CN114903561B - An array type liquid-electric shock wave controllable focusing device and control method - Google Patents
An array type liquid-electric shock wave controllable focusing device and control method Download PDFInfo
- Publication number
- CN114903561B CN114903561B CN202210295751.5A CN202210295751A CN114903561B CN 114903561 B CN114903561 B CN 114903561B CN 202210295751 A CN202210295751 A CN 202210295751A CN 114903561 B CN114903561 B CN 114903561B
- Authority
- CN
- China
- Prior art keywords
- electrode
- shock wave
- array
- time delay
- focusing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
- A61B17/225—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for for extracorporeal shock wave lithotripsy [ESWL], e.g. by using ultrasonic waves
- A61B17/2255—Means for positioning patient, shock wave apparatus or locating means, e.g. mechanical aspects, patient beds, support arms or aiming means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Surgical Instruments (AREA)
Abstract
The array type liquid-electricity shock wave controllable focusing device comprises a shell, an energy storage electric appliance, an electrode and energy transfer liquid, wherein the energy transfer liquid is arranged in the shell, the electrode is immersed in the energy transfer liquid, the electrode comprises a negative electrode and a plurality of positive electrode matrixes which are linearly arranged at equal intervals, the positive electrode matrixes are electrically connected with an array switch, the array switch is electrically connected with the energy storage electric appliance, the array switch is further electrically connected with a microprocessor, and the microprocessor is used for storing time delay of the positive electrode matrixes. The array type liquid electric shock wave controllable focusing device disclosed by the invention controls the excitation signals of each electrode array element based on a near-field beam forming principle, approximates a time delay simplification system for a near-field beam forming filter by planning positive electrodes, T-shaped negative electrodes and linear distribution of high-voltage discharge positions of each electrode array element, and controls an array switch to realize controllable focusing of each electrode array element based on the output of corresponding time delay of each electrode array element by a microprocessor.
Description
Technical Field
The invention relates to a liquid electric shock wave generating device, in particular to a control mode and a device for controllable focusing of array type liquid electric shock waves.
Background
The external shock wave technology of the liquid electric technology is widely applied to the medical field for treating urinary system calculus of human body, the basic technical principle is that shock waves are generated through discharge and energy focusing is realized by utilizing a reflecting or acoustic lens, the focused shock waves are guided into the human body through impedance matching of an aqueous medium, and the calculus is crushed through the concentrated physical effect generated by the energy focusing.
The basic technical principle of the existing liquid electric focusing shock wave medical equipment is that the electrode tip of an electrode rod is utilized to carry out high-voltage discharge to form radial liquid electric shock waves, and the shock waves are focused through a reflecting structure, such as an ellipsoidal reflecting surface, so that the liquid electric shock waves realize energy focusing at the focus of the reflecting structure. The technical principle is simple to realize and has higher energy conversion efficiency, but a single electrode is used as an energy source to generate focused shock waves, and higher discharge voltage is needed although the focused shock waves are focused by a reflecting surface, so that the electrode tip is easy to damage after being subjected to high-voltage discharge for a plurality of times, the electrode tip becomes a consumable product, the use cost of the equipment is increased, meanwhile, the focus of the reflecting structure is fixed, the whole reflecting structure is controlled by a moving mechanism to align the quality after the calculus is positioned by means of scanning equipment such as X rays before the shock wave treatment, the complexity of medical equipment is high, the time consumption of the positioning process is reduced, the treatment efficiency is reduced, and the operation workload of the equipment is increased.
In order to overcome the defects existing in the prior art, chinese patent CN200310112407.5 proposes a multipurpose directional shock wave generating device, which generates directional emitted shock waves in a plurality of output modes, besides parallel output, the device can use curved surfaces to stably focus when focusing is needed, so that drift of focus of the shock waves can not be caused, and as the discharge end is changed to use convex objects such as discharge balls, the service life is greatly prolonged. However, the technical scheme needs to integrally replace discharge ends with different shapes, and meanwhile, for the same discharge end, the shock wave focusing point still cannot be flexibly adjusted.
Aiming at the requirements of low complexity and low cost of the liquid electric focusing shock wave medical equipment in specific medical application scenes, the invention aims to provide a control mode and a device for the liquid electric shock wave controllable focusing of an array by utilizing the characteristic that the array focusing can be flexibly adjusted and forming the array by a plurality of electrodes to perform the controlled focusing.
