阅读说明：本技术 一种用于hifu治疗的b超监视运动机构 (B-ultrasonic monitoring movement mechanism for HIFU treatment ) 是由 张立坤 陈铃 陈义胜 何烨 肖峰 于 2019-11-13 设计创作，主要内容包括：本发明提供一种用于HIFU治疗的B超监视机构,包括：升降马达模块,包括升降电机和丝杆螺母机构；升降机构导向模块,与丝杆螺母机构连接；升降缸筒,与升降机构导向模块相互配合,以形成精密导向运动副；以及B超探头固定模块,通过一压力变送器与所述升降机构导向模块相连,其上设有一B超探头。本发明的B超监视机构采用设置在升降机构导向模块和B超探头固定模块的压力变送器,通过施加于两侧的压力差产生测量信号,使得压力变送器仅测量施加于患者的压力,而不测量系统摩擦力,可实现根据治疗需要带动B超探头精确运动,准确定位和监视病灶区,提高治疗的区域设定精度和过程的监视质量。(The invention provides a B ultrasonic monitoring mechanism for HIFU treatment, comprising: the lifting motor module comprises a lifting motor and a screw rod nut mechanism; the lifting mechanism guide module is connected with the screw rod nut mechanism; the lifting cylinder barrel is matched with the lifting mechanism guide module to form a precise guide kinematic pair; and the B ultrasonic probe fixing module is connected with the lifting mechanism guide module through a pressure transmitter, and is provided with a B ultrasonic probe. The B-ultrasonic monitoring mechanism of the invention adopts the pressure transmitters arranged on the lifting mechanism guide module and the B-ultrasonic probe fixing module, generates a measuring signal by the pressure difference applied to two sides, ensures that the pressure transmitter only measures the pressure applied to a patient, but not measures the friction force of the system, can realize the driving of the B-ultrasonic probe to accurately move according to the treatment requirement, accurately position and monitor the focus area, and improves the setting precision of the treatment area and the monitoring quality of the process.)

1. A B-mode ultrasound monitoring mechanism for HIFU therapy, comprising:

the lifting motor module (1) comprises a lifting motor (11) and screw and nut mechanisms (12 and 13);

the lifting mechanism guide module (2) is connected with the screw rod and nut mechanism;

the lifting cylinder barrel (3) is matched with the lifting mechanism guide module (2) to form a precise guide kinematic pair; and

the B ultrasonic probe fixing module (5) is connected with the lifting mechanism guide module (2) through a pressure transmitter (4), and a B ultrasonic probe (7) is arranged on the B ultrasonic probe fixing module.

2. The B-mode ultrasound monitoring mechanism for HIFU therapy according to claim 1, wherein the lift motor module (1) is fixed to a substrate platform (10).

3. The B-mode ultrasound monitoring mechanism for HIFU therapy according to claim 1, wherein the lead screw-nut mechanism (12, 13) comprises a lifting lead screw (13) and a lifting nut (12) which are matched with each other, the lifting lead screw (13) is connected with a lifting motor (11) of the lifting motor module, and the lifting nut (12) is connected with the lifting mechanism guide module (2).

4. The B-mode ultrasound monitoring mechanism for HIFU therapy according to claim 1, wherein the lifting mechanism guide module (2) comprises a guide ring member (21) and a support bearing (22) embedded in an opening on the outer wall of the guide ring member (21), and the lifting mechanism guide module (2) and the lifting cylinder (3) are in rigid contact.

5. The B-mode ultrasound monitoring mechanism for HIFU treatment according to claim 4, wherein the support bearing (22) is steel ball or roller.

6. The B-ultrasonic monitoring mechanism for HIFU therapy according to claim 1, wherein the pressure transducers (4) are plural in number and are arranged equally circumferentially between the elevating mechanism guide module (2) and the B-ultrasonic probe fixing module (5).

7. The B-mode monitoring mechanism for HIFU therapy according to claim 6, wherein the number of pressure transducers (4) is 2 or 4.

8. The mechanism of claim 1, wherein the pressure transmitter (4) is rigidly connected to the lifting mechanism guide module (2) and the ultrasonic B probe fixing module (5), and the pressure transmitter (4) is further connected to a control module.

9. The B-mode ultrasound monitoring mechanism for HIFU therapy according to claim 1, wherein the B-mode ultrasound probe (7) is rigidly fixed to the B-mode ultrasound probe fixing module (5) by a B-mode ultrasound probe clamp (6).

10. The B-ultrasonic monitoring mechanism for HIFU therapy according to claim 9, wherein the B-ultrasonic probe fixing module (5) is a cylinder provided with an opening in the middle, the opening is in contact with a tail conical surface of the B-ultrasonic probe (7), the B-ultrasonic probe clamp (6) is a cuboid with an opening at the lower part and a hollow interior, and the opening at the lower end part of the B-ultrasonic probe clamp (6) is matched with the head opening of the B-ultrasonic probe (7).

Technical Field

The invention belongs to the field of top-mounted High Intensity Focused Ultrasound (HIFU) treatment ultrasound guidance, and relates to a B-ultrasonic monitoring motion mechanism.

Background

High intensity focused ultrasound therapy (HIFU therapy) is a non-invasive treatment method developed in recent years, and has a good effect particularly in the field of tumor ablation. The technology focuses low-energy ultrasonic waves in vitro on a target area in vivo, and biological effects such as instant high temperature, cavitation, mechanical action and the like are generated in a tumor to kill tumor cells in the target area.

At present, the ultrasonic B image guided HIFU treatment system is widely applied at home and abroad. The system utilizes B-ultrasonic images to position and monitor the focus and accurately treat the focus. The shorter the distance between the B ultrasonic and the focus, the better the image quality, and the more accurate the positioning monitoring.

The B-ultrasonic probe works in a high-intensity focused ultrasound treatment environment, the stop position of the B-ultrasonic probe is required to be avoided or far away from the focus of the therapeutic ultrasound emission or reflection, and the damage probability is reduced. Therefore, in most cases, in HIFU treatment, the B-mode probe should be far away from the treatment focus to a safe position to realize remote monitoring. The B-ultrasonic monitoring mechanism realizes the functions of focus positioning, treatment process monitoring, effect image comparison before and after treatment and the like by means of B-ultrasonic images. The position precision and stability of the motion of the B-ultrasonic monitoring mechanism directly influence the treatment precision and effect of the whole system.

The existing B-ultrasonic probe is driven by a mechanical mechanism, and in order to prevent medical accidents, the pressure applied to a patient by the B-ultrasonic probe needs to be accurately measured and controlled. However, the existing B-ultrasonic monitoring exercise equipment adopts a spring support transmission device as a pressure protection device, and because the friction of the equipment is large and the equipment is used for soaking water for a long time, the friction resistance is increased due to the influence of water scale, so that the B-ultrasonic probe cannot be effectively moved and positioned according to the design requirement, and the precision cannot be ensured.

Disclosure of Invention

The invention aims to provide a B-ultrasonic monitoring movement mechanism for HIFU treatment, which solves the problem of system failure caused by the influence of friction resistance of a movement part, can effectively control the pressure applied to a patient by a B-ultrasonic probe and the rigidity of the pressure, keeps the B-ultrasonic probe static relative to a treatment focus and improves the treatment precision and safety.

In order to achieve the above object, the present invention provides a B-ultrasonic monitoring mechanism for HIFU therapy, comprising: the lifting motor module comprises a lifting motor and a screw rod nut mechanism; the lifting mechanism guide module is connected with the screw rod and nut mechanism; the lifting cylinder barrel is matched with the lifting mechanism guide module to form a precise guide kinematic pair; and the B ultrasonic probe fixing module is connected with the lifting mechanism guide module through a pressure transmitter, and is provided with a B ultrasonic probe.

The lifting motor module is fixed on a base platform.

The screw rod nut mechanism comprises a lifting screw rod and a lifting nut which are matched with each other, the lifting screw rod is connected with a lifting motor of the lifting motor module, and the lifting nut is connected with the lifting mechanism guide module.

The lifting mechanism guide module comprises a guide ring piece and a support bearing embedded into an opening on the outer wall of the guide ring, and the lifting mechanism guide module is in rigid contact with the lifting cylinder barrel.

The support bearing adopts steel balls or rollers.

The number of the pressure transmitters is multiple, and the pressure transmitters are uniformly distributed between the lifting mechanism guide module and the B-ultrasonic probe fixing module along the circumference.

The number of the pressure transmitters is 2 or 4.

The pressure transmitter is rigidly connected with the lifting mechanism guide module and the B-ultrasonic probe fixing module, and is also connected with a control module.

The B-ultrasonic probe is rigidly fixed on the B-ultrasonic probe fixing module through a B-ultrasonic probe clamp.

The B-ultrasonic probe fixing module is a cylinder with a hole in the middle, the hole is in contact with the tail conical surface of the B-ultrasonic probe, the B-ultrasonic probe clamp is a cuboid with an opening at the lower part and a hollow interior, and the opening at the lower end part of the B-ultrasonic probe clamp is matched with the head opening of the B-ultrasonic probe.

The B-ultrasonic monitoring mechanism of the invention adopts the pressure transmitter arranged between the lifting mechanism guide module and the B-ultrasonic probe fixing module, generates a measuring signal through the pressure difference applied to two sides, and the pressure transmitter is static relative to the B-ultrasonic probe, so that the pressure transmitter only measures the static pressure transmitted by the probe, and the problem of measuring the friction force of a system when the pressure transmitter is arranged at the connecting part of the motor is avoided. In addition, the B-ultrasonic monitoring mechanism adopts a rigid lifting mechanism guide module, and adopts a pressure transmitter to carry out rigid connection, force transmission and force measurement, thereby not only meeting the pressure transmission function, but also realizing the force measurement function, ensuring that the B-ultrasonic monitoring mechanism of the invention does not deform under the action of lateral pressure, ensuring the stability and accuracy of an image positioning system, protecting the safety of a patient, avoiding the arrangement of a spring, and ensuring that the B-ultrasonic monitoring mechanism of the invention does not change due to the compression of the spring. Moreover, the B-ultrasonic monitoring mechanism of the invention adopts rigid connection transmission, can realize the positioning of any position in the stroke range of the B-ultrasonic probe, and the positioning precision is not influenced by the friction force of the system. Therefore, the B-ultrasonic monitoring mechanism can drive the B-ultrasonic probe to move accurately according to the treatment requirement, accurately position and monitor the focal zone, and improve the setting precision of the treatment zone and the monitoring quality of the treatment process.

Drawings

Fig. 1 is a schematic structural diagram of a B-ultrasonic monitoring mechanism for HIFU therapy according to an embodiment of the present invention.

Fig. 2 is a partial structure enlarged view of the B-ultrasonic monitoring mechanism for HIFU treatment as shown in fig. 1, which shows the lifting mechanism guide module and the lifting cylinder.

Fig. 3 is a top view of the lifting mechanism guide module and the lifting cylinder of the B-ultrasonic monitoring mechanism for HIFU treatment as shown in fig. 1.

Detailed Description

Fig. 1 shows a B-ultrasonic monitoring movement mechanism for HIFU therapy according to an embodiment of the present invention, which includes a lifting motor module 1, a lifting mechanism guide module 2 and a lifting cylinder 3, which are matched with each other, a pressure transmitter 4, a B-ultrasonic probe fixing module 5, a B-ultrasonic probe clamp 6 and a B-ultrasonic probe 7.

The elevator motor module 1 is fixed to a substrate table 10. The base platform 10 serves as a fixed frame and a mounting platform of the B-ultrasonic monitoring movement mechanism of the invention. The lifting motor module 1 is arranged to provide power for lifting of the B-ultrasonic probe, and comprises a lifting motor 11 and lead screw and nut mechanisms 12 and 13. The lifting motor 11 provides the power for the B-ultrasonic monitoring movement mechanism of the present invention to rotate, the lead screw and nut mechanisms 12 and 13 include a lifting lead screw 13 and a lifting nut 12 which are matched with each other, the lifting lead screw 13 is connected with the lifting motor 11 of the lifting motor module, and the lifting nut 12 is connected with the lifting mechanism guide module 2 which will be described below.

The lifting mechanism guide module 2 is matched with the lifting cylinder barrel 3 to form a precise guide kinematic pair to provide precise guide for the lifting motion of the B-ultrasonic probe; the lifting mechanism guide module 2 serves as a slide block of the precision guide motion pair, and the inner wall of the lifting cylinder 3 serves as a guide rail of the precision guide motion pair, so that up-and-down precision guide motion is realized. The lifting mechanism guide module 2 is connected with the lead screw nut mechanisms 12 and 13 of the lifting motor module 1, and is arranged to receive power applied by the lifting motor 11 through the lead screw nut mechanisms 12 and 13 so as to provide power for lifting of the B-ultrasonic probe.

As shown in fig. 2 and 3, the lifting mechanism guide module 2 includes a guide ring member 21 and a support bearing 22 embedded in an opening on an outer wall of the guide ring member 21, and the support bearing 22 may be a steel ball, a roller, or the like according to structural requirements. Therefore, the lifting mechanism guide module 2 and the lifting cylinder 3 form a point-surface contact rolling kinematic pair through the support bearing 22, and the friction coefficient is effectively reduced. In addition, the lifting mechanism guide module 2 and the lifting cylinder 3 are in rigid contact, so that the stressed elastic deformation of the guide mechanism can be effectively avoided.

Referring to fig. 1 again, the B-mode ultrasonic probe fixing module 5 is connected to the lifting mechanism guiding module 2 through a pressure transmitter 4.

Wherein, pressure transmitter 4 is the pressure sensor such as pulling pressure sensor that rigidity and have the micro-variation characteristic, and its sensitivity is higher, and pressure transmitter 4's pressure range is 0-5kg, and pressure resolution is 0.001 kg. The number of the pressure transmitters 4 is multiple, preferably 2 or 4, and the multiple pressure transmitters 4 are equally distributed between the lifting mechanism guide module 2 and the B-ultrasonic probe fixing module 5 along the circumference. The pressure transmitter 4 is rigidly connected with the lifting mechanism guide module 2 and the B-ultrasonic probe fixing module 5, and the pressure transmitter 4 is also connected with a control module, so that the B-ultrasonic probe fixing module 5, the B-ultrasonic probe 7, the B-ultrasonic probe clamp 6 and the lifting mechanism guide module 2 form a rigid whole, the rigidity of the B-ultrasonic probe relative to the treatment head is ensured, and the pressure applied to a patient by the B-ultrasonic probe can be measured and transmitted to the control unit.

The B-ultrasonic probe fixing module 5 is provided with a B-ultrasonic probe 7 which is rigidly fixed on the B-ultrasonic probe fixing module through a B-ultrasonic probe clamp 6. Wherein, pressure transmitter 4, B ultrasonic probe fixed module 5 are located lifting cylinder 3 inside but not with lifting cylinder 3 frictional contact. The B-ultrasonic probe fixing module 5 is a cylinder with a hole in the middle and serves as a platform for fixing the B-ultrasonic probe, and the hole of the B-ultrasonic probe fixing module 5 is in contact with the tail conical surface of the B-ultrasonic probe 7 to realize central positioning and upper limiting. The B-ultrasonic probe clamp 6 is a cuboid with an opening at the lower part and a hollow interior, is connected with the B-ultrasonic probe fixing module 5 through a screw and is adapted according to the different shapes of the B-ultrasonic probe 7, the opening at the lower end part of the B-ultrasonic probe clamp 6 is matched with the head opening of the B-ultrasonic probe 7, the center positioning and the lower part limiting are realized through the conical surface contact surface of the head part of the B-ultrasonic probe 7, and the B-ultrasonic probe 7 is wrapped and fixed on the B-ultrasonic probe fixing module 5. Therefore, the verticality of the B-ultrasonic probe 7 can be ensured by the up-down central positioning, the B-ultrasonic probe 7 can be rigidly fixed relative to the B-ultrasonic probe clamp 6 by the up-down limiting, and the B-ultrasonic probe 7 is packaged in the B-ultrasonic clamp and the B-ultrasonic probe fixing module 5, so that the subsequent water sealing process is facilitated.

The above embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and various changes may be made in the above embodiments of the present invention. All simple and equivalent changes and modifications made according to the claims and the content of the specification of the present application fall within the scope of the claims of the present patent application. The invention has not been described in detail in order to avoid obscuring the invention.