基于DSP2812的桌面3D打印机控制系统实现

以DSP2812数字信号处理芯片为核心控制器,设计了一种桌面3D打印机控制系统,应用DSP2812中的通用寄存器生成的非对称式脉冲宽度调制(PWM)波形结合DSP2812的通用输入/输出(I/O)口控制步进电机驱动芯片,进而实现步进电机的速率和位移控制;同时还创新性地应用DSP2812的通用数字I/O口实现双向的两线连续总线(I2C)功能,实现对步进电机的细分控制,从而控制步进电机的启动电流,降低系统功耗,提高步进电机的控制精度及稳定性。     

超声造影早期评价HIFU治疗兔移植性骨肿瘤的初步研究

目的:观察兔VX2移植性骨肿瘤经高强度聚焦超声(High Intensity Focused Ultrasound,HIFU)治疗前后超声造影的图像变化,以评价高强度聚焦超声治疗骨肿瘤的疗效。方法:将VX2瘤块植入20只兔的右侧胫骨髓腔内,三周后进行HIFU治疗。治疗前后均推注超声微泡造影剂,对肿瘤治疗前后的超声造影图像进行比较。结果:治疗前超声造影显示,右侧胫骨髓内肿瘤快速、明显强化,与周边组织分界清楚,测得病灶平均大小为,上下径(17.614±0.955)mm,前后径(10.414±1.142)mm。治疗后造影,治疗区域显示为造影剂灌注缺损区,平均范围为上下径(8.010±0.584)mm,前后径(7.540±0.499)mm,未经治疗的肿瘤组织仍有超声造影剂灌注。结论:超声造影成像清楚地显示肿瘤范围以及治疗后灌注缺损区的大小,通过反映治疗后肿瘤的血供改变来评价HIFU治疗肿瘤的疗效。     

开口凹球面聚焦声场分析

高强度聚焦超声（HIFU）治疗局部肿瘤存在聚焦换能器和定位探头同时旋转的问题，考虑到实际工程中必须考虑B超探头的放置对聚焦声场的影响。文章就此进行了研究。结果表明：开口的凹球面会降低焦区声压幅度。随着开孔半径的变大。焦区声压呈下降的趋势，焦区越长，越不利于聚焦；随着开孔位置距轴线的距离变大。焦区声压呈下降的趋势，而焦区的位置变化不大，文章同时对相应的温度场也进行了相关的分析。     

离体肝脏组织声学参量的温度特征研究

随着高强度聚焦超声(HIFU)广泛地被应用于临床治疗,更多的研究着眼于寻找监控被照射部位的温度的方法。本文研究了通过检测生物组织的声速和声衰减来监控HIFU治疗的温度,这种方法将为更好的治疗带来极大便利。文章提供了离体猪肝的声速和声衰减随温度变化的关系曲线。该曲线反映了当温度达到70°C～75°C左右,声速和声衰减曲线斜率发生很大变化,而蛋白质变性温度是63°C,由此可以满足监控HIFU治疗已达到使病灶部位蛋白质变性的要求。     

HIFU聚焦探头声场功率测量的凹锥面反射靶设计分析

在HIFU聚焦探头声功率测量中,常用吸收靶来进行声功率测量。锥面反射靶是辐射压力法测量大功率超声功率常用的反射靶面,本文分析了凹锥面反射靶的设计参数与HIFU聚焦探头参数之间的关系。为这种靶面参数设计提供了理论依据。本文分析中未计及靶材及厚度对测量结果的影响。     

轮式机器人结构与控制设计

采用了“DSP＋ARM”的双核控制方式。DSP主要负责知觉处理，ARM主要负责控制执行器。通过ARM控制驱动器，从而带动步进电动机。通过控制电机的转速和方式，达到不同的运动效果。     

基于模糊PID控制的步进电机驱动控制器

本文设计了一基于模糊PID控制的步进电机驱动控制器，可进行多种功能控制，为使其能够广泛应用，采用一个简单的人机交互，功能模式选择和控制参数均可由键盘输入，可实现高精度控制。     