Disclosure of Invention
Aiming at the defects existing in the background technology, the invention aims to provide a control mode and a device for controllable focusing of array type liquid electric shock waves.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The array type liquid-electricity shock wave controllable focusing device comprises a shell, an energy storage electric appliance, electrodes and energy transfer liquid, and is characterized in that the energy transfer liquid is arranged in the shell, the electrodes are immersed in the energy transfer liquid, each electrode comprises a negative electrode with a T-shaped structure and a positive electrode matrix formed by m positive electrodes which are arranged linearly at equal intervals, each positive electrode and each negative electrode form an electrode array element, the positive electrode matrix is electrically connected with an array switch, the array switch is electrically connected with the energy storage electric appliance, the array switch is also electrically connected with a microprocessor, and the microprocessor is used for storing the time delay of the positive electrode matrix;
The m electrode array element has a space coordinate of (x m,ym,zm), the focusing position of the controllable shock wave is in the array near field range, the array center is taken as the origin of coordinates, the distance between the focusing position and the origin of coordinates is r, the azimuth angle is theta and the pitch angle is The distance between the mth positive electrode and the focal position can be expressed as:
The received signal of the shock wave signal discharged from the mth electrode at the focus position can be expressed as:
Wherein t is a time coordinate, A is a discharge voltage amplitude constant of the energy storage electric appliance, w is an angular frequency of the shock wave signal, k=2pi/lambda, and lambda is a wavelength of the shock wave signal;
according to the near-field beam forming principle, a shaping filter h m (t) with an order of L is adopted to perform near-field focusing treatment, and then the shock wave signals of the electrodes received at the focusing position are as follows:
The near field beamforming formula may obtain a near field beamforming filter h m (t);
The electrode delay corresponding to the mth electrode can be expressed as:
after the shock wave signals of the electrode array elements received at the focusing position are subjected to time delay control, controllable focusing of the shock wave is realized, and the shock wave can be expressed as:
wherein the function delta is a unit impulse function and is used for controlling time delay and outputting and controlling an mth electrode array element.
Further, the energy storage electric appliance is a high-voltage discharge capacitor.
Further, the shell is provided with a water inlet and a water outlet.
Further, the energy transfer liquid is clean water.
The control mode of the array type hydraulic shock wave controllable focusing device is suitable for the controllable focusing device and comprises the following steps:
Step 1, generating time delay, calculating and generating electrode time delay corresponding to each focusing position of the shock wave, and storing the electrode time delay into a microprocessor;
step 2, inputting a focusing position, determining a focusing position of the shock wave according to treatment requirements and inputting the focusing position into a microprocessor;
Step 3, controlling the selective power-on time of each positive electrode in the electrode array, calling corresponding electrode time delay in the microprocessor according to the input shock wave focusing position, and controlling the power-on time of each electrode by the microprocessor according to the electrode time delay;
And 4, generating shock waves by each electrode, aligning and focusing the shock waves generated by each electrode in time through time delay, and realizing the shock wave focusing corresponding to the focusing position.
The beneficial effects of the invention are as follows:
The invention provides a control mode and a device for controllable focusing of array type liquid electric shock wave, and the disclosed controllable focusing device of array type liquid electric shock wave controls excitation signals of discharge electrodes in each array based on a near field beam forming principle, and the controllable focusing of each electrode array element is realized by designing a linear positive electrode array, T-shaped negative electrode and guaranteeing linear distribution of high-voltage discharge positions of each electrode array element, and further by simplifying a system for approximate time delay of a near field beam forming filter, so that the controllable focusing of each electrode array element can be realized based on the output of corresponding time delay of each electrode array element by a microprocessor, and controlling an array switch.
