CN114533201B - In-vitro broken blood clot auxiliary equipment - Google Patents
In-vitro broken blood clot auxiliary equipment Download PDFInfo
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- CN114533201B CN114533201B CN202210002449.6A CN202210002449A CN114533201B CN 114533201 B CN114533201 B CN 114533201B CN 202210002449 A CN202210002449 A CN 202210002449A CN 114533201 B CN114533201 B CN 114533201B
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- 208000007536 Thrombosis Diseases 0.000 title claims abstract description 109
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- 231100000827 tissue damage Toxicity 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
- A61B17/2256—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves with means for locating or checking the concrement, e.g. X-ray apparatus, imaging means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
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Abstract
The invention discloses an in-vitro broken blood clot auxiliary device which comprises a control device, a second height adjusting rod and a first height adjusting rod, wherein a second angle adjusting motor set is fixed on the second height adjusting rod, and a second in-vitro wave impact head is fixed on the second angle adjusting motor set; a first angle adjusting motor is also fixed on the first height adjusting rod, and a first external wave impact head is fixed on the first angle adjusting motor; the control device is electrically connected with the second external wave impact head and the first external wave impact head through leads; the second external wave impact head is used for emitting external waves to the blood clot in one energy channel, and the first external wave impact head is used for emitting external waves to the blood clot in the other energy channel; the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head are intersected with each other, and the intersection point is a blood clot.
Description
Technical Field
The invention relates to an in-vitro blood clot crushing auxiliary device.
Background
Ultrasound waves or shock waves are used as auxiliary medical treatment, and the lithotripsy principle of SWL is that stones inside a human body are positioned at the position of a focus of a shock wave generator (which can generate and focus shock waves) through an image positioning system (X-rays and ultrasound), and the stones are crushed through a series of physical effects (stress effect, cracking effect, cavitation effect, extrusion effect and the like) generated by the shock waves at the local parts of the stones. The main stone crushing effect is a stress effect and a cavitation effect ① stress effect, namely, when a shock wave propagates in the stone, the stone is compressed and stretched along with the wave, and when the compressive force and the tensile force of stone molecules exceed the limit of self stress, the stone is damaged. The stress effect stone breaking is characterized in that the stone can be wholly broken into larger fragments. ② Cavitation effect-a large number of cavitation bubbles are generated when the shock wave is conducted in water. The cavitation bubble is broken to cause 'microjet' to repeatedly hammer the stone, so that the surface of the stone can be degraded. The broken stone with cavitation effect features that the broken stone can be further crushed.
1. Hydraulic and electric shock wave stone crusher
The broken stone principle is that the liquid electric shock wave generator is mainly composed of two parts of a discharge electrode and a semi-ellipsoidal reflector. During SWL, the discharge electrode is arranged at the first focus (F) of the semi-ellipsoidal reflector filled with water, shock waves generated by underwater high-voltage discharge are reflected by the ellipsoidal wall of the semi-ellipsoidal reflector and focused at the second focus (F2), and stones are positioned at the second focus through the imaging system by using the coke. The characteristics of the hydraulic-electric shock wave lithotripter are that the hydraulic-electric lithotripter has higher shock wave peak pressure, strong penetrating power and obvious lithotripter effect. However, with the loss of the electrode during the SWL process, the phenomena of unstable energy output and focus drift (focal shift) exist, and the electrode needs to be replaced in time during treatment.
2. Electromagnetic shock wave stone crusher
The broken stone principle is that an electromagnetic shock wave generator consists of a coil, a metal vibrating diaphragm and an acoustic lens. When in SWL, the pulse electric energy is converted into a pulse electromagnetic field through the coil, the electromagnetic coil and the metal vibrating diaphragm interact to generate plane waves, and the plane waves are focused by the lens and then are highly concentrated in energy, so that the purpose of crushing stones is achieved. Compared with the liquid electric stone crusher, the electromagnetic stone crusher has the characteristics of stable shock wave energy output, constant focus position and longer service life of a wave source, and is gradually replaced with the liquid electric stone crusher to become the main stream model in the current market.
