Navigation-based movement control method for ultrasonic therapy head and ultrasonic therapy device used therein

Abstract

A navigation-based movement control method for an ultrasonic therapy head and an ultrasonic therapy device used therein. The ultrasonic therapy head can move relative to a tissue to be irradiated in a scene. A detection assembly comprises a vision device and a distance measuring device. The method comprises: on the basis of a scene image acquired by a vision device and distance data of pixel points in the scene image detected by a distance measuring device, determining a safe buffer position having a preset positional relationship with the position of a visual mark of a tissue to be irradiated on the skin surface; planning a navigation path for an ultrasonic therapy head to reach the safe buffer position, and driving the ultrasonic therapy head to perform a coarse positioning movement along the navigation path to reach the safe buffer position; and on the basis of taking a real-time detection image of said tissue as a reference, driving the ultrasonic therapy head to perform a fine positioning movement from the safe buffer position to touch the mark, and to reach a target position at a required irradiation depth. The method can automatically drive the ultrasound therapy head to reach an accurate irradiation depth, and construct an effective treatment scenario.

Description

Navigation movement control method of ultrasonic treatment head and ultrasonic treatment device applying the same TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical equipment, and particularly relates to a navigation movement control method of an ultrasonic treatment head and an ultrasonic treatment device applying the same. BACKGROUND

[0002] With the development of modern medicine, local treatment of diseased tissue (e.g. tumor) is changing from minimally invasive surgery to non-invasive treatment. In non-invasive treatment technology, high-intensity focused ultrasound (HIFU) treatment is widely used because it is harmless to the human body. HIFU is a treatment method that promotes the necrosis of diseased tissue by focusing high-intensity ultrasound into the diseased site in the human body. The ultrasound energy received by the tissue at the focal point is converted into heat energy, thereby raising the temperature of the tissue at the point and thus promoting the coagulative necrosis of the tissue or blood vessels at the focal point.

[0003] The HIFU treatment device has an ultrasonic treatment head for emitting focused ultrasound, which contains a transducer (such as a piezoelectric ceramic sheet) in the ultrasonic treatment head. At present, before the focused ultrasound treatment is performed, the focused ultrasound treatment head needs to be mechanically moved so that the treatment focal point reaches the image-located diseased tissue to meet the requirement of accurate treatment of the diseased tissue. However, the existing device needs to accurately complete the above positioning process, which requires repeated operation for the user, is difficult and time-consuming, and is not conducive to user experience. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present disclosure is to provide a navigation movement control method of an ultrasonic treatment head and an ultrasonic treatment device applying the same, to solve the problems in the related art.

[0005] The first aspect of the present disclosure provides a navigation movement control method of an ultrasonic treatment head, the ultrasonic treatment head being fixedly arranged in a driving displacement mechanism to be movable and capable of moving relative to the tissue to be irradiated in a scene; a detection assembly is also arranged in the scene, the detection assembly comprising a vision device and a ranging device; the method comprises: determining a safe buffer position in a preset positional relationship with the position of the visual mark on the surface of the tissue to be irradiated based on the scene image collected by the vision device and the scene image detected by the ranging device; planning a navigation path of the ultrasonic treatment head to reach the safe buffer position, and driving the ultrasonic treatment head to perform coarse positioning movement along the navigation path to reach the safe buffer position; based on the real-time detection image of the tissue to be irradiated as a reference, driving the ultrasonic treatment head to perform fine positioning movement from the safe buffer position to touch the mark and reach a target position that satisfies the distance of focused ultrasound irradiation depth relative to the tissue to be irradiated.

[0006] In an embodiment of the first aspect, during the fine positioning movement, the method further comprises: correcting the movement deviation in real time based on the real-time detection image.

[0007] In an embodiment of the first aspect, a pressure sensor is arranged on the outer end of the ultrasound treatment head or the outer end for coupling with a coupling medium of a skin surface; the movement navigation method comprises: limiting the extrusion force of the ultrasound treatment head on the skin surface based on the pressure value detected by the pressure sensor.

[0008] In an embodiment of the first aspect, the navigation movement control method of the ultrasound treatment head further comprises: in response to detecting that the motion trajectory of the driving displacement mechanism exceeds the preset safety limit, triggering a warning action.

[0009] In an embodiment of the first aspect, the safety buffer position in the preset positional relationship with the position of the visual marker of the tissue to be irradiated on the skin surface is determined based on the scene image captured by the vision device and the scene image detected by the ranging device, comprising: providing a user interaction interface comprising an interaction area, the interaction area displaying the scene image; in response to receiving an operation of selecting a visual marker in the interaction area, determining the position of the visual marker and determining the safety buffer position in the preset positional relationship with the visual marker; or, based on the scene image captured by the vision device and the scene image detected by the ranging device, identifying the position of the visual marker in the scene image, and determining the safety buffer position in the preset positional relationship with the position of the visual marker.

[0010] In an embodiment of the first aspect, the navigation movement control method of the ultrasound treatment head further comprises: in response to the movement operation part provided in the user interaction interface displaying the scene image being actuated, driving the ultrasound treatment head to move along the navigation path to the safety buffer position; and in response to the movement operation part being de-actuated, stopping the movement of the ultrasound treatment head.

[0011] In an embodiment of the first aspect, the fine positioning movement is controlled by user operation, and the user operation comprises at least one of the following: operating an operation handle capable of controlling the driving displacement mechanism; operating an operation part in the user interaction interface or control panel; moving the driving displacement mechanism by external force.

[0012] In an embodiment of the first aspect, the safety buffer position is located at a safe distance above the visual marker.

[0013] In an embodiment of the first aspect, the navigation path of the ultrasound treatment head to the safe buffer position comprises: obtaining a first position coordinate of the safe buffer position in a first spatial coordinate system of the vision device based on the scene image, the distance data and calibration parameters of the vision device; obtaining a second position coordinate of a target point on the ultrasound treatment head in a unified spatial coordinate system, and a third position coordinate mapped from the first position coordinate to the unified spatial coordinate system; determining a movement trajectory of the driving displacement mechanism based on a path planning algorithm, the movement trajectory corresponding to the navigation path of the target point of the ultrasound treatment head from the second position coordinate to the third position coordinate of the safe buffer position.

[0014] In an embodiment of the first aspect, the path planning algorithm is configured to plan and calculate at least one of: minimum rotation amplitude; minimum movement path; maximum movement path; and within a limited movement range.

