CN1290664C - S free degree scanner of focus ultrasonic therapic devices - Google Patents
S free degree scanner of focus ultrasonic therapic devices Download PDFInfo
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- CN1290664C CN1290664C CN 03128117 CN03128117A CN1290664C CN 1290664 C CN1290664 C CN 1290664C CN 03128117 CN03128117 CN 03128117 CN 03128117 A CN03128117 A CN 03128117A CN 1290664 C CN1290664 C CN 1290664C
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- parallel scan
- scanning mechanism
- scan mechanism
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- cross table
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Abstract
The present invention relates to a five degrees of freedom scanner of a focused ultrasonic therapy apparatus, which relates to a scanning mechanism and realizes high-accuracy motion control of 5 degrees of freedom ultrasonic focus with a relatively simple structure and lower manufacturing cost. The present invention comprises a cross worktable and a parallel scanning mechanism, wherein the cross worktable comprises an X-axle guide track, a Y-axle guide track, an X-axle drive motor and a Y-axle drive motor. Three drive axles of the parallel scanning mechanism are vertically arranged in a triangular; three sliding tables are respectively arranged on the three drive axles and can move up and down along the drive axles; one end of each of three connecting rods with equal length is a revolute pair which is installed on the sliding table; the other end of each connecting rod is connected to a moving platform via a ball pair; the cross workbench can be positioned above the parallel scanning mechanism or below the parallel scanning mechanism as the base of the parallel scanning mechanism; all key components of the present invention can be realized by conveniently adopting the existing standard components; the present invention greatly decreases the difficulty degree of exploitation and manufacture to meet the requirements for high-intensity focused ultrasonic therapy.
Description
Technical field
The present invention relates to a kind of sweep mechanism that is used for the high-strength focusing ultrasonic therapy machine.
Background technology
The high intensity focused ultrasound technology is that external low-density ultrasonic energy is focused among the in-vivo tumour tissue, reaches the purpose of " excision " tumour, does not need to operate on, need not transfuse blood, "dead" infringement does not need guiding puncture yet, do not damage ultrasonic wave normal structure outside the tissue of process or the target area.Domestic and international many units and be organized in this respect research, representational have university of Britain kingdom, a medical college of Boston Univ USA etc.
Chinese invention patent CN1215616 " high-intensity focus supersonic tumor scanning therapy system " just belongs to this class device.By coupling probe, the multi beam ultrasonic energy is focused on the focus.Under the effect of servo-drive system, finish tumour " excision " action.Corresponding treatment bed sweep mechanism, China utility model patent CN2351150 " six coordinate scanning devices in the high-strength focus supersonic therapeutic system " has 6 frees degree completely, realizes the space orientation of ultrasonic wave focus and the attitude control of ultrasonic wave conducting path.The sweep mechanism of this form is in full accord with 6 traditional coordinate numerally controlled machine tools in fact.This device main engine bed connects by the shell of centre bore left side gusset piece and leaning device, and the leaning device left end connects by screw and four-dimensional mechanism shell, and three mutually perpendicular rectangular co-ordinates and a horizontal rotation coordinate are arranged in the four-dimensional mechanism.Can realize 6 frees degree completely, ensure that the ultrasonic wave focus realizes tumour " excision " according to the path and the attitude of any appointment.But, this version complicated in mechanical structure, the volume heaviness, manufacturing and installation cost are higher.The rigidity of whole system is relatively poor, and from the stressed angle of system, weak link is more, is unfavorable for that precision keeps, and maintenance and adjustment are also cumbersome.
The careful high-strength focusing ultrasonic therapy process of investigating, in fact, sweep mechanism does not need 6 frees degree completely.The ultrasonic wave focus shows as the ellipsoid that a size is approximately size about 2 * 2 * 12mm in three dimensions.When doing diagnosis and treatment planning, there is not practical function around the rotatablely moving of central axial direction of ellipsoid, do not obtain using.Virtuous for tumour " excision ", mainly be that three translational degree of freedom and two are mainly used in the X that dodges or align limbs, the rotational freedom of Y direction.
China utility model patent CN2518532 " series and paralle connection scanner in the high strength focus ultrasonic knife " provides a kind of new thinking.This scheme is applied to the high-strength focusing ultrasonic therapy machine with parallel institution, utilizes parallel institution simple in structure, and the characteristics that rigidity is big have been improved the manufacture difficulty of whole system widely, can reduce the manufacturing cost of sweep mechanism significantly; For the limited problem of parallel institution working space, then utilized the cross table of standard to remedy, combine the advantage of two kinds of dissimilar mechanisms simultaneously, but in concrete enforcement, the 3RPS mechanism that this utility model adopted, its telescopic arm still needs independent manufacturing, under the single and mini-batch production production model, precision still is not easy to be protected, manufacturing cost still has room for improvement, in addition, since the difficulty of expansion link design itself and realization, the scope that actual expansion link effective travel reaches much smaller than hope, it is heavy that general structure is still disliked, the installation and maintenance difficulty, the installing space of measuring transducer is limited bigger in the corresponding controller design, and the layout of lead limit switch is difficulty very.