3. Piezoelectric shock wave stone crusher
The piezoelectric shock wave generator is characterized in that hundreds of piezoelectric ceramic elements are placed on a specific curved surface, and shock waves generated by each piezoelectric ceramic element under the action of electric pulse are directly focused through the curved surface to form an energy-dense area which is sufficient for breaking stones.
Among the relevant prior art, say CN112401978B, disclose an external shock wave device of supplementary bladder blood clot discharge, it includes the ultrasonic control case, the top fixedly connected with handle of ultrasonic control case, the front side of ultrasonic control case is provided with the display screen, the rear side of ultrasonic control case is provided with power plug, the bottom of ultrasonic control case front side is provided with switch, the left bottom fixedly connected with fixing base of ultrasonic control case, the mounting groove has been seted up at the top of fixing base, the inner chamber swing joint of mounting groove has the ultrasonic tube, the top swing joint of ultrasonic tube has the protecting crust. Through the use of spacing subassembly and telescopic machanism, can fix the ultrasonic wave pipe and place, also protected the ultrasonic wave head moreover, the ultrasonic wave that its ultrasonic wave head sent the frequency and is 18kHz-25kHz, the amplitude is 30 mu m-100 mu m to the clot and smash the external body that supplementary bladder clot was discharged, all adopted a wave energy passageway in the technique of supplementary discharge to bladder clot operation based on ultrasonic wave or shock wave among the similar prior art, not only the impact effect is not good but also extra tissue damage is bigger in this technique.
Disclosure of Invention
The invention aims to provide an in-vitro blood clot crushing auxiliary device, which adopts the following technical scheme to realize the purposes: an in-vitro broken blood clot auxiliary device comprises a control device, a second height adjusting rod and a first height adjusting rod, wherein a second angle adjusting motor set is fixed on the second height adjusting rod, and a second in-vitro wave impact head is fixed on the second angle adjusting motor set; a first angle adjusting motor is also fixed on the first height adjusting rod, and a first external wave impact head is fixed on the first angle adjusting motor; the control device is electrically connected with the second external wave impact head and the first external wave impact head through leads; the second external wave impact head is used for emitting external waves to the blood clot in one energy channel, and the first external wave impact head is used for emitting external waves to the blood clot in the other energy channel; the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head are intersected with each other, and the intersection point is a blood clot.
As still further aspects of the invention: the second external wave impact head include arc dustcoat and set up the awl bucket shape cover in arc dustcoat opening one side, awl bucket shape cover and arc dustcoat form a confined cavity, the breach is seted up to the top department of awl bucket shape cover, set up external wave trigger head in the breach, the inside external wave generating element that passes through of support fixed of arc dustcoat, external wave generating element include the transducer in the outside and the elasticity fixing clip that the middle part set up and the control circuit board that the inboard set up, transducer sound wave delivery outlet one side of selling pass through extension tube and external wave trigger head UNICOM, control circuit board and transducer electricity be connected, control circuit board still be connected with outside controlgear electricity through outer circuit connecting pipe.
As still further aspects of the invention: the second height adjusting rod and the first height adjusting rod are identical in structure, the second height adjusting rod and the first height adjusting rod are both composed of an outer sleeve, an electric push rod motor set is fixed on an inner bottom of the outer sleeve through an electric push rod fixing base, the electric push rod motor set comprises an electric push rod main rod, a sliding rail is arranged in the middle of the outer sleeve, a lifting control seat capable of sliding up and down is arranged between the sliding rails, a lifting rod is arranged on the upper portion of the lifting control seat, and the lower portion of the lifting control seat is fixedly connected with the top end of the electric push rod main rod.
As still further aspects of the invention: the control equipment is used for obtaining an output signal of the B ultrasonic control host machine so as to determine the specific position of the blood clot on the basis of space modeling, the control equipment is used for simultaneously controlling the second angle adjustment motor group and the angle of rotation of the motor in the first angle adjustment motor, and the control equipment is also used for simultaneously controlling the lifting height of the first height adjustment rod and the lifting height of the second height adjustment rod and used for ensuring that the straight line where the external wave impact path in the energy channel of the second external wave impact head is positioned and the straight line where the external wave impact path in the energy channel of the first external wave impact head is positioned are intersected with each other and the intersection point is positioned on the blood clot.