[0015] In an embodiment of the first aspect, the navigation path of the ultrasound treatment head to the safe buffer position is planned, and the ultrasound treatment head is driven to perform coarse positioning movement along the navigation path to reach the safe buffer position, and the method further comprises: obtaining a depth value of the safe buffer position; and in response to the depth value indicating that the distance between the safe buffer position and the vision marker position is below a preset threshold, limiting the planning of the navigation path.

[0016] The second aspect of the present disclosure provides an ultrasound treatment device, comprising: a driving displacement mechanism; an ultrasound treatment head capable of being driven to move by the driving displacement mechanism; a detection assembly comprising: a vision device and a distance measuring device; a display configured to display a user interaction interface; a control device communicatively connected to the driving displacement mechanism, the detection assembly and the display, comprising: a processor and a memory; the memory stores program instructions; and the processor is configured to execute the program instructions to perform the movement navigation method according to any one of the first aspect.

[0017] As described above, the navigation movement control method of the ultrasonic treatment head and the ultrasonic treatment device applied in the embodiments of the present disclosure are provided, the ultrasonic treatment head can move relative to the tissue to be irradiated in a scene; the scene is also configured with a detection assembly, the detection assembly includes a vision device and a ranging device; the method includes: determining a safe buffer position in a preset position relationship with the position of the visual mark on the skin surface of the tissue to be irradiated based on the scene image collected by the vision device and the distance data of the pixel points in the scene image detected by the ranging device; planning a navigation path of the ultrasonic treatment head to the safe buffer position, and driving the ultrasonic treatment head to perform coarse positioning movement along the navigation path to reach the safe buffer position; based on the real-time detection image of the tissue to be irradiated as a reference, driving the ultrasonic treatment head to perform fine positioning movement from the safe buffer position to touch the mark and reach a target position relative to the tissue to be irradiated that satisfies the interval of the focused ultrasonic irradiation depth, and constructing an effective treatment scene. The method of automatically driving the ultrasonic treatment head to make the focal point reach the accurate irradiation depth of the tissue to be irradiated in the embodiments of the present disclosure can realize fast, accurate and safe positioning navigation, and shorten the movement positioning time. BRIEF DESCRIPTION OF DRAWINGS

[0018] FIG. 1A shows a module schematic diagram of an ultrasonic treatment device in an embodiment of the present disclosure.

[0019] FIG. 1B shows a structural schematic diagram of a detection assembly located outside a driving mechanism in an ultrasonic treatment device in another embodiment of the present disclosure.

[0020] FIGS. 2A to 2C show application schematic diagrams of the navigation movement control method of the ultrasonic treatment head in an embodiment of the present disclosure.

[0021] FIG. 3 shows a schematic diagram of the navigation movement control method of the ultrasonic treatment head in an embodiment of the present disclosure.

[0022] FIG. 4 shows a flowchart of the safe buffer position confirmation included in step S302 in an embodiment of the present disclosure.

[0023] FIG. 5 shows a flowchart of the planning principle of the navigation path in step S302 in an embodiment of the present disclosure.

[0024] FIG. 6 shows a structural schematic diagram among the ultrasonic treatment head, the depth camera and the driving displacement mechanism in an embodiment of the present disclosure.

[0025] FIG. 7 shows a module schematic diagram of a control device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The advantages and features of the present disclosure will become apparent from specific examples which are given as thorough and complete descriptions of the present disclosure. It will be obvious to those skilled in the art that various other modifications or changes can be made thereto without departing from the spirit and scope of the present disclosure. It is to be understood that the embodiments and features of the present disclosure can be combined with each other, if not incompatible.

[0027] The embodiments of the present disclosure will be described in detail with reference to the drawings, so that those skilled in the art can easily implement the present disclosure. The present disclosure can be embodied in various ways, and is not limited to the embodiments described herein.

[0028] In the present disclosure, the expressions of "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that the specific features, structures, materials, or characteristics expressed in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Also, the specific features, structures, materials, or characteristics expressed can be combined in any one or a set of embodiments or examples in a suitable manner. In addition, the different embodiments or examples expressed in the present disclosure and the features of the different embodiments or examples can be combined and integrated by those skilled in the art without contradiction.

[0029] In addition, the terms "first", "second", etc. are used only to indicate the purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the present disclosure, the meaning of "a set" is two or more, unless specifically limited.

[0030] In order to clearly explain the present disclosure, devices irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the specification.

[0031] Throughout the specification, when it is said that a device is "connected" to another device, it includes not only the case of "direct connection", but also the case of "indirect connection" in which other elements are interposed therebetween. In addition, when it is said that a device "includes" a certain constituent element, unless specifically stated to the contrary, other constituent elements are not excluded, but it means that other constituent elements can be further included.

[0032] Although the terms first, second, etc. are used herein to refer to various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first interface and a second interface, etc. are distinguished from each other. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including" used herein specify the presence of stated features, steps, operations, elements, modules, items, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, modules, items, components, and / or groups thereof. As used herein, the terms "or" and "and / or" are construed to be inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition are only present when the combination of elements, functions, steps or actions are inherently mutually exclusive.

[0033] The professional terms used herein are only used to refer to specific embodiments and are not intended to limit the disclosure. The singular form used herein, unless the context clearly indicates otherwise, also includes the plural form. The meaning of "comprising" used in the specification is to specify the particular features, regions, integers, steps, operations, elements, and / or components, and not to exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0034] Although not differently defined, the technical terms and scientific terms used herein include the technical terms and scientific terms commonly used in the art to which the disclosure belongs, and all terms have the same meaning as generally understood by those skilled in the art. The terms defined in the commonly used dictionary are additionally interpreted to have a meaning consistent with the relevant technical literature and the currently prompted message, unless defined, and should not be over-interpreted as ideal or very formal meanings.

[0035] The HIFU treatment device has an ultrasonic treatment head for emitting focused ultrasound waves. At present, before performing focused ultrasound treatment, it is necessary to mechanically move the focused ultrasound treatment head to make the treatment focus reach the image positioning lesion tissue, so as to meet the accurate treatment requirement of the lesion tissue. However, in order to accurately complete the above positioning process, the user needs to repeatedly operate, which is difficult and time-consuming, and is not conducive to user experience.

[0036] In view of this, the navigation movement control method of the ultrasonic treatment head provided in the embodiments of the disclosure can realize automatic coarse positioning movement relative to the tissue to be irradiated, and fine positioning movement based on automatic or manual operation, so as to achieve accurate navigation positioning and movement to the required irradiation depth position, and automatically construct an effective treatment scene.

