WO2008049269A1 - A precise control systme for in vitro high-energy focus ultrasound treatment apparatus and a method thereof - Google Patents

Abstract

A precise control system for in vitro high-energy focus ultrasound treatment apparatus and a method thereof.The system includes an ultrasound imaging system for finding treatment object and detecting its movement state, an acquiring system for acquiring the ultrasound images and an ultrasound wave source control component. The control component computes the movement information of the treatment area caused by respiration of the treatment object according to the output of the acquiring system and outputs control signals to the wave source to emit ultrasound wave or not to emit ultrasound wave.

Description

 In vitro high energy focused ultrasound

 Precision control system for the treatment machine

 The invention relates to an accurate control system for an in vitro high-energy focused ultrasonic therapeutic machine, which can be used for a pre-external high-energy focused ultrasonic therapeutic machine, which can observe the breathing condition of the treated object during the treatment process, so that the ultrasonic energy is only breathed in the treated object. The relatively smooth period of motion of the motion is used to improve the focus accuracy during treatment and reduce the unnecessary damage of normal tissue. Background technique

 At present, high-energy focused ultrasound therapy devices are one of the important devices in the medical field at home and abroad, and clinical applications have achieved good therapeutic effects. In medical clinical applications, ultrasound treatment devices typically employ an ultrasound imaging system or a nuclear magnetic resonance imaging system for localization during treatment. During the course of treatment, there is no effective real-time dynamic control method for the treatment area error caused by breathing or other actions. Summary of the invention

The object of the present invention is to provide a precise control system for an in vitro 聚焦-focusing ultrasound treatment machine, which can determine the time period during which the treatment object moves due to breathing by extracting ultrasound image data, and during the time period. Stopping the emission of therapeutic ultrasound energy to reduce damage to normal tissue during ultrasound therapy - According to one aspect of the invention, an accurate control system for an in vitro high energy focused ultrasound therapy machine is provided, the system comprising: An ultrasound imaging system that treats a target and detects its movement state; an acquisition system for acquiring an image of the ultrasound image; and an ultrasound source control section that calculates a breathing of the treatment subject based on the output of the acquisition system The movement information of the treatment area is generated, and the control instruction for the ultrasonic source to emit or stop the emission is output.

 In one embodiment, the ultrasonic source control portion includes a continuous picture calculation program that extracts relevant statistical information by extracting information corresponding to the relevant region.

 In one embodiment, the ultrasound source control portion includes control strategy software including a user software interface that determines the transmission status based on user requirements, internal computational processing software, and an output program that controls the ultrasound source transmission instructions.

 According to another aspect of the present invention, an in vitro high energy focused ultrasound therapeutic apparatus is provided, comprising:

 Ultrasonic source;

 The precise control system described above for an in vitro high energy focused ultrasound therapy machine.

 According to still another aspect of the present invention, a precise control method for in vitro high-energy focused ultrasound therapy is provided, the method comprising: searching for a treatment target and acquiring an ultrasound image thereof; and calculating a treatment caused by the respiratory response of the treatment object according to the collected output The movement information of the area, thereby outputting a control command, controlling the emission of the ultrasonic source or stopping the transmission.

 According to still another aspect of the present invention, a computer program product is provided which, when located in a random access memory of a computer and executed by a processor, performs the following steps: causing a high energy focused ultrasound therapy device to find a treatment target and collect the ultrasound And an image of the image; and, according to the collected output, calculating movement information of the treatment area caused by the breathing of the treatment object, thereby outputting a control instruction to control the emission of the ultrasonic source or to stop the emission. DRAWINGS

1 shows a flow chart _D of one embodiment of an accurate control method for extracorporeal high energy focused ultrasound therapy in accordance with the present invention. detailed description

 The invention designs a precise control system for an in vitro high energy focused ultrasound therapy machine and a precise control method for in vitro high energy focused ultrasound therapy. The precise control system and the precise control method are mainly used to solve the problem of error movement of the treatment area due to the breathing of the treatment subject. By extracting the ultrasound image data, the time period during which the treatment area moves due to breathing is determined, and the treatment of the ultrasonic energy is stopped during the time period, thereby reducing the damage to the normal tissue during the ultrasound treatment.

 The system for precise control of the in vitro high-energy focused ultrasound therapeutic machine designed by the invention comprises: an ultrasound imaging system for finding a treatment target and detecting its movement state; an acquisition system for acquiring an ultrasound image picture; and an ultrasonic source control part, The control part calculates movement information of the treatment area caused by the breathing of the treatment object according to the output of the collection system, and outputs a control instruction for the ultrasonic source to emit or stop the emission. Among them, the ultrasound imaging system mainly uses black and white B-super or color Doppler ultrasound imager. The corresponding continuous ultrasound image is obtained by using the picture output function of the black and white B-super or color Doppler ultrasound imager. If it is not possible to directly obtain a continuous ultrasound image of the corresponding ultrasound imaging instrument, it is also possible to use a dedicated image capture device such as a number of endoscopes. If conditions are available to directly utilize the RF signal provided by the ultrasound imaging instrument, a two-dimensional digital signal with a dedicated statistic can be generated, such as a Schmitt-based trigger and amplifier circuit topology (IC1B and IC1C) to convert the RF signal to representation A two-dimensional digital signal measuring amplitude and speed, on the basis of which more accurate positioning information can be obtained.

 In one embodiment of the invention, the ultrasonic source control portion includes a continuous picture calculation program that extracts relevant statistical information by extracting information corresponding to the relevant region. In one embodiment, the ultrasound source control portion further includes control strategy software including a user software interface that determines a transmission state based on user requirements, internal arithmetic processing software, and an output program that controls the ultrasound source transmission instructions.

Specifically, the ultrasonic source control portion of the present invention acquires a continuous ultrasonic image Or based on the dedicated two-dimensional digital signal, the relevant statistical information is extracted by using information corresponding to the relevant region. At the same time, the control part can provide the user with the necessary user interface interface, and the user interface interface can be input by the user, including the reason why the statistic value is transmitted, and when the statistic value is stopped, the parameter input is stopped. The corresponding wave source control command is output to the ultrasonic therapy machine through the internal arithmetic processing software.

 The control portion of the present invention can have two implementations when providing the extraction of statistical information. One is to pay attention to the mean value g(i) of the target region S at the corresponding time ί,

∑Ι(Ρ)

^(Α ₌ ( 1 ) points in g S

 Where /O) represents the numerical value of the point in time s (for example, it can be its coordinate), which represents the sum of the numerical quantities of all points in time f of s.

 peS

 Another solution is to focus on the target area 5" weighted center of gravity at the corresponding moment

Points in S

 In the formula is a coordinate of the point J) in the S region, ∑I(p)x indicates t

 peS

The sum of the product of the value of all points in time S and its coordinates.

 The control portion of the present invention also provides two implementations of control strategy software algorithms. The first embodiment is to calculate first

 g,{t) =\ g{t - d) - g{t) \ ( 3 ) where d is the time difference between successive picture intervals, and therefore represents the absolute value of the difference between the number of consecutive pictures g and g -

Then, the threshold value and the length of the time window are specified, and the emission command is output at the i+th time after the point t corresponding to the local maximum of the g _x ( ) in the time period, and the output command is stopped at the first moment.

Another implementation of the control strategy software algorithm is to first utilize fast and rich The leaf transformation method calculates the corresponding respiratory cycle time τ ₀ :

^{Τ ο} bis (4)

Where o 'er(g() denotes the Fourier transform of g, denoted as ω ₀ is the maximum value of the GO in the region corresponding to the t period)

Specify the time ^ and whenever + r. When <i<i ₂ +w7,w = l,2,..., the output signal command is output, when ₂ + wr. << + 0 + 1) Γ. When w = 1, 2, ..., the output stops transmitting signal command.

 The present invention also provides an in vitro high energy focused ultrasound therapy machine comprising an ultrasound source and the precision control system described above, the output of the control system including control commands for controlling the emission of the ultrasound source or stopping the transmission. In this way, the ultrasonic energy can be emitted only during a relatively smooth period of the respiratory motion of the subject, to improve the focus accuracy during the treatment, and to reduce the unnecessary degree of damage of the normal tissue.