As still further aspects of the invention: the control device is characterized by comprising a device host, an electric push rod PLC controller and a motor control circuit, wherein the device host is electrically connected with the electric push rod PLC controller and the motor control circuit, and the electric push rod PLC controller is electrically connected with the second height adjusting rod and the electric push rod motor unit of the first height adjusting rod and is used for controlling the lifting height of the first height adjusting rod and the lifting height of the second height adjusting rod.
As still further aspects of the invention: the motor control circuit comprises a pulse control circuit, a driving power circuit and a stepping motor circuit which are electrically connected, wherein the stepping motor circuit is specifically a motor circuit in a second angle adjusting motor group and a first angle adjusting motor, and the motor control circuit is used for controlling the rotation angle of the motor.
As still further aspects of the invention: the equipment host of the control equipment is provided with a B ultrasonic display digital signal denoising module, a signal position identification reduction module, a signal color display reduction module, a signal quantity difference module, a relative blood clot position reduction module, a space modeling reduction module, a modeling blood clot position calculation module and a control signal calculation module at an application layer, wherein the output end of the B ultrasonic display digital signal denoising module is connected with the signal position identification reduction module and the signal color display reduction module, the output end of the signal position identification reduction module and the output end of the signal color display reduction module are connected with the signal difference module, the output end of the signal difference module is connected with the relative blood clot position reduction module, the output end of the relative blood clot position reduction module is connected with the space modeling reduction module and the modeling blood clot position calculation module, the space modeling reduction module and the modeling blood clot position calculation module are connected with each other, and the modeling blood clot position calculation module is connected with the control signal calculation module;
The B ultrasonic display digital signal denoising module is used for denoising the output signal obtained from the B ultrasonic control host;
the signal position identification restoring module is used for restoring the position identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the position data of different objects;
The signal color display and restoration module is used for restoring the color identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the color data of different objects;
the signal difference module is used for carrying out difference calculation on signals of objects in the position data and the color data;
The relative blood clot position restoring module is used for determining the relative position of the blood clot based on the results of differential calculation of object signals in position data and color data;
The space modeling and restoring module is used for establishing simulated space coordinates in advance and configuring corresponding parameters;
The modeling blood clot position calculation module is used for determining the modeling position of the blood clot in the simulated space coordinates through the relative position of the blood clot and the simulated space coordinates;
The control signal calculation module is used for determining the specific position of the blood clot based on the modeling position of the blood clot in the simulated space coordinates, determining the feedback control signal based on the specific position of the blood clot so as to control the second angle adjustment motor group and the angle of rotation of the motor in the first angle adjustment motor, and determining the feedback control signal so as to control the lifting height of the first height adjustment rod and the lifting height of the second height adjustment rod, so that the realization that the straight line where the external wave impact path in the energy channel of the second external wave impact head is positioned and the straight line where the external wave impact path in the energy channel of the first external wave impact head is positioned are mutually intersected and the intersection point is positioned on the blood clot is realized; the control signals fed back by the angle for controlling the second angle adjusting motor group and the motor in the first angle adjusting motor are transmitted to the motor control circuit by the control equipment, and the control signals fed back by the lifting height for controlling the first height adjusting rod and the second height adjusting rod are transmitted to the electric push rod PLC controller by the control equipment.
Compared with the prior art, the invention has the beneficial effects that:
the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head are intersected with each other and the intersection point is in a blood clot, so that the blood clot can be impacted by external waves through at least two energy channels to assist in blood clot discharge. The universal wheels can be arranged at the bottoms of the control equipment, the second height adjusting rod and the first height adjusting rod, so that the universal wheels can be conveniently pushed away or moved at any time, and the portable electric power steering device is very portable to use.
The application can at least accurately and automatically realize the extracorporeal wave impact on the blood clot through the two energy channels so as to assist the blood clot to be discharged, can reduce the energy of each channel, reduce extra tissue damage, has better impact effect on the blood clot when the impact lines are intersected with each other, and can better destroy the stress of the blood clot through the wave energy effect in the blood clot.
