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CN-122006139-A - Photodynamic therapy device and control method thereof

CN122006139ACN 122006139 ACN122006139 ACN 122006139ACN-122006139-A

Abstract

The application discloses a photodynamic therapy device and a control method thereof, wherein the device comprises a supporting component, a monitoring component, a therapy executing component, a control module and a fixing piece; the method comprises the steps that supporting feet are arranged on the lower side of a substrate of a supporting component, a strain sensor array is embedded in the substrate, and a light source array and a distance measuring sensor array are arranged on the lower side of the substrate. The device comprises a support assembly, a shell, a control module, an attitude adjusting assembly, an injection assembly and an image acquisition device, wherein the support assembly is provided with the shell, the control module is in communication connection with the monitor assembly and the treatment executing assembly, the attitude adjusting assembly is arranged on the upper side of a substrate and at least partially positioned in the shell and is used for adjusting the injection position and the injection angle of the injection needle in the injection assembly and the shooting position and the shooting angle of the image acquisition device in the monitor assembly, and the injection assembly is arranged on the shell and comprises the injection needle penetrating through the shell and the substrate. When the device is applied, accurate and automatic photosensitizer injection and focus irradiation can be realized, and the automation level, precision and effect of photodynamic therapy are improved.

Inventors

  • LI HUI
  • PAN FEI
  • LIU QIAOWEI
  • LIU YIDI
  • LU YIHENG
  • LI FENGFENG
  • HU YI

Assignees

  • 中国人民解放军总医院第一医学中心

Dates

Publication Date
20260512
Application Date
20260414

Claims (11)

