Method for controlling focused ultrasound therapy device based on arm architecture

A method for controlling a focused ultrasound therapy device having an Acorn RISC Machine (ARM) embedded processor embedded therein, the focused ultrasound therapy device being connected to a workstation and the ARM embedded processor running a linux kernel, the ARM embedded processor storing a first control program, the workstation storing a second control program, the first control program communicating with the second control program via a transmission control protocol/internet protocol (TCP/IP), the method comprising:

• the first control program, which comprises a main thread a working thread, controlling the focused ultrasound therapy device by executing a task of one or more tasks cached by the main thread and the main thread sending a task execution result of the executed task to the second control program;
• wherein the task comprises an internal event and an operation instruction, the internal event comprises a timer event of the first control program and an interrupt message of the linux kernel, the second control program receives the operation instruction from a user of the workstation through the workstation and sends the operation instruction to the first control program via the TCP/IP;
• and
• wherein the main thread makes priorities for the one or more cached tasks, and where priorities of the interrupt message, the operation instruction and the timer event are made to decrease in order, and the working thread executes the cached one or more tasks according to the priorities from a high priority to a low priority, and reads and writes a register of the ARM embedded processor according to the task execution result to control the focused ultrasound therapy device, and the worker thread sends the task execution result to the main thread.