The application can realize that the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head are intersected with each other and the intersection point is in a blood clot. It is also possible to realize that the interaction between the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head in the blood clot maximizes the destruction of the internal blood clot stress.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application.
FIG. 2 is a schematic diagram of a second external wave impact head according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an embodiment of the present application.
Fig. 4 is a schematic view of a second height adjusting lever according to an embodiment of the present application.
Fig. 5 is a block diagram of a part of a circuit according to an embodiment of the present application.
Fig. 6 is a block diagram of a device host application layer of an embodiment of the present application.
In the figure: 100. the device comprises a control device, 200, a second height adjusting rod, 300, a first height adjusting rod, 400, a B ultrasonic control host, 500, a nursing bed, 600, a B ultrasonic signal probe, 201, a second angle adjusting motor set, 301, a first angle adjusting motor, 202, a second external wave impact head, 302, a first external wave impact head, 230, an arc-shaped housing, 231, an external wave trigger head, 232 extension pipes, 233, a cone-shaped housing, 234, a transducer, 235, a control circuit board, 236, an elastic fixing card, 237, an external wave generating unit, 238, an external circuit connecting pipe, 203, a lifting control seat, 204, an electric push rod fixing seat, 205, an outer sleeve, 206, an electric push rod motor set, 207, a lifting rod, 208, a sliding rail, 209 and an electric push rod main rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In a specific implementation, as shown in fig. 1, the present application includes a control device 100, a second height adjustment rod 200 and a first height adjustment rod 300, wherein a second angle adjustment motor set 201 is fixed on the second height adjustment rod 200, and a second external wave impact head 202 is fixed on the second angle adjustment motor set 201; a first angle adjusting motor 301 is further fixed on the first height adjusting rod 300, and a first external wave impact head 302 is fixed on the first angle adjusting motor 301; the control device 100 is electrically connected with the second external wave impact head 202 and the first external wave impact head 302 through leads; the second external wave impact head 202 is used for emitting external waves to the blood clot in one energy channel, and the first external wave impact head 302 is used for emitting external waves to the blood clot in another energy channel; the blood clot is laid on the nursing bed 500 when the application is implemented, the medical staff determines the blood clot on the patient body through the B-ultrasonic control host 400 and the B-ultrasonic signal probe 600 electrically connected with the B-ultrasonic control host 400, such as the blood clot in the bladder of the patient, then the second external wave impact head 202 and the first external wave impact head 302 are respectively aligned with the blood clot, the external wave impact is carried out on the blood clot through the second external wave impact head 202 and the first external wave impact head 302 under the control of the control device 100, and in particular, the blood clot is carried out by referring to fig. 3, the line of the external wave impact path in the energy channel of the second external wave impact head 202 and the line of the wave impact path in the energy channel of the first external wave impact head 302 are intersected with each other, and the blood clot is at the crossing point, so that at least the two blood clot can be carried out by the two extra energy channels of the second external wave impact head 202 and the second external wave impact head 302, and the application can be conveniently carried out by the control device 203, the height of the lifting device can be adjusted, and the height of the lifting device can be reduced, and the height of the lifting device can be controlled by the lifting and the lifting device 203, and the portable device can be controlled by the height of the lifting and the device 203. In practice, universal wheels can be mounted at the bottoms of the control device 100, the second height adjusting rod 200 and the first height adjusting rod 300, so that the control device can be conveniently pushed away or moved at any time, and is very portable to use.
In specific implementations, the application includes, but is not limited to, the following examples:
The control device 100, the second height adjusting rod 200 and the first height adjusting rod 300 can be placed in a cart together, and when the control device is needed to be used, the control device 100, the second height adjusting rod 200 and the first height adjusting rod 300 can be taken out of the cart to be placed independently and then used, and after the control device is used, the control device 100, the second height adjusting rod 200 and the first height adjusting rod 300 can be placed in the cart together to be placed continuously.
In practice, the external impact source point of the application can be dynamically configured, for example, an external wave can adopt ultrasonic waves and also can be a shock wave, the channels are not limited to two, and the multi-channel broken blood clot retrieval points (the energy of each channel is reduced, and the extra tissue injury is reduced); each channel may be selected from ultrasonic or extracorporeal shock waves; of course, in the case of dual channels, one channel may be an ultrasonic wave, the other shock wave, or both channels may be ultrasonic or shock waves, as in the disclosed embodiments of the present application.
In a preferred implementation, as shown in fig. 2, the second external wave impact head 202 has the same structure as the first external wave impact head, and includes an arc-shaped outer cover 230 and a cone-shaped cover 233 disposed at one side of the opening of the arc-shaped outer cover 230, the cone-shaped cover 233 and the arc-shaped outer cover 230 form a closed cavity, a notch is formed at the top end of the cone-shaped cover 233, an external wave trigger head 231 is disposed in the notch, an external wave generating unit 237 is fixed inside the arc-shaped outer cover 230 through a bracket, the external wave generating unit 237 includes an external transducer 234, an elastic fixing card 236 disposed in the middle, and a control circuit board 235 disposed inside, one side of a sound wave output port of the sold transducer 234 is communicated with the external wave trigger head 231 through an extension tube 232, the control circuit board 235 is electrically connected with the transducer 234, and the control circuit board 235 is further electrically connected with the external control device 100 through an external circuit connecting tube 238.
In a preferred implementation, as shown in fig. 4, the second height adjusting rod 200 and the first height adjusting rod 300 have the same structure, the second height adjusting rod 200 and the first height adjusting rod 300 both comprise an outer sleeve 205, an electric push rod motor unit 206 is fixed in an inner bottom of the tube of the outer sleeve 205 through an electric push rod fixing base 204, the electric push rod motor unit 206 comprises an electric push rod main rod 209, a sliding rail 208 is arranged in the middle of the tube of the outer sleeve 205, a lifting control seat 203 capable of sliding up and down is arranged between the sliding rails 208, a lifting rod 207 is arranged at an upper part of the lifting control seat 203, a lower part of the lifting control seat 203 is fixedly connected with a top end of the electric push rod main rod 209, in a specific implementation, the electric push rod main rod 209 can be controlled to extend up and down through the electric push rod motor unit 206, in a way, the lifting control of the lifting control seat 203 can be controlled up and down, in a way, the lifting of the lifting rod 207 can control the second height adjusting rod 200 or the second angle adjusting motor unit 202 on the first height adjusting rod 300 to lift up and down, and further control the lifting of the first shock wave head 302 to be lifted up and down.
In a preferred implementation, the control device 100 is configured to acquire an output signal of the B-mode control host 400, and further determine a specific position of the blood clot on the basis of spatial modeling, the control device 100 is configured to simultaneously control the second angle adjustment motor group 201 and the angle of rotation of the motor in the first angle adjustment motor 301, and the control device 100 is further configured to simultaneously control the elevation height of the first height adjustment rod 300 and the elevation height of the second height adjustment rod 200, so as to ensure that "a straight line where an external wave impact path exists in the energy channel of the second external wave impact head 202 and a straight line where an external wave impact path exists in the energy channel of the first external wave impact head 302 intersect each other and an intersection point is on the blood clot".
Preferably, as shown in fig. 5, the control device 100 includes a device host, an electric push rod PLC controller, and a motor control circuit, wherein the device host is electrically connected to the electric push rod PLC controller and the motor control circuit, and the electric push rod PLC controller is electrically connected to the second height adjusting rod 200 and the electric push rod motor unit 206 of the first height adjusting rod 300 and is used for controlling the lifting heights of the first height adjusting rod 300 and the second height adjusting rod 200. The motor control circuit comprises a pulse control circuit, a driving power circuit and a stepping motor circuit which are electrically connected, the pulse control circuit pulses the driving power circuit to drive the stepping motor circuit to work, the stepping motor circuit is specifically a motor circuit in the second angle adjustment motor group 201 and the first angle adjustment motor 301, and the motor control circuit is used for controlling the rotation angle of the motor.
