CN-121971811-A - Man-machine cooperative varicose vein accurate treatment system and interactive control method

CN121971811ACN 121971811 ACN121971811 ACN 121971811ACN-121971811-A

Abstract

The invention provides a man-machine cooperative varicose vein accurate treatment system and an interactive control method, and relates to the technical field of minimally invasive medical instruments. The ultrasonic imaging system comprises a positioning executing mechanism, a treatment head, a control host and a man-machine interaction terminal, wherein an ultrasonic imaging transducer of an ultrasonic imaging module and a high-intensity focusing ultrasonic transducer of a high-intensity focusing ultrasonic module which are integrated in the treatment head are configured to be confocal in sound field, the control host comprises a radio frequency signal processing module, a control instruction is generated to automatically adjust or interrupt energy output of the high-intensity focusing ultrasonic transducer based on a time decorrelation coefficient of a radio frequency signal acquired by the ultrasonic imaging module in a high-intensity focusing ultrasonic transmitting process, and the man-machine interaction terminal is used for displaying information and receiving user input. The system and the method realize accurate, safe and efficient treatment of varicose veins by intelligent algorithm planning, man-machine interaction confirmation, robot accurate execution and radio frequency signal closed-loop control on the premise of ensuring absolute safety.

Inventors

JIN CHONGXI
NAN LIANHUA
XU CHENGXUE

Assignees

威海美迪森医疗器械股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (10)

1. A human-computer coordinated varicosity accurate treatment system is characterized by comprising a positioning execution mechanism, a treatment head, a control host and a human-computer interaction terminal, wherein one end of the positioning execution mechanism is used for fixing, the other end of the positioning execution mechanism is used for installing the treatment head, the positioning execution mechanism is used for holding and moving the treatment head, an ultrasonic imaging module and a high-intensity focusing ultrasonic module are integrated in the treatment head, an ultrasonic imaging transducer of the ultrasonic imaging module and the high-intensity focusing ultrasonic transducer of the high-intensity focusing ultrasonic module are configured to be confocal in sound field, the control host comprises a radio-frequency signal processing module used for receiving and processing signals acquired by the ultrasonic imaging module, the radio-frequency signal processing module is configured to generate control instructions to automatically adjust or interrupt energy output of the high-intensity focusing ultrasonic transducer based on time decorrelation coefficients or acoustic characteristic parameters of radio-frequency signals acquired by the ultrasonic imaging module in a high-intensity focusing ultrasonic transmission process, and the human-computer interaction terminal is connected with the control host in a communication mode and used for displaying information and receiving user input.
2. The human-computer coordinated varicose vein precise treatment system according to claim 1, wherein the ultrasonic imaging transducer and the high-intensity focused ultrasonic transducer adopt a side-mounted sound field confocal structure or realize virtual-real coaxial confocal through an acoustic lens.
3. The humanly coordinated varicose vein precision treatment system of claim 1, further comprising an enable switch communicatively coupled to the control host, the control host configured to allow the high intensity focused ultrasound transducer to emit energy only upon detection of the enable switch being in an active state.
4. The human-machine cooperative varicose vein precision treatment system according to claim 1, wherein the control host further comprises a hemodynamic analysis module configured to analyze the ultrasound images and the blood flow signals to identify reflux source points, reentry points, and dangerous tissue, generating a proposed treatment target sequence.
5. The human-computer collaborative varicose vein precise treatment system according to claim 4, wherein the interface displayed by the human-computer interaction terminal comprises an ultrasonic image, a suggested treatment target and a dangerous area which are generated and marked by the hemodynamic analysis module, and the human-computer interaction terminal is further used for receiving fine adjustment of the position of the suggested treatment target by a user.
6. The human-computer collaborative varicose vein precise treatment system according to claim 1, wherein the radio frequency signal processing module calculates a temporal decorrelation coefficient comprising: The method comprises the steps of obtaining a reference radio frequency signal segment of a target area before treatment, continuously obtaining a current radio frequency signal segment of the same target area in the treatment process, and calculating a normalized cross-correlation coefficient between the current radio frequency signal segment and the reference radio frequency signal segment as the time decorrelation coefficient.
7. An interactive control method of a human-computer cooperative varicose vein accurate treatment system is characterized by comprising the following steps: Acquiring an ultrasonic image and hemodynamic information of a target area; generating a suggested therapeutic target sequence based on the ultrasound image and hemodynamic information; Receiving a confirmation or fine adjustment instruction of the suggested therapeutic target sequence, and controlling the therapeutic head to start energy emission on the confirmed target after detecting an enabling switch activation signal; During energy emission, calculating a time decorrelation coefficient of a target area in real time based on radio frequency signals acquired by the ultrasonic imaging module; And when the time decorrelation coefficient meets a preset closing condition, generating a control instruction to stop energy emission of the current target point.
8. The interactive control method of a human-machine cooperative varicose vein precision treatment system according to claim 7, wherein during said energy emission, if said enabling switch is detected to be turned to an inactive state, the energy emission is immediately interrupted.
9. The interactive control method of a human-computer coordinated varicose vein precise therapy system according to claim 8, wherein the preset closing condition is to generate a control command to stop the energy emission of the current target point when the temporal decorrelation coefficient is lower than a preset threshold value for a preset time or a continuous frame number.
10. The interactive control method of a human-computer coordinated varicose vein precise treatment system according to claim 9, wherein generating a suggested treatment target sequence based on ultrasound images and hemodynamic information, specifically comprises: automatically identifying a reflux source point, a reentry point and a concomitant nerve tissue by analyzing an ultrasonic image and a color Doppler blood flow signal; based on the identification result, a discrete suggested therapeutic target sequence is generated according to a strategy of reserving functional veins and blocking pathological reflux, and visual marking is carried out in an interactive interface.

