CN114425130A - Automatic mobile ultrasonic therapy system - Google Patents

Automatic mobile ultrasonic therapy system Download PDF

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CN114425130A
CN114425130A CN202210165808.XA CN202210165808A CN114425130A CN 114425130 A CN114425130 A CN 114425130A CN 202210165808 A CN202210165808 A CN 202210165808A CN 114425130 A CN114425130 A CN 114425130A
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何祥永
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Hunan Wanzhuo Medical Devices Co ltd
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Abstract

The invention provides an automatic mobile ultrasonic treatment system, which comprises a mobile control module, a telescopic control module, an analysis processing module, a feedback detection module and an ultrasonic generation module, wherein the analysis processing module is used for receiving input data or feedback data and carrying out data analysis to output control data, the mobile control module controls the planar movement of the ultrasonic generation module based on the mobile data in the control data, the telescopic control module controls the longitudinal telescopic of the ultrasonic generation module based on the telescopic data in the control data, the ultrasonic generation module controls the intensity of ultrasonic waves generated based on dosage data in the control data, and the feedback detection module is used for detecting the relative displacement and pressure between the ultrasonic generation module and a region to be detected to obtain the feedback data; the system can automatically control the moving path in a proper mode, can correct the deviation generated by the movement of the object in real time, and improves the safety.

Description

Automatic mobile ultrasonic therapy system
Technical Field
The present disclosure relates generally to the field of motion control, and more particularly to an automated mobile ultrasound therapy system.
Background
The method of applying ultrasonic waves to the human body for therapeutic purposes is called ultrasonic therapy. The application range of ultrasonic therapy is increasingly wide, and far exceeds the original general therapy of physical therapy departments, such as the application of ultrasonic therapy to cancer, urinary calculus and oral medicine, and the most common method in ultrasonic therapy is a direct moving contact method, and in order to achieve the expected effect, the moving mode needs to be controlled;
many ultrasound therapy systems have been developed, and through extensive search and reference, it is found that the existing authorized systems are disclosed as KR101824462B1, KR101811351B1, CN104815399B and KR101578490B1, which include a high intensity focused ultrasound transducer power driving module, a B-mode ultrasound image acquisition module, a main control computer, a motion scanning module, a circular array focusing transducer and a B-mode ultrasound diagnostic transducer; the motion scanning module consists of an electric translation table and a six-axis mechanical arm; the invention can accurately monitor the high-intensity focused ultrasound treatment focus by connecting the composite probe with the B ultrasonic diagnosis transducer on the inner side and the annular array focusing transducer on the outer side to the six-axis mechanical arm. The system can accurately control the position, but when the object moves, the movement cannot be recognized and responded, so that the treatment effect cannot reach the expected effect, and even more serious people can cause damage to the object.
Disclosure of Invention
The invention aims to provide an automatic mobile ultrasonic therapy system aiming at the defects,
the invention adopts the following technical scheme:
an automatic mobile ultrasonic treatment system comprises a mobile control module, a telescopic control module, an analysis processing module, a feedback detection module and an ultrasonic generation module, wherein the analysis processing module is used for receiving input data and feedback data and performing data analysis to output the control data, the mobile control module controls the planar movement of the ultrasonic generation module based on the mobile data in the control data, the telescopic control module controls the longitudinal telescopic of the ultrasonic generation module based on the telescopic data in the control data, the ultrasonic generation module controls the intensity of generated ultrasonic waves based on dosage data in the control data, and the feedback detection module is used for detecting the relative displacement and pressure between the ultrasonic generation module and a region to be detected to obtain the feedback data;