In a preferred implementation, as shown in fig. 6, the device host of the control device 100 configures a B-ultrasonic display digital signal denoising module, a signal position identification restoration module, a signal color display restoration module, a signal quantity difference module, a relative blood clot position restoration module, a spatial modeling restoration module, a modeling blood clot position calculation module and a control signal calculation module at an application layer, wherein the output end of the B-ultrasonic display digital signal denoising module is connected with the signal position identification restoration module and the signal color display restoration module, the output end of the signal position identification restoration module and the output end of the signal color display restoration module are connected with the signal difference module, the output end of the signal difference module is connected with the relative blood clot position restoration module, the output end of the relative blood clot position restoration module is connected with the spatial modeling restoration module and the modeling blood clot position calculation module, the spatial modeling restoration module and the modeling blood clot position calculation module are connected with each other, and the modeling blood clot position calculation module is connected with the control signal calculation module;
the B ultrasonic display digital signal denoising module is used for denoising the output signal obtained from the B ultrasonic control host 400;
the signal position identification restoring module is used for restoring the position identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the position data of different objects;
The signal color display and restoration module is used for restoring the color identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the color data of different objects;
the signal difference module is used for carrying out difference calculation on signals of objects in the position data and the color data;
The relative blood clot position restoring module is used for determining the relative position of the blood clot based on the results of differential calculation of object signals in position data and color data;
The space modeling and restoring module is used for establishing simulated space coordinates in advance and configuring corresponding parameters;
The modeling blood clot position calculation module is used for determining the modeling position of the blood clot in the simulated space coordinates through the relative position of the blood clot and the simulated space coordinates;
The control signal calculation module is configured to determine a specific position of the blood clot based on the "modeling position of the blood clot in the simulated space coordinates", and determine a feedback control signal based on the specific position of the blood clot to control the second angle adjustment motor group 201 and the angle of rotation of the motor in the first angle adjustment motor 301, and determine the feedback control signal to control the elevation height of the first elevation adjustment lever 300 and the elevation height of the second elevation adjustment lever 200, so as to ensure that "a straight line where an external wave impact path in the energy channel of the second external wave impact head 202 is located and a straight line where an external wave impact path in the energy channel of the first external wave impact head 302 is located intersect each other and an intersection point is in the blood clot"; control signals fed back by the angle for controlling the rotation of the motors in the second angle adjustment motor group 201 and the first angle adjustment motor 301 are transmitted to the motor control circuit by the control device 100, and control signals fed back by the elevation height for controlling the first height adjustment lever 300 and the second height adjustment lever 200 are transmitted to the electric putter PLC controller by the control device 100.
In specific implementation, the space modeling and restoring module establishes simulated space coordinates in advance and configures corresponding parameters;
The B ultrasonic display digital signal denoising module performs denoising on the output signal acquired from the B ultrasonic control host 400; the signal position identification restoring module restores the position identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the position data of different objects; the signal color display and restoration module restores color identifications of the identified objects in the signals according to the coding rules in the denoised signals to determine color data of different objects; the signal quantity difference module performs difference calculation on signals of objects in the position data and the color data; the relative blood clot position restoring module determines the relative position of the blood clot based on the results of differential calculation of object signals in position data and color data; the modeling blood clot position calculation module determines the modeling position of the blood clot in the simulated space coordinates through the relative position of the blood clot and the simulated space coordinates; the control signal calculation module determines a specific position of the blood clot based on the modeling position of the blood clot in the simulated space coordinates, determines a feedback control signal based on the specific position of the blood clot to control the second angle adjustment motor group 201 and the angle of rotation of the motor in the first angle adjustment motor 301, and determines the feedback control signal to control the lifting heights of the first height adjustment rod 300 and the second height adjustment rod 200 so as to ensure that the straight line where the external wave impact path in the energy channel of the second external wave impact head 202 and the straight line where the external wave impact path in the energy channel of the first external wave impact head 302 are intersected with each other and the intersection point is the blood clot; and the control signals for controlling the angle feedback of the rotation of the motors in the second angle adjustment motor unit 201 and the first angle adjustment motor 301 are transmitted to the motor control circuit by the control device 100, and the control signals for controlling the elevation feedback of the first height adjustment rod 300 and the second height adjustment rod 200 in a short time delay or simultaneously are transmitted to the electric putter PLC controller by the control device 100, the motor control circuit controls the rotation angle of the motors in the second angle adjustment motor unit 201 and the first angle adjustment motor 301 through the signals, the electric putter PLC controller drives the electric putter motor unit 206 to further control the elevation control seat 203 and the elevation rod 207 to further control the elevation height of the first height adjustment rod 300 and the second height adjustment rod 200, and the straight line where the external wave impact path is located in the energy channel of the second external wave impact head 202 and the straight line where the external wave impact path is located in the energy channel of the first external wave impact head 302 are mutually intersected and the intersection point is on the blood clot, so that the application can at least accurately and automatically realize the realization of at least that the two energy channels can be mutually impacted to reduce the blood clot and the effect of better in order to reduce the damage to the blood clot and the blood clot in each time.
In a more preferred implementation, the present application may further configure a mechanical operation module at an application layer of the device host of the control device 100, where the mechanical operation module is configured to determine an optimal breaking stress impact point through a spatial configuration of a blood clot and determine a feedback control signal through the determined optimal breaking stress impact point to control the second angle adjustment motor unit 201, the angle of rotation of the motor in the first angle adjustment motor 301, and determine a feedback control signal to control the elevation height of the first elevation adjustment lever 300 and the second elevation adjustment lever 200, so as to ensure that "interaction between a straight line where an external wave impact path exists in an energy channel of the second external wave impact head 202 and a straight line where an external wave impact path exists in an energy channel of the first external wave impact head 302 breaks up internal stress of the blood clot in a maximum manner" is achieved, instead of merely achieving "a straight line where an external wave impact path exists in an energy channel of the second external wave impact head 202 and a straight line where an external wave impact path exists in an energy channel of the first external wave impact head 302 intersect each other and a blood clot is located.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The in-vitro blood clot crushing auxiliary equipment is characterized by comprising control equipment, a second height adjusting rod and a first height adjusting rod, wherein a second angle adjusting motor set is fixed on the second height adjusting rod, and a second in-vitro wave impact head is fixed on the second angle adjusting motor set; a first angle adjusting motor is also fixed on the first height adjusting rod, and a first external wave impact head is fixed on the first angle adjusting motor; the control device is electrically connected with the second external wave impact head and the first external wave impact head through leads; the second external wave impact head is used for emitting external waves to the blood clot in one energy channel, and the first external wave impact head is used for emitting external waves to the blood clot in the other energy channel; the straight line of the external wave impact path in the energy channel of the second external wave impact head and the straight line of the external wave impact path in the energy channel of the first external wave impact head are intersected with each other, and the intersection point is a blood clot;
the control equipment is used for acquiring an output signal of the B ultrasonic control host so as to determine the specific position of the blood clot on the basis of space modeling, the control equipment is used for simultaneously controlling a second angle adjustment motor group and the angle of rotation of a motor in a first angle adjustment motor, and the control equipment is also used for simultaneously controlling the lifting heights of a first height adjustment rod and a second height adjustment rod and used for ensuring that a straight line where an external wave impact path in an energy channel of the second external wave impact head is positioned and a straight line where the external wave impact path in the energy channel of the first external wave impact head is positioned are mutually intersected and an intersection point is positioned on the blood clot;
The control equipment comprises an equipment host, an electric push rod PLC controller and a motor control circuit, wherein the equipment host is electrically connected with the electric push rod PLC controller and the motor control circuit, and the electric push rod PLC controller is electrically connected with the second height adjusting rod and the electric push rod motor unit of the first height adjusting rod and is used for controlling the lifting heights of the first height adjusting rod and the second height adjusting rod;
The motor control circuit comprises a pulse control circuit, a driving power circuit and a stepping motor circuit which are electrically connected, wherein the stepping motor circuit is specifically a motor circuit in a second angle adjusting motor group and a first angle adjusting motor, and the motor control circuit is used for controlling the rotation angle of the motor;
The equipment host of the control equipment is provided with a B ultrasonic display digital signal denoising module, a signal position identification reduction module, a signal color display reduction module, a signal quantity difference module, a relative blood clot position reduction module, a space modeling reduction module, a modeling blood clot position calculation module and a control signal calculation module at an application layer, wherein the output end of the B ultrasonic display digital signal denoising module is connected with the signal position identification reduction module and the signal color display reduction module, the output end of the signal position identification reduction module and the output end of the signal color display reduction module are connected with the signal difference module, the output end of the signal difference module is connected with the relative blood clot position reduction module, the output end of the relative blood clot position reduction module is connected with the space modeling reduction module and the modeling blood clot position calculation module, the space modeling reduction module and the modeling blood clot position calculation module are connected with each other, and the modeling blood clot position calculation module is connected with the control signal calculation module;