 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a flow chart showing one embodiment of an accurate control method for extracorporeal high energy focused ultrasound therapy in accordance with the present invention.

 The method begins with step 101. First, an ultrasound image image is acquired for the target using, for example, an ultrasound imaging system and an acquisition system (step 102). Then, the control portion that controls the ultrasonic source extracts relevant statistical information by extracting information corresponding to the relevant region (step 103).

 When extracting relevant statistic information, according to a specific embodiment of the present invention, any of the following schemes may be implemented: (Α) - the type is the numerical mean value of the target region S at the corresponding time ί, using the formula ( The method of 1) (step 1041); ( Β ) Another scheme is to focus on the weighted center of gravity of the target region S at the corresponding time t, using the method of equation (2) (step 1042).

Then, the process proceeds to step 105 where the control section executes the control strategy algorithm. According to a specific embodiment of the present invention, the control strategy algorithm may perform any one of the following two schemes: (A) The first scheme is to first calculate = 1 g(t - d) - g(t) (See equation (3)) (step 1061), then specify the threshold and 3⁄4 and the time window length W, and output the emission command at the +th time after the point f corresponding to the local maximum in the time period, and output the stop command at the second time. (Step 1071); ( Β ) Another scheme is to first calculate the respiratory cycle time g corresponding to g (0) using the fast Fourier transform method:

(see equation (4)) (step 1062), then

Set the time t and ^, whenever, + "Γ. << ί ₂ + "Γ. , " = 1, 2, ... when the output signal command is output, when ₂ + "7 << + 0 + 1) 7;, w = 1, 2, the output stops transmitting the signal command (step 1072).

 In one embodiment of the invention, a high energy focused ultrasound therapy device has a random access memory (RAM) and a CPU or MPU executing the program therein, which can receive and store computer programs and applications as temporary and/or non-easy Computer readable instructions of a dysfunctional state. The high energy focused ultrasound therapy device can further have a hard disk drive that reads from and writes to the hard disk, a disk drive that reads from and writes to the disk, and/or an optical disk drive that reads from and writes to the optical disk. Examples of storage media include, but are not limited to, CD-ROM, magneto-optical disks, ROM, RAM, EPROM, EEPROM, high-speed flash memory, magnetic or optical cards, DVDs, or any type of medium suitable for storing electronic instructions. One of ordinary skill in the art will appreciate that one or more such memories, drivers, and their respective media are examples of computer program products that store computer readable instructions that when executed by a CPU or MPU All or part of the method steps of the invention may be performed. The execution of these program products or the program product itself is also an embodiment of the invention.

It is obvious to ordinary humans in the field of computers that the use according to the invention is The present invention can also be conveniently implemented by a conventional general purpose digital computer that teaches programming. That is, when a computer loads and executes appropriate software code or programs, these appropriate software code or programs can perform all or a portion of the method steps of the present invention. The execution of these programs or the program itself is also an embodiment of the present invention. Suitable software code or programs that are readily prepared by one of ordinary skill in the art based on the teachings of the present invention will be apparent to those of ordinary skill in the software arts. In particular, one of ordinary skill in the art will recognize that there are many computer languages (including but not limited to:

C, C++, Fortran, Basic, etc.) Write a computer program product that controls the operation of the high energy focused ultrasound therapy device of the present invention. It will be apparent to those skilled in the art that the present invention may be practiced by making an application specific integrated circuit or by interconnecting an appropriate network with conventional component circuitry.

 It is to be understood that the specific embodiments described herein are not intended to be The invention includes all modifications, equivalents and alternatives within the spirit and scope of the invention as defined by the appended claims.