高强度聚焦超声治疗裸鼠胰腺癌皮下移植瘤的初步研究

目的：观察高强度聚焦超声（HIFU）治疗裸鼠胰腺癌皮下移植瘤后的超声回声及病理变化。方法：36只裸鼠在皮下接种SW1990人胰腺癌细胞,随机分成三组,HIFU组18只,假照组9只,对照组9只。治疗中记录肿瘤的回声变化,治疗后每隔四天采用超声观察肿瘤的大小及回声变化,共随访4周。HIFU治疗后于靶区取样进行光镜和电镜检查。结果：HIFU治疗2周后,HIFU组肿瘤体积都有缩小,而假照组和对照组肿瘤继续生长。镜下可见HIFU组靶区内肿瘤组织完全凝固性坏死。结论：HIFU能够有效治疗裸鼠胰腺癌皮下移植瘤,可望成为治疗晚期胰腺癌的有效方法。     

高强度聚焦超声联合全氟戊烷液滴在乳腺癌治疗增效中的实验研究

目的:探讨高强度聚焦超声(High-Intensity Focused Ultrasound,HIFU)联合全氟戊烷液滴(Perfluoropentane droplets,PFP),对小鼠乳腺癌4T1细胞治疗的增效作用。方法:制备PFP,检测其平均粒径及形态结构。试验设立三组:HIFU假照组,单纯HIFU治疗组,HIFU联合PFP治疗组。流式细胞仪检测HIFU分组治疗乳腺癌细胞后细胞存活率及死亡率;体内动物试验分组处理后,二维超声观察HIFU辐照前后肿瘤回声灰度变化情况,超声造影剂灌注缺损面积占总面积百分比评价不同治疗方式对裸鼠皮下移植瘤的消融能力。结果:所制备的PFP平均粒径为1.2μm,形态呈规则球形。细胞试验显示,HIFU联合PFP治疗组乳腺癌细胞死亡率(23.50±1.34)%显著高于单纯HIFU治疗组(14.34±0.55)%和HIFU假照组(11.76±0.62)%(P<0.05);动物试验显示HIFU联合PFP治疗组肿瘤消融面积占总面积百分比(84.03±4.47)%显著高于单纯HIFU治疗组(41.23±4.24)%(P<0.05),HIFU假照组无明显灌注缺损区域。结论:HIFU联合PFP可显著增强对乳腺癌细胞及组织的消融能力。     

步进电机控制器的设计

本文介绍了基于FPGA的步进电机控制模块的设计,在分析步进电机的工作原理的基础上,给出了层次化设计方案与VHDL程序,并利用QuartusⅡ进行了仿真并给出了仿真结果。它以FPGA作为核心器件,极大地减少了外围元件的使用。同时,采用VHDL语言控制,可以根据步进电机的不同,改变模块程序的参数就可以实现不同型号步进电机的控制,有利于步进电机的广泛应用。     

The role of numerical simulation for the development of an advanced HIFU system

High-intensity focused ultrasound (HIFU) has been used clinically and is under clinical trials to treat various diseases. An advanced HIFU system employs ultrasound techniques for guidance during HIFU treatment instead of magnetic resonance imaging in current HIFU systems. A HIFU beam imaging for monitoring the HIFU beam and a localized motion imaging for treatment validation of tissue are introduced briefly as the real-time ultrasound monitoring techniques. Numerical simulations have a great impact on the development of real-time ultrasound monitoring as well as the improvement of the safety and efficacy of treatment in advanced HIFU systems. A HIFU simulator was developed to reproduce ultrasound propagation through the body in consideration of the elasticity of tissue, and was validated by comparison with in vitro experiments in which the ultrasound emitted from the phased-array transducer propagates through the acrylic plate acting as a bone phantom. As the result, the defocus and distortion of the ultrasound propagating through the acrylic plate in the simulation quantitatively agree with that in the experimental results. Therefore, the HIFU simulator accurately reproduces the ultrasound propagation through the medium whose shape and physical properties are well known. In addition, it is experimentally confirmed that simulation-assisted focus control of the phased-array transducer enables efficient assignment of the focus to the target. Simulation-assisted focus control can contribute to design of transducers and treatment planning.     

