Focused ultrasound surgical robot treatment platform

Abstract

The focused ultrasound surgical robot treatment platform in embodiments of the present disclosure uses a domain-centralized architecture design based on independent electronic control units. Respective independent electronic control units monitor and process information of components in respective domains, so as to achieve linkage of the functional components in the respective domains. The domains independently access a communication network to form a communication connection with each other, and cooperate with each other to respectively complete corresponding tasks in a treatment scheme. Thus, an effective noninvasive treatment, diagnosis and research scheme is provided. In particular, the present disclosure provides an optimized scheme, providing effective noninvasive treatment for different human body regions and under different conditions.

Description

Focused ultrasound surgical robotic treatment platform TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical equipment, and in particular, to a focused ultrasound surgical robotic treatment platform. BACKGROUND

[0002] In modern medicine, many medical conditions require invasive surgical intervention. These invasive surgeries often involve incisions, trauma to muscles, nerves, and tissues, bleeding, scarring, trauma to organs, pain, the need for anesthetics during and after surgery, hospitalization, and the risk of infection. These factors not only increase the physical burden on the patient, but also prolong the recovery time and can cause complications.

[0003] To avoid or reduce such problems, the medical community generally tends to use minimally invasive surgery, such as laparoscopic surgery, endoscopic surgery, percutaneous puncture surgery, etc., when possible. Minimally invasive surgery is performed through a smaller incision, reducing damage to surrounding tissues, thereby reducing the risk of postoperative complications and speeding up the patient's recovery process.

[0004] With the development of modern medical technology, non-invasive treatment technologies, such as high-intensity focused ultrasound (HIFU) treatment, are increasingly becoming the preferred choice. High-intensity focused ultrasound technology uses ultrasound waves to focus in the body to produce thermal effects, mechanical energy, etc., and can precisely act on diseased tissues without cutting the skin to achieve the treatment purpose.

[0005] Current focused ultrasound treatment products have many functions and use a centralized system design, with most of the functions integrated into a complex system. The multiple functions of the system are highly coupled and dependent on each other, so that an abnormality in one component directly affects the operation of the entire system, requiring high-level safety protection measures, and the product has poor maintainability. Extending and upgrading requires a lot of disassembly and modification of the entire system, and the product basically has no scalability. SUMMARY

[0006] In view of the above-mentioned design shortcomings and treatment limitations of existing equipment, the purpose of the present disclosure is to provide a focused ultrasound surgical robotic treatment platform that can provide effective non-invasive treatment and research methods. In particular, the present disclosure can provide an optimized solution for providing effective non-invasive treatment under different human body regions and different conditions.

[0007] The focused ultrasound surgery robot treatment platform in the embodiments of the present disclosure is based on a domain centralization architecture of independent electronic control units, the domain centralization architecture includes a plurality of independent autonomous domains, each domain includes an independent electronic control unit, and a plurality of functional components, information of each component in the domain is processed and monitored by the independent electronic control unit, and linkage of each functional component in the domain is realized. Each domain can independently access a communication network to form a communication connection between each other, and cooperatively complete the entire treatment plan. The upper control domain accesses the communication network.

[0008] Optionally, each domain can also detect abnormalities and execute corresponding abnormal processing plans through the communication connection.

[0009] The plurality of domains can form a domain group, typically, such as a treatment domain group. The treatment domain group includes: at least one treatment head domain, an ultrasound driving domain, a mechanical movement domain for driving the treatment head to move, an upper control domain for running treatment system software, obtaining operator interaction information, executing treatment, and the like, while monitoring the state of other domains, reporting abnormal messages, and outputting through an operator interaction interface, a power supply control domain for providing and controlling power supply of the treatment domain group, while monitoring the state of the upper control domain, and executing system safety operation when the upper control domain is abnormal. Each domain independently runs functions without relying on the upper computer, each domain can be independently upgraded, expanded, and replaced, and has good scalability. In particular, multi-treatment head domain combination and rapid replacement of different treatment head domains can be realized, thereby providing an effective platform and method for a doctor to simultaneously treat different regions of the human body and different indications during surgery. BRIEF DESCRIPTION OF DRAWINGS

[0010] FIG. 1 shows a schematic diagram of the architecture of the focused ultrasound surgery robot treatment platform in an embodiment of the present disclosure.

[0011] FIG. 2 shows an exemplary structural schematic diagram of a first power management domain in an embodiment of the present disclosure.

[0012] FIG. 3 shows a schematic diagram of the hierarchical design of the system treatment software in an embodiment of the present disclosure.

[0013] FIG. 4 shows a structural schematic diagram of a waterway management system in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0014] The embodiments of the present disclosure are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the disclosed messages. The present disclosure can also be implemented or applied by different specific embodiments, and each detail in the present disclosure can be modified or changed according to different views and applications without departing from the spirit of the present disclosure. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0015] The embodiments of the present disclosure will be described in detail with reference to the drawings, so as to be easily carried out by a person skilled in the art to which the present disclosure pertains. The present disclosure can be embodied in various ways, and is not limited to the embodiments described herein.

[0016] In the present disclosure, the expressions of "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics represented 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 represented can be combined in an appropriate manner in any one or a group of embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples represented in the present disclosure and the features of the different embodiments or examples, without contradiction.

[0017] In addition, the terms "first", "second" are used only for the purpose of representation, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the present disclosure, the meaning of "a group" is two or more, unless otherwise specifically limited.

[0018] In order to clearly explain the present disclosure, the devices irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the specification.

[0019] Throughout the specification, when it is said that a certain 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 certain device "includes" a certain constituent element, unless otherwise specifically stated, other constituent elements are not excluded, but it means that other constituent elements can also be included.

[0020] Although the terms first, second, etc. can be used herein to describe 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", when 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 to be interpreted as inclusive, i.e., as meaning one or any combination of items. Thus, "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. Only when a combination of elements, functions, steps or operations is inherently mutually exclusive is an exception to this definition presented.

[0021] The professional terms used herein are used only to refer to specific embodiments and are not intended to limit the disclosure. As used herein, the singular form includes the plural form unless the context clearly indicates otherwise. The meaning of "include" used in the specification is to specify a particular characteristic, region, integer, step, operation, element and / or component, and not to exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0022] 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. The terms defined in a commonly used dictionary are additionally interpreted to have the same meaning as the meaning consistent with the relevant technical literature and the currently prompted message, unless defined, and should not be overly interpreted as an ideal or very formal meaning.

[0023] Current focused ultrasound treatment products have many functions, use centralized system design, and most functions are integrated in a complex system. Multiple functions of the system are highly coupled and dependent on each other, so that an abnormality of one component directly affects the operation of the entire system, and high-level security protection measures need to be used, and the product is poor in maintainability. Expansion and upgrade require a large amount of disassembly and modification of the entire system, and the product basically has no scalability. Due to the limitations of the treatment depth and the form of focused ultrasound energy of the device, it is difficult to simultaneously treat different regions of the human body, different indications, and different indications during surgery.