Summary of the invention
The 5DOF scanning means of focused ultrasound therapy machine of the present invention, its purpose are to provide the scanning positioner in a kind of high-intensity focus supersonic tumor therapy apparatus.Realize the motion control of high-precision 5DOF ultrasound focus with simple relatively structure and lower manufacturing cost.
The 5DOF scanning means of a kind of focused ultrasound therapy machine of the present invention comprises cross table and parallel scan mechanism; Cross table comprises orthogonal X-axis guide rail and Y-axis guide rail and X-axis drive motors and Y-axis drive motors, and cross table can be placed in parallel scan mechanism top, also can be placed in the pedestal of parallel scan mechanism below as the latter; Described parallel scan mechanism comprises three driving shafts and connected revolute pair, moving sets and ball pair, it is characterized in that: three driving shafts vertically are installed on the pedestal, are equilateral triangle and arrange in the described parallel scan mechanism; Three slide units are loaded on three driving shafts respectively, can move up and down along driving shaft; Three are waited long connecting rod one end is revolute pair, is installed in respectively on the slide unit, only has a rotational freedom, and its rotating shaft is respectively perpendicular to respective drive; Three are waited the long connecting rod other end to be connected in moving platform with the ball pair, and described ball pair has three rotational freedoms.
Described focused ultrasound therapy machine, it is further characterized in that the secondary formation of three balls equilateral triangle that connects moving platform and wait long connecting rod, three are waited the projection of long connecting rod to drop on the angular bisector of three formed equilateral triangles of driving shaft.
Described focused ultrasound therapy machine, three driving shafts of described parallel scan mechanism and the structure between corresponding three slide units can be in hydraulic servo drives structure, feed screw nut's structure or the linear guide rail structure a kind of.
Parallel scan of the present invention mechanism is a kind of improvement of 3RPS mechanism, also has identical three degree of freedom, both the translational degree of freedom on Z-direction and around two rotational freedoms of X-axis Y-axis.But whole design comprises cross table, directly the line slideway of selection standard.Whole scanning means is except therapeutic bed bed surface and the independent design processing of pedestal needs, and all the other all critical components all can select for use ready-made standard component to realize.Cross table and three vertical driving shafts also can adopt the hydraulic unit of standard to realize, perhaps adopt linear electric motors to realize.
Starting point of the present invention is to adopt the parts of standard to realize 5DOF high-strength focusing ultrasonic therapy machine scanning means as far as possible, and simplied system structure reduces system cost as far as possible.Its core is to have selected for use standardized linear motion device.Certainly, also can be used for 3PRS or cross table by independent design one cover straight-line motion mechanism.
The control of cross table of the present invention and parallel scan mechanism must be finished by computer fully, coordinates motion between the two simultaneously.Among therapeutic process, the high intensity focused ultrasound focus is with respect to the fixed-site of parallel scan mechanism moving platform, under computer instruction compliant platform produce on the Z axle displacement and respectively around the spinning movement of X-axis and Y-axis.
No matter whether be operated in big closed loop mode of operation, perhaps under the open loop mode, the angle variation of parallel scan mechanism output can cause the ultrasonic wave focus to produce skew simultaneously on the horizontal plane direction, and cross table must be according to real-time attitude and this variation of position compensation of parallel scan mechanism moving platform.
Under the big closed loop mode, the real time position of high-strength ultrasonic focus relies on B ultrasonic, on the basis of real-time B ultrasonic image, and the real time position of artificial or semi-automatic adjustment high-strength ultrasonic focus in focus.Also can realize operation automatically in theory, but present computer software development level and artificial intelligence process ability can't be competent at this critical tasks, so must there be the doctor who enriches the B ultrasonic clinical experience to intervene by the way that image is handled.
Under open loop mode, the high-strength focusing ultrasonic therapy machine depends on the rigidity and the positioning accuracy of scanning means itself, finishes high intensity ultrasound treatment on preassigned diagnosis and treatment path planning.High strength supersonic focal position does not wherein rely on real-time B ultrasonic scanning result, and is only relevant with the tumour coordinate information that provides in the diagnosis and treatment planning.Therefore, under the open loop mode of operation, need be by means of some other means, as CT etc., accurately align the locus of the coordinate system and the place of the therapy apparatus coordinate system own at patient's focus place, ensure the security of therapeutic process.Therapeutic process Once you begin, whole process is promptly finished automatically by programme-control, does not need manual intervention.