Single-element ultrasound transducer for combined vessel localization and ablation

This report describes a system that utilizes a single high-intensity focused ultrasound (HIFU) transducer for both the localization and ablation of arteries with internal diameters of 0.5 and 1.3 mm. In vitro and in vivo tests were performed to demonstrate both the imaging and ablation functionalities of this system. For imaging mode, pulsed acoustic waves (3 cycles for in vitro and 10 cycles for in vivo tests, 2 MPa peak pressure) were emitted from the 2-MHz HIFU transducer, and the backscattered ultrasonic signal was collected by the same transducer to calculate Doppler shifts in the target region. The maximum signal amplitude of the Doppler shift was used to determine the location of the target vessel. The operation mode was then switched to the therapeutic mode and vessel occlusion was successfully produced by high-intensity continuous HIFU waves (12 MPa) for 60 s. The system was then switched back to imaging mode for residual flow to determine the need for a second ablation treatment. The new system might be used to target and occlude unwanted vessels such as vasculature around tumors, and to help with tumor destruction.     

Pulsed high-intensity focused ultrasound enhances the relative permeability of the blood-tumor barrier in a glioma-bearing rat model

The use of pulsed high-intensity focused ultrasound (HIFU) with an ultrasound contrast agent (UCA) has been shown to disrupt the blood-brain barrier (BBB) noninvasively and reversibly in the targeted regions. This study evaluated the relative permeability of the blood-tumor barrier (BTB) after sonication by pulsed HIFU. Entry into the brain of chemotherapeutic agents is impeded by the BBB even though the permeability of this barrier may be partially reduced in the presence of a brain tumor. F98 glioma-bearing rats were injected intravenously with Evans blue (EB) with or without BTB disruption induced by pulsed HIFU. Sonication was applied at an ultrasound frequency of 1 MHz with a 5% duty cycle, and a repetition frequency of 1 Hz. The accumulation of EB in brain tumor and the tumor-to-contralateral brain ratio of EB were highest after pulsed HIFU exposure. Sonication followed by EB injection showed a tumor-to-contralateral brain ratio in the target tumors which was about 2 times that of the control tumors. This research demonstrates that pulsed HIFU enhances the relative permeability of the BTB in glioma- bearing rats. The results of this pilot study support the idea that further evaluation of other treatment strategies, such as HIFU exposure in addition to combined chemotherapy or repeated pulsed HIFU exposure to increase delivery of drugs into brain tumors, might be useful.     

Annular phased-array high-intensity focused ultrasound device for image-guided therapy of uterine fibroids

An ultrasound (US), image-guided high-intensity focused ultrasound (HIFU) device was developed for noninvasive ablation of uterine fibroids. The HIFU device was an annular phased array, with a focal depth range of 30-60 mm, a natural focus of 50 mm, and a resonant frequency of 3 MHz. The in-house control software was developed to operate the HIFU electronics drive system for inducing tissue coagulation at different distances from the array. A novel imaging algorithm was developed to minimize the HIFU-induced noise in the US images. The device was able to produce lesions in bovine serum albumin-embedded polyacrylamide gels and excised pig liver. The lesions could be seen on the US images as hyperechoic regions. Depths ranging from 30 to 60 mm were sonicated at acoustic intensities of 4100 and 6100 W/cm2 for 15 s each, with the latter producing average lesion volumes at least 63% larger than the former. Tissue sonication patterns that began distal to the transducer produced longer lesions than those that began proximally. The variation in lesion dimensions indicates the possible development of HIFU protocols that increase HIFU throughput and shorten tumor treatment times.     

高强度聚焦超声治疗的实时被动空化检测系统及其实验研究

高强度聚焦超声（High Intensity Focused Ultrasound,HIFU）所致空化效应在临床应用中扮演着重要角色,对HIFU临床治疗过程中的空化活动进行实时监测,结合数据分析与治疗过程中实时反馈,可进一步提高HIFU治疗的安全性和有效性。在现有HIFU临床治疗系统的基础上,将两个被动空化检测探头与HIFU换能器集成。在Matlab环境下开发了独立的上位机控制系统,基于以太网通信和虚拟仪器技术,实现了上位机的自动测试,融合被动空化检测系统与HIFU临床治疗系统,对空化所致声发射信号进行实时监测。通过HIFU辐照离体组织实验对该系统进行了测试验证,各种声功率条件下的超声辐照离体组织监测过程中,次谐波幅值与宽带噪声的均方根被实时可视化,用于监测空化的发生;次谐波与宽带噪声均方根的积分曲线斜率用于表征组织焦域处的相对空化强度。实验结果表明,该系统可满足临床治疗过程中对空化活动进行实时监测和数据分析处理的需求,为深入研究实际临床治疗中空化效应和实时反馈提供了一种有力的研究手段。     