[0024] In view of the above-mentioned shortcomings of the prior art and limitations of treatment, the present disclosure aims to provide a focused ultrasound surgical robot treatment platform that can provide effective non-invasive treatment and research methods. In particular, the present disclosure provides an optimized solution for providing effective non-invasive treatment under different human body regions and different conditions.

[0025] The treatment platform divides the entire system into multiple autonomous domains, each domain including an independent electronic control unit, and multiple functional components, which process and monitor information of each component in the domain through the independent electronic control unit, and realize linkage of each component in the domain. At the same time, each domain can independently access a communication network to form a communication connection between each other, cooperatively complete the entire treatment plan, and detect each other's abnormalities and execute corresponding abnormal processing plans.

[0026] The multiple domains can form a domain group, typically, such as a treatment domain group. The treatment domain group includes: at least one treatment head domain, an ultrasound driving domain, a mechanical movement domain for driving the treatment head to move, a host control domain for running the treatment system software, obtaining operator interaction information, executing treatment functions, and monitoring the status of other domains, reporting abnormal messages, and outputting through an operator interaction interface, a power control domain for providing and controlling power supply of the treatment domain group, and monitoring the status of the host control domain, and executing system safety operations when the host control domain is abnormal. Each domain independently runs functions without relying on the host computer, and each domain can be independently upgraded, expanded, and replaced. In particular, the combination of multiple treatment head domains and the quick replacement of different treatment head domains provide an effective platform and method for doctors to simultaneously treat different regions of the human body and different indications during surgery.

[0027]

Independent electronic control unit

[0028] In the embodiments of the present disclosure, the entire platform is divided into several domains, which are relatively independent of each other and each contain an independent electronic control unit. Each electronic control unit is responsible for the control of the domain in which it is located. In some embodiments, the electronic control unit can be implemented as a controller containing resources such as a processor, a memory, and a communication interface.

[0029] It should be particularly noted that the "domain" can be implemented as a module or a group of modules that cooperate to achieve a function in actual implementation, and the module can include a hardware circuit that implements the function.

[0030] The electronic control units can be communicatively connected. Specifically, at least some of the electronic control units can be independently connected to a communication network via a communication interface to form a communication connection therebetween, for controlling respective functions to cooperatively complete corresponding tasks in a treatment plan. Since each domain independently operates the functions of the domain, the electronic control units can be independently connected to or disconnected from the communication network, to achieve different domain combinations of the focused ultrasound surgical robotic treatment platform.

[0031] In some embodiments, each electronic control unit runs a function software, such as an embedded software.

[0032] The following describes different domain types of the focused ultrasound surgical robotic treatment platform by way of examples.

[0033] As shown in FIG. 1, a schematic diagram of a focused ultrasound surgical robotic treatment platform based on a domain-based architecture design according to an embodiment of the present disclosure is shown.

[0034] The plurality of domains form a treatment domain group. Specifically, the treatment domain group includes, but is not limited to, at least one treatment head domain 110, an ultrasound driving domain 120, a higher-level control domain 130, a mechanical movement domain 140, and a first power supply control domain 150.

[0035]

Ultrasound treatment head domain

[0036] The ultrasound treatment head domain 110 includes an ultrasound treatment head. The ultrasound treatment head includes an ultrasound transducer, which includes a piezoelectric crystal. When a driving voltage of a certain frequency is applied, the piezoelectric crystal is strained to form a frequency vibration, thereby generating an ultrasound wave output. Ultrasound focusing is to use ultrasound waves as energy to focus multiple ultrasound waves at a treatment point in the body.

[0037] The ultrasound treatment head domain can be multiple, each having a treatment head of different type or power, and having different treatment depths. In some embodiments, the multiple ultrasound treatment heads include a treatment head for treating superficial tissue lesions, with a depth of 1-3 cm below the skin, and indications including but not limited to varicose veins, thyroid cancer, breast cancer, back pain, etc. In some embodiments, the multiple ultrasound treatment heads can also include a treatment head for treating deep tissue lesions, with a depth of 2-15 cm below the skin, and indications including but not limited to liver cancer, advanced pancreatic cancer, uterine fibroids, adenomyosis, etc.

[0038] Among the multiple treatment heads, at least one of the ultrasound treatment heads can be carried on the mechanical moving area 140 to move to the tissue to be treated for treatment, which can be referred to as a carried treatment head. At least one of the ultrasound treatment heads can also be implemented as a handheld treatment head held by an operator to move to the tissue to be treated for treatment. The multiple ultrasound treatment heads have different treatment depths. For example, one treatment head has a treatment depth in the range of 1 cm to 3 cm below the skin for treating superficial tissue lesions, and another treatment head has a treatment depth in the range of 2 cm to 15 cm below the skin for treating deep tissue lesions.

[0039] In some embodiments, the emission end of the carried ultrasound treatment head can be provided with a water bag for contacting and forming coupling between the carried ultrasound treatment head and the skin surface, and the medium water therein is beneficial for accurate propagation of the ultrasound waves. The water bag can be connected to the water treatment pipeline system through a pipeline, and the medium water circulates between the water treatment pipeline system. The water treatment pipeline system can perform water treatment on the medium water, such as degassing and cooling. The degassing function is to eliminate bubbles in the medium water to avoid hindering the propagation of the ultrasound waves. The cooling function is to reduce the temperature of the medium water so that the medium water can cool the high temperature generated on the skin under the irradiation of the focused ultrasound waves.

[0040] In some embodiments, the carried ultrasound treatment head can also be integrated with a guide ultrasound probe, such as on the central axis of the carried ultrasound treatment head or other positions. The guide ultrasound probe is used to perform ultrasound imaging on the patient tissue for positioning or observing the treatment effect, etc. during movement with the carried ultrasound treatment head or after irradiation of the focused ultrasound waves.

[0041] In some embodiments, the handheld ultrasound treatment head can not use a water bag, but install a substance between solid and liquid, such as a water gel body, as an ultrasound wave propagation medium.

[0042] In this way, the handheld ultrasound treatment head 119 and the carried ultrasound treatment head can be selected for treatment according to different treatment depths. When the treatment site is shallow from the skin and meets the treatment depth of the handheld ultrasound treatment head, the handheld ultrasound treatment head can be directly held for treatment conveniently and efficiently without moving the carried ultrasound treatment head for treatment by controlling the mechanical moving area 140.