[0037] As shown in FIG. 1A, a schematic diagram of an ultrasound treatment device is shown.

[0038] The ultrasound treatment device 110 includes a driving displacement mechanism 111, an ultrasound treatment head 112, a probe assembly 113, a display 114, and a control device 115. It is to be noted that when the ultrasound treatment head 112 is configured with a water bag for using water therein as an ultrasound propagation medium, the ultrasound treatment device 100 can further include a water treatment device 120 in communication with a water bag pipeline for performing water treatment on water in the water bag. As an example, the water treatment device 120 can be communicatively connected with the ultrasound treatment main device 110 for cooperative work.

[0039] The driving displacement mechanism 111 is a movable mechanical mechanism. In some embodiments, the driving displacement mechanism 111 can be a mechanical mechanism movable along multiple axes. As an example, the driving displacement mechanism 111 can be a mechanical arm, such as a 3-axis, 4-axis, 5-axis, 6-axis, 7-axis, 8-axis spatial arm or a flexible arm, etc.

[0040] The ultrasound treatment head 112 is fixedly arranged on the driving displacement mechanism 111 and can move synchronously with the driving displacement mechanism 111. As an example, the ultrasound treatment head 112 can be an ultrasound treatment probe for emitting focused ultrasound waves. In other embodiments, the ultrasound treatment head 112 can be an ultrasound imaging probe for taking ultrasound images. In still other embodiments, the ultrasound treatment head 112 can be an integrated probe of an ultrasound treatment probe and an ultrasound imaging probe, such as an ultrasound imaging probe fixedly arranged on a central axis of an ultrasound treatment probe.

[0041] The detection component 113 can include a vision device and a ranging device. In some embodiments, the vision device can include a camera, which can be implemented as a monocular camera or a binocular camera. In some embodiments, the intrinsic parameters of the vision device can be pre-calibrated. Intrinsic parameters are parameters that describe the internal properties of a camera, including focal length, principal point (optical center) coordinates, distortion coefficients, etc. Intrinsic parameters are usually determined during camera calibration, as they are usually fixed for a particular camera model and do not change over time. Once the camera intrinsic parameters are determined, they usually remain constant during the use of the camera. In addition, the vision device can be calibrated with extrinsic parameters when the pose of the vision device is fixed in the use environment. Extrinsic parameters are parameters that describe the position and pose of the camera in the world coordinate system, usually including a rotation matrix and a translation vector. Extrinsic parameters can change at different camera positions or shooting moments. In the optional embodiment of FIG. 1A, the detection component 113 can move with the driving displacement mechanism 111, so its extrinsic parameters are changing. In some embodiments, the ranging device can include an infrared, laser sensor or other types of ranging sensors for detecting distance data (i.e., depth data). In some embodiments, the relative position between the vision device and the ranging device can be fixed, and each pixel point in the scene image captured by the vision device can be aligned with the depth value of each spatial point in the distance data to obtain pixel-to-distance mapping relationship data.

[0042] In the embodiment of FIG. 1A, the detection component 113 is fixedly arranged relative to the ultrasonic treatment head 112 and the driving displacement mechanism 111, and can move synchronously with the driving displacement mechanism 111. For example, the detection component 113 is fixedly connected to the ultrasonic treatment head 112, or is fixedly connected to the driving displacement mechanism 111. The detection component 113 can capture an environment image carrying depth information. In some embodiments, by fixing the relative positional relationship among the detection component 113, the ultrasonic treatment head 112 and the driving displacement mechanism 111, if a first spatial coordinate system is constructed based on the detection component 113, a second spatial coordinate system is constructed based on the driving displacement mechanism 111, and a third spatial coordinate system is constructed based on the ultrasonic treatment head 112, then according to the fixed relative positional relationship among the three, the conversion relationship between points in the three spatial coordinate systems can be determined. As an example, the relative positional relationship can be represented by the translation distance and the deflection angle between the origins of the three spatial coordinate systems. Further, using the conversion relationship, the navigation path of the ultrasonic treatment head 112 can be determined in a unified spatial coordinate system.

[0043] In another embodiment, as shown in FIG. 1B, a structural schematic diagram of the detection component 113 separated from the driving mechanism 111 in another embodiment of the present disclosure is shown.

[0044] In the example of FIG. IB, the detection component 113 can be disposed outside the driving mechanism 111 and directed towards the driving mechanism 111 to capture a scene image containing the driving mechanism 111 and the ultrasonic treatment head 112.

[0045] The display 114 can be used to display a user interface (GUI). In some embodiments, the display 114 can be, for example, an LCD, LED, OLED, Mini-LED, QLED, or other light source type display 114. In some embodiments, the display 114 can be a capacitive or resistive touch screen to facilitate direct user operation.

[0046] The control device 115 is communicatively connected to the driving displacement mechanism 111, the detection component 113, and the display 114. In some embodiments, the control device 115 can control the display content of the display 114 (e.g., display a user interface), obtain a scene image captured by the detection component 113 from the active scene of the ultrasonic treatment head 112, and control the movement of the ultrasonic treatment head 112 driven by the driving displacement mechanism 111, etc. As an example, the control device 115 can include one or more of a host computer, an industrial computer, or other controllers.

[0047] The control device 115 can communicate with the driving displacement mechanism 111, the detection component 113, and the display 114 to implement a movement navigation method of the ultrasonic treatment head 112.

[0048] To visually illustrate the navigation process, as shown in FIGS. 2A-2C, an application schematic diagram of the navigation movement control method of the ultrasonic treatment head in an embodiment of the present disclosure is shown.

[0049] In FIG. 2A, the control device 115 can display a user interaction interface 1141 on the display 114, which is preferably a touch screen, for the user to directly touch the interface 1141. The detection assembly 113 captures a scene image corresponding to the current activity of the ultrasound treatment head 112. The user interaction interface 1141 can form an interaction area 11411, in which the control device 115 can display the scene image 114111 captured by the detection assembly 113 in real time. That is, the scene image 114111 displayed in the interaction area 11411 changes in real time following the field of view of the detection assembly 113, so that the user can intuitively understand the scene change before and after the movement of the ultrasound treatment head 112. As an example, the skin surface above the tissue to be irradiated of the patient can form a visual mark (which can be various patterns such as a circle, a cross, a square, etc.), and the user can select point A corresponding to the visual mark in the interaction area, which can be selected directly by sliding and / or touching the interaction area, or can be selected by other auxiliary operation keys, etc. In FIG. 2B, the control device 115 performs coordinate system conversion according to the image coordinates of point A in the scene image to determine the coordinates of point B, which is the spatial point of the safe buffer position above the skin surface where the visual mark is located, and then determines the navigation path D of the lower end point C of the ultrasound treatment head 112 from the current position to the target point B. Further, the control device 115 can drive the displacement mechanism 111 to move the ultrasound treatment head 112, so that the contact point C on the ultrasound treatment head 112 moves along the navigation path D to the position coinciding with point B, completing the coarse positioning movement.

[0050] As can be seen, during the coarse positioning movement, the spatial mark technology can be used to establish a general safe buffer position (e.g., B) near the tissue to be irradiated, and then the ultrasound treatment head 112 is smoothly moved from the initial storage state to the preset safe buffer zone (typically about 10 cm) above the mark. This step can flexibly adopt binocular vision servo guidance, manual traction technology or other high-precision positioning means, laying a foundation for the subsequent steps.

[0051] Due to the non-invasive nature of HIFU treatment, it is necessary to rely on ultrasound imaging technology to penetrate deep lesions, so it is crucial to establish a stable acoustic path to optimize the working efficiency of the ultrasound treatment head, thereby introducing fine positioning movement after coarse positioning movement.

[0052] Further, the driving displacement mechanism 111 can be controlled to fine positioning movement based on real-time detection images obtained by real-time detection of the patient tissue by the ultrasound treatment head 112 or other imaging devices (including but not limited to ultrasound imaging, CT imaging, or nuclear magnetic imaging, etc.), so as to make the ultrasound treatment head 112 continue to move downward along the point B to the point E (contact or even extrude the skin downward), until the real-time detection images determine that the position E is the target position meeting the requirements of the focused treatment depth or the diagnostic depth.

[0053] It can be understood that, considering the medical safety requirements, the ultrasound treatment head 112 does not directly extrude the irradiation tissue in the automatic coarse positioning movement, but maintains a safety distance (for example, several centimeters to 10 centimeters, etc.) from the point B. In further user operation or automatic operation, the ultrasound treatment head 112 finally reaches the point E.

[0054] It should be particularly noted that, in the fine positioning movement, microscopic movement adjustment can be implemented to realize active control of the user and / or adopt a precision stepping mechanism, which can be programmed to move in increments of, for example, millimeters, and continuously integrate the returned real-time detection images. Real-time correction can be implemented according to the images to ensure the extreme accuracy of the treatment depth.

[0055] In some embodiments, the control device 115 is also communicatively connected to the ultrasound treatment head 112, and can control the operation of the ultrasound treatment head 112.

[0056] It can be understood that, FIGS. 2A to 2C only demonstrate the application of the movement navigation method in an example, and the purpose is only to intuitively illustrate possible implementations, which can be changed in other embodiments, and is not limited thereto.

[0057] According to the above principles, as shown in FIG. 3, a flowchart of a navigation and movement control method of an ultrasound treatment head in an embodiment of the present disclosure is shown.

[0058] In FIG. 3, the flowchart specifically includes steps S301 to S303.

[0059] Step S301: Based on the scene image collected by the visual device and the scene image detected by the ranging device, a safety buffer position in a preset positional relationship with the visual mark position of the irradiation tissue on the skin surface is determined.

[0060] In some embodiments, the step S301 can determine the safety buffer position based on user operation, so as to trigger automatic movement to the safety buffer position.

[0061] Exemplarily, in FIG. 4A, the step S301 further includes:

[0062] Step S311: providing a user interaction interface comprising an interaction area, the interaction area displaying the scene image.

[0063] As an example, reference can be made to the embodiment in FIG. 2A. In some embodiments, the user interaction interface is provided with a moving operation part for triggering the ultrasound treatment head to move along the navigation path to the safety buffer position when actuated. For example, the moving operation part is presented as a virtual button “visual move” in the interface, when pressed by the user, the ultrasound treatment head moves along the navigation path to the safety buffer position. Optionally, the moving of the ultrasound treatment head is stopped in response to the moving operation part being de-actuated. For example, the ultrasound treatment head only moves when the user maintains a long press on the “visual move” button; the ultrasound treatment head stops moving when the user releases the “visual move” button. That is, through this kind of control mechanism, passive movement of the ultrasound treatment head can be achieved, which is beneficial for short distance movement of the ultrasound treatment head for adjustment of position during treatment or diagnosis. If a one-time button press is used to directly move to the position along the navigation path, the short distance adjustment of the ultrasound treatment head position cannot be met, and collision can occur, and the safety is relatively weak.

[0064] In some embodiments, the selection of the safety buffer position can be limited. For example, the depth value of the safety buffer position is obtained, and the distance between the safety buffer position and the visual marker position is calculated according to the depth value, and it is determined whether it is lower than a preset threshold. If yes, the planning of the navigation path is limited, that is, if the distance between the safety buffer position and the visual marker position is too small, the construction of the navigation path according to the safety buffer position can be rejected, and the user can be prompted to re-determine.

[0065] Step S312: in response to receiving an operation of selecting a visual marker in the interaction area, determining the position of the visual marker, and determining a safety buffer position in a preset positional relationship with the visual marker.

[0066] For example, the user clicks A point corresponding to the visual marker on the screen, and the safety buffer position of B point with a safety distance above the visual marker in the actual space is determined.

[0067] In other embodiments, the safety buffer position can also be determined automatically according to the identification of the visual marker, and it is not necessary to be selected by the user.

[0068] As shown in FIG. 4B, a specific flowchart of step S301 in another embodiment is shown.

[0069] In FIG. 4B, the specific flow includes:

[0070] Step S311': identifying the location of the visual marker in the scene image based on the scene image captured by the vision device and the distance data detected by the distance measuring device.

[0071] Step S312': determining a safety buffer location in a preset positional relationship with the location of the visual marker.

[0072] In some embodiments, a visual marker identification model (e.g. a neural network model trained by various visual marker data) can be pre-established for identifying the visual marker in the scene image, and the spatial coordinates of the safety buffer location near (e.g. at a safe distance) the visual marker can be determined in combination with the distance data.

[0073] Step S302: planning a navigation path for the ultrasound treatment head to reach the safety buffer location, and driving the ultrasound treatment head to perform a coarse positioning movement along the navigation path to reach the safety buffer location.

[0074] In some embodiments, the safety buffer location is taken as the end point of the planned navigation path, and the ultrasound treatment head 112 can automatically stop moving after the coarse positioning movement along the navigation path is completed, to wait for a fine positioning movement.

[0075] In some embodiments, if the user manipulates the ultrasound treatment head movement through the above-mentioned movement operation part (e.g. the "visual movement" button), the ultrasound treatment head 112 can be temporarily stopped moving when it moves to the safety buffer location, to wait for further confirmation by the user before continuing to descend, thereby ensuring safety.

[0076] Exemplarily, step S302 can further include a safety buffer location confirmation step between the user selecting the image location and planning the path, as shown in FIG. 4, which specifically includes:

[0077] Step S401: obtaining the depth value of the safety buffer location.

[0078] In some embodiments, an operation part for confirming the image location in the user interaction interface can be provided, such as a "determine target" button, which, when pressed by the user, indicates that the image location is confirmed, and then the depth value of the safety buffer location corresponding to the confirmed image location in space is obtained. The depth value is specifically the vertical distance D between the safety buffer location and the distance measuring device. t .

[0079] In some embodiments, the depth value of the safety buffer location relative to the distance measuring device can be displayed in the user interaction interface, to facilitate the user to observe the distance of the safety buffer location, so as to help the user to judge whether the safety buffer location meets the requirements when selecting the safety buffer location.

[0080] In some embodiments, the image coordinates of the image position selected by the user can be displayed in the user interaction interface. For example, the user selects an image position in the scene image of the interaction region by finger sliding, and the image coordinates of the image position reached by the user's finger sliding in the two-dimensional coordinate system of the scene image can be displayed in the user interaction interface in real time for the user's reference.

[0081] Step S402: In response to the depth value representing the distance between the safe buffer position and the visual marker position being lower than a preset threshold, limiting the planning of the navigation path.

[0082] A safe buffer position that is too close can not need to plan a navigation path, so as to let the user reselect. For example, if the safe buffer position is less than x centimeters relative to the visual marker position, etc., it is excluded to prompt the user to determine the safe buffer position again, such as reselection or adjusting the safe buffer position by sliding in the scene image.

[0083] Further, as shown in FIG. 5, a flowchart illustrating the principle of navigation path planning in step S302 is shown.

[0084] In FIG. 5, the flow includes:

[0085] Step S501: Based on the scene image, distance data, and calibration parameters of the visual device, obtaining a first position coordinate of the safe buffer position in a first spatial coordinate system of the visual device.

[0086] In some embodiments, as shown in FIG. 6, a first spatial coordinate system (origin O c ) can be established based on the visual device, as an example, O c may be located at the optical center position of the visual device. The safe buffer position can have a first position coordinate in the first spatial coordinate system.

[0087] Step S502: Obtaining a second position coordinate of the target point on the ultrasonic treatment head in a unified spatial coordinate system, and a third position coordinate mapped from the first position coordinate to the unified spatial coordinate system.

[0088] Optionally, in FIG. 6, a second spatial coordinate system (origin O e ) can also be established based on the driving displacement mechanism, and a third spatial coordinate system (origin O w ) can also be established based on the ultrasonic treatment head. Among them, the unified spatial coordinate system can be any one of the first spatial coordinate system, the second spatial coordinate system, the third spatial coordinate system, or other spatial coordinate systems, such as a world coordinate system to which the three spatial coordinate systems belong.

[0089] In some embodiments, O cThe end position of the driving displacement mechanism is connected to the end of the ultrasonic treatment head. w The center position of the lower end surface of the ultrasonic treatment head can be located. w That is, the center position of the water bag. Alternatively, in FIG. 6, the driving displacement mechanism and the ultrasonic treatment head can be arranged such that the Y axes of the second and third spatial coordinate systems are collinear, and the X axes and the Z axes are parallel, thereby reducing the amount of calculation in the coordinate conversion.

[0090] Of course, the detection assembly in FIG. 1B is separate from the driving displacement mechanism, and the unified spatial coordinate system can also be selected for the calculation of the coordinate conversion.

[0091] Step S503: determining the moving track of the driving displacement mechanism based on the path planning algorithm, the moving track corresponding to the navigation path for moving the target point of the ultrasonic treatment head from the second position coordinate to the third position coordinate of the safety buffer position.

[0092] Specifically, in the examples of FIGS. 1A and 6, the visual device and the ultrasonic treatment head are installed at the end (hand) of the driving displacement mechanism, that is, the “eye on the hand”, and the relative position is fixed, so that the transformation relationship between the second spatial coordinate system of the end of the driving displacement mechanism, the third spatial coordinate system of the ultrasonic treatment head, and the first spatial coordinate system of the visual device is determined through calibration. Alternatively, in the “eye outside the hand” example of FIG. 1B, the transformation relationship between the third spatial coordinate system, the second spatial coordinate system, and the first spatial coordinate system can also be obtained through calibration according to the image position of the driving displacement mechanism in the visual field of the visual device and in combination with the distance data.

[0093] In the coarse positioning movement process, it is assumed that the pixel coordinate point (u, v) in the two-dimensional pixel coordinate system of the visual mark in the scene image photographed by the visual device or the image coordinate point (x, y) in the two-dimensional physical image coordinate system. The spatial coordinates of (u, v) or (x, y) of the visual mark in the first spatial coordinate system of the visual device can be converted to obtain T c (x c ,y c ,z c ) by using the calibration parameters. Taking the first spatial coordinate system of the visual device as the unified spatial coordinate system, the third position coordinate T c (x c ,y c ,z c ) of the visual mark in the third spatial coordinate system of the ultrasonic treatment head can be converted from the first position coordinate T w (x w ,y w ,z w ) according to the transformation relationship.

[0094] The navigation path is planned with a safety position (e.g., coordinate T’ in FIG. 6) above the safety buffer position as the end position. In some examples, the safety distance can be arbitrarily adjusted as a threshold, and the physical coordinate T’ after leaving the safety distance can be obtained. The path planning algorithm is used on T’ (or T’ ) to calculate the path corresponding to the optimal solution. w w w w

[0095] In some embodiments, the driving displacement mechanism can be implemented as a robotic arm, and the path planning algorithm can include an inverse kinematics algorithm based on the robotic arm. The inverse kinematics algorithm of the robotic arm refers to inversely solving the angles of each joint of the robotic arm according to the position and attitude of the end effector of the robotic arm, so as to realize accurate control of the robotic arm. In some embodiments, the inverse kinematics algorithm is targeted to obtain a motion optimal solution, such as a minimum rotation amplitude, a minimum motion path, a maximum motion path, or within a limited motion range. Among them, the minimum rotation amplitude is, for example, the minimum rotation amplitude of each joint of the robotic arm. The minimum motion path is the shortest motion path of the robotic arm. The maximum motion path is the longest motion path of the robotic arm. Within the limited motion range, the motion range of the robotic arm needs to be limited in the scene where the activity space is not sufficient to prevent collision events from occurring. Further optionally, one or more joints can be limited within the limited motion range.

