High-intensity focused ultrasonic device and control method

A control method for a high-intensity focused ultrasonic apparatus, applicable to a high-intensity focused ultrasonic apparatus, wherein the high-intensity focused ultrasonic apparatus is configured to perform high-intensity focused ultrasonic treatment on a region to be treated, and the high-intensity focused ultrasonic apparatus comprises:

• an imaging device, configured to acquire an image of the region to be treated;
• an optical tracking device, comprising a camera, and a plurality of optical markers arranged on the region to be treated or the imaging device for realizing locating of any point in the region to be treated;
• a working assembly, configured to release a high-intensity focused ultrasonic pulse to irradiate a target coordinate point after the target coordinate point in the region to be treated is selected;
• and
• a positioning device, wherein the positioning device has one end fixedly arranged, and another end configured to be capable of clamping the working assembly, and extending to move freely, and the positioning device is configured to clamp the working assembly to move to a working position corresponding to the target coordinate point to allow the working assembly to irradiate the target coordinate point;
• wherein a plurality of optical markers are further arranged on the working assembly or the positioning device for realizing locating of the working assembly;
• wherein an energy focusing point at which the working assembly releases a high-intensity focused ultrasonic pulse is located in an image scanning region of the imaging device;
• wherein the working assembly comprises a first component, a membrane, a second component, a high-intensity focused ultrasonic probe and a working assembly main body which are arranged to be stacked sequentially;
• the first component is a hollow annular structure, and a plurality of first engaging members are provided on an outer circumference of the first component;
• the second component is a hollow annular structure;
• the membrane is arranged between the first component and the second component;
• the high-intensity focused ultrasonic probe comprises a first end face and a second end face, and the second end face is fixedly/movably connected to the working assembly main body;
• and
• an outer wall of the working assembly main body is provided with second engaging members, and the second engaging members are arranged to be engageable with the plurality of first engaging members respectively;
• and
• wherein the working assembly main body comprises:
• a base plate provided with a plurality of connecting holes;
• a driving device, fixedly connected to a surface of the base plate;
• a plurality of connecting rods, wherein each of the plurality of connecting rods has one end passing through a respective one of the plurality of connecting holes to be electrically connected to the driving device, and has another end fixedly/moveably connected to the second end face of the high-intensity focused ultrasonic probe;
• and
• a housing covering the base plate, the driving device and the plurality of connecting rods, wherein an outer surface of the housing is provided with the plurality of second engaging members;
• wherein the control method for a high-intensity focused ultrasonic apparatus comprises:
• at a first moment, acquiring a first image of a region to be treated, performing modelling analysis on the first image, and generating a 3D model of the region to be treated;
• wherein the first image is acquired by a medical imaging apparatus;
• at a second moment, acquiring a second image of the region to be treated;
• wherein the second image is acquired by an imaging device in the high-intensity focused ultrasonic apparatus;
• wherein the first moment is earlier than the second moment;
• fusing the first image and the second image, generating a fused 3D model image of the region to be treated, and controlling an optical tracking device to locate the fused 3D model image;
• after a target coordinate point in the fused 3D model image is selected, and according to a plurality of optical markers arranged on a working assembly or on a positioning device, acquiring a coordinate location of the working assembly or a coordinate location of the positioning device;
• acquiring a coordinate location of the target coordinate point, and according to the coordinate location of the target coordinate point, and the coordinate location of the working assembly or the coordinate location of the positioning device, controlling the positioning device to clamp the working assembly to move to a working position corresponding to the target coordinate point, to allow the working assembly to release a high-intensity focused ultrasonic pulse to irradiate the target coordinate point;
• and
• acquiring, by the imaging device, images of the region to be treated in real time, to monitor an irradiation process in which the working assembly irradiates the target coordinate point.