[0043] In some embodiments, a vision device (such as a binocular camera) and a ranging device (such as a depth sensor) can also be provided to collect images and depths to obtain the position of the on-board ultrasound treatment head in space, for providing a reference for the automated positioning and navigation of the on-board ultrasound treatment head by the mechanical movement domain 140. The vision device and the ranging device can be fixed to the mechanical movement domain 140 to move therewith, or can be provided outside the mechanical movement domain 140 and arranged such that the on-board ultrasound treatment head is within the field of view.

[0044] In some embodiments, the at least one ultrasound treatment head is connected to the ultrasound driving domain 120 through an interface. Thus, the ultrasound treatment head can be replaced by different types, such as a single-vibration source treatment head, a multi-element treatment head, a multi-element phased array treatment head, a tissue ablation treatment head, etc. By quick assembly and disassembly of the treatment head, combined treatment can be performed with different diagnostic, therapeutic instruments, and drugs, and various indications of different tissues of the human body can be treated.

[0045]

Ultrasound driving domain

[0046] The ultrasound driving domain 120 is detachably connected to the at least one treatment head domain through an electrical interface to provide energy. In some embodiments, based on the independent field module design, the ultrasound driving domain 120 can be replaced or upgraded, including but not limited to different driving voltages, different types of driving circuits, and ultrasound driving domains 120 supporting different energy intensity focused ultrasound technologies, for meeting the needs of diversified treatment scenarios such as hyperthermia or thermal ablation.

[0047] In some embodiments, the driving domain can include a phase control module, specifically including a field programmable gate array (FPGA) or other suitable electronic components. The system treatment software in the upper control domain receives the different treatment scheme requirements of the operator, and transmits the requirements to the ultrasound driving domain through communication. The ultrasound driving domain converts the control commands related to the treatment scheme requirements into specific parameters through its own electronic control unit, including but not limited to ultrasound power, duration, interval time, pulse number, cooling time, etc. It can also include the phase calculation of each channel element of the phased array transducer calculated by the FPGA.

[0048]

Mechanical movement domain

[0049] The mechanical movement domain 140 of the focused ultrasound surgical robotic platform can include various robotic arms or other actuation mechanism components, including but not limited to one or more robotic arms and controllers. The robotic arms and controllers, along with the ultrasound treatment head domain, and the other domains of the platform, complete the focused ultrasound treatment. The robotic arms can include various numbers of joints and degrees of freedom, typically, such as 5, 6, 7, etc., and can also include various integrated sensor types and encoders implemented for various purposes and safety features, which can include position / pose, force, torque, velocity, acceleration, etc. Typically, the robotic arms can include 7 degrees of freedom, 900 mm reach, and 7 kg maximum payload, with force control accuracy of 0.5 N, and repeatability of ±0.05 mm.

[0050] In one embodiment, the robotic arms move with the patient's breathing according to the force feedback from the treatment head domain, solving the problem of the deviation of the treatment position caused by the patient's breathing.

[0051] The operator can control the robotic arms through the system treatment software, or can control the robotic arms with the handles. In addition, the operator can make the robotic arms in a low load state by the buttons integrated on the robotic arms, and drag the treatment head to the specified position. By releasing the drag button, the robotic arms keep the posture, and the treatment head stops at the pose that the operator wants.

[0052] The mechanical movement domain 140 can be integrated into one or more trolley configurations.

[0053]

Upper control domain

[0054] The upper control domain 130 runs the treatment system software, obtains operator interaction information, performs treatment, and the like, while monitoring the status of other domains, reporting abnormal messages, and outputting through the operator interaction interface. In some embodiments, the upper control domain 130 can include an upper computer, which can be implemented as a desktop computer, an industrial computer, a cloud server, or other types of terminals.

[0055] In some embodiments, the supervisory control domain 130 can be communicatively connected with a visual unit to display based on the abnormal information. The visual unit can include one or more displays and / or indicators. As an example, the display can be a LED, OLED, or the like, or a touch screen display. The indicator can include an indicator light. The supervisory control domain 130 displays a graphical user interface (GUI) to an operator through the display, and presents treatment-related content (such as the location of the treatment head, water treatment control instruction generation, real-time detection images of the patient tissue, etc.) in the graphical user interface, and can configure the input device (such as an operation key, a mouse, or a handle, etc.) or the display as a touch screen for the operator to input information. As an example, for abnormal information, the supervisory control domain 130 can display a corresponding pop-up window on the display, and / or emit light of a corresponding color and / or frequency through the indicator to indicate the corresponding abnormality.

[0056]

System Treatment Software

[0057] In some embodiments, the system treatment software run by the electronic control unit of the supervisory control domain is designed with the design principles of high cohesion (corresponding to the concentration of the functions of the domain) and low coupling (each corresponding domain runs independently), and the hierarchical design simplifies the operator's treatment process and data management to the user's interactive operation of the system treatment software. As an example, the treatment process includes the generation of a treatment plan and the setting of treatment parameters, etc. The data management includes the management of patient data, such as patient basic information, patient treatment data, historical treatment data (including existing focused ultrasound treatment data, etc.).

[0058] As shown in FIG. 3, the hierarchical design includes a physical layer 301, a logic layer 302, and an interaction layer 303.

[0059] The physical layer 301 is coupled to the multiple domains. As an example, the physical layer 301 can include a hardware driver responsible for communicating with the hardware of the functional components in the domain, ensuring the continuous operation of the software, including at least one of error handling, performance monitoring, and system maintenance, etc. For example, the physical layer 301 can drive image acquisition, image interface, communication interface, etc. of the visual device.

[0060] The logic layer 302 interacts with the interaction layer 303, communicates with the plurality of domains, processes business logic, and realizes at least one of control of a domain or linkage control of a plurality of domains, state detection, and data processing. The linkage control is combined control based on unit functions, which can be part or all of the functions that a domain can realize. For example, the visual function of the visual device in FIG. 3 (such as image data processing and output, etc.), the cooling function of the cooling component in the water treatment, the control function of the indicator light in the peripheral accessory domain, and the communication between the electronic control units in each domain or between the functional components, between the electronic control units and the functions, and the communication between the hardware in each domain.

[0061] For example, in the treatment plan execution process, the mechanical movement domain needs to move the on-board treatment head to a suitable treatment position that can irradiate the part to be irradiated in the treatment plan, the on-board treatment head domain needs to obtain energy from the ultrasonic driving domain, and the on-board treatment head domain needs to emit focused ultrasonic waves one by one. For another example, in the water treatment process, when the interaction layer 303 receives the instruction of the water preparation action of the user, the water preparation action related business logic of the logic layer 302 is formed, and the logic layer 302 performs linkage control on each related domain involved in the water preparation business logic through the physical layer 301, such as water inlet, degassing, cooling, etc. by controlling the timing operation of the valve, the pump, the cooling component, etc. to complete the water preparation. For example, the data processing includes processing the image data collected by the visual device to determine the spatial position, etc.

[0062] The interaction layer 303 interacts with the operator, displays information and receives instructions, and completes at least one of the functions including but not limited to system setting, treatment plan generation and execution, treatment energy phase control, treatment head pose control, treatment water treatment, alarm, etc. through interaction with the logic layer 302.

[0063] Therefore, the system treatment software forms different programs based on each function, the programs include a main program and independent other programs; the main program is responsible for log initialization, system parameter initialization, and creation of a main window; each other program corresponds to an independent display window, which is used to display the corresponding interface and function; each program is respectively allocated with independent memory space and management, and the programs communicate with each other to complete interaction.

[0064]

First power supply control domain

[0065] The first power supply control domain 150 is configured to control the power supply of the treatment domain group. Specifically, the first power supply control domain 150 controls the power supply of the at least one treatment head domain 110, the ultrasonic driving domain 120, the mechanical movement domain 140, the upper control domain 130, and itself. As an example, the first power supply control domain 150 can be divided into at least one power supply module and a power management module connected to each other, and the first power supply control domain 150 can be modularized together in a box. Alternatively, in other embodiments, the power management module and the at least one power supply module can also be separately packaged.

[0066] In some embodiments, as shown in FIG. 2, a schematic diagram of the hardware circuit structure of the power supply control domain is shown. The power supply control domain can exemplarily include a power management module and at least one power supply module connected to each other. The power management module is configured to control the external power supply of the at least one power supply module. The at least one power supply module is exemplarily two, power supply module 1 and power supply module 2, which can have different output voltages. As an example, the power supply module 2 can be connected to an isolation transformer module for transforming the output power supply voltage, such as 48V, 24V, etc. Optionally, the power supply control domain can further include at least one sensor module coupled to the power management module to transmit the collected signals to the power management module, for example, the illustrated sensor module 1 and sensor module 2 can each include a sensor. The sensor includes at least one of a current / voltage sensor, a temperature sensor, a humidity sensor, an accelerometer, a vibration sensor, etc. As an example, the power supply control domain can further include a communication module coupled to the power management module for realizing the communication between the power supply control domain and the outside.

[0067] The power management module can be used as an electronic control unit in the power supply control domain and can be communicatively coupled to the outside through the communication module. The electronic control unit independently controls multiple control power supply modules, power management modules, and sensors to realize the power supply control of the domain group or platform, platform safety protection, and other functions, thereby reducing the complexity of the design and cable connection of the platform and improving the reliability, maintainability, and upgradability of the platform.

[0068]

Networking service domain

[0069] Since the upper control domain 130 needs to be communicatively connected to different domains, if directly connected by a line, on the one hand, the communication interface of the upper control domain 130 can be insufficient, and on the other hand, the wiring can be too complex, which is not conducive to subsequent maintenance. Therefore, in some embodiments, the treatment domain group can further include a networking service domain 160 communicatively connected to each electronic control unit to build the communication network and configured to perform signaling exchange between the electronic control units according to a preset communication protocol.

[0070] In some embodiments, the networking service domain 160 can include a primary communication interface and a plurality of secondary communication interfaces. The primary communication interface is configured to communicatively connect to the electronic control unit of the upper control domain 130. As an example, the primary communication interface can be an Ethernet interface, i.e. a TCP / IP interface. The plurality of secondary communication interfaces are configured to respectively communicatively connect to the electronic communication units of the other domains for communication with the upper control domain 130, such as the treatment head domain 110, the ultrasound driving domain 120, the mechanical movement domain 140, the first power supply control domain 150, the water treatment control domain 190, etc. As an example, the plurality of secondary communication interfaces can include serial interfaces, such as RS485 interfaces, etc.

[0071] It is noted that the communication connection in the embodiments of the present disclosure can be wired communication connection, such as serial line, e.g. RS485, etc. Alternatively, in some allowed scenarios, the communication connection can also be wireless communication connection, e.g. WiFi, Bluetooth, etc.

[0072] In other embodiments, the networking service domain 160 can also include a communication bus, such as CAN, EtherCAT bus, etc., and the other domains are connected to the bus through communication interfaces to communicate with each other.

[0073]

Peripheral accessory domain

[0074] In some optional embodiments, the treatment domain group can further include a peripheral accessory domain 170 connected to the communication network. The peripheral accessory domain 170 includes a prompting unit for prompting abnormal information of the domain group. The prompting unit can include the visual unit, i.e. one or more displays and indicators. Of course, the displays and indicators can also not communicate through the networking service domain 160, but are directly communicatively connected to the upper control domain 130. As an example, the prompting unit can also include a sound alarm, such as a buzzer, etc.

[0075] In some embodiments, the prompting unit can alarm and prompt based on various abnormal information. Among them, various abnormal information can be associated with a plurality of alarm levels due to different severity, and the plurality of alarm levels have different alarm prompting manners based on the prompting unit, such as different display contents or light colors, etc.

[0076]

Detection imaging domain

[0077] The detection imaging domain is configured to detect patient tissue and image.

[0078] In some embodiments, the detection imaging domain can include at least one ultrasound imaging unit, which can be powered by the ultrasound driving domain. The at least one ultrasound imaging unit can include a guide ultrasound imaging unit, which can include a guide ultrasound probe, which can be integrated in the on-board ultrasound therapy head. The guide ultrasound probe can be supplied with energy for generating ultrasound waves by the ultrasound driving domain 120.

[0079] Optionally, a first ultrasound imaging unit can be included. Since the position of the guide ultrasound imaging therapy head in the on-board ultrasound therapy head is limited and is susceptible to interference from the focused ultrasound waves, the imaging effect can not be optimal. To this end, in some optional embodiments, the detection imaging domain 180 can further include an additional ultrasound imaging, CT, nuclear magnetic or other type of detection imaging device. As an example, the ultrasound imaging device is used to emit and receive ultrasound waves and generate ultrasound guide images. The detection imaging domain 180 can be communicatively connected to the upper control domain 130 through an image acquisition card and an image line (such as HDMI, etc.) to display the ultrasound guide images on one of the displays for reference during treatment. In some embodiments, the ultrasound data received by the guide ultrasound probe can also be sent to the ultrasound imaging device for imaging and display, forming a multiplexing of the imaging function and reducing costs. In some embodiments, the detection ultrasound probe of the ultrasound imaging device can also be electrically connected to the ultrasound driving domain 120 to obtain energy for generating ultrasound waves.

[0080]

Water treatment domain group

[0081] In some embodiments, the plurality of domains further form a water treatment domain group. As an example, in FIG. 1, the water treatment domain group includes a water treatment control domain 190 and a second power supply control domain 191.

[0082] The water treatment control domain 190 accesses the communication network for controlling the water treatment pipeline system to perform water treatment on the medium water used by the focused ultrasound surgical robot therapy platform.

[0083] As shown in FIG. 2, in some embodiments, the water treatment pipeline system 201 includes at least one medium delivery pipeline 2011 and a plurality of pipeline elements 2012 arranged in the medium delivery pipeline 2011. Exemplarily, the water treatment pipeline system 201 can further include a water tank, at least one water inlet, a water return inlet, and a water return outlet, wherein the water tank includes a water tank inlet and a water tank outlet. The at least one medium delivery pipeline 2011 can include at least one of: a water inlet pipeline between one of the water inlets and the water tank inlet; a water outlet pipeline between the water tank outlet and one of the water inlets; a water return pipeline between the water return inlet and the water tank inlet; a water outlet pipeline between the water tank outlet, a water treatment assembly, and the water return outlet; and / or other pipelines.

[0084] In some embodiments, one or more pipe segments (which can be discontinuous) in each medium delivery pipeline 2011 can constitute a pipe segment structure and be encapsulated. The pipeline elements can be classified into controllable pipeline function elements 20121 and other pipeline elements 20122, and each controllable pipeline function element 20121 is arranged in the at least one medium delivery pipeline for controlled action to enable the at least one medium delivery pipeline. Exemplarily, the pipeline elements include at least one of: a pipe; a pump; a valve; a water tank; a gas storage container; a refrigeration assembly; a degassing assembly; a sensor; and / or the like. Correspondingly, the plurality of pipeline function elements 20121 can include at least one of: a valve; a pump; a refrigeration assembly; and / or the like. Exemplarily, the plurality of pipeline function elements 20121 can be powered and controlled by an electrical signal to control the function of the pipeline to start / stop action. For example, the valve can be an electromagnetic valve, the pump can be an electrically controlled pump, the refrigeration assembly can be a semiconductor refrigeration device, and / or the like.

[0085] The second power supply control domain 191 is configured to control the power supply to the water treatment domain group and the pipeline function elements 20121 in the water treatment pipeline system.

[0086] The water treatment control domain 190 is connected to the communication network and communicatively coupled to the second power supply control domain 191, and is configured to control the water treatment pipeline system to perform water treatment on the medium water used by the focused ultrasound surgery robot treatment platform. In optional examples, the water treatment control domain 190 can control the second power supply control domain 191 to control the power supply state of the pipeline function elements 12121 to control the pipeline function to be enabled or stopped. For example, the water treatment control domain 190 can control the valve to be turned on or off to open or close the pipeline, control the pump to be operated or stopped, control the refrigeration assembly to be refrigerated or stopped, and / or the like. In yet some embodiments, the water treatment control domain 190 can be communicatively connected to the pipeline function elements with controllers to directly control the state of the pipeline function elements.

[0087] In some embodiments, the first power control domain 150 and the second power control domain 191 are communicatively connected, forming a cooperative power control communication path between the therapy domain group and the water treatment domain group. Through the cooperative power control communication path, the first power control domain 150 and the second power control domain 191 can cooperatively control the power supply state between the therapy domain group and the water treatment domain group to be consistent. For example, cooperatively and consistently match the state of being powered on or powered off. In some examples, the first power control domain 150 is connected with an operating element (such as an emergency stop key and / or an on / off key), which is used to accept operations to instruct the first power control domain 150 to set the power supply state of the therapy domain group side, and through the cooperative power control communication path, instruct the second power control domain 191 to set the power supply state of the water treatment domain group side to be consistent with the ultrasonic therapy master device. In some embodiments, the second power control domain 191 can also be connected with an operating element (such as an emergency stop key and / or an on / off key), which is used to accept operations to instruct the second power control domain 191 to set the power supply state of the water treatment domain group side, and through the cooperative power control communication path, instruct the first power control domain 150 to set the power supply state of the therapy domain group side to be consistent with the water treatment device.

[0088] As an example, when the operator touches the emergency stop key on the therapy domain group side, the first power control domain 150 suspends the power supply to the mechanical movement domain, and cuts off the power supply to the ultrasonic drive domain 120, ensuring that there is no mis-treatment, protecting the safety of the patient, the operator, and the equipment, and the power management domain sends an emergency stop message to the upper control domain, and the upper control domain pops up a window on the UI interface, prompting the operator to be in the emergency stop state, and locks the UI to refuse the operator's operation, avoiding further loss caused by misoperation. Through the communication between the first power control domain 150 and the second power control domain 191, the water treatment domain group side is also triggered to stop in unison to achieve "one-key emergency stop". Similarly, as an example, when the operator touches the emergency stop key on the water treatment domain group side, the water treatment domain group side stops, triggering the therapy domain group side to stop in unison to achieve the effect of "one-key emergency stop".

[0089] As an example, when the operator touches the on / off key on the therapy domain group side, the therapy domain group, the upper control domain, etc. are powered on or stopped, the upper control domain performs self-checking and detection on each domain, triggering the water treatment domain group side to stop in unison to achieve "one-key emergency stop". Similarly, as an example, when the operator touches the emergency stop key on the water treatment domain group side, the water treatment domain group side stops, triggering the therapy domain group side to stop in unison to achieve the effect of "one-key emergency stop".

[0090] Optionally, the operating elements on both sides can exist, and the operator can select to operate the "one-key emergency stop" and "one-key start-stop" on both sides, thereby improving the operation convenience and the operator experience. In particular, when the treatment domain group and the water treatment domain group belong to two separate devices, the "one-key emergency stop" and "one-key start-stop" can more effectively facilitate the operation of the operator.

[0091]

Trolley form

[0092] Referring to FIG. 1, in some embodiments, the treatment domain group, including the upper control domain 130, the medical imaging unit 180, the networking service domain 160, etc., can be located in a movable trolley 1 to facilitate movement to the scene of treatment execution.

[0093] In some embodiments, the water treatment domain group, including the water treatment pipeline system 201, can also be located in a movable trolley 2 to facilitate movement for use with the trolley 1. Exemplarily, the water treatment pipeline system can be built-in in the trolley 2 to facilitate convenient water treatment in different scenes.

[0094] In some embodiments, the water treatment domain group and / or the water treatment pipeline system can be integrated into the trolley 1, so that one trolley 1 can complete water treatment and treatment.

[0095] In some embodiments, the water treatment domain group is integrated into the trolley 1 and electrically connected with the external water treatment pipeline system. Compared with the integrated water treatment pipeline system, the water treatment domain group can be more lightweight, and can be moved to different scenes where the water treatment pipeline system is located to be electrically connected for work.

[0096] In some embodiments, if no water bag or medium water is provided, but other ultrasonic wave propagation medium materials (such as hydrogel) are used instead, the water treatment domain group and the water treatment pipeline system 201 can also not be provided, so that the handheld ultrasonic treatment head of the treatment platform is more lightweight.

[0097]

Abnormal monitoring mechanism

[0098] The abnormality refers to an abnormal operation condition, and the abnormality can include a fault.

[0099] The abnormal monitoring mechanism includes independent abnormal monitoring and reporting processing: each electronic control unit respectively monitors whether an abnormality occurs in the domain where the electronic control unit is located, and generates an abnormality message and reports the abnormality message to the upper control domain 130 in response to the occurrence of the abnormality. The upper control domain 130 is configured to prompt the corresponding abnormality information to the operator, and execute an abnormality processing scheme pre-associated with the abnormality in response to the operation of the operator or automatically.

[0100] The abnormality monitoring mechanism includes mutual abnormality monitoring and processing: based on the communication connection between the upper control domain 130 and the electronic control units of other domains, the upper control domain 130 and the independent other domains can form mutual monitoring, so that when the upper control domain 130 is abnormal, each other domain can continue to run, stop or emergency stop based on the preset abnormality processing scheme. In some embodiments, the presence or absence of periodic heartbeat signals can be used to determine whether the opposite side is abnormal between each other domain and the upper control domain 130. For example, the water treatment control domain 190 monitors the heartbeat signal of the upper control domain 130 to determine whether the upper control domain 130 is abnormal. In some embodiments, the upper control domain 130 monitors the abnormality message sent by the other domain to determine whether there is an abnormality.

[0101] Optionally, the abnormality monitoring mechanism includes independent function software abnormality monitoring: each electronic control unit is configured with a monitor (such as a watchdog function) for the function software running on the electronic control unit, which is used to trigger the restart of the function software when the abnormality of the function software is monitored. And the prompt unit in the peripheral accessory domain 170 displays the abnormality information.

[0102] Optionally, the abnormality monitoring mechanism includes an abnormality alarm level: various abnormalities are associated with multiple alarm levels; the multiple alarm levels include a first alarm level and a second alarm level higher than the first alarm level. As an example, the first alarm level is, for example, “attention”, and the second alarm level is, for example, “warning”. The “attention” alarm level corresponds to a situation where if the relevant provisions are not followed and corresponding measures are not taken, it may cause slight personnel injury. The “warning” alarm level corresponds to a situation where the operator is warned and if not avoided, it may cause serious personnel injury. When the abnormality belongs to the second alarm level, the module that may cause serious injury to the patient or the doctor can be shut down, for example, the upper machine instructs the first power control domain 150 to stop supplying power to the ultrasonic drive domain 120 (to avoid mis-treatment injury), instructs the mechanical movement domain 140 to stop movement (to avoid injury to the patient, the doctor, and the mechanical movement domain 140 itself), and instructs the water treatment control domain 190 to suspend work (temporary water treatment is not needed). Optionally, the alarm level of the function software abnormality of the electronic control unit of each domain is lower than the alarm level of the hardware abnormality of the domain group. In some embodiments, the prompt unit in the peripheral accessory domain 170 described above, such as a display, a prompter, etc., can alarm in a corresponding alarm prompt mode based on the alarm level associated with the occurred abnormality. Different alarm levels, according to different levels and contents of alarms, combined with risk management, take different control measures for different domains.

[0103]

Alarm prompt mode of multiple alarm levels

[0104] In some embodiments, when the "attention" alarm occurs, a more noticeable first color (such as yellow) pop-up window can be formed on the graphical operator interface of the display to prompt the operator to pay attention to the "attention" information. At the same time, the system will control the accessory control domain to set the indicator light to the corresponding color (such as consistent with the first color), ensuring that the operator can know that the device is in an attention-required state at each location.

[0105] In some embodiments, when the "warning" alarm occurs, a more noticeable second color (such as red) pop-up window can be formed on the graphical operator interface of the display to prompt the operator to pay attention to the specific warning information. At the same time, the system will control the accessory control domain to set the light strip to the corresponding color (such as consistent with the second color), ensuring that the operator can know that the device is in a warning state at each location.

[0106]

Abnormal processing scheme example

[0107] Emergency stop operation

[0108] In some embodiments, the focused ultrasound surgical robot treatment platform includes an emergency stop operation element coupled to the first power supply control domain 150, which outputs an emergency stop instruction when activated to instruct the first power supply control domain 150 to at least stop power supply to the ultrasound driving domain 120 and the mechanical movement domain 140 in the treatment domain group, ensuring that no mis-treatment occurs, and setting the mechanical movement domain 140 to an emergency stop state, thereby stopping the movement of the mechanical arm, avoiding collision and moving the treatment head, and ensuring the safety of the patient, operator and device.

[0109] The upper control domain 130 responds to the emergency stop instruction to execute an abnormal processing scheme, including at least one of the following abnormal processing actions:

[0110] Action A1: Prompt abnormal information through a second alarm level prompt unit. For example, display a second color pop-up window and emit light.

[0111] Action A2: Lock the interaction state with the operator. For example, lock the graphical operator interface of the display from being operated by the operator, at which time the operator cannot use the device, avoiding operation-induced injury.

[0112] Action A3: Restart the focused ultrasound surgical robot treatment platform in response to the emergency stop operation element being deactivated and the trigger element in the display interface of the abnormal information being triggered. Further illustratively, after restarting, each domain detection can be performed, and after detecting that there is no problem, the system can be used normally.

[0113] If the problem continues to exist or other abnormalities occur, it can be stayed at the self-checking interface, while a pop-up window prompts the operator with detailed information about the problem, ensuring the safety of the device in use.

[0114] Optionally, the second power control domain 191 can be arranged to stop power supply in unison by a coordinated power control communication path between the first power control domain 150 and the second power control domain 191.

[0115] Optionally, the second power control domain 191 of the water treatment domain group can also be coupled with an emergency stop operating element to accept an emergency stop operating element to stop power supply and inform the first power control domain to also stop in unison.

[0116] Ultrasonic drive domain abnormality

[0117] In some embodiments, the upper control domain 130, in response to the abnormality message of the ultrasonic drive domain 120, executes an abnormality handling scheme including at least one of the following abnormality handling actions:

[0118] Action B1: prompting the ultrasonic drive domain 120 abnormality information by the prompting unit at a second alarm level.

[0119] Action B2: instructing the first power control domain 150 to stop power supply to the ultrasonic drive domain 120.

[0120] Action B3: instructing the mechanical movement domain 140 to stop movement.

[0121] Action B4: instructing the water treatment control domain 190 to suspend work.

[0122] Specifically, the electronic control unit of the upper control domain 130 also sends a message to the independent electronic control unit of the water treatment control domain 190 to take measures based on the safety design evaluation of the entire system, such as informing the water treatment control domain to enter a suspended state, and not to shut down the water treatment control domain 190.

[0123] Upper machine abnormality

[0124] For example, the upper control domain 130 is dead, etc., and loses response to other domains.

[0125] In some embodiments, in response to the upper control domain 130 losing response, each of the other domains respectively executes an abnormality handling scheme including at least one of the following abnormality handling actions:

[0126] Action C1: the first power control domain 150 stops power supply to the treatment head domain and / or the ultrasonic drive domain 120;

[0127] Action C2: the mechanical movement domain 140 stops movement;

[0128] Action C3: the upper control domain 130 abnormality information is prompted by the prompting unit at a second alarm level. For example, a red light band is lit, and a red pop-up window is displayed.

[0129] Action C4: the water treatment control domain 190 suspends work;

[0130] Action C5: After being restarted, the upper control domain 130 checks its own and other domains' status when powered on, and prompts when abnormal.

[0131] In some embodiments, due to the upper control domain 130 crash and unable to software restart, the device can be forced to shut down through a specific operation (such as a long press operation) on the power button. The first power control domain 150 will execute the shutdown process and turn off the power supply of the treatment domain group. After power off, the power button can be pressed to restart the treatment domain group, and the power management module will power on the upper control domain 130 and each other domain. The upper management module can perform self-checking to ensure that itself and each other domain are in good condition, and then the operator can log in. If there is a problem, a pop-up window will prompt the specific problem.

[0132] Water treatment module abnormality

[0133] In some embodiments, the upper control domain 130 responds to the water treatment control domain's abnormality message by executing an abnormality processing scheme, which includes prompting the water treatment control domain's hardware or software abnormality information through the prompt unit at a first alarm level, and the water treatment control domain 190 restarting in the case of functional software.

[0134] In a specific example, the water treatment control domain 190 abnormality can be divided into two types. One is that the functional software of the electronic control unit of the water treatment control domain 190 is abnormal, and the water treatment control domain 190 problem belongs to the first alarm level. The upper control domain 130 can first prompt the operator through the first alarm level (such as a yellow pop-up window and yellow light), and stop the treatment according to ethical considerations. Further, as defined in the previous independent functional software abnormality monitoring, the functional software of the independent electronic control unit of the water treatment control domain 190 is automatically restarted by the monitor. In addition, if the hardware of the water treatment control domain is abnormal, the water treatment control domain 190 sends the corresponding abnormality message to the upper computer, and the problem is also prompted at the first alarm level.

[0135] First power control domain abnormality

[0136] In some embodiments, the upper control domain 130 responds to the first power control domain 150's abnormality message by executing an abnormality processing scheme, which includes at least one of the following abnormality processing actions:

[0137] Action E1: Prompting the first power control domain 150's hardware abnormality information through the prompt unit at a second alarm level, or prompting the first power control domain 150's functional software abnormality information at a first alarm level.

[0138] Action E2: Instructing the ultrasonic driving domain 120 to stop working;

[0139] Action E3: instruct the mechanical movement domain 140 to stop movement;

[0140] Action E4: instruct the water treatment control domain 190 to suspend operation.

[0141] In a specific example, the first power supply control domain 150 abnormality is also two kinds. If the first power supply control domain 150 function software problem, the first power supply control domain 150 will report an abnormal message to the upper control domain 130 through the independent electronic control unit, and the upper control domain 130 will pop up a prompt in the first alarm mode. The upper control domain 130 will send an instruction to the mechanical movement domain 140 to stop movement. The upper control domain 130 sends an instruction to the ultrasonic drive domain 120 to stop driving energy output. The upper control domain 130 will send an instruction to the peripheral accessory domain 170, and the light strip will display yellow. The upper control domain 130 will send an instruction to the water treatment control domain 190 to suspend water treatment operation.

[0142] Treatment head domain abnormality

[0143] In some embodiments, at least one treatment head domain with an abnormal treatment head domain, the other treatment head domain continues the treatment action. The upper control domain 130 responds to the abnormal message of the treatment head domain to execute an abnormal processing scheme, including at least one of the following abnormal processing actions:

[0144] Action F1: prompt the abnormal information of the treatment head domain through the prompt unit at the first alarm level.

[0145] Action F2: stop the first power supply control domain 150 power supply to the treatment head domain with an abnormality. Other treatment head domains can continue the treatment action. For example, the on-board treatment head domain 111 is abnormal, which does not affect the continuous operation of the handheld treatment head domain.

[0146] The above embodiments are only illustrative of the principles of the present disclosure and its effectiveness, 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 idea disclosed by the present disclosure shall be covered by the protection scope of the present disclosure.

Claims

1. A focused ultrasound surgical robotic treatment platform, characterized by, A domain-centralized architecture based on independent electronic control units, comprising: a plurality of independent autonomous domains, each domain comprising an independent electronic control unit and a plurality of functional components; information of each component in each domain is monitored and processed by the respective independent electronic control unit to realize linkage of each functional component in each domain; each domain independently accesses a communication network to form a communication connection between each other and cooperatively completes a corresponding task in a treatment plan; the plurality of domains form at least one domain group, and the at least one domain group comprises a treatment domain group.

2. The focused ultrasound robotic therapeutic platform of claim 1, wherein, The treatment domain group comprises: at least one treatment head domain comprising a treatment head with a preset treatment depth; an ultrasound driving domain electrically connected to the at least one treatment head domain to provide energy; a mechanical movement domain for driving the at least one treatment head to move to provide different poses for treatment; a first power supply control domain for controlling power supply of the treatment domain group and monitoring a state of an upper control domain to perform a system safety operation when the upper control domain is abnormal; an upper control domain accessing the communication network, performing a treatment function based on obtained interactive information of an operator, and monitoring a state of other domains and an abnormal message reported and outputting through an operator interactive interface.

3. The focused ultrasound robotic therapeutic platform of claim 1, wherein, The at least one domain group comprises a water treatment domain group; The water treatment domain group comprises: a water treatment control domain accessing the communication network for controlling water treatment of medium water used by the focused ultrasound treatment platform by a water treatment pipeline system; a second power supply control domain communicatively coupled to the water treatment control domain for controlling power supply to the water treatment domain group and the water treatment pipeline system.

4. The focused ultrasound robotic therapeutic platform of claim 1, wherein, comprising: an upper control domain running a system treatment software corresponding to the domain-centralized architecture, the system treatment software adopting a hierarchical design; the hierarchical design comprises a physical layer, a logic layer and an interactive layer; the physical layer is coupled to the plurality of domains; the logic layer interacts with the physical layer to communicate with the plurality of domains, to process business logic, and to realize at least one of control of one domain, linkage control of a plurality of domains, state detection and data processing; the logic layer interacts with the physical layer to call and execute hardware functions; the interactive layer interacts with an operator to display information and receive instructions, and issues corresponding business to the logic layer based on the instructions; the interactive layer completes at least one of the following functions by interacting with the logic layer: system setting; treatment plan generation and execution; treatment energy phase control; treatment head pose control; treatment water treatment; alarm.

5. The focused ultrasound surgical robotic treatment platform of claim 4, wherein, The system treatment software forms different programs based on each function, and the programs comprise a main program and independent other programs; the main program is responsible for log initialization, system parameter initialization and creation of a main window; each other program corresponds to an independent display window for displaying a corresponding interface and function; each program is respectively allocated with an independent memory space and managed, and each program communicates with each other to complete interaction.

6. The focused ultrasound surgical robotic treatment platform of claim 1, wherein, Each of the domains can be replaced or upgraded; and / or, the multiple domain groups can be combined to form a new domain group to form a treatment platform that meets the requirements of different treatment, clinical research programs; and / or, the treatment domain group comprises multiple treatment head domains of different treatment depths, which can be used for treatment of different areas of the human body or different indications.

7. The focused ultrasound robotic therapeutic platform of claim 1, wherein, The power supply control domains of different domain groups are communicatively connected, forming a cooperative power supply control communication path between the power supply control domains of different domain groups.

8. The focused ultrasound surgical robotic treatment platform of claim 1, wherein, It also includes a networking service domain communicatively connected with each of the electronic control units to build the communication network and configured to perform signaling exchange between the electronic control units according to a preset communication protocol.

9. The focused ultrasound surgical robotic treatment platform of claim 2, wherein, The ultrasonic driving domain is quickly detachably connected with the treatment head domain through an electrical interface, so that the ultrasonic driving domain can be replaced to have at least one of different driving voltages, different types of driving circuits, and different energy intensities.

10. The focused ultrasound surgical robotic treatment platform of claim 1, wherein, Each of the electronic control units respectively runs a functional software configured with a monitor for triggering a restart of the functional software when an abnormality of the functional software is monitored; and an abnormality information is displayed by a prompt unit of the peripheral accessory domain.

11. The focused ultrasound surgical robotic treatment platform of claim 1, wherein, Each of the domains detects whether an abnormality occurs in other domains based on the communication connection, and executes a corresponding abnormality handling scheme when an abnormality occurs.

12. The focused ultrasound surgical robotic therapy platform architecture design of claim 1, wherein, Each of the electronic control units respectively monitors whether an abnormality occurs in the domain, and generates an abnormality message to report to the upper control domain in response to an abnormality; the upper control domain is configured to prompt an abnormality information to an operator, and executes an abnormality handling scheme pre-associated with the abnormality in response to an operation of the operator or automatically, to ensure safety of the patient, the operator, and the equipment.

13. The focused ultrasound robotic therapeutic platform of claim 1, wherein, The upper control domain and the electronic control units of other domains form mutual monitoring, so that each of the other domains can continue to run, stop, or emergency stop based on a preset abnormality handling scheme when the upper control domain is abnormal.

14. The focused ultrasound surgical robotic treatment platform of claim 1, wherein, The treatment domain group further comprises a peripheral accessory domain accessing the communication network, the peripheral accessory domain comprising a prompt unit for prompting an abnormality information of the domain; wherein various abnormalities are associated with multiple alarm levels, and the multiple alarm levels have different alarm prompt manners based on the prompt unit.

15. The focused ultrasound surgical robotic treatment platform of claim 2, wherein, Various abnormalities of the platform are associated with multiple alarm levels; the multiple alarm levels comprise a first alarm level and a second alarm level higher than the first alarm level; when the abnormality belongs to the second alarm level, the upper control domain instructs a first power supply control domain to stop power supply to the ultrasonic driving domain, instructs the mechanical movement domain to stop movement, and instructs a water treatment control domain to pause work; and / or, an alarm level of a functional software abnormality of each of the electronic control units of the domains is lower than an alarm level between the domains in the domain group.

16. The focused ultrasound surgical robotic treatment platform of claim 2, wherein, When the platform is abnormal, the abnormality handling scheme comprises at least one of the following: 1) The focused ultrasound surgical robotic treatment platform comprises an emergency stop operation element coupled to the first power control domain, which outputs an emergency stop instruction when activated to instruct the first power control domain to at least stop power supply to the ultrasound drive domain and the mechanical movement domain in the treatment domain group; the upper control domain responds to the emergency stop instruction to execute an exception handling scheme, which includes at least one of the following exception handling actions: prompting the exception information of the ultrasound drive domain by the prompt unit at the second alarm level; locking the interaction state with the operator; the upper control domain restarts the focused ultrasound surgical robotic treatment platform in response to the emergency stop operation element being deactivated and the trigger element in the display interface of the exception information being triggered; 2) The upper control domain responds to the exception message of the ultrasound drive domain to execute an exception handling scheme, which includes at least one of the following exception handling actions: prompting the exception information of the ultrasound drive domain by the prompt unit at the second alarm level; instructing the power control domain to stop power supply to the ultrasound drive domain; instructing the mechanical movement domain to stop movement; instructing the water treatment control domain to suspend work; 3) Other domains respond to the loss of response of the upper control domain, each of which executes an exception handling scheme, which includes at least one of the following exception handling actions: the first power control domain stops power supply to the treatment head domain and / or the ultrasound drive domain; the mechanical movement domain stops movement; the upper control domain prompts the exception information by the prompt unit at the second alarm level; the water treatment control domain suspends work; after being restarted, the upper control domain checks the status of itself and other domains when it is powered on, and prompts when there is an exception; 4) The upper control domain responds to the exception message of the water treatment control domain to execute an exception handling scheme, which includes: prompting the hardware or software exception information of the water treatment control domain by the prompt unit at the first alarm level, and restarting the water treatment control domain in the functional software case; 5) The upper control domain responds to the exception message of the first power control domain to execute an exception handling scheme, which includes at least one of the following exception handling actions: prompting the hardware exception information of the first power control domain by the prompt unit at the second alarm level, or prompting the functional software exception information of the first power control domain at the first alarm level; instructing the ultrasound drive domain to stop working; instructing the mechanical movement domain to stop movement; instructing the water treatment control domain to suspend work; 6) At least one treatment head domain has an exception, and the other treatment head domains continue treatment; the upper control domain responds to the exception message of the treatment head domain to execute an exception handling scheme, which includes at least one of the following exception handling actions: prompting the exception information of the treatment head domain by the prompt unit at the first alarm level; stopping the power supply of the power control domain to the treatment head domain with an exception.

17. The focused ultrasound robotic therapeutic platform of claim 1, wherein, The focused ultrasound surgical robotic treatment platform comprises a plurality of treatment head domains, each of which comprises a treatment head; the plurality of treatment head domains includes at least one of the following: A first treatment head for treating superficial tissue lesions, with an ultrasound treatment depth of 1-3 cm below the skin; A second treatment head for treating deep tissue lesions, with an ultrasound treatment depth of 2-15 cm below the skin.

18. The focused ultrasound robotic therapeutic platform of claim 1, wherein, Further comprising: A detection imaging domain for detecting and imaging the patient's tissue.

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