Therefore, the array type liquid electric shock wave controllable focusing device provided by the invention can obviously reduce the discharge voltage of each electrode of the electrode array, ensure the shock wave focusing strength and the treatment effect, and can omit a mechanical moving device of a traditional focusing reflection structure to realize controllable digital focusing aiming at the position of stones, thereby realizing quick and accurate aiming in the actual medical operation of liquid electric focusing shock wave medical equipment, being beneficial to reducing the equipment cost and improving the efficiency.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an electrode array element of an array type hydraulic shock wave controllable focusing device according to the present invention;
FIG. 2 is a schematic diagram of an array-type electro-hydraulic shock wave controllable focusing device according to the present invention;
In the figure, a shell 10, an energy storage electric appliance 20, a negative electrode 30, a positive electrode matrix 40, energy-transfer liquid 50, an array switch 60, a micro-processing 70, a water inlet 801, a water outlet 802 and a focusing position 90 are shown.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 2.
The array type liquid-electricity shock wave controllable focusing device comprises a shell 10, an energy storage electric appliance 20, electrodes and energy transfer liquid 50, wherein the energy transfer liquid 20 is arranged in the shell 10, the electrodes are immersed in the energy transfer liquid 50, each electrode comprises a negative electrode 30 and a plurality of positive electrode matrixes 40 which are arranged linearly at equal intervals, each positive electrode 401 in the positive electrode matrixes 40 is electrically connected with an array switch 60, the array switch 60 is electrically connected with the energy storage electric appliance 20, the array switch 60 is also electrically connected with a microprocessor 70, and the microprocessor 70 is used for storing time delay of the positive electrode matrixes 40.
Preferably, the negative electrode has a T-shaped structure.
Preferably, the energy storage electric appliance is a high-voltage discharge capacitor. Preferably, the shell is provided with a water inlet and a water outlet.
Preferably, the energy transfer liquid is clean water.
The invention also provides a control mode of the array type hydraulic shock wave controllable focusing device, which comprises the following steps:
Step 1, generating time delay, calculating and generating electrode time delay corresponding to each focusing position of the shock wave, and storing the electrode time delay into a microprocessor;
step 2, inputting a focusing position, determining a focusing position of the shock wave according to treatment requirements and inputting the focusing position into a microprocessor;
Step 3, controlling the selective power-on time of each positive electrode in the electrode array, calling corresponding electrode time delay in the microprocessor according to the input shock wave focusing position, and controlling the power-on time of each electrode by the microprocessor according to the electrode time delay;
And 4, generating shock waves by each electrode, aligning and focusing the shock waves generated by each electrode in time through time delay, and realizing the shock wave focusing corresponding to the focusing position.
Considering the application characteristics of the electrohydraulic focusing shock wave treatment, the focusing shock wave is in the near field range, and the shock wave front generated by the electrode array discharge is spherical wave instead of plane wave, so that control signal generation is needed according to the near field array wave beam control method.
The electrode is assumed to be an M-element electrode array, namely the electrode consists of a T-shaped structure negative electrode and M positive electrodes, and each positive electrode and the T-shaped structure negative electrode form an electrode array element. The focusing position 90 of the controllable shock wave is in the near field range of the array, the center of the array is taken as the origin of coordinates, the distance between the focusing position S and the origin of coordinates is r, the azimuth angle is theta, and the pitch angle isThen as shown in figure 1.
Generally, assuming that the spatial coordinate of the M-th element of the M-element array is (x m,ym,zm), the distance from the M-th element to the origin is r m, and the distance from the focusing position 90 to the origin is r, the distance between the M-th positive electrode and the focusing position S is d m may be expressed as:
taking into account the two-dimensional simplification, the controllable shock wave focus position S is set in the z-axis, i.e. θ=90°, D m can be written as:
dm＝(xm 2+r2)1/2
Considering the two-dimensional simplification, in this embodiment, m=8, that is, there are 8 positive electrodes, and a total of 8 electrode array elements, where the 8 positive electrodes are equally spaced on the x-axis, the center of the array is the origin of coordinates, and the array element spacing is d, then there are:
Thus, it can be known that the received signal of the shock wave signal of the mth positive electrode discharge at the focus position S can be expressed as:
Wherein t is a time coordinate, A is a discharge voltage amplitude constant of the energy storage electric appliance, w is an angular frequency of the shock wave signal, k=2pi/lambda, and lambda is a wavelength of the shock wave signal.
According to the near field beam forming principle, a shaping filter h m (t) with an order of L is adopted to perform near field focusing, and then the shockwave signals of each array element received at the focusing position 90 are:
the near field beamforming filter h m (t) may be obtained using near field beamforming formulas known in the art:
Where r 0 is the coordinate on the Z-axis when the focal position 90 is set on the Z-axis.