Description

Man-machine cooperative varicose vein accurate treatment system and interactive control method Technical Field The invention relates to the technical field of minimally invasive medical instruments, in particular to a human-computer cooperative varicose vein accurate treatment system and an interactive control method. Background Varicose veins are a common vascular disease, and the incidence rate is high, so that the life quality of patients is seriously affected. Along with the development of medical technology, the trend of varicose vein treatment gradually changes from traditional aspiration and peeling operation to minimally invasive thermal ablation and noninvasive high-intensity focused ultrasound (HIFU) treatment, and the treatment mode has the advantages of small wound, quick recovery and the like and is widely focused. However, the prior art suffers from the following significant drawbacks: 1. The potential safety hazard of the full-automatic robot is that the existing partial HIFU vein treatment robot adopts a full-automatic operation mode, but the lower limb blood vessel anatomical structure is complex, and nerves or skin tissues are often accompanied. When the patient generates tiny body movements or muscle twitches, the full-automatic system is difficult to make sensitive response like doctors in time, and nerve injury or skin scald is extremely easy to cause. In addition, the full-automatic mode deprives the decision-making right of doctors on key targets (such as hidden strand junctions), so that the treatment strategy lacks flexibility and cannot be accurately adjusted according to individual conditions of patients. 2. The treatment end point is delayed, the existing equipment usually judges whether the treatment is stopped or not by setting fixed emission time or only relying on the gray level change of a B-ultrasonic image (B-Mode). But the gray level change is greatly influenced by gain adjustment and has obvious hysteresis, which often results in two adverse effects, namely over treatment, heat damage to surrounding normal tissues, insufficient treatment, insufficient vascular closure, easy recurrence after operation and serious influence on the treatment effect. 3. Transducer construction difficulties to achieve coaxial monitoring of ultrasound imaging and HIFU therapy, the prior art generally employs a structure in which a physical hole (CentralHole) is punched in the center of the piezoelectric ceramic and an imaging probe is passed through the hole. The processing technology of the structure is complex, the yield is low, and the integrity of the wafer is damaged by the center hole, so that the energy emission efficiency is reduced, the risks of high-voltage insulation failure and water leakage are increased, and the reliability and the service life of the equipment are affected. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a human-computer cooperative varicose vein accurate treatment system and an interactive control method, which are planned by an intelligent algorithm, the man-machine interaction confirms that the robot accurately executes, and the radio frequency signal closed-loop control mode realizes accurate, safe and efficient treatment of varicose veins on the premise of ensuring absolute safety. The technical scheme includes that the human-computer coordinated varicosity accurate treatment system comprises a positioning executing mechanism, a treatment head, a control host and a human-computer interaction terminal, wherein one end of the positioning executing mechanism is used for fixing, the other end of the positioning executing mechanism is used for installing the treatment head, the positioning executing mechanism is used for holding and moving the treatment head, an ultrasonic imaging module and a high-intensity focusing ultrasonic module are integrated in the treatment head, an ultrasonic imaging transducer of the ultrasonic imaging module and the high-intensity focusing ultrasonic transducer of the high-intensity focusing ultrasonic module are configured to be confocal in sound field, the control host comprises a radio frequency signal processing module for receiving and processing signals collected by the ultrasonic imaging module, the radio frequency signal processing module is configured to generate a control instruction to automatically adjust or interrupt energy output of the high-intensity focusing ultrasonic transducer based on time decorrelation coefficients or acoustic characteristic parameters of the radio frequency signals collected by the ultrasonic imaging module in a high-intensity focusing ultrasonic emission process, and the human-computer interaction terminal is in communication connection with the control host and is used for displaying information and receiving user input. Further, the ultrasonic imaging transducer and the high-intensity focusing ultrasonic transducer adopt a side-mounted sound field confo