  1. 1. The photodynamic therapy device is characterized by comprising a supporting component (1), a monitoring component (2), a therapy executing component (3), a control module (4) and a fixing piece (6); the support assembly (1) comprises a shell (11), a substrate (12) and a plurality of support feet (13) arranged on the lower side of the substrate (12), wherein the shell (11) is arranged on the upper side of the substrate (12), and the fixing piece (6) is used for fixing the support assembly (1) on a body surface to be treated; The monitoring assembly (2) comprises a strain sensor array (21), a distance measuring sensor array (22) and an image acquisition device (23), wherein the strain sensor array (21) comprises a plurality of strain sensors (211), the distance measuring sensor array (22) comprises a plurality of distance measuring sensors (221), the strain sensor array (21) is embedded in the substrate (12), the strain sensors (211) are used for monitoring the strain amounts of the substrate (12) in different directions, the distance measuring sensor array (22) is arranged on the lower side of the substrate (12), and the image acquisition device (23) is movably penetrated in the substrate (12); The treatment execution assembly (3) comprises a light source array (31), an attitude adjustment assembly (32) and an injection assembly (33), wherein the light source array (31) comprises a plurality of light sources (311) and is arranged at the lower side of the substrate (12), the light sources (311) are respectively in one-to-one correspondence with a plurality of distance measuring sensors (221), and the distance measuring sensors (221) are used for monitoring the distance from the light sources (311) to the body surface to be treated; The device comprises a substrate (12), an attitude adjusting assembly (32), an injection assembly (33) and a photosensitive agent injection assembly, wherein the attitude adjusting assembly (32) is arranged on the upper side of the substrate (12) and is at least partially positioned in the housing (1), the injection assembly (33) is arranged on the housing (11) and comprises an injection needle (331), the injection needle (331) is movably arranged on the housing (11) and the substrate (12) in a penetrating manner, the attitude adjusting assembly (32) is used for adjusting the injection position and the injection angle of the injection needle (331) and adjusting the shooting position and the shooting angle of the image acquisition equipment (23), and the injection assembly (33) is used for injecting the photosensitive agent through the injection needle (331); The control module (4) is arranged on the shell (11) and is respectively in communication connection with the monitoring component (2) and the treatment executing component (3).
  2. 2. The photodynamic therapy device according to claim 1, wherein the posture adjustment assembly (32) comprises a first driver (322), a second driver (323) and a third driver (324); the first driving piece (322) is arranged on the substrate (12), the second driving piece (323) is arranged at the output end of the first driving piece (322), the image acquisition equipment (23) and the third driving piece (324) are respectively arranged at the output end of the second driving piece (323), and the injection needle (331) is arranged at the output end of the third driving piece (324); The first driving piece (322) is used for driving the image acquisition device (23) and the injection needle (331) to rotate around a first axis (a), the second driving piece (323) is used for driving the image acquisition device (23) and the injection needle (331) to rotate around a second axis (b), the third driving piece (324) is used for driving the injection needle (331) to move along the axial direction, and the visual axis of the image acquisition device (23) and the axis of the injection needle (331) are parallel to the first axis (a), and the second axis (b) and the first axis (a) have included angles.
  3. 3. The photodynamic therapy device according to claim 2, wherein the first driver (322), the second driver (323) and the third driver (324) are all motors, and the posture adjustment assembly (32) further comprises a bracket (325), a slider (327), a nut (328) and a rail (326); The first driving piece (322) is provided with a stator (3221) and a rotor (3222), the stator (3221) and the rotor (3222) are annular, the stator (3221) is fixed on the base (12), and the rotor (3222) is sleeved outside the stator (3221); the fixed end of the second driving piece (323) is fixed on the outer side wall of the rotor (3222), and the output end of the second driving piece (323) is fixedly connected with one end of the bracket (325); the third driving piece (324) is annular, the fixed end of the third driving piece is fixedly connected with the other end of the bracket (325) and is arranged above the first driving piece (322), and the nut (328) is coaxially fixed at the output end of the third driving piece (324); the injection needle (331) is provided with external threads, and the nut (328) is sleeved on the outer side of the injection needle (331) and forms a screw-nut pair with the injection needle (331); The guide rail (326) is arranged on the bracket (325), one end of the sliding piece (327) is fixed on the injection needle (331), the other end of the sliding piece is connected with the guide rail (326) in a sliding way, and the sliding direction of the sliding piece (327) is parallel to the axis of the injection needle (331); The injection needle (331) is arranged in the third driving piece (324) and the stator (3221) in a penetrating mode, and the image acquisition device (23) is fixed on the support (325) and is arranged in the stator (3221) in a penetrating mode.
  4. 4. A photodynamic therapy device according to claim 3, wherein the guide rail (326) is a multi-stage telescopic guide rail, the guide rail (326) being fixed to the upper side of the rack (325), and/or, The included angle is 90 degrees, and/or, The gesture adjusting assembly (32) further comprises a base plate (321), a base (121) is arranged in the middle of the upper side of the base plate (12), the base plate (321) and the base plate (121) are annular, the base plate (321) is fixed on the upper side of the base plate (121), the stator (3221) is fixed on the upper side of the base plate (321), and the injection needle (331) penetrates into the lower side of the base plate (12) through the base plate (321) and the base plate (121).
  5. 5. The photodynamic therapy device according to any one of claims 1 to 4, wherein the strain sensor (211) comprises two mutually perpendicular strain gauges, wherein the strain sensor (211) is adapted to monitor the amount of strain of the substrate (12) in two mutually perpendicular directions, and/or, The shell (11) and the base (12) are upwards Fang Tuwan in an arc shape, the shell (11), the supporting legs (13) and the control module (4) are all made of flexible materials, the base (12) is made of elastic materials, the control module (4) is fixed on the inner wall of the shell (11) and has a distance from the base (12), and/or, The photodynamic therapy device further comprises a battery (7), wherein the battery (7) has flexibility, the battery (7) is arranged on the inner wall of the shell (11) and has a distance from the substrate (12), and/or, The photodynamic therapy device further comprises at least one radiator (5), at least one mounting seat (122) is arranged on the upper side of the base (12), the radiator (5) is located in the shell (11) and fixed to the corresponding mounting seat (122), the shell (11) is provided with at least one radiating hole (112), and the position of the radiating hole (112) corresponds to that of the radiator (5).
  6. 6. The photodynamic therapy device according to any one of claims 1 to 4, wherein the injection assembly (33) further comprises an electric push rod (332), a syringe (333), a claw (334), a hose (335) and a curtain (336); The electric push rod (332) and the claw (334) are fixed on the upper side of the shell (11), the injector (333) is clamped on the claw (334), and the output end of the injector (333) is connected with the injection needle (331) through the hose (335), the electric push rod (332) is arranged on one side of a core rod of the injector (333) far away from the hose (335), and the push rod of the electric push rod (332) and the core rod are coaxial and have a distance; the shell (11) is provided with an injection hole (111), the curtain (336) is made of elastic materials and is embedded in the injection hole (111), and the injection needle (331) movably penetrates through the curtain (336).
  7. 7. A control method of a photodynamic therapy device, characterized in that the method is applied to the photodynamic therapy device as claimed in any one of claims 1 to 6, the method comprising: Acquiring strain monitoring data of the strain sensor array (21), combining the strain monitoring data with two-dimensional grid coordinates of each strain sensor (211), and constructing a substrate three-dimensional curved surface through a deformation displacement mapping model; Acquiring distance monitoring data of the distance measuring sensor array (22), and performing model reconstruction processing based on the distance monitoring data and the substrate three-dimensional curved surface to obtain a body surface three-dimensional point cloud model; Acquiring a body surface image to be treated, which is shot by the image acquisition equipment (23), and performing focus identification processing on the body surface image to be treated by adopting a pre-trained image identification model to obtain a target focus area; Partitioning the body surface three-dimensional point cloud model based on the single-point luminous images of the target focus area and the light source array (31) to obtain point cloud data of a treatment area and point cloud data of a suppression area; loading treatment planning information corresponding to the target lesion area; And controlling the treatment execution component (3) to carry out photodynamic treatment on the target focus area based on the point cloud data of the treatment area, the point cloud data of the inhibition area and the treatment planning information.
  8. 8. The method of claim 7, wherein the treatment planning information includes target injection point position information, injection parameters, optical power density target values, and illumination time; the controlling the treatment execution component (3) to perform photodynamic treatment on the target focus area based on the point cloud data of the treatment area, the point cloud data of the inhibition area and the treatment planning information comprises the following steps: Adjusting the injection position and the injection angle of the injection needle (331) by controlling the posture adjustment assembly (32) according to the target injection point position information so that the injection needle (331) is aligned with a target injection point in the target focus area; -jointly controlling the attitude adjustment assembly (32) and the injection assembly (33) so that the injection assembly (33) performs a photosensitizer injection operation according to the injection parameters; -cooperatively controlling each of the light sources (311) in the light source array (31) based on the point cloud data of the treatment zone, the point cloud data of the inhibition zone and the optical power density target value, such that each of the light sources (311) in the light source array (31) performs a photodynamic therapy operation according to the illumination time and the resulting target cooperative control scheme.
  9. 9. The control method of a photodynamic therapy device according to claim 8, wherein the cooperative control of each of the light sources (311) in the light source array (31) based on the point cloud data of the treatment area, the point cloud data of the suppression area, and the optical power density target value includes: Constructing a response matrix of the light source array (31) based on the light transmission model, and determining a system equation based on the response matrix, wherein the response matrix comprises a treatment area response matrix and a suppression area response matrix; Constructing a cooperative control model for multi-objective optimization of the light source array (31) based on the system equation, and configuring constraint conditions for the cooperative control model, wherein the variable of the cooperative control model is the driving current of each light source (311) in the light source array (31); Carrying out multi-objective optimization solving treatment on the cooperative control model by adopting a projection gradient descent method to obtain a objective cooperative control scheme, wherein the objective cooperative control scheme comprises optimal driving current of each light source (311); and adopting the optimal driving current corresponding to each light source (311) to carry out illumination control on the light source array (31).
  10. 10. The method of controlling a photodynamic therapy device according to any one of claims 7 to 9, wherein the combining the strain monitoring data with two-dimensional grid coordinates of each strain sensor (211) constructs a three-dimensional curved surface of the substrate by a deformation displacement mapping model, comprising: Constructing a deformation displacement mapping model corresponding to a substrate material based on a superelastic correction coefficient of the substrate (12), wherein the superelastic correction coefficient is obtained by fitting test data obtained by a plurality of substrate samples through a plurality of biaxial stretching tests; determining three-dimensional spatial coordinates of each strain sensor (211) after deformation of the substrate (12) based on the deformation displacement mapping model, the strain monitoring data, and two-dimensional grid coordinates of each strain sensor (211); and fitting all the three-dimensional space coordinates of the strain sensors (211) to obtain the substrate three-dimensional curved surface.
  11. 11. The method according to any one of claims 7 to 9, wherein the partitioning the body surface three-dimensional point cloud model based on the single-point light emission image of the target lesion area and the light source array (31) to obtain point cloud data of a treatment region and point cloud data of a suppression region includes: Sequentially illuminating each light source (311) in the light source array (31) according to a preset illumination sequence, and acquiring single-point luminous images of each light source (311) in an illumination state by adopting the image acquisition device (23); Determining the outline of a light spot in a single-point luminous image, and calculating the center point of the outline of the light spot; And if the position of the central point is not in the target focus area, the corresponding surface point of the light source (311) in the body surface three-dimensional point cloud model is divided into a suppression area to obtain point cloud data of the suppression area.

Description

Photodynamic therapy device and control method thereof Technical Field The application relates to the technical field of medical equipment, in particular to a photodynamic therapy device and a control method thereof. Background Photodynamic therapy, as a highly targeted topical treatment, presents unique advantages in the treatment of body surface lesions. The core of the curative effect is that the pathologic tissue selectively absorbs the photosensitizer and the specific wavelength light is accurately activated. The traditional photodynamic therapy method mainly judges the specific position of a body surface focus through the experience of doctors and manually injects a photosensitizer. And then the light source is conducted to the treatment optical fiber through large-scale photodynamic treatment equipment, and the doctor holds the treatment optical fiber for positioning irradiation or strictly fixes the treatment optical fiber at a certain position above the body surface focus for positioning irradiation. However, since the time required for each treatment by photodynamic therapy lasts several tens of minutes, it is necessary for a doctor or a patient to maintain a fixed posture for a long time to ensure that the light source irradiates the focal site of the body surface, regardless of whether the doctor holds the optical fiber for positioning irradiation or performs positioning irradiation by fixing the optical fiber. Any body movement or posture adjustment of a doctor or a patient can cause the irradiation part of the treatment optical fiber to deviate and the treatment target area to be lost, thereby affecting the accuracy and effect of photodynamic targeted treatment. Therefore, how to provide a solution to overcome or alleviate the above-mentioned drawbacks is still a technical problem to be solved by those skilled in the art. Disclosure of Invention The application aims to provide a photodynamic therapy device and a control method thereof, so as to realize accurate and automatic photosensitizer injection and focus irradiation and improve the automation level, accuracy and effect of photodynamic therapy. In order to solve the technical problems, the application provides a photodynamic therapy device, which comprises a supporting component, a monitoring component, a therapy executing component, a control module and a fixing piece; The support component comprises a shell, a substrate and a plurality of support feet arranged on the lower side of the substrate, wherein the shell is arranged on the upper side of the substrate; The monitoring assembly comprises a strain sensor array, a distance measuring sensor array and image acquisition equipment, wherein the strain sensor array comprises a plurality of strain sensors, the distance measuring sensor array comprises a plurality of distance measuring sensors, the strain sensor array is embedded in the substrate and is used for monitoring the strain of the substrate in different directions, and the distance measuring sensor array is arranged on the lower side of the substrate; The treatment execution assembly comprises a light source array, an attitude adjustment assembly and an injection assembly, wherein the light source array comprises a plurality of light sources and is arranged on the lower side of the substrate, the light sources are respectively in one-to-one correspondence with a plurality of distance measuring sensors, and the distance measuring sensors are used for monitoring the distance between the light sources and the body surface to be treated; The device comprises a substrate, an attitude adjusting assembly, an injection assembly, an image acquisition device, a photosensitive agent injection device, a control device and a control device, wherein the attitude adjusting assembly is arranged on the upper side of the substrate and is at least partially positioned in the housing; the control module is arranged on the shell and is respectively in communication connection with the monitoring component and the treatment executing component. Optionally, the posture adjustment assembly includes a first driving member, a second driving member, and a third driving member; The first driving piece is arranged on the substrate, the second driving piece is arranged at the output end of the first driving piece, the image acquisition equipment and the third driving piece are respectively arranged at the output end of the second driving piece, and the injection needle is arranged at the output end of the third driving piece; The first driving piece is used for driving the image acquisition equipment and the injection needle to rotate around a first axis, the second driving piece is used for driving the image acquisition equipment and the injection needle to rotate around a second axis, the third driving piece is used for driving the injection needle to move along the axial direction, the visual axis of the image acquisition equipment and the axis of the injec