Considering that the electrode discharge is a transient process in this embodiment, in order to simplify the system consideration, each electrode array element is selectively turned on through time delay to perform controllable shock wave focusing, that is, equivalently, space focusing is realized by controlling the time delay discharge of the mth electrode array element, the time delay makes the shock waves of the mth array element aligned in time and overlapped, so as to achieve the focusing effect, and the time delay τ m of the time delay discharge of the mth electrode array element can be expressed as:
Then, after the time delay control, the shock wave signal of each electrode array element received at the Z-axis focusing position 90 will realize controllable focusing of the shock wave at the r 0 position, which can be expressed as:
Wherein the function delta is a unit impulse function, and in this embodiment, the microprocessor 70 controls the time delay and outputs the time delay to the corresponding mth electrode array element in the array switch control electrode.
It should be noted that the above derivation process is simplified in two dimensions for convenience of description, and the processing method is equally applicable in a three-dimensional scene, that is, the focal position may be set in a three-dimensional plane.
In summary, according to the array type hydraulic shock wave controllable focusing device provided by the invention, the disclosed array type hydraulic shock wave controllable focusing device controls the excitation signals of each discharge electrode in each array based on the near-field beam forming principle, linear positive electrode arrays, T-shaped negative electrodes and the linear distribution of high-voltage discharge positions of each electrode array element are designed, and further, the system is simplified by approximate time delay of a near-field beam forming filter, so that the controllable focusing of each electrode array element can be realized based on the time delay corresponding to each array element output by a microprocessor, and the switch array is controlled.
Therefore, the array type liquid electric shock wave controllable focusing device provided by the invention can obviously reduce the discharge voltage of each electrode of the electrode array, ensure the shock wave focusing strength and the treatment effect, and can omit a mechanical moving device of a traditional focusing reflection structure to realize controllable digital focusing aiming at the position of stones, thereby realizing quick and accurate aiming in the actual medical operation of liquid electric focusing shock wave medical equipment, being beneficial to reducing the equipment cost and improving the efficiency.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and implement it, and not to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210295751.5A CN114903561B (en) | 2022-03-24 | 2022-03-24 | An array type liquid-electric shock wave controllable focusing device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210295751.5A CN114903561B (en) | 2022-03-24 | 2022-03-24 | An array type liquid-electric shock wave controllable focusing device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114903561A CN114903561A (en) | 2022-08-16 |
| CN114903561B true CN114903561B (en) | 2025-06-24 |
Family
ID=82763661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210295751.5A Active CN114903561B (en) | 2022-03-24 | 2022-03-24 | An array type liquid-electric shock wave controllable focusing device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114903561B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0238772A1 (en) * | 1985-09-09 | 1987-09-30 | Moshe Ein-Gal | Apparatus for the disintegration of body calculi |
| WO2017168279A1 (en) * | 2016-03-30 | 2017-10-05 | Koninklijke Philips N.V. | Two dimensional ultrasonic array transducer with one dimensional subpatches |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4821729A (en) * | 1984-05-08 | 1989-04-18 | The Johns Hopkins University | Means and method for the noninvasive fragmentation of body concretions having means for accurately locating a concretion |
| US5065741A (en) * | 1987-04-16 | 1991-11-19 | Olympus Optical Co. Ltd. | Extracoporeal ultrasonic lithotripter with a variable focus |
| US5178135A (en) * | 1987-04-16 | 1993-01-12 | Olympus Optical Co., Ltd. | Therapeutical apparatus of extracorporeal type |
| US4955366A (en) * | 1987-11-27 | 1990-09-11 | Olympus Optical Co., Ltd. | Ultrasonic therapeutical apparatus |
| US5033456A (en) * | 1989-07-12 | 1991-07-23 | Diasonic Inc. | Acoustical lens assembly for focusing ultrasonic energy |
| WO1993022976A1 (en) * | 1992-05-12 | 1993-11-25 | Delmenico Peter F | Method and apparatus to establish target coordinates for lithotripsy |
| JP3594610B2 (en) * | 1994-09-21 | 2004-12-02 | エイチエムティー ハイ メディカル テクノロジーズ エントヴィックルングス−ウント フェアトリープス アクチエンゲゼルシャフト | Medical shock wave generator |
| JPH11169378A (en) * | 1997-12-10 | 1999-06-29 | Suzuki Motor Corp | Shock wave therapy device |
| US8257282B2 (en) * | 2004-02-19 | 2012-09-04 | General Patent, Llc | Pressure pulse/shock wave apparatus for generating waves having plane, nearly plane, convergent off target or divergent characteristics |
| CN2691496Y (en) * | 2003-11-28 | 2005-04-13 | 陈明 | Multi-purpose directional impact wave generator |
| US8882792B2 (en) * | 2009-08-14 | 2014-11-11 | Ethicon Endo-Surgery, Inc. | Ultrasonic surgical apparatus with silicon waveguide |
| WO2012108854A2 (en) * | 2009-12-22 | 2012-08-16 | Phoenix Science & Technology, Inc. | Sparker array source |
| CN202198993U (en) * | 2011-08-19 | 2012-04-25 | 陈明 | Multi-planar array focusing and positioning treatment equipment |
| CN207203235U (en) * | 2017-02-20 | 2018-04-10 | 中惠医疗科技（上海）有限公司 | Phased array focuses on the water circle device of ultrasound womb myomata treatment system |
| FR3072577B1 (en) * | 2017-10-23 | 2019-09-27 | Cardiawave Sa | APPARATUS FOR TREATING VASCULAR THROMBOSIS BY ULTRASOUND |
-
2022
- 2022-03-24 CN CN202210295751.5A patent/CN114903561B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0238772A1 (en) * | 1985-09-09 | 1987-09-30 | Moshe Ein-Gal | Apparatus for the disintegration of body calculi |
| WO2017168279A1 (en) * | 2016-03-30 | 2017-10-05 | Koninklijke Philips N.V. | Two dimensional ultrasonic array transducer with one dimensional subpatches |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114903561A (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105598021B (en) | A kind of liquid electric pulse shock wave generator | |
| CN103071613A (en) | Longitudinal bending composite ultrasonic vibration focalizer | |
| CN103341241B (en) | A kind of high-intensity focusing ultrasonic transducer array | |
| CN102307062A (en) | Apparatus and method for wireless energy transmission in laser resonant coupling mode | |
| KR20170005526A (en) | An ultrasound transducer assembly for beam-forming and manufacturing method thereof | |
| CN114903561B (en) | An array type liquid-electric shock wave controllable focusing device and control method | |
| Fan et al. | Converting a monopole emission into a dipole using a subwavelength structure | |
| CN105030492A (en) | Crutch for blind man based on ultrasonic phased array | |
| CN103971672A (en) | Underwater laser sound source with control directivity and control method thereof | |
| CN103465250B (en) | Microrobot and mini mobile mechanism | |
| CN106842951B (en) | Electrical performance and control-oriented state space modeling method for spatial mesh antenna | |
| CN1768877A (en) | Drive control method of acoustic field focus mode of sphere phase array focused ultrasound transducer | |
| CN204307228U (en) | 82 array element phase array transducers | |
| CN101332340A (en) | Ultrasound power device and ultrasound tumour therapeutic system | |
| CN106934234A (en) | It is a kind of to construct the method that bending standing wave manipulation particle is moved along serpentine track | |
| CN203342224U (en) | High-intensity focused ultrasonic transducer array | |
| CN105147503A (en) | Ultrasonic-phased-array-based reminding method of crutch for blind person | |
| US7410464B2 (en) | Wave generating device | |
| CN104754459B (en) | The method that the directive property of low-frequency sound wave is improved using sound idol grade subarray | |
| CN118641142A (en) | A wavefront control system and method based on cavitation array excited acoustic wave phase | |
| CN115276829B (en) | A Laser-induced Acoustic Transducer System Based on Acoustic Metasurface | |
| CN114283776B (en) | Laser transducer system and laser transducer sound generation method | |
| CN204522037U (en) | A kind of matrix probe for ultrasonic physiotherapy table | |
| CN116173432A (en) | A Low Loss Ultrasound Transducer with Power Output and Imaging Capability | |
| CN114160397A (en) | Underwater array type high-power ultrasonic wireless energy transfer system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |