CN117883722A - Focused ultrasonic treatment device and application method thereof - Google Patents
Focused ultrasonic treatment device and application method thereof Download PDFInfo
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- CN117883722A CN117883722A CN202410159175.0A CN202410159175A CN117883722A CN 117883722 A CN117883722 A CN 117883722A CN 202410159175 A CN202410159175 A CN 202410159175A CN 117883722 A CN117883722 A CN 117883722A
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- 238000009210 therapy by ultrasound Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000011282 treatment Methods 0.000 claims abstract description 51
- 238000003384 imaging method Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000000523 sample Substances 0.000 claims description 42
- 230000001225 therapeutic effect Effects 0.000 claims description 29
- 238000002560 therapeutic procedure Methods 0.000 claims description 25
- 238000002604 ultrasonography Methods 0.000 claims description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 230000005284 excitation Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 230000003902 lesion Effects 0.000 description 4
- 238000011298 ablation treatment Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000008367 deionised water Substances 0.000 description 1
- 229910021641 deionized water Inorganic materials 0.000 description 1
- 238000004925 denaturation Methods 0.000 description 1
- 230000036425 denaturation Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000037311 normal skin Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000008234 soft water Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0086—Beam steering
- A61N2007/0091—Beam steering with moving parts, e.g. transducers, lenses, reflectors
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- Engineering & Computer Science (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
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- Physics & Mathematics (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a focusing ultrasonic treatment device and a use method thereof, which belong to the field of ultrasonic treatment, and comprise a driving piece arranged in a shell, a base in transmission connection with the driving piece, a flexible deformation piece and an imaging transducer, wherein the treatment transducer is arranged on the flexible deformation piece, the imaging transducer is used for collecting ultrasonic images at a focus and positioning the focus according to the ultrasonic images and calculating the depth of a target focus, the driving piece is used for driving the base to press the flexible deformation piece according to the position information and the depth information of the focus, the flexible deformation piece is deformed to adjust the position and the angle of the treatment transducer so that the focus position and the depth of the treatment transducer correspond to the position and the depth of the focus, and through the design, the treatment of the focus at different depths can be met, and the focusing characteristic of the treatment transducer can be adjusted according to actual conditions, so that the treatment accuracy is high.
Description
Technical Field
The invention relates to the field of ultrasonic treatment, in particular to a focused ultrasonic treatment device and a use method thereof.
Background
The ultrasonic treatment has the characteristics of safety, rapidness and no wound, and can realize the temperature rise denaturation and cavitation effect of biological tissues in a target area by focusing ultrasonic energy on the target area with a certain depth under the body surface, thereby completing the purposes of ablation treatment, drug release and the like. Ultrasonic ablation treatment under different energies can be realized by adjusting excitation parameters such as amplitude, waveform, frequency and the like of ultrasonic. The ultrasonic ablation treatment has no exposure wound, avoids the risks of postoperative massive hemorrhage and postoperative infection, and has wide application prospects in industries such as medical cosmetology. In ultrasonic treatment, the size of a focusing area can be controlled to be in millimeter level, so that the ultrasonic treatment has higher accuracy and also has requirements on the accuracy of treatment. If the focal region is offset from the target region, unnecessary damage may be caused to surrounding normal tissues and organs. Therefore, a focused ultrasound therapy device with high treatment accuracy is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a focused ultrasonic treatment device with high treatment precision.
In order to overcome the defects of the prior art, the second aim of the invention is to provide a use method of a focused ultrasound treatment device with high treatment precision.
One of the purposes of the invention is realized by adopting the following technical scheme:
the utility model provides a focused ultrasound treatment device, includes the probe, the probe includes shell and treatment transducer, the probe still including install in the inside driving piece of shell, with base, flexible deformation spare and the imaging transducer of driving piece transmission connection, the treatment transducer install in flexible deformation spare, imaging transducer gathers the ultrasonic image of focus department and according to ultrasonic image is to focus location and calculate the degree of depth of target focus, the driving piece is according to focus's positional information and degree of depth information drive the base supports and presses flexible deformation spare, flexible deformation spare warp in order to adjust treatment transducer's position and angle messenger treatment transducer's focus position and degree of depth with focus's position and degree of depth correspond.
Further, the therapy transducer is centrally symmetric about the imaging transducer.
Further, the flexible deformation member is arranged in the shell and positioned at the tail end of the shell so as to be convenient for contacting with the skin of a patient, and the surface of one end of the flexible deformation member far away from the skin is arc-shaped.
Further, the flexible deformation piece is a water bag.
Further, the shell comprises a shell body and limiting structures fixed on the inner wall of the shell body, the number of the limiting structures is at least two, at least two limiting structures are sequentially arranged along the extending direction of the probe, and at least part of the base is located between the limiting structures.
Further, the driving piece comprises a motor and a screw rod, the motor is fixed on the shell, the output end of the motor is connected with the screw rod, the motor drives the screw rod to rotate, and the base is installed at the tail end of the screw rod.
Further, the focused ultrasound treatment device further comprises a mechanical arm, the probe is mounted on the mechanical arm, and the mechanical arm adjusts the position of the probe according to the position information of the focus.
The second purpose of the invention is realized by adopting the following technical scheme:
the application method of the focused ultrasound treatment device is implemented based on any one of the focused ultrasound treatment devices and comprises the following steps:
s1, enabling a probe to face a focus, enabling an imaging transducer to send ultrasonic waves to the focus and receive signals reflected by tissues, and processing the reflected signals to form an ultrasonic image;
s2, positioning a focus area according to the ultrasonic image, and finely adjusting the position of the probe by the mechanical arm according to the position information of the focus area;
s3, marking a focus area in the ultrasonic image, and automatically calculating the depth of a target treatment area according to the focus marking result;
s4, the driving piece drives the base to press the flexible deformation piece according to the position information and the depth information of the focus, and the flexible deformation piece deforms to adjust the position and the angle of the therapeutic energy converter so that the focus position and the depth of the therapeutic energy converter correspond to the position and the depth of the focus;
and S5, treating the focus by using a therapeutic transducer.
Further, in step S5, when the therapeutic transducer works, the imaging transducer continuously images to monitor the treatment of the focus in real time, and the frequency amplitude of the excitation signal of the therapeutic transducer is changed in real time according to the treatment condition, so as to realize the dynamic change of the focused therapeutic energy field.
Further, in step S5, the flexible deformation member is attached to the skin of the patient, and absorbs heat generated during operation of the therapeutic transducer, so as to achieve a cooling effect.
Compared with the prior art, the probe of the focused ultrasonic treatment device also comprises a driving piece arranged in the shell, a base connected with the driving piece in a transmission way, a flexible deformation piece and an imaging transducer, wherein the treatment transducer is arranged on the flexible deformation piece, the imaging transducer is used for collecting ultrasonic images at a focus and positioning the focus according to the ultrasonic images and calculating the depth of a target focus, the driving piece drives the base to press the flexible deformation piece according to the position information and the depth information of the focus, the flexible deformation piece deforms to adjust the position and the angle of the treatment transducer so that the focus position and the depth of the treatment transducer correspond to the position and the depth of the focus, and through the design, the treatment of the focus under different depths can be met, the focusing characteristic of the treatment transducer can be adjusted according to actual conditions, and the treatment precision is high.
Drawings
FIG. 1 is a schematic diagram of a focused ultrasound therapy device of the present invention;
FIG. 2 is a schematic diagram of the probe of the focused ultrasound therapy device of FIG. 1;
FIG. 3 is a schematic view of the probe of FIG. 2 in use;
FIG. 4 is a schematic view of another use of the probe of FIG. 2;
FIG. 5 is a schematic view of a further use of the probe of FIG. 2;
fig. 6 is a flow chart of a method of using the focused ultrasound therapy device of the present invention.
In the figure: 10. a host; 20. a mechanical arm; 30. a probe; 31. a housing; 310. a housing; 311. a limit structure; 32. a driving member; 320. a motor, 321 and a screw rod; 33. a base; 34. an imaging transducer; 35. a control circuit; 36. a therapeutic transducer; 37. a flexible deformation member; 40. a focal point; 50. a display.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or be present as another intermediate element through which the element is fixed. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Fig. 1 to 5 show a focused ultrasound therapeutic apparatus according to the present application, which includes a main body 10, a mechanical arm 20, a probe 30, and a display 50.
The host computer 10 is in communication connection with the mechanical arm 20, the probe 30 and the display 50, and the host computer 10 can plan a moving path of the mechanical arm 20, so that the mechanical arm 20 is in a cruising state and traverses the area to be detected to find a focus of the area to be detected. And the host computer 10 can control the mechanical arm 20 to finely adjust the position and angle of the probe 30 according to the position of the focus. The host computer 10 is capable of processing the ultrasound data acquired by the probe 30 and locating a lesion area from the ultrasound data and automatically calculating the depth of the target treatment area.
The mechanical arm 20 is a multi-degree-of-freedom mechanical arm, and the mechanical arm 20 carries the probe 30 to move. The mechanical arm 20 is connected to the host 10, and the probe 30 is fixed at the end. The movement mode of the mechanical arm 20 can be controlled by a motor, and can also be adjusted manually. After the robotic arm 20 is moved to the designated area, the angle and pitch of the probe 30 may be adjusted to bring the treatment focal point into registration with the lesion. The joint of the host 10 and the mechanical arm 20 is used as a coordinate zero point of a motion space, and the space coordinates and the motion trail of the motion of the tail end of the mechanical arm 20 are recorded and used for three-dimensional reconstruction and coordinate mapping of images.
The probe 30 includes a housing 31, a driver 32, a base 33, an imaging transducer 34, a control circuit 35, a therapy transducer 36, and a flexible deforming member 37.
The housing 31 includes a housing 310 and a limiting structure 311 fixed to an inner wall of the housing 310. The housing 310 has a hollow structure, and in this embodiment, the housing 310 has a cylindrical shape. The number of the limiting structures 311 is at least Lv Wei, and the two limiting structures 311 are arranged along the height direction of the shell 310. The two limiting structures 311 are used for limiting the movement limit position of the base 33 so as to control the maximum deformation and the minimum deformation of the flexible deformation member 37.
The driving member 32 is used for driving the base 33 to move so as to press against the flexible deformation member 37, deform the flexible deformation member 37, and adjust the position and angle of the therapeutic transducer 36, thereby adjusting the focal position and depth of the therapeutic transducer 36. The driving piece 32 comprises a motor 320 and a screw rod 321, the motor 320 is fixed inside the shell 31, the screw rod 321 is in transmission connection with the driving piece 32, and the screw rod 321 is matched with the base 33 to drive the base 33 to move up and down to abut against the flexible deformation piece 37. In other embodiments, the driver 32 may also be a cylinder.
The base 33 has a plate shape to press against the flexible deformation member 37, so that the flexible deformation member 37 is deformed, and the edge of the base 33 is located between the two limiting structures 311 to limit the limiting position of the base 33.
The imaging transducer 34 is mounted inside the housing 31 and fixed to the base 33, and can move up and down with the base 33. Specifically, in the present embodiment, the imaging transducer 34 is located on the center axis of the housing 31. The imaging transducer 34 is not only to effect excitation and transmission of ultrasound waveforms, but is also to receive signals reflected back by tissue to complete processing and imaging. The imaging transducer 34 comprises an FPGA core card, a digital interface and a molding block interface, and the FPGA core card controls high-frequency pulse emission; the ultrasonic front-end high-speed LVDS digital interface receives ADC data; the TGC control module interface generates a differential time-varying control voltage to control TGC gain.
The control circuit 35 is fixed to the side of the base 33 remote from the flexible deformation member 37.
The therapy transducer 36 is mounted to the flexible deforming member 37 and is symmetrical about the imaging transducer 34 to ensure that the focal point is located in the imaging plane. In particular, the therapy transducer 36 may be a torus-shaped transducer or may be a multi-piece therapy transducer arranged in a circumferential pattern around the imaging transducer 34. The therapeutic transducer 36 is any one of a dual-element therapeutic transducer or a four-element therapeutic transducer. The frequency modulation and amplitude modulation excitation method adopted by the therapeutic transducer 36 can realize dynamic excitation in the therapeutic process, change the frequency amplitude of the excitation signal in real time and realize dynamic change of the focused therapeutic energy field, thereby adjusting the energy and focal spot size of the focused therapy and completing the therapeutic work more flexibly and accurately.
The flexible deformation member 37 is in contact with the patient's skin and changes the position and angle of the therapeutic transducer 36 by deforming. In order to achieve an efficient transmission of ultrasound signals, a sound transmission medium is applied between the probe 30 and the human tissue. The flexible deformation element 37 is a water bag in the application, and adopts a water bag structure as a medium, wherein the water bag is made of soft material with biocompatibility, and the acoustic impedance coefficient is close to that of human tissues. The soft water bag can be attached to tissues and organs to meet the application requirements of different human body parts. The water bag is filled with liquid with proper acoustic impedance such as deionized water and has certain specific heat capacity to absorb heat generated when the therapeutic probe works, so that the temperature reduction effect is achieved. Further, the water bag mechanism can be connected with a water pump through a hose to form a circulating liquid cooling system. Because the temperature has a great influence on ultrasonic treatment, a constant-temperature heating module is arranged in the water circulation system and is used for ensuring the proper working temperature of the probe 30.
The display 50 can support the setting of parameters such as output power, output waveform, duty cycle, treatment time, etc. During treatment, the imaging modules operate simultaneously and the display 50 provides real-time observation and assessment of the treatment effect.
With continued reference to fig. 6, the present invention also relates to a method for using a focused ultrasound therapy device, comprising the steps of:
the mechanical arm 20 drives the probe 30 to move, and the imaging transducer 34 acquires and analyzes an ultrasonic image;
when a focus exists in the ultrasonic image, positioning a focus area according to the ultrasonic image, and performing fine adjustment on the position of the probe 30 by the mechanical arm 20 according to focus area position information;
marking a focus area in the ultrasonic image, and automatically calculating the depth of a target treatment area according to the focus marking result;
the driving piece 32 drives the base 33 to press the flexible deformation piece 37 according to the position information and the depth information of the focus, and the flexible deformation piece 37 deforms to adjust the position and the angle of the therapeutic transducer 36 so that the position and the depth of the focus 40 of the therapeutic transducer 36 correspond to the position and the depth of the focus;
the treatment transducer 36 works to treat the focus, in the working process of the treatment transducer 36, the flexible deformation piece 37 is attached to the skin of a patient and absorbs heat generated by the treatment transducer during working to play a role of cooling, the imaging transducer 34 continuously images so as to monitor the treatment of the focus in real time, and the frequency amplitude of an excitation signal of the treatment transducer 36 is changed in real time according to the treatment condition to realize the dynamic change of a focused treatment energy field;
after the treatment of the focus is completed, the mechanical arm 20 continues to drive the probe 30 to move to search for the next focus until the probe 30 moves to the end point of the path.
During treatment, focused ultrasound energy is focused at the focal spot, but there is also sufficient energy to damage normal skin tissue near and above focal spot 40. The thermal relaxation time of blood vessels and surrounding tissues of lesions is on the order of several milliseconds, and accurate evaluation and control of ultrasonic energy are required, so that normal tissue burns are avoided. According to the focus fine tuning method, the distribution and focusing conditions of the focuses 40 of the plurality of therapeutic transducers 36 are regulated through the motor 320, targets such as blood vessels and focuses at different depths can be effectively treated, burns to normal tissues and organs are weakened, and energy efficiency is improved. Supporting treatment under the guidance of the imaging transducer 34, the system finds the target focus area under the ultrasonic imaging of the imaging transducer 34, and then starts the ultrasonic treatment module to treat, at this time, the imaging module can monitor the treatment process and evaluate the treatment effect in real time. The robotic arm 20 is employed as a support mechanism for the movement of the probe 30 while the spatial coordinates of the movement are recorded for subsequent three-dimensional map reconstruction. The system design scheme adopted by the method can be well applied to systems with different working frequencies and different ultrasonic probes to adapt to different clinical application scenes. The water sac structure can be matched with various parts of a human body and the treatment probe, ultrasonic energy can be transmitted more efficiently, and burn caused by overhigh temperature of skin tissues and the ultrasonic probe in the treatment process is avoided. The probe 30 employs adjustable focusing to enable treatment of lesions at different depths and to adjust the focal characteristics of the treatment transducer 36 depending on the situation.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, it is possible to make several modifications and improvements without departing from the concept of the present invention, which are equivalent to the above embodiments according to the essential technology of the present invention, and these are all included in the protection scope of the present invention.
Claims (10)
1. A focused ultrasound therapy device comprising a probe, the probe comprising a housing and a therapy transducer, characterized in that: the probe also comprises a driving piece, a base, a flexible deformation piece and an imaging transducer, wherein the driving piece is arranged in the shell, the base is in transmission connection with the driving piece, the treatment transducer is arranged on the flexible deformation piece, the imaging transducer is used for collecting ultrasonic images of focuses and positioning the focuses according to the ultrasonic images and calculating the depth of target focuses, the driving piece is used for driving the base to press the flexible deformation piece according to the position information and the depth information of the focuses, and the flexible deformation piece is deformed to adjust the position and the angle of the treatment transducer so that the focus position and the depth of the treatment transducer correspond to the position and the depth of the focuses.
2. The focused ultrasound therapy device of claim 1 wherein: the therapy transducer is centrally symmetric about the imaging transducer.
3. The focused ultrasound therapy device of claim 1 wherein: the flexible deformation piece is arranged in the shell and is positioned at the tail end of the shell so as to be convenient for contacting with the skin of a patient, and the surface of one end of the flexible deformation piece far away from the skin is arc-shaped.
4. The focused ultrasound therapy device of claim 1 wherein: the flexible deformation piece is a water bag.
5. The focused ultrasound therapy device of claim 1 wherein: the shell comprises a shell body and limiting structures fixed on the inner wall of the shell body, the number of the limiting structures is at least two, at least two limiting structures are sequentially arranged along the extending direction of the probe, and at least part of the base is located between the limiting structures.
6. The focused ultrasound therapy device of claim 1 wherein: the driving piece comprises a motor and a screw rod, the motor is fixed on the shell, the output end of the motor is connected with the screw rod, the motor drives the screw rod to rotate, and the base is installed at the tail end of the screw rod.
7. The focused ultrasound therapy device of claim 1 wherein: the focusing ultrasonic treatment device further comprises a mechanical arm, the probe is mounted on the mechanical arm, and the mechanical arm adjusts the position of the probe according to the position information of the focus.
8. A method of using a focused ultrasound therapy device, based on the implementation of a focused ultrasound therapy device according to any one of claims 1-7, comprising the steps of:
s1, enabling a probe to face a focus, enabling an imaging transducer to send ultrasonic waves to the focus and receive signals reflected by tissues, and processing the reflected signals to form an ultrasonic image;
s2, positioning a focus area according to the ultrasonic image, and finely adjusting the position of the probe by the mechanical arm according to the position information of the focus area;
s3, marking a focus area in the ultrasonic image, and automatically calculating the depth of a target treatment area according to the focus marking result;
s4, the driving piece drives the base to press the flexible deformation piece according to the position information and the depth information of the focus, and the flexible deformation piece deforms to adjust the position and the angle of the therapeutic energy converter so that the focus position and the depth of the therapeutic energy converter correspond to the position and the depth of the focus;
and S5, treating the focus by using a therapeutic transducer.
9. The method of using a focused ultrasound therapy device according to claim 8 wherein: in step S5, when the therapeutic transducer works, the imaging transducer continuously images to monitor the treatment of the focus in real time, and the frequency amplitude of the excitation signal of the therapeutic transducer is changed in real time according to the treatment condition, so as to realize the dynamic change of the focused therapeutic energy field.
10. The method of using a focused ultrasound therapy device according to claim 8 wherein: in step S5, the flexible deformation member is attached to the skin of the patient, and absorbs heat generated during operation of the therapeutic transducer, so as to achieve a cooling effect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410159175.0A CN117883722A (en) | 2024-02-04 | 2024-02-04 | Focused ultrasonic treatment device and application method thereof |
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| CN202410159175.0A CN117883722A (en) | 2024-02-04 | 2024-02-04 | Focused ultrasonic treatment device and application method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118142106A (en) * | 2024-05-09 | 2024-06-07 | 清华大学 | Flexible controllable focusing ultrasonic therapeutic device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118142106A (en) * | 2024-05-09 | 2024-06-07 | 清华大学 | Flexible controllable focusing ultrasonic therapeutic device |
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