Real-time navigation device for intracranial electrode implantation, and imaging method

Abstract

The present application discloses a real-time navigation device for intracranial electrode implantation and an imaging method. The device includes: a brain detection ultrasonic probe and a local detection ultrasonic probe; the brain detection ultrasonic probe is installed on a cranial hole ring provided on the brain, and the brain detection ultrasonic probe faces intracranially, wherein the brain detection ultrasonic probe is used to collect first ultrasonic images of a first range of the entire intracranial brain in real time; the local detection ultrasonic probe is arranged at the head end of the trocar cannula core, wherein the trocar cannula core is used to pass through the cranial hole ring and insert an electrode into a predetermined position intracranially; the local detection ultrasonic probe is used to collect second ultrasonic images within a second range near the head end, wherein the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasonic images is higher than that of the first ultrasonic images. The problem in the related art that during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process is solved.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic imaging, and in particular, to a real-time navigation device for intracranial electrode implantation and an imaging method. Background Technique

[0002] As one of the four major medical imaging technologies, the working principle of medical ultrasonic imaging is to perform imaging based on the different propagation and reflection of ultrasonic waves in different biological tissues. It is widely used in the clinical diagnosis of medicine such as obstetrics, ophthalmology, internal medicine, and cardiology, and has unique advantages such as good real-time performance, no ionizing radiation, and low cost. Currently, 1 / 6 of the global population is troubled by neurological and mental diseases, and there are still insufficient treatment means for many diseases such as dysfunction, degeneration, and psychosis. Deep brain stimulation (DBS) neuromodulation therapy is currently the most promising technical means with potential and clinical prospects.

[0003] However, in clinical practice, the key intraoperative electrode implantation is only completed by preoperative and postoperative images. Due to the lack of real-time image navigation during the operation, it may cause blood vessel rupture, slightly deviated electrode stimulation points, etc., and there are risks of bleeding and possible induction of depression. Only 1.6%-4.5% of severe PD patients receive this treatment. In the traditional positioning of deep brain stimulation electrode implantation, it relies on preoperative surgical planning and cannot perform real-time navigation during the operation, and it is easy to have bleeding and position deviation during the implantation process.

[0004] Aiming at the problem that in the related technology, when performing intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process, no effective solution has been proposed yet. Summary of the Invention

[0005] The main purpose of the present application is to provide a real-time navigation device for intracranial electrode implantation and an imaging method, so as to solve the problem that in the related technology, when performing intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process.

[0006] To achieve the above object, according to one aspect of the present application, there is provided a real-time navigation device for intracranial electrode implantation, including: a brain detection ultrasonic probe and a local detection ultrasonic probe; the brain detection ultrasonic probe is mounted on a cranial hole ring provided on the brain, and the brain detection ultrasonic probe faces the intracranial cavity, wherein the brain detection ultrasonic probe is used to collect first ultrasonic images of a first range of the entire intracranial brain in real time; the local detection ultrasonic probe is provided at the head end of the trocar cannula core, wherein the trocar cannula core is used to pass through the cranial hole ring and insert an electrode into a predetermined position in the intracranial cavity; the local detection ultrasonic probe is used to collect second ultrasonic images of a second range near the head end, wherein the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasonic images is higher than that of the first ultrasonic images.

[0007] Optionally, the operating frequency of the brain detection ultrasonic probe is a first frequency range, wherein the ultrasonic detection wave in the first frequency range is used to collect the first ultrasonic images of the first range; the operating frequency of the local detection ultrasonic probe is a second frequency range, wherein the ultrasonic detection wave in the second frequency range is used to collect the second ultrasonic images of the second range, and the second frequency range is higher than the first frequency range.

[0008] Optionally, the brain detection ultrasonic probe is a convex array ultrasonic probe, and the local detection ultrasonic probe is a phased array ultrasonic probe.

[0009] Optionally, a sleeve is provided on the outer shell of the convex array ultrasonic probe, and the sleeve is radially rotatably mounted on the outer shell, and the sleeve is used to slidably mount the trocar cannula core so that the trocar cannula core can slide up and down and / or rotate.

[0010] Optionally, a caliper structure is further provided on the outer shell of the convex array ultrasonic probe, and the caliper structure is provided on the outer shell of the convex array ultrasonic probe and is used to clamp the convex array ultrasonic probe on the cranial hole ring during use to fix the position of the convex array ultrasonic probe.

[0011] Optionally, the device further includes: a movable host, which is connected to both the brain detection ultrasonic probe and the local detection ultrasonic probe, and is used to supply power to the brain detection ultrasonic probe and the local detection ultrasonic probe and receive data collected by the brain detection ultrasonic probe and the local detection ultrasonic probe; the movable host includes: a display screen and a movable body; the display screen is provided on the movable body, and the movable body includes a processing device and an operating device, and the processing device is connected to the convex array ultrasonic probe through the connection line.

[0012] To achieve the above object, according to another aspect of the present application, a real-time navigation imaging method for intracranial electrode implantation is provided, including: receiving in real time first ultrasonic detection data of a first range of the whole intracranial brain collected by a brain detection ultrasonic probe, wherein the brain detection ultrasonic probe is mounted on a cranial hole ring provided on the brain, and the brain detection ultrasonic probe faces the intracranial cavity to collect the first ultrasonic detection data of the first range in the intracranial cavity in real time; generating a first ultrasonic image according to the first ultrasonic detection data; receiving in real time second ultrasonic detection data of a second range near the head end of the trocar needle core collected by a local detection ultrasonic probe, wherein the local detection ultrasonic probe is arranged at the head end of the trocar needle core, and the trocar needle core is used to pass through the cranial hole ring to insert an electrode into a predetermined position in the intracranial cavity, and the size of the second range is smaller than the size of the first range; generating a second ultrasonic image according to the second ultrasonic detection data.

[0013] Optionally, the brain detection ultrasonic probe is a convex array ultrasonic probe, and the local detection ultrasonic probe is a phased array ultrasonic probe. Receiving in real time first ultrasonic detection data of a first range of the whole intracranial brain collected by the convex array ultrasonic probe and generating a first ultrasonic image according to the first ultrasonic detection data includes: sending a first ultrasonic detection wave in a first frequency range through the convex array ultrasonic probe in a direction facing the intracranial cavity; receiving a first echo of the first ultrasonic detection wave through the convex array ultrasonic probe and converting the first echo into first ultrasonic detection data; receiving the first ultrasonic detection data sent by the convex array ultrasonic probe and generating a corresponding first ultrasonic image according to the first ultrasonic detection data; receiving in real time second ultrasonic detection data of a second range near the head end of the trocar needle core collected by the phased array ultrasonic probe and generating a second ultrasonic image according to the second ultrasonic detection data includes: sending a second ultrasonic detection wave in a second frequency range through the phased array ultrasonic probe, wherein the detection direction of the phased array ultrasonic probe faces away from the trocar needle core; receiving a second echo of the second ultrasonic detection wave through the phased array ultrasonic probe and converting the second echo into second ultrasonic detection data; receiving the second ultrasonic detection data sent by the phased array ultrasonic probe and generating a corresponding second ultrasonic image according to the second ultrasonic detection data.

[0014] Optionally, the method further includes: displaying the first ultrasound image in a first area on the screen, and synchronously displaying the second ultrasound image in a second area on the screen; processing the first ultrasound detection data through a first blood flow power Doppler algorithm to obtain a first blood vessel image with a first resolution; processing the second ultrasound detection data through a second blood flow power Doppler algorithm to obtain a second blood vessel image with a second resolution, where the second resolution is greater than the first resolution; displaying the first blood vessel image in a third area on the screen, and synchronously displaying the second blood vessel image in a fourth area on the screen.

[0015] According to another aspect of the present application, there is also provided a computer-readable storage medium for storing a program, where the program executes the real-time navigation imaging method for intracranial electrode implantation described in any one of the above.

[0016] According to another aspect of the present application, there is also provided an electronic device including one or more processors and a memory for storing one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors implement the real-time navigation imaging method for intracranial electrode implantation described in any one of the above.

[0017] In this application, a first ultrasound image of a first range of the entire intracranial brain is detected by a brain detection ultrasound probe, and a second ultrasound image of a second range near the tip of the trocar cannula is collected by a local detection ultrasound probe during the electrode implantation process. The position of the trocar cannula in the entire brain is obtained through the first ultrasound image, and the position of the tip of the trocar cannula for installing the electrode in the local intracranial area is obtained through the second ultrasound image, and nearby tissues such as blood vessels are displayed in detail, achieving the purpose of real-time navigation at two scales, namely the brain dimension and the local dimension near the tip during the electrode implantation process, realizing the technical effects of improving the efficiency of electrode implantation navigation and reducing the difficulty of electrode implantation, and further solving the problem that in the related art, during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process. Description of the Drawings

[0018] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0019] Figure 1 is a schematic diagram of a real-time navigation device for intracranial electrode implantation provided according to an embodiment of the present application;

[0020] Figure 2It is a flowchart of a real-time navigation imaging method for intracranial electrode implantation provided according to an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of a navigation device for intracranial electrode implantation provided according to an embodiment of the present application;

[0022] Figure 4-1-1 It is a schematic diagram of B-mode ultrasound imaging of a convex array ultrasound probe provided according to an embodiment of the present application;

[0023] Figure 4-1-2 It is a schematic diagram of microvascular imaging of a convex array ultrasound probe provided according to an embodiment of the present application;

[0024] Figure 4-2-1 It is a schematic diagram of B-mode ultrasound imaging of a phased array ultrasound probe provided according to an embodiment of the present application;

[0025] Figure 4-2-2 It is a schematic diagram of microvascular imaging of a phased array ultrasound probe provided according to an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of the structure of a convex array ultrasound probe provided according to an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of the installation structure of a phased array ultrasound probe provided according to an embodiment of the present application;

[0028] Figure 7 It is a schematic diagram of the assembly structure of a convex array ultrasound probe and a phased array ultrasound probe provided according to an embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of an electronic device provided according to an embodiment of the present application.

[0030] The reference numerals of the above-mentioned drawings are as follows:

[0031] 11 - Brain detection ultrasound probe, 12 - Local detection ultrasound probe, 13 - Cranial hole ring, 14 - Trocar stylet, 141 - Tip, 2 - Convex array ultrasound probe, 3 - Phased array ultrasound probe, 4 - Display, 5 - Movable body, 21 - Piezoelectric layer, 22 - Matching layer, 23 - Flexible circuit board, 24 - Sleeve, 80 - Electronic device. Detailed implementation manners

[0032] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0033] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so as to implement the embodiments of this application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] Figure 1 is a schematic diagram of a real-time navigation device for intracranial electrode implantation according to an embodiment of this application, as Figure 1 shown. According to one aspect of this application, a real-time navigation device for intracranial electrode implantation is provided, including: a brain detection ultrasonic probe 11 and a local detection ultrasonic probe 12;

[0036] The brain detection ultrasonic probe 11 is installed on a cranial hole ring 13 provided on the brain, and the brain detection ultrasonic probe 11 faces the intracranial cavity. Among them, the brain detection ultrasonic probe 11 is used to collect first ultrasonic images of a first range of the whole intracranial brain in real time; the local detection ultrasonic probe 12 is arranged at the head end of the trocar core 14. Among them, the trocar core 14 is used to pass through the cranial hole ring 13 to insert the electrode into a predetermined position in the intracranial cavity; the local detection ultrasonic probe 12 is used to collect second ultrasonic images of a second range near the head end, where the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasonic image is higher than that of the first ultrasonic image.