the ultrasonic generating module comprises a sound head and a driving unit, the sound head is in contact with the skin and emits ultrasonic waves, and the driving unit is used for providing energy to drive the sound head;
the input data received by the analysis processing module comprises a plurality of basic regions, one basic region corresponds to the contact area of the sound head when in contact with the skin, a dosage Q is arranged on each basic region, and the analysis processing module calculates the control data { t & lt/EN & gt of each basic region according to the dosage QnAnd { I }nWhere n denotes the number of consecutive contacts to the underlying area, tiIndicates the time length of the ith contact with the basic region, IiRepresenting the intensity of the ultrasonic wave contacting the basal region for the ith time, the control data satisfying:
Figure BDA0003515807420000021
wherein k is a dose conversion coefficient and represents a dose corresponding to ultrasonic therapy with one unit intensity in one unit time;
the analysis processing module processes the times n of each basic area to obtain a plurality of cruise areas, each cruise area is a connected area, different cruise areas are in an overlapped state, and the maximum continuous contact time of a single basic area in the ith cruise area is niThe cruising number of the ith cruising region is (n)i-ni-1) In particular, n0＝0；
The analysis processing module is used for processing the control data { t) of the basic area in the ith navigation areajAnd { I }jAnd packing the data into an ith cruise data packet, wherein j belongs to [ n ∈ ]i-1+1，ni]，j∈N*The analysis processing module sends the cruise data packets to the mobile control module and the ultrasonic generation module according to the sequence from small to large of i, and the mobile control module sends the cruise data packets to the ultrasonic generation module according to the { t }jControlling the moving speed of an ultrasonic generation module according to the { I }jControlling the ultrasonic intensity of the sound head;
when the movement control module carries out movement control according to the ith cruise data packet, the control speed v when passing through the basic area each time is as follows:
Figure BDA0003515807420000022
wherein a represents the side length of the basic area;
further, the interval of the intensity of the ultrasonic wave generated by the ultrasonic generation module is [ I ]min，Imax]The time interval of continuous contact of the ultrasonic generation module on each basic area is [ t ]min，tmax]Control data { t }nAnd { I }nSatisfies:
Imin≤Ii≤Imax，i＝1，2，3，...，n；
tmin≤ti≤tmax，i＝1，2，3，...，n；
further, the analysis processing module sets the control data of each basic area as tn}＝{tmin}，{In}＝{IminWhen the cruise area is divided, if an unconnected basic area appears, the control data { t ] of the basic area is dividednAnd { I }nUpshifting so that n is reduced to not belong to the cruise region;
further, the feedback detection module comprises a pressure detection unit and a displacement detection unit, the pressure detection unit is mounted on the sound head of the ultrasonic generation module and is in contact with the skin to detect the pressure F between the pressure detection unit and the skin, and the analysis processing module calculates the expansion data delta L to be adjusted according to the detected pressure value F:
Figure BDA0003515807420000031
wherein s is a unit distance and Δ F is a biasable force;
further, the displacement detection unit detects unit offsets Δ x and Δ y of the skin and the sound head, and the analysis processing module calculates a real-time moving speed v' after the ultrasonic generation module adjusts according to the unit offsets as:
v′·sinθ＝2v·sinα-δ·Δy；
v′·cosθ＝2v·cosα-δ·Δx；
wherein alpha is an included angle between the real-time moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, theta is an included angle between the adjusted moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, and delta is an offset speed conversion coefficient.
The beneficial effects obtained by the invention are as follows:
the system divides the treatment area into a plurality of cruising areas, the basic times of the affiliated basic area in each cruising area are the same, so that the sound head can not be continuously contacted with the skin for a long time, the safety is ensured, the system can detect the pressure between the sound head and the skin in real time in the moving process and adjust the longitudinal distance of the ultrasonic generating module, the ultrasonic generating device is always contacted with the skin in a proper range, the safety is ensured, the system can also identify the active movement of an object and adjust by combining the moving data of the ultrasonic generating device, so that the contact point is always kept on a set path, and the treatment effect is ensured.
For a better understanding of the features and technical content of the present invention, reference is made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
FIG. 1 is a schematic view of the overall structural framework of the present invention;
FIG. 2 is a schematic view of the contact frequency distribution of the basic region of the present invention;
FIG. 3 is a schematic view of a first cruise zone of the present invention;
FIG. 4 is a schematic view of a second cruise zone of the present invention;
FIG. 5 is a schematic diagram of the speed adjustment of the present invention.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments are further detailed to explain the technical matters related to the present invention, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
The embodiment provides an automatic mobile ultrasonic treatment system, which is combined with fig. 1 and comprises a mobile control module, a telescopic control module, an analysis processing module, a feedback detection module and an ultrasonic generation module, wherein the analysis processing module is used for receiving input data and feedback data and performing data analysis to output control data, the mobile control module controls the planar movement of the ultrasonic generation module based on the mobile data in the control data, the telescopic control module controls the longitudinal telescopic of the ultrasonic generation module based on the telescopic data in the control data, the ultrasonic generation module controls the intensity of ultrasonic waves generated based on dosage data in the control data, and the feedback detection module is used for detecting the relative displacement and pressure between the ultrasonic generation module and a region to be detected to obtain the feedback data;
the ultrasonic generating module comprises a sound head and a driving unit, the sound head is in contact with the skin and emits ultrasonic waves, and the driving unit is used for providing energy to drive the sound head;
the input data received by the analysis processing module comprises a plurality of basic areas, one basic area corresponds to the contact area when the sound head is contacted with the skin, each basic area is provided with a dosage Q, and the analysis processing module calculates the control data { t } t of each basic area according to the dosage QnAnd { I }nWhere n denotes the number of consecutive contacts to the underlying area, tiIndicates the time length of the ith contact with the basic region, IiIndicating the intensity of the ultrasonic wave at the i-th contact with the basal regionThe control data satisfies:
Figure BDA0003515807420000041
wherein k is a dose conversion coefficient and represents a dose corresponding to ultrasonic therapy with one unit intensity in one unit time;
the analysis processing module processes the times n of each basic area to obtain a plurality of cruise areas, each cruise area is a connected area, different cruise areas are in an overlapped state, and the maximum continuous contact time of a single basic area in the ith cruise area is niThe cruise number in the i-th cruise region is (n)i-ni-1) In particular, n0＝0；
The analysis processing module analyzes the control data { t) of the basic area in the ith navigation areajAnd { I }jAnd packing the data into an ith cruise data packet, wherein j belongs to [ n ∈ ]i-1+1，ni]，j∈N*The analysis processing module sends the cruise data packets to the mobile control module and the ultrasonic generation module according to the sequence from small to large of i, and the mobile control module sends the cruise data packets to the ultrasonic generation module according to the { t }jControlling the moving speed of an ultrasonic generation module according to the { I }jControlling the ultrasonic intensity of the sound head;
when the movement control module carries out movement control according to the ith cruise data packet, the control speed v when passing through the basic area each time is as follows:
Figure BDA0003515807420000051
wherein a represents the side length of the basic area;
the interval of the ultrasonic intensity generated by the ultrasonic generating module is [ I ]min，Imax]The time interval of continuous contact of the ultrasonic generation module on each basic area is [ t ]min，tmax]Control data { t }nAnd { I }nSatisfy:
Imin≤Ii≤Imax，i＝1，2，3，...，n；
tmin≤ti≤tmax，i＝1，2，3，...，n；
the analysis processing module firstly sets the control data of each basic area as tn}＝{tmin}，{In}＝{IminWhen the cruise area is divided, if an unconnected basic area appears, the control data of the basic area { t }nAnd { I }nUpshifting so that n is reduced to not belong to the cruise region;
the feedback detection module comprises a pressure detection unit and a displacement detection unit, the pressure detection unit is arranged on a sound head of the ultrasonic generation module and is in contact with the skin to detect the pressure F between the pressure detection unit and the skin, and the analysis processing module calculates the telescopic data delta L to be adjusted according to the detected pressure value F:
Figure BDA0003515807420000052
wherein s is a unit distance and Δ F is a biasable force;
the displacement detection unit detects unit offset delta x and delta y of the skin and the sound head, and the analysis processing module calculates real-time moving speed v' adjusted by the ultrasonic generation module according to the unit offset as follows:
v′·sinθ＝2v·sinα-δ·Δy；
v′·cosθ＝2v·cosα-δ·Δx；
wherein alpha is an included angle between the real-time moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, theta is an included angle between the adjusted moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, and delta is an offset speed conversion coefficient.
Example two.
The present embodiment includes all the contents of the first embodiment, and provides an automated mobile ultrasonic therapy system, which comprises a mobile control module, a telescopic control module, an analysis processing module, a feedback detection module and an ultrasonic generation module, the analysis processing module is used for receiving input data or feedback data, performing data analysis and outputting control data, the movement control module controls the planar movement of the ultrasound generation module based on movement data in the control data, the expansion control module controls the longitudinal expansion and contraction of the ultrasonic generation module based on expansion and contraction data in the control data, the ultrasound generation module controls the intensity of the generated ultrasound waves based on dosage data in control data, the feedback detection module is used for detecting the relative displacement and the pressure between the ultrasonic generation module and the area to be detected to obtain feedback data;
the input data received by the analysis processing module comprises a treatment area, the treatment area is a rectangle formed by splicing a plurality of basic areas, the basic areas are squares, a number is arranged on each basic area and is used for representing the dosage of the basic area needing ultrasonic treatment when the ultrasonic generation module is in contact with the skin, and the number of the basic area not needing ultrasonic treatment in the rectangle is 0;
the interval of the ultrasonic wave intensity generated by the ultrasonic generation module is used as [ Imin，Imax]The time interval of continuous contact of the ultrasonic generation module on each basic area is represented by [ tmin，tmax]Indicating that the analysis processing module obtains control data { t } from the dose data Q on each basis areanAnd { I }n}：
Figure BDA0003515807420000061
Wherein k is a dose conversion coefficient and represents a dose corresponding to the ultrasonic therapy with unit intensity in a unit time, and n represents the number of times of continuous contact in the ultrasonic therapy process of the basic region;
and control data tnAnd { I }nSatisfy:
Imin≤Ii≤Imax，i＝1，2，3，...，n；
tmin≤ti≤tmax，i＝1，2，3，...，n；
the analysis processing module obtains a plurality of cruise areas according to the times n on the basic area, and the specific process comprises the following steps:
s1, obtaining the number n of times per basic area, expressing the number n of times per basic area with coordinates (x, y) as n (x, y), recording the cruising number m as 1, and memorizing the number of times
Figure BDA0003515807420000071
S2, obtaining the minimum n (x, y) value which is not 0
Figure BDA0003515807420000072
Represents;
s3, judging whether the content satisfies
Figure BDA0003515807420000073
Whether all the basic regions are connected regions, if not, the control data { t } of the unconnected basic regionsnAnd { I }nIs adjusted so that it is
Figure BDA0003515807420000074
If the n values of the connected regions are the same, go to step S5;
s4, taking the communication area as the mth cruise area, and enabling the cruise control system to control the cruise control system to work in a cruise mode
Figure BDA0003515807420000075
Figure BDA0003515807420000076
m +1 goes to step S2;
s5, taking the communication area as the mth cruise area, and recording mmax＝m，
Figure BDA0003515807420000077
End the process；
The analysis processing module calculates control data { t) of each basic areanAnd { I }nTo make each cruise area a connected area, the analysis processing module calculates { t ] for the first timenAnd { I }nIn time, let { t }n}＝{tmin}，{In}＝{IminAre then repeated for { t } in step S3nAnd { I }nWhen the adjustment is made, the part { t } is increasednAnd { I }nOf the value of n is reduced to
Figure BDA0003515807420000079
The analysis processing module is used for analyzing control data { t) of all basic areas of the ith cruise areajAnd { I }jPacking into an ith cruise data packet, sending cruise data to a mobile control module and an ultrasonic generation module according to the sequence from i to i, controlling the moving direction by the mobile control module according to the position of a basic area in a cruise area, and controlling the moving direction according to t of the basic areajThe data controls the moving speed, and the ultrasonic generation module controls the moving speed according to the I of the basic areajThe ultrasonic intensity is controlled by data, and the value of i is {1, 2, 3.. multidot.mmaxJ has a value interval of [ n ]i-1+1，ni]In particular, n0＝0；
The mobile control module controls the movement according to the ith cruise data packet, and the passing frequency of the mobile control module to the corresponding basic area is (n)i-ni-1) Next, the controlled speed v at each passage through the base area is:
Figure BDA0003515807420000078
wherein a represents the side length of the basic area;
the cruise range is illustrated below with reference to fig. 2, 3 and 4:
FIG. 2 shows the frequency distribution of all the basic regions, i.e., the basic regions with the frequency of 3 or moreAs the first cruise region, as the shaded region in FIG. 3, the base region having all the times of 5 or more is taken as the second cruise region, but the base region in the 3 rd row and 6 th column in FIG. 2 is not communicated with the base region having the remaining times of 5, by modifying { t ] of this regionnAnd { I }nN is changed from 5 to 3, the resulting second cruise area being the hatched area in fig. 4;
the ultrasonic generation module comprises a sound head and a driving device, the sound head is directly contacted with the skin, and the driving device is used for providing energy to drive the sound head to generate ultrasonic waves;
the feedback detection module comprises a pressure detection unit and a displacement detection unit, the pressure detection unit is installed on the sound head of the ultrasonic generation module, when the sound head is contacted with the skin, the pressure detection unit can detect a pressure value F formed between the pressure detection unit and the skin, and in the moving process of the sound head, the ideal interval of the pressure value is
Figure BDA0003515807420000081
Wherein
Figure BDA0003515807420000083
And the analysis processing module calculates the expansion and contraction data delta L to be adjusted according to the detected pressure value F:
Figure BDA0003515807420000082
wherein s is a unit distance;
when the delta L is positive, the sound head needs to retract, and when the delta L is negative, the sound head needs to extend forwards;
the displacement detection unit comprises a pulse transmitter and a pulse receiver, wherein a deceleration component is arranged in the pulse transmitter to enable the pulse transmitter to transmit low-speed pulses, the pulse receiver is of a surface structure and can receive the reflected low-speed pulses and analyze the low-speed pulses to obtain a receiving position, when the displacement detection unit is relatively static with the skin, the receiving position is a reference point, when the displacement detection unit moves relative to the skin, deviation exists between the receiving position and the reference point, the analysis processing module calculates the active movement amount of the skin according to the deviation data and the real-time movement speed v of the ultrasonic generation module and outputs and adjusts the real-time movement speed v' of the ultrasonic generation module;
with reference to fig. 5, if the deviation detected by the displacement detecting unit includes Δ x and Δ y, the adjusted real-time moving speed v' is:
v′·sinθ＝2v·sinα-δ·Δy；
v′·cosθ＝2v·cosα-δ·Δx；
wherein alpha is an included angle between the real-time moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, theta is an included angle between the adjusted moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, and delta is an offset speed conversion coefficient;
the offset velocity conversion coefficient is obtained through experimental tests, specifically, the displacement detection unit is moved on a fixed surface at a constant speed, and the moving speed is v0Measuring the offset amount in unit time as Deltax0Then the offset speed conversion coefficient is:
Figure BDA0003515807420000091
by measuring multiple sets of data, the average value is finally found as the coefficient value in actual use.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.

Claims (5)

1. An automatic mobile ultrasonic treatment system is characterized by comprising a mobile control module, a telescopic control module, an analysis processing module, a feedback detection module and an ultrasonic generation module, wherein the analysis processing module is used for receiving input data and feedback data and performing data analysis to output the control data, the mobile control module controls the planar movement of the ultrasonic generation module based on the mobile data in the control data, the telescopic control module controls the longitudinal telescopic of the ultrasonic generation module based on the telescopic data in the control data, the ultrasonic generation module controls the intensity of generated ultrasonic waves based on dosage data in the control data, and the feedback detection module is used for detecting the relative displacement and pressure between the ultrasonic generation module and a region to be detected to obtain the feedback data;
the ultrasonic generating module comprises a sound head and a driving unit, the sound head is in contact with the skin and emits ultrasonic waves, and the driving unit is used for providing energy to drive the sound head;
the input data received by the analysis processing module comprises a plurality of basic regions, one basic region corresponds to the contact area of the sound head when in contact with the skin, a dosage Q is arranged on each basic region, and the analysis processing module calculates the control data { t & lt/EN & gt of each basic region according to the dosage QnAnd { I }nWherein n denotes the number of consecutive contacts to the base area, tiIndicates the time length of the ith contact with the basic region, IiRepresenting the intensity of the ultrasonic wave contacting the basal region for the ith time, the control data satisfying:
Figure FDA0003515807410000011
wherein k is a dose conversion coefficient and represents a dose corresponding to ultrasonic therapy with one unit intensity in one unit time;
the analysis processing module processes the times n of each basic area to obtain a plurality of cruise areas, each cruise area is a connected area, different cruise areas are in an overlapped state, and the maximum continuous contact time of a single basic area in the ith cruise area is niThe cruise number in the i-th cruise region is (n)i-ni-1) Wherein n is0＝0；
The analysis processing module analyzes the control data { t) of the basic area in the ith navigation areajAnd { I }jAnd packing the data into an ith cruise data packet, wherein j belongs to [ n ∈ ]i-1+1，ni]，j∈N*The analysis processing module sends the cruise data packets to the mobile control module and the ultrasonic generation module according to the sequence from small to large of i, and the mobile control module sends the cruise data packets to the ultrasonic generation module according to the { t }jControlling the moving speed of an ultrasonic generating module according to the { I }jControlling the ultrasonic intensity of the sound head;
when the movement control module carries out movement control according to the ith cruise data packet, the control speed v when passing through the basic area each time is as follows:
Figure FDA0003515807410000012
where a denotes the side length of the base area.
2. An automated mobile ultrasound therapy system according to claim 1, wherein said ultrasound generating module generates ultrasound waves having an intensity interval [ I ]min，Imax]The time interval of continuous contact of the ultrasonic generation module on each basic area is [ t ]min，tmax]Control data { t }nAnd { I }nSatisfy:
Imin≤Ii≤Imax，i＝1，2，3，...，n；
tmin≤ti≤tmax，i＝1，2，3，...，n。
3. an automated mobile ultrasound therapy system according to claim 2, wherein said analysis processing module sets the control data for each base region to { t } tn}＝{tmin}，{In}＝{IminWhen the cruise area is divided, if an unconnected basic area exists, the basic area is controlledData tnAnd { I }nIt is turned up so that n is reduced to not belong to the cruise region.
4. The automated mobile ultrasound therapy system according to claim 3, wherein the feedback detection module comprises a pressure detection unit and a displacement detection unit, the pressure detection unit is mounted on the sound head of the ultrasound generation module and contacts with the skin to detect the pressure F between the skin, the analysis processing module calculates the expansion data Δ L to be adjusted according to the detected pressure value F:
Figure FDA0003515807410000021
where s is the unit distance and Δ F is the biasable force.
5. The automated mobile ultrasound therapy system according to claim 4, wherein the displacement detecting unit detects unit offsets Δ x and Δ y of the skin and the sound head, and the analyzing and processing module calculates the real-time moving speed v' adjusted by the ultrasound generating module according to the unit offsets as:
v′·sinθ＝2v·sinα-δ·Δy；
v′·cosθ＝2v·cosα-δ·Δx；
wherein alpha is an included angle between the real-time moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, theta is an included angle between the adjusted moving direction of the ultrasonic generation module and the standard direction of the displacement detection unit, and delta is an offset speed conversion coefficient.
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