Claims

Claim 1. A precision control system for an in vitro high energy focused ultrasound therapy machine, the system comprising:  An ultrasound imaging system for finding a treatment target and detecting its movement state; an acquisition system for acquiring an image of the ultrasound image;  The ultrasonic source control section calculates the movement information of the treatment area caused by the breathing of the treatment object according to the output of the collection system, and outputs a control command for the ultrasonic source to emit or stop the emission.  2. The precision control system of the extracorporeal high energy focused ultrasound therapy machine according to claim 1, wherein the ultrasound imaging system is a black and white B-ultra or color Doppler ultrasound imager.  3. The precise control system for an in vitro high-energy focused ultrasound therapy machine according to claim 1, wherein the acquisition system for acquiring an ultrasound image is a picture directly using a black-and-white B-super or color Doppler ultrasound imager. The output function may also be a dedicated image capture device or a two-dimensional digital signal using a dedicated statistic generated by the associated RF signal.  The fine control system for an extracorporeal high-energy focused ultrasonic therapeutic apparatus according to claim 1, wherein the ultrasonic source control section includes a continuous picture calculation program that extracts relevant statistical information by extracting information corresponding to the relevant area.  5. The precise control system for an extracorporeal high-energy focused ultrasound therapy machine according to claim 1, wherein the ultrasonic source control portion comprises control strategy software, the software comprising a user software interface for determining a transmission state according to a user requirement, and an internal operation processing. Software and control output programs for ultrasonic source emission commands. 6. The precise control system for an in vitro high-energy focused ultrasound therapy machine according to claim 4, wherein the statistic information is a numerical mean value g(Z) of the target region S at a corresponding time t, ∑Ι(Ρ) g(t) = ^PES  Points in  Where /O) means ί moment s medium ? point value, ∑ / o) means f time The sum of the numerical quantities of all points in S.  7. The precision control system of the extracorporeal high-energy focused ultrasound therapy machine according to claim 4, wherein the statistic information is a numerical weighted center of gravity of the attention target region S at a corresponding time t ₂ (t) =  Points in  In the formula, X is a coordinate of p point in the S region, and /P)JC represents the sum of the product of the value of all points in S and its coordinate.  8. The precision control system for an in vitro high energy focused ultrasound therapy machine according to claim 5, wherein said control strategy software algorithm first calculates g,( g(t - d) - g{t) I  Wherein, indicating the time difference of consecutive picture intervals, therefore, the absolute value of the difference between the number of consecutive pictures g and ^^, Then, the threshold value and the length of the time window are specified. In the time period, the transmission command is output at the +th time after the point t corresponding to the local maximum of the _gl (ί), and the output of the stop command is output at the time ί+δ ₂ . 9. The precise control system for an in vitro high-energy focused ultrasound therapy machine according to claim 5, wherein the control strategy software algorithm first calculates a corresponding respiratory cycle time T ₀ by using a fast Fourier transform method:

 Where ^^ ) denotes g (^'s Fourier transform, denoted as GO); Making the maximum value of GO in the ω region corresponding to the t period, Specify the moments i and ₂ whenever + "Γ. << ₂ + "Γ. , " = 1, 2, ... when the output signal command is output, when + "Γ. < ί < + 0 + 1) 7, " - 1, 2, ..., the output stops transmitting the signal command.  10. An in vitro high energy focused ultrasound therapy machine comprising:  Ultrasonic source;  A precision control system for an extracorporeal high energy focused ultrasound therapeutic machine according to any one of claims 1-9.  11. An accurate control method for an in vitro high energy focused ultrasound therapy machine, the method comprising the steps of:  Find a treatment target and detect its movement status;  Collecting ultrasound image images; and  'According to the acquired picture, the movement information of the treatment area caused by the breathing of the treatment subject is calculated, and the control instruction for the ultrasonic source to emit or stop the emission is output.  12. The precise control method of the extracorporeal high-energy focused ultrasonic therapeutic apparatus according to claim 11, characterized in that a black-and-white B-super or color Doppler ultrasound imager is used to find a treatment target and detect its movement state.  13. The precise control method of the extracorporeal high-energy focused ultrasound therapeutic apparatus according to claim 11, wherein the image output function of the black-and-white B-super or color Doppler ultrasound imager is directly used, or a dedicated image capture device is utilized. , or use a two-dimensional digital signal of a dedicated statistic generated by the relevant RF signal to acquire an ultrasound image.  14. The precise control method of the extracorporeal high-energy focused ultrasonic therapeutic apparatus according to claim 11, wherein the continuous picture calculation is performed, thereby extracting relevant statistical information by extracting information corresponding to the relevant area.  15. The method of accurately controlling an extracorporeal high energy focused ultrasound therapy machine according to claim 11, wherein the control strategy algorithm is executed. 16. The in vitro high energy focused ultrasound therapy machine of claim 14 a precise control method, wherein the statistic information is a target area of interest The mean value of S at the corresponding time t  ∑I(P)  Points in S  Where /O) represents the value of the point in time s, /(;?) means ί moment  peS  The sum of the numerical quantities of all points in S.  17. The precise control method of the extracorporeal high-energy focused ultrasonic therapeutic apparatus according to claim 14, wherein the statistical information is a numerical weighted center of gravity of the target region S at a corresponding time t. Points in ^  In the formula, X is a coordinate of point p in the S region, indicating  peS The sum of the product of all points in S and the product of its coordinates. 18. The method according to claim 15, wherein the control strategy algorithm is first calculated.

Wherein, represents the time difference of the continuous picture interval, and therefore represents the absolute value of the difference between the number of consecutive pictures g(t) and _g (td),  Then specify the threshold and the time window length w. In the time period, the local maximum corresponds to the point ί after the ί+ time to output the transmit command, and the +th output outputs the stop transmit command. 19. The method according to claim 15, wherein the control strategy algorithm first calculates a respiratory cycle time corresponding to g by using a fast Fourier transform method. .:

Where i3⁄4 _M r^(g(i)) represents the Fourier transform of g^), denoted as GO); Is to make the maximum value of GO in the ω region corresponding to the t period, Specify the time ^ and ^, whenever ^ + "Γ. < ί < ₂ = 1, 2, ... output the signal command, when ί ₂ + "Γ. << + (" + ΐ) Τ ₀ , η = 1, 2, .., the output stops transmitting signal command.  20. A computer program product, when executed by a CPU or MPU, performs the following steps:  Having a high-energy focused ultrasound therapy device to find a treatment target and collect images of the ultrasound image;  The movement information of the treatment area caused by the breathing of the treatment subject is calculated according to the collected output, thereby outputting a control command to control the emission of the ultrasonic source or stop the emission.  The computer program product according to claim 20, wherein the computer program product comprises a continuous picture calculation program that extracts relevant statistical information by extracting information corresponding to the relevant area.  22. The computer program product of claim 20, wherein the computer program product comprises control strategy software comprising a user software interface that determines a launch status based on user requirements, internal computational processing software, and control of an ultrasound source transmission command Output program.  The computer program product according to claim 21, wherein the statistic information is a numerical mean value of the target region S of interest at a corresponding time t ∑I(P) = ^psS ,  Points in S Where /O) represents the amount of time in the s / point, indicating the time t

 The sum of the numerical quantities of all points in S. 24. The computer program product of claim 21, wherein The statistic information is the number of points in the weighted center of gravity g S of the attention target region S at the corresponding time t  In the formula, X is a certain coordinate of p point in the S region, and f is the time when peS The sum of the product of all points in S and the product of its coordinates.  25. The computer program product of claim 22, wherein the control strategy software algorithm is first calculated  g ( ) g(t -d)~ git) I  Wherein, represents the time difference of consecutive picture intervals, and therefore represents the absolute value of the difference between the number of consecutive two pictures ^^ and ^^, And then specify the width value and the time window length W, in the time period g _x) corresponding to the local maximum point of time A transmitter output command, the output stop time + S ₂ ^ after transmitting command. The computer program product according to claim 22, wherein the control strategy software algorithm first calculates a corresponding respiratory cycle time T ₀ by using a fast Fourier transform method:

 Where 'e (g( )) denotes g (^'s Fourier transform, denoted as GO); Is to make the maximum value of GO in the ω region corresponding to the f period, Specify the time ^ and t ₂ , and output a signal command every time + ΜΓ << ₂ + "Γ " = 1,2,.··, when ₂ + "7 << + (" + 1) Γ , Μ = 1 When 2, ..., the output stops transmitting signal command.