Description of drawings
Fig. 1 is a parallel scan structural scheme of mechanism of the prior art;
Fig. 2 is one embodiment of the present invention, and cross table is above parallel scan mechanism;
Fig. 3 is an another embodiment of the invention, and cross table is below parallel scan mechanism.
The specific embodiment
The parallel scan mechanism of prior art shown in Figure 1, from bottom to up, on its each side chain the hinge of process be respectively revolute pair (Rotary), moving sets (Prismatic) and spherical pair (Spherical), therefore be called 3RPS mechanism.
Shown in Figure 2, three driving shafts 7 of parallel scan of the present invention mechanism all vertically are installed on the pedestal distribution triangular in shape; Slide unit 6 is done moving up and down of Z direction along straight line, drives three and waits long connecting rod 5; The lower end of connecting rod 5 is a revolute, only has a rotational freedom, and its rotating shaft is installed on the slide unit 6 perpendicular to driving shaft 7; The upper end of connecting rod 5 is the ball pair, has three rotational freedoms; The pivot of three ball pairs constitutes an equilateral triangle just; Line between the center of ball pair and the center of revolute is on the angular bisector of driving shaft 7 place equilateral triangles in the projection within the horizontal plane just.Three driving shafts can directly adopt ripe line slideway standard component to realize, also can design voluntarily, this structure can be described as 3PRS mechanism.
Cross table has comprised two independently drive motors 13 and two orthogonal guide rails 24, to realize the feed motion of X-axis and Y-axis.Be installed in 3PRS mechanism directly over, drive therapeutic bed bed surface 9 and on X and Y both direction, move, realize two translational degree of freedom.Among the therapeutic process, patient lies/lies prone on treatment bed surface 9, moves according to the mode of program appointment, with 3PRS mechanism, finishes the 3-D scanning " excision " of tumour.
Second kind of implementation of the present invention as shown in Figure 3.Cross table can be used as the pedestal of 3PRS mechanism, and the 3PRS parallel institution is installed in the top of cross table, and the bed surface 9 of therapeutic bed is maintained fixed, and is motionless with respect to ground.
Claims (3)
1. the 5DOF scanning means of a focused ultrasound therapy machine comprises cross table and parallel scan mechanism; Cross table comprises orthogonal X-axis guide rail and Y-axis guide rail and X-axis drive motors and Y-axis drive motors, and cross table can be placed in parallel scan mechanism top, also can be placed in the pedestal of parallel scan mechanism below as the latter; Described parallel scan mechanism comprises three driving shafts and connected revolute pair, moving sets and ball pair, it is characterized in that: three driving shafts vertically are installed on ground or the cross table, are equilateral triangle and arrange in the described parallel scan mechanism; Three slide units are loaded on three driving shafts respectively, can move up and down along driving shaft; Three are waited long connecting rod one end is revolute pair, is installed in respectively on the slide unit, only has a rotational freedom, and its rotating shaft is respectively perpendicular to respective drive; Three are waited the long connecting rod other end to be connected in moving platform with the ball pair, and described ball pair has three rotational freedoms.
2. focused ultrasound therapy machine as claimed in claim 1 is characterized in that connecting moving platform and waits three balls pairs of long connecting rod to constitute equilateral triangle that three are waited the projection of long connecting rod to drop on the angular bisector of three formed equilateral triangles of driving shaft.
3. focused ultrasound therapy machine as claimed in claim 1 or 2 is characterized in that three driving shafts of described parallel scan mechanism and the structure between corresponding three slide units are a kind of in hydraulic servo drives structure, feed screw nut's structure or the linear guide rail structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03128117 CN1290664C (en) | 2003-06-06 | 2003-06-06 | S free degree scanner of focus ultrasonic therapic devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03128117 CN1290664C (en) | 2003-06-06 | 2003-06-06 | S free degree scanner of focus ultrasonic therapic devices |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1456369A CN1456369A (en) | 2003-11-19 |
| CN1290664C true CN1290664C (en) | 2006-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03128117 Expired - Fee Related CN1290664C (en) | 2003-06-06 | 2003-06-06 | S free degree scanner of focus ultrasonic therapic devices |
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| CN (1) | CN1290664C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10357667B2 (en) * | 2009-09-24 | 2019-07-23 | Profound Medical Inc. | High intensity focused ultrasound positioning mechanism |
| CN101936957B (en) * | 2010-07-06 | 2012-01-11 | 浙江大学 | Ultrasonic sixteen-degree-of-freedom scanning and detecting device |
| CN106913357A (en) * | 2015-12-25 | 2017-07-04 | 通用电气公司 | Joint ultrasonic image-forming system and its method |
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2003
- 2003-06-06 CN CN 03128117 patent/CN1290664C/en not_active Expired - Fee Related
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| CN1456369A (en) | 2003-11-19 |
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