The B ultrasonic display digital signal denoising module is used for denoising the output signal obtained from the B ultrasonic control host;
the signal position identification restoring module is used for restoring the position identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the position data of different objects;
The signal color display and restoration module is used for restoring the color identification of the identified object in the signal according to the coding rule in the denoised signal so as to determine the color data of different objects;
the signal difference module is used for carrying out difference calculation on signals of objects in the position data and the color data;
The relative blood clot position restoring module is used for determining the relative position of the blood clot based on the results of differential calculation of object signals in position data and color data;
The space modeling and restoring module is used for establishing simulated space coordinates in advance and configuring corresponding parameters;
The modeling blood clot position calculation module is used for determining the modeling position of the blood clot in the simulated space coordinates through the relative position of the blood clot and the simulated space coordinates;
The control signal calculation module is used for determining the specific position of the blood clot based on the modeling position of the blood clot in the simulated space coordinates, determining the feedback control signal based on the specific position of the blood clot so as to control the second angle adjustment motor group and the angle of rotation of the motor in the first angle adjustment motor, and determining the feedback control signal so as to control the lifting height of the first height adjustment rod and the lifting height of the second height adjustment rod, so that the realization that the straight line where the external wave impact path in the energy channel of the second external wave impact head is positioned and the straight line where the external wave impact path in the energy channel of the first external wave impact head is positioned are mutually intersected and the intersection point is positioned on the blood clot is realized; the control signals fed back by the angle for controlling the second angle adjusting motor group and the motor in the first angle adjusting motor are transmitted to the motor control circuit by the control equipment, and the control signals fed back by the lifting height for controlling the first height adjusting rod and the second height adjusting rod are transmitted to the electric push rod PLC controller by the control equipment.
2. The extracorporeal wave blood clot assist device as set forth in claim 1, wherein the second extracorporeal wave impact head comprises an arc-shaped outer cover and a cone-shaped cover arranged on one side of an opening of the arc-shaped outer cover, the cone-shaped cover and the arc-shaped outer cover form a closed cavity, a notch is formed at the top end of the cone-shaped cover, an extracorporeal wave trigger head is arranged in the notch, an extracorporeal wave generating unit is fixed inside the arc-shaped outer cover through a support, the extracorporeal wave generating unit comprises an outer transducer, an elastic fixing card arranged in the middle and a control circuit board arranged on the inner side, one side of an acoustic wave output port of the sold transducer is communicated with the extracorporeal wave trigger head through an extension tube, the control circuit board is electrically connected with the transducer, and the control circuit board is also electrically connected with an external control device through an external circuit connecting tube.
3. The extracorporeal blood clot crushing auxiliary device according to claim 2, wherein the second height adjusting rod and the first height adjusting rod have the same structure, the second height adjusting rod and the first height adjusting rod both comprise an outer sleeve, an electric push rod motor unit is fixed at the inner bottom of the outer sleeve through an electric push rod fixing base, the electric push rod motor unit comprises an electric push rod main rod, a sliding rail is arranged at the middle part in the outer sleeve, a lifting control seat capable of sliding up and down is arranged between the sliding rails, a lifting rod is arranged at the upper part of the lifting control seat, and the lower part of the lifting control seat is fixedly connected with the top end of the electric push rod main rod.
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