image guidance that accurately locates based on the treatment background image, performs precise treatment using a mechanical treatment arm, and uses a high-precision sensor to monitor the treatment process in real time.

[0008] The technical solution adopted by this utility model to solve its technical problem is: an automated treatment device with image guidance, including a control console, a main unit placed on one side of the control console, a follower arm installed on the control console, a first mounting hole opened on the working end of the follower arm, a colposcope installed in the first mounting hole, a treatment arm installed on the working end of the follower arm, a second mounting hole and a third mounting hole opened on the treatment arm, a treatment gun installed in the second mounting hole, a laser head installed in the third mounting hole, and the laser head, treatment gun and colposcope are all connected to the control console.

[0009] Furthermore, the front end of the treatment arm is equipped with a high-precision pressure sensor.

[0010] Furthermore, a high-precision temperature sensor is installed in the water bladder at the top of the treatment gun.

[0011] Furthermore, the laser head is positioned away from the follower arm.

[0012] Furthermore, the treatment arm is a four-axis mobile mechanical treatment arm.

[0013] Furthermore, the console contains a host computer that integrates intelligent treatment system software, and a display screen is installed on the console and connected to the host computer.

[0014] The beneficial effects of this utility model: This utility model

[0015] 1. By matching the colposcope image with the coordinate information of the laser head positioning, the treatment position can be accurately positioned and moved evenly, avoiding uneven speed and inaccurate position when moving the treatment gun manually, thus improving treatment efficiency.

[0016] 2. The treatment gun has a high-precision pressure sensor, which determines whether the treatment gun is in contact with the lesion based on the pressure feedback information. It is more accurate, effective and safer than manual operation.

[0017] 3. The main unit of the control console integrates an intelligent treatment system, which collects treatment parameters, treatment path planning, motion parameters (speed, depth, point distance), treatment habits, and photos during the treatment process from doctors for different cases, providing basic research data for the next step of AI treatment;

[0018] 4. The treatment gun, colposcope, and laser head are connected to the main unit, which is in turn connected to the display screen. This enables real-time visualization of the treatment gun's path and ultrasound dosage, allowing for real-time monitoring of the treatment process, precise control of ultrasound treatment dosage, accurate positioning of treatment locations, and optimization of treatment methods. It overcomes the shortcomings of existing technologies, such as missed treatment points, excessively long treatment times for individual points, and overlapping treatment points, providing an intracavitary image-guided automated treatment device. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the follower arm and treatment arm of this utility model;

[0022] Figure 3 This is a diagram showing the usage state of this utility model;

[0023] In the diagram: 1. Control console, 2. Follower arm, 3. First mounting hole, 5. Treatment arm, 6. Second mounting hole, 7. Third mounting hole, 8. Treatment gun, 11. Pressure sensor, 14. Display screen. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0025] like Figures 1-3 The diagram shows an automated treatment device with image guidance. A treatment bed is located next to the device, where the patient lies. The device includes a control console 1, which has functions such as patient information input, treatment planning parameter configuration, colposcopy imaging input, external interface, and treatment report generation. A main unit is placed on one side of the control console 1. A follower arm 2 is mounted on the control console 1. A first mounting hole 3 is provided on the working end of the follower arm 2, and a colposcope is installed in the first mounting hole 3. A treatment arm 5 is mounted on the working end of the follower arm 2, and a second mounting hole 6 and a third mounting hole 7 are provided on the treatment arm 5. A treatment gun 8 is installed in the second mounting hole 6, and a laser head is installed in the third mounting hole 7. The laser head is positioned away from the follower arm 2. The laser head, treatment gun 8, and colposcope are all connected to the control console 1.

[0026] By calibrating the colposcope image with the coordinate parameters fed back by the laser head using "background image-polar coordinates", a treatment background image can be cut out at the patient's location, treatment coordinates can be fitted, and treatment points and treatment paths can be planned, ensuring the effectiveness and observability of the treatment location.