An Intelligent Nanotheranostic Agent for Targeting,Redox‐Responsive Ultrasound Imaging,and Imaging‐Guided High‐Intensity Focused Ultrasound Synergistic Therapy

A novel multifunctional nanotheranostic agent with targeting, redox‐responsive ultrasound imaging and ultrasound imaging‐guided high‐intensity focused ultrasound (HIFU) therapy (MSNC‐PEG‐HA_SS‐PFH, abbreviated as MPH_SS‐PFH) capabilities is developed. The redox‐responsive guest molecule release and ultrasound imaging functions can be both integrated in such a “smart” theranostic agent, which is accomplished by the redox‐triggered transition from the crosslinking state to retrocrosslinking state of the grafted polyethylene glycol‐disulfide hyaluronic acid molecules on the particle surface when reaching a reducing environment in vitro. More importantly, under the tailored ultrasound imaging guiding, in vivo Hela tumor‐bearing nude mice can be thoroughly and spatial‐accurately ablated during HIFU therapy, due to the targeted accumulation, responsive ultrasound imaging guidance and the synergistic ablation functions of nanotheranostic agent MPH_SS‐PFH in the tumors. This novel multifunctional nano‐platform can serve as a promising candidate for further studies on oncology therapy, due to its high stability, responsive and indicative ultrasound imaging of tumors, and enhanced HIFU therapeutic efficiency and spatial accuracy under ultrasound‐guidance.     

Feasibility of MR-temperature mapping of ultrasonic heating from a CMUT

In the last decade, high intensity focused ultrasound (HIFU) has gained popularity as a minimally invasive and noninvasive therapeutic tool for treatment of cancers, arrhythmias, and other medical conditions. HIFU therapy is often guided by magnetic resonance imaging (MRI), which provides anatomical images for therapeutic device placement, temperature maps for treatment guidance, and postoperative evaluation of the region of interest. While piezoelectric transducers are dominantly used for MR-guided HIFU, capacitive micromachined ultrasonic transducers (CMUTs) show competitive advantages, such as ease of fabrication, integration with electronics, improved efficiency, and reduction of self-heating. In this paper, we will show our first results of an unfocused CMUT transducer monitored by MR-temperature maps. This 2.51 mm by 2.32 mm, unfocused CMUT heated a HIFU phantom by 14 degrees C in 2.5 min. This temperature rise was successfully monitored by MR thermometry in a 3.0 T General Electric scanner.     

Finite element simulation of nonlinear wave propagation in thermoviscous fluids including dissipation

A recently developed finite element method (FEM) for the numerical simulation of nonlinear sound wave propagation in thermoviscous fluids is presented. Based on the nonlinear wave equation as derived by Kuznetsov, typical effects associated with nonlinear acoustics, such as generation of higher harmonics and dissipation resulting from the propagation of a finite amplitude wave through a thermoviscous medium, are covered. An efficient time-stepping algorithm based on a modification of the standard Newmark method is used for solving the nonlinear semidiscrete equation system. The method is verified by comparison with the well-known Fubini and Fay solutions for plane wave problems, where good agreement is found. As a practical application, a high intensity focused ultrasound (HIFU) source is considered. Impedance simulations of the piezoelectric transducer and the complete HIFU source loaded with air and water are performed and compared with measured data. Measurements of radiated low and high amplitude pressure pulses are compared with corresponding simulation results. The obtained good agreement demonstrates validity and applicability of the nonlinear FEM     

高强度聚焦超声消融滋养动脉治疗子宫肌瘤的临床价值

目的：探讨高强度聚焦超声消融滋养动脉治疗子宫肌瘤的可行性及有效性。方法：47例直径4~10cm肌壁间肌瘤,高强度聚焦超声治疗前通过彩色多普勒及超声造影确定肌瘤滋养动脉的蒂,对该区域进行消融,观察治疗前后肌瘤内部彩色多普勒及超声造影等影像学变化、随访临床症状及并发症。结果：治疗后肌瘤体积有不同程度的缩小,瘤体假包膜环状血流信号消失,肌瘤内部处于持续无灌注状态,部分患者临床症状消失或明显改善。结论：HIFU消融滋养动脉治疗子宫肌瘤能够缩短治疗时间,减少并发症,是一种微创和有效的方法。