[0096] Generally, the method of inverse kinematics includes analytical method and iterative method. The analytical method is an inverse solution method based on geometric calculation, which calculates the joint angle by using geometric relations and trigonometric functions. It provides a direct and efficient method to solve the inverse kinematics problem of the mechanism. However, the analytical method is only suitable for simple robotic arm structures, and for complex mechanisms, it is often impossible to find an analytical solution. When the analytical method cannot solve the inverse kinematics problem, the iterative method becomes a common solution. The iterative method is usually based on two steps: solving the forward kinematics problem and correcting the joint angle. By continuously iterating these two steps until the end effector position and attitude requirements are met, the inverse solution of the robotic arm is obtained.

[0097] In embodiments of the present disclosure, the inverse kinematics of the robotic arm is applied to the path planning of the robotic arm. The goal of path planning is to find a trajectory of the robotic arm so that the end effector can move according to the required position and attitude. By solving the inverse kinematics problem, the trajectory of the joint angle of the robotic arm can be obtained, thereby achieving the goal of path planning.

[0098] In some embodiments, in response to the inverse kinematics algorithm having no solution (e.g., the joint exceeding the motion range), it can be prompted to reselect the target or adjust the position. ​​​​

[0099] It should be particularly pointed out that, since the application device in the embodiments of the present disclosure is in the medical instrument scene, the position of each point in the space can be determined by using the detection assembly to determine the position of each point in the movement track of the driving displacement mechanism, so that a virtual safety boundary can be set in the space, and the driving displacement mechanism such as a mechanical arm can be strictly limited within the preset safety boundary, and the behavior of exceeding the boundary will immediately trigger an alarm mechanism, thereby further enhancing the safety of the operation and avoiding safety problems caused by shaking and collision of the driving displacement mechanism in the medical process.

[0100] Step S303: Based on the real-time detection image of the irradiated tissue as a reference, the ultrasound treatment head is driven to perform fine positioning movement from the safety buffer position to touch the marker and reach the target position that meets the interval of the focused ultrasound irradiation depth relative to the irradiated tissue.

[0101] Taking the focused ultrasound treatment head as an example, the target of the fine positioning movement is to move the focused ultrasound treatment head to contact the skin of the corresponding region of the irradiated tissue and continue to press down until the irradiation treatment depth (10 cm, 5 cm, 2 cm, 1 cm, etc.) of the focused ultrasound treatment head can irradiate the target point on the irradiated tissue.

[0102] In some embodiments, the fine positioning movement can be controlled based on user operation. In some examples, the user operation can act on an operation device connected to the control device or directly on the driving displacement mechanism. In one example, the operation device can include an operation handle, and the user can continue to move the ultrasonic treatment head intuitively and efficiently by controlling the operation handle. For example, if the handle includes cross keys of up, down, left and right, they respectively correspond to the actions of driving the ultrasonic treatment head to ascend, descend, move left and move right. Further optionally, the user interaction interface can be provided with an option for setting the operation handle to be activated to allow use, and only in the activated case can be used to control the movement of the ultrasonic treatment head. In yet another example, the operation device can include an operation part in the user interaction interface, i.e. the "visual movement" button. When the user confirms that the ultrasonic treatment head can continue to descend, the operation part is continued to be operated to make the ultrasonic treatment head continue to descend to couple to the irradiation site. Of course, the operation part can also be other operation keys, such as cross keys, or separate up, down, left and right keys, etc. Of course, the operation part can also be a physical key in a control panel included in the ultrasonic main device, and is not limited to a virtual key in the user interaction interface. In still another example, the user can also directly apply force to the driving displacement mechanism, such as pushing / pulling the mechanical arm to ascend / descend, etc., to couple to the irradiation site, such as the water bag to the irradiation site. In some examples, the driving displacement mechanism is also in a passive movement manner to respond to the user operation, i.e. to stop when the user operation is lost, so that the ultrasonic treatment head stops continuing to move, to ensure safety and convenience of adjusting position.

[0103] The two coarse and fine positioning movement positioning processes not only utilize automatic navigation to improve movement efficiency, but also ensure the safety of movement through the safe position, and then actively control by the user to fine position in the remaining short distance, which also ensures that the movement meets the actual diverse needs and facilitates the operation process, and improves user experience. Thus, the above many advantages can be achieved, and the product competitiveness is improved.

[0104] In some embodiments, during the fine positioning movement, further comprising: based on the real-time detection image, real-time correction of movement deviation. As an example, the real-time detection image can be detected by a guide ultrasound probe integrated in the ultrasound treatment head, or generated by other imaging devices such as ultrasound devices, CT devices, nuclear magnetic imaging, outside the ultrasound treatment head, to help guide the movement of the ultrasound treatment head to the target position. For example, the real-time detection image detected and generated by the guide ultrasound probe or other imaging devices is displayed on the display and viewed by the user's eyes to find the target position of the lesion tissue to be irradiated. As an example, the guide ultrasound probe is configured to be movable in the ultrasound treatment head, for example, it can be translated and rotated to be able to capture ultrasound images at different angles and form three-dimensional ultrasound images, thereby facilitating the operator to more accurately and clearly refer to the position of the lesion tissue.

[0105] Alternatively, based on the automatic image recognition of the lesion tissue in the real-time detection image, for example, using a trained target recognition model based on convolutional neural network (CNN) image processing, such as YOLO, etc., the lesion tissue in the real-time detection image is recognized. Further, based on the position and depth of the recognized lesion tissue, the ultrasound treatment head is automatically fine positioned and moved to reach the appropriate target position, that is, the driving displacement mechanism is automatically controlled to drive the ultrasound treatment head to continue moving from the safe buffer position to the target position.

[0106] In some embodiments, the outer end of the ultrasound treatment head or the coupling medium for coupling the skin surface is provided with a pressure sensor. The movement navigation method comprises: based on the pressure value detected by the pressure sensor, limiting the extrusion force of the ultrasound treatment head on the skin surface. Specifically, to prevent the driving displacement mechanism from driving the ultrasound treatment head to extrude with excessive force and cause harm, a pressure sensing mechanism is designed to dynamically monitor the state of the water bag / outer end of the ultrasound treatment head through a water pressure sensor / force sensor, to prevent any potential risks. In an optional example, the sound channel of stable and good ultrasound waves can be constructed by maintaining the water pressure balance of the deaerated water in the water bag as the ultrasound transmission medium, and the water temperature is maintained in the normal range through appropriate cooling.

[0107] It should be noted that in different embodiments, the ultrasound treatment head can use a water bag as a coupling device for loading water as a coupling medium to the skin, or other coupling members such as a sheet can be used instead, which can be selected according to actual treatment depth and other needs.

[0108] In summary, by integrating the two-stage process of rough positioning movement and fine positioning movement, the purpose is to ensure accurate guidance of the ultrasound probe to the preset target area. The navigation system is complex, and the core components include the treatment head assembly (integrated with visual, ranging, ultrasound emission / reception system, coupling medium), high-precision driving displacement mechanism, and a set of controllers (advanced visual, robot motion software algorithms, peripherals (operation handle), etc.).

[0109] In the above embodiment of the navigation movement control method of the ultrasound treatment head, the accurate alignment of the ultrasound treatment head and the tissue to be irradiated is achieved, including:

[0110] Rough positioning movement positioning stage: a visual marker is used to establish a general reference point near the tissue to be irradiated, and then the ultrasound treatment head is driven to smoothly migrate from the initial storage state to the safety buffer position (e.g. 10 cm) above the visual marker with a preset safety buffer. This step can flexibly adopt visual servo guidance, manual traction technology or other high-precision positioning means, laying a foundation for the subsequent steps.

[0111] Fine positioning movement positioning stage: due to the non-invasive nature of HIFU treatment, ultrasound imaging technology is needed to penetrate deep lesions, so it is crucial to establish a stable acoustic path to optimize the working efficiency of the ultrasound treatment head. This stage can use, for example, an operation handle or a mobile operation part to implement microscopic adjustment for active control, or use a precision stepping mechanism to program movement in increments of 0.01 mm, and continuously integrate the real-time probe image data returned, to implement real-time correction, to ensure the ultimate accuracy of the treatment depth. Of course, based on the image recognition of the real-time probe image, combined with the spatial movement mode of the driving displacement mechanism based on visual ranging positioning, fine positioning movement can be automatically completed.

[0112] To ensure patient safety and treatment effect, the system is built-in with a pressure sensing mechanism, which dynamically monitors the state of the water bag with the help of a water pressure sensor and a force sensor, to prevent any potential risks. At the same time, the motion trajectory of the displacement system is strictly limited within the preset safety limit, and any behavior beyond the boundary will immediately trigger an alarm mechanism, further enhancing the safety of the operation.

[0113] In addition, in some embodiments, the embodiments can also be equipped with various auxiliary mechanisms, aiming to simplify the operation process, so that medical staff can more efficiently adjust the patient's body position and treatment target layout, thereby improving the accuracy and efficiency of HIFU treatment, and showing the exquisite and delicate of high-end medical technology.

[0114] For example, the safety of the water bag or the other contact end of the ultrasonic treatment head with the human body can be judged by pressure feedback to avoid excessive extrusion. For another example, the movement of the driving displacement mechanism can be limited within a safety limit, and an alarm can be given when the limit is exceeded. For yet another example, the movement process is consistent with the user's operation to start or stop, facilitating the operator to place the treatment target posture and position of the patient.

[0115] In some embodiments, other conditions for limiting the planning of the navigation path or judging the feasibility of the navigation path can also be set.

[0116] In optional embodiments, it can also be judged whether the position of the ultrasonic focal point is too close (below a preset threshold) to the ultrasonic treatment head. If it is judged that the position is too close, the ultrasonic focal point can be located in the ultrasonic medium part (such as on the water bag, in the water bag, or in the water gel), which can cause damage to the ultrasonic medium part when the ultrasonic wave is emitted, and therefore the planning of the navigation path can be limited in this case.

[0117] In optional embodiments, a safety boundary, such as a spherical or rectangular body-shaped safety boundary, can also be set for the activity space of the driving displacement mechanism. During the planning of the navigation path or after the planning, it can be judged whether the movement trajectory of the driving displacement mechanism corresponding to the navigation path will fall outside the safety boundary. If it will, the navigation path can be adjusted or the navigation path can be re-planned.

[0118] As shown in FIG. 7, a structural schematic diagram of a control device in an embodiment of the present disclosure is shown.

[0119] The control device 700 in the embodiment can be implemented as the control device 115 in FIG. 1A.

[0120] The control device 700 includes a bus 701, a processor 702, and a memory 703. The processor 702 and the memory 703 can communicate with each other through the bus 701. The memory 703 can store program instructions. The processor 702 implements the steps in the movement navigation method in the previous embodiments, such as the steps in FIGS. 3, 4, 5, and 7, by running the program instructions in the memory 703.

[0121] The bus 701 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, although only one thick line is shown in the figure, it does not mean that there is only one bus or only one type of bus.

[0122] In some embodiments, the processor 702 can be implemented as a Central Processing Unit (CPU), a Micro Processing Unit (MCU), a System On Chip, or a Field Programmable Gate Array (FPGA), etc. The memory 703 can include a volatile memory for data temporary storage when running programs, such as a Random Access Memory (RAM).

[0123] The memory 703 can also include a non-volatile memory for data storage, such as a Read-Only Memory (ROM), a flash memory, a Hard Disk Drive (HDD), or a Solid-State Disk (SSD).

[0124] In some embodiments, the control device 700 can also include a communicator 704. The communicator 704 is configured to communicate with the outside. In specific examples, the communicator 704 can include one or a set of wired and / or wireless communication circuit modules. For example, the communicator 704 can include one or more of a wired network card, a USB module, a serial interface module, etc. The wireless communication module can comply with one or more of wireless communication protocols, such as Near Field Communication (NFC), Infared (IR) technology, Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code division multiple access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BlueTooth (BT), Global Navigation Satellite System (GNSS), etc.

[0125] The embodiments of the present disclosure can also provide a computer readable storage medium storing program instructions, which, when executed, implement the method steps in any of the preceding embodiments, such as the steps in FIG. 3, FIG. 4, FIG. 5, etc.

[0126] That is, the method steps in the above embodiments are implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or computer code that is originally stored in a remote recording medium or non-transitory machine-readable medium and downloaded through a network and then stored in a local recording medium, so that the method represented herein can be processed by such software on a recording medium using a general-purpose computer, a special-purpose processor, or programmable or special-purpose hardware (such as an ASIC or FPGA).

[0127] In summary, the embodiments of the present disclosure provide a navigation movement control method of an ultrasonic treatment head and an ultrasonic treatment device applied thereto. The ultrasonic treatment head can move relative to a tissue to be irradiated in a scene. A detection assembly is also configured in the scene, which includes a vision device and a ranging device. The method includes: determining a safe buffer position in a preset positional relationship with a visual mark on the surface of the skin of the tissue to be irradiated based on a scene image collected by the vision device and distance data of a pixel point in the scene image detected by the ranging device; planning a navigation path of the ultrasonic treatment head to the safe buffer position, and driving the ultrasonic treatment head to perform a coarse positioning movement along the navigation path to reach the safe buffer position; and driving the ultrasonic treatment head to perform a fine positioning movement from the safe buffer position to touch the mark and reach a target position relative to the tissue to be irradiated that satisfies a focusing ultrasonic irradiation depth, thereby constructing an effective treatment scene. The method of automatically driving the ultrasonic treatment head to make the focal point reach the accurate irradiation depth of the tissue to be irradiated in the embodiments of the present disclosure can achieve fast, accurate, and safe positioning navigation and shorten the movement positioning time.

[0128] The above embodiments are only illustrative of the principles and effects of the present disclosure, and are not intended to limit the present disclosure. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present disclosure. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present disclosure should still be covered by the protection scope of the present disclosure.

Claims

1. A method of navigated movement control of an ultrasound treatment head, characterized in that, The ultrasonic treatment head is movably fixed to a driving displacement mechanism, so as to be capable of moving relative to the tissue to be irradiated in the scene; The scene further comprises a detection assembly, which comprises a vision device and a distance measuring device; the method comprises: Based on the scene image collected by the vision device and the scene image detected by the distance measuring device, a safe buffer position in a preset positional relationship with the position of the visual mark on the skin surface of the tissue to be irradiated is determined; A navigation path for the ultrasonic treatment head to reach the safe buffer position is planned, and the ultrasonic treatment head is driven to perform coarse positioning movement along the navigation path to reach the safe buffer position; Based on the real-time detection image of the tissue to be irradiated as a reference, the ultrasonic treatment head is driven to perform fine positioning movement from the safe buffer position to touch the mark and reach a target position that satisfies the interval of the focused ultrasonic irradiation depth relative to the tissue to be irradiated.

2. The method of navigated movement control of an ultrasound treatment head of claim 1, wherein, During the fine positioning movement, further comprising: Based on the real-time detection image, the movement deviation is corrected in real time.

3. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, A pressure sensor is arranged at the outer end of the ultrasonic treatment head or the outer end of the coupling medium for coupling the skin surface; the movement navigation method comprises: Based on the pressure value detected by the pressure sensor, the extrusion force of the ultrasonic treatment head on the skin surface is limited.

4. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, Further comprising: In response to detecting that the motion trajectory of the driving displacement mechanism exceeds a preset safety limit, a warning action is triggered.

5. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, The determination of the safe buffer position in the preset positional relationship with the position of the visual mark on the skin surface of the tissue to be irradiated based on the scene image collected by the vision device and the scene image detected by the distance measuring device comprises: A user interaction interface comprising an interaction area is provided, and the interaction area displays the scene image; In response to receiving an operation of selecting a visual mark in the interaction area, the position of the visual mark is determined, and a safe buffer position in a preset positional relationship with the visual mark is determined; Alternatively, Based on the scene image collected by the vision device and the scene image detected by the distance measuring device, the position of the visual mark in the scene image is identified, and a safe buffer position in a preset positional relationship with the position of the visual mark is determined.

6. The method of navigational movement control of an ultrasonic treatment head according to claim 3, characterized in that, Further comprising: In response to the actuation of a movement operation part arranged in the user interaction interface displaying the scene image, the ultrasonic treatment head is driven to move along the navigation path to the safe buffer position; In response to the de-actuation of the movement operation part, the movement of the ultrasonic treatment head is stopped.

7. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, The fine positioning movement is controlled by user operation, and the user operation comprises at least one of the following: operating an operation handle capable of controlling the driving displacement mechanism; operating an operation part in the user interaction interface or control panel; moving the driving displacement mechanism by external force.

8. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, The safe buffer position is located at a safe interval above the visual mark.

9. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, The planning of the navigation path for the ultrasonic treatment head to reach the safe buffer position comprises: Based on the scene image, the distance data, and the calibration parameters of the vision device, a first position coordinate of the safe buffer position in a first spatial coordinate system of the vision device is obtained; acquire a second position coordinate of a target point on the ultrasound treatment head in a unified spatial coordinate system, and a third position coordinate mapped from the first position coordinate to the unified spatial coordinate system; determine a movement trajectory of the driving displacement mechanism based on a path planning algorithm, the movement trajectory corresponding to a navigation path for moving the target point of the ultrasound treatment head from the second position coordinate to the third position coordinate of the safe buffer position.

10. The method of navigated movement control of an ultrasound treatment head of claim 9, wherein, The path planning algorithm is planned and calculated with at least one of the following as a target: minimum rotation amplitude; minimum motion path; longest motion path; within a limited motion range.

11. The method of navigational movement control of an ultrasonic treatment head according to claim 1, characterized in that, The navigation path of the ultrasound treatment head to the safe buffer position is planned, and the ultrasound treatment head is driven to perform coarse positioning movement along the navigation path to reach the safe buffer position, and the method further comprises: acquiring a depth value of the safe buffer position; in response to the depth value indicating that the distance between the safe buffer position and the visual marker position is below a preset threshold, limiting the planning of the navigation path.

12. An ultrasonic treatment device, characterized in that comprise: a driving displacement mechanism; an ultrasound treatment head capable of being moved by the driving displacement mechanism; a detection assembly comprising a visual device and a distance measuring device; a display for displaying a user interaction interface; a control device communicatively connected to the driving displacement mechanism, the detection assembly and the display, comprising a processor and a memory; the memory stores program instructions; the processor is configured to execute the program instructions to perform the movement navigation method according to any one of claims 1 to 11.

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