[0027] The front end of the treatment arm 5 is equipped with a high-precision pressure sensor 11. When the pressure sensor 11 is longitudinally moved to the symptom position, it can accurately and in real time provide feedback on the pressure parameters, preventing the treatment gun from generating excessive force when it is pressed against the human body, thus avoiding problems such as severe pain for the patient, rupture of the water bladder at the front of the treatment gun, and damage to the symptom position.

[0028] The top water bladder of the treatment gun 8 is equipped with a high-precision temperature sensor. The temperature sensor accurately measures the surface temperature of the affected area during treatment through heat conduction and feeds it back to the main unit in real time to prevent burns caused by excessive temperature.

[0029] The use of pressure sensor 11 and temperature sensor improves the safety of the treatment process.

[0030] The treatment arm 5 is a four-axis moving mechanical treatment arm that moves evenly and precisely to the designated treatment position according to the treatment plan and parameters. This application avoids the problems of uneven speed and inaccurate treatment points when manually moving the treatment gun 8 by feel (when the treatment gun 8 enters the cervix, it will block the view and make it impossible to observe the actual situation inside the cervix, relying only on feeling to find the treatment point), thus improving the effectiveness of the treatment.

[0031] The console 1 contains a host computer, which integrates intelligent treatment system software. The console 1 also has a display screen 14 connected to the host computer.

[0032] The host system integrates intelligent treatment system software (purchased commercially as needed). It collects treatment parameters from doctors for different cases, including treatment path planning, motion parameters (speed, depth, point distance), and treatment habits. Through deep learning, the internal AI software generates treatment plans based on different symptoms, collects patient follow-up images, archives the effects before and after treatment, and multiple treatments, and uses algorithms to form an evaluation mechanism to summarize the optimal treatment plan for different symptoms. When treating new or similar symptoms, it provides a treatment reference (including treatment path planning and treatment parameters), which doctors can choose to adopt based on the actual situation, or adjust only a few parameters.

[0033] The specific treatment process is as follows:

[0034] Step 1: First, move the follower arm 2 to the approximate location of the lesion to be treated for preliminary positioning, and then lock the follower arm;

[0035] Step 2: Adjust the laser head and colposcope. The robotic arm console 1 collects real-time images of the lesion through the colposcope. The doctor issues a diagnostic report based on the images of the patient's lesion and plans a treatment plan. Observe the images on the console display screen, move the treatment arm 5 according to the treatment plan path, and control the external power source to emit sound wave power for treatment. The treatment arm 5 moves to the starting position of the treatment plan path.

[0036] Step 3: According to the treatment plan path, the treatment arm 5 will move automatically as required, and the treatment gun 8 will emit power according to the treatment parameters during the movement;

[0037] Step 4: After treatment is completed, a treatment report is generated, including a comparison of lesion location images before and after treatment, treatment planning path, ultrasound treatment dosage, etc.

[0038] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An image-guided automated treatment device, characterized in that: The device includes a control console (1), a host computer is placed on one side of the control console (1), a follower arm (2) is installed on the control console (1), a first mounting hole (3) is opened on the working end of the follower arm (2), a colposcope is installed in the first mounting hole (3), a treatment arm (5) is installed on the working end of the follower arm (2), a second mounting hole (6) and a third mounting hole (7) are opened on the treatment arm (5), a treatment gun (8) is installed in the second mounting hole (6), and a laser head is installed in the third mounting hole (7). The laser head, the treatment gun (8) and the colposcope are all connected to the control console (1).

2. The image-guided automated treatment device according to claim 1, characterized in that: The front end of the treatment arm (5) is equipped with a high-precision pressure sensor (11).

3. The image-guided automated treatment device according to claim 1, characterized in that: The treatment gun (8) is equipped with a high-precision temperature sensor in the top water bladder.

4. The image-guided automated treatment device according to claim 1, characterized in that: The laser head is positioned away from the follower arm (2).

5. The image-guided automated treatment device according to claim 1, characterized in that: The treatment arm (5) is a four-axis mobile mechanical treatment arm.

6. The image-guided automated treatment device according to claim 1, characterized in that: The console (1) is equipped with a host computer, which integrates intelligent treatment system software. The console (1) is equipped with a display screen (14) and connected to the host computer.

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