[0037] The above device detects the first ultrasonic image of the first range of the whole brain in the skull through the brain detection ultrasonic probe, and collects the second ultrasonic image of the second range near the tip of the trocar core during the electrode implantation process through the local detection ultrasonic probe. The position of the trocar core in the whole brain is obtained through the first ultrasonic image, and the position of the tip of the trocar core for installing the electrode in the local area of the skull is obtained through the second ultrasonic image, and nearby tissues such as blood vessels are displayed in detail, achieving the purpose of real-time navigation from two scales, namely the brain dimension and the local dimension near the tip, during the electrode implantation process, realizing the technical effects of improving the efficiency of electrode implantation navigation and reducing the difficulty of electrode implantation, and further solving the problem in the related technology that during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process.

[0038] The working frequency of the above brain detection ultrasonic probe 11 is relatively low, and it can detect deep inside tissues. During the intracranial electrode implantation process in this embodiment, the brain detection ultrasonic probe can detect the tissue conditions of most of the brain, and the first ultrasonic image of the first range generated can show the position of the trocar core from a larger scale.

[0039] The brain detection ultrasonic probe can navigate the trocar core in terms of direction on a larger scale. Especially when the trocar core just extends into the skull or the target position for implanting the electrode is relatively deep, a general forward direction is needed to guide the trocar core to approach the target position. Therefore, the size of the brain detection ultrasonic probe can be slightly larger, the resolution can be lower, and the image quality can be slightly worse, mainly to ensure the scanning range to roughly determine the position of the trocar core in the whole brain.

[0040] The above brain detection ultrasonic probe can be a convex array ultrasonic probe or a phased array ultrasonic probe. Preferably, it is a convex array ultrasonic probe.

[0041] When the trocar core is relatively close to the target position or the trocar core inevitably approaches complex tissues, it is necessary to use the local detection ultrasonic probe to scan the second ultrasonic image of the second range near the tip of the trocar core. The local detection ultrasonic probe can be set at the tip position of the trocar core by means of wiring, and its physical size is smaller. Usually, a phased array ultrasonic probe is selected to ensure a smaller physical size.

[0042] It should be noted that the above trocar core is a hollow structure, and the linear electrode is placed inside the trocar core. When the tip of the trocar core extends into the target position in the skull where the electrode needs to be implanted, the trocar core is opened to set the linear electrode at the above target position.

[0043] The working frequency of the local detection ultrasonic probe 12 is relatively high, and the depth it can detect is relatively shallow, with a small range. However, its accuracy is higher, the resolution of the generated second ultrasonic image is higher, and it can collect more subtle tissue details.

[0044] When the trocar core is relatively close to the target position, or when the trocar core inevitably approaches complex tissues, the insertion of the trocar core is first stopped. And a phased array ultrasonic probe is used to collect the second image of the current position, that is, the tissue image near the tip of the trocar core at the current position. Then, more precise navigation is carried out based on the more detailed and clear second ultrasonic image. In order to place the electrode carried by the tip of the trocar core at the target position, or to find the foreground direction in complex tissues.

[0045] Optionally, in this embodiment, the brain detection ultrasonic probe is a convex array ultrasonic probe 2, and the local detection ultrasonic probe is a phased array ultrasonic probe 3.

[0046] The above-mentioned convex array ultrasonic probe 2 is simply referred to as the convex array probe. Its working frequency is relatively low, and it can detect the deep internal tissues. It can navigate the trocar core in terms of direction on a larger scale. Especially when the trocar core 14 just enters the cranial cavity, or when the target position for implanting the electrode is relatively deep, a general forward direction is needed to guide the trocar core to approach the target position.

[0047] When the trocar core 14 is relatively close to the target position, or when the trocar core 14 inevitably approaches complex tissues, it is necessary to use a phased array ultrasonic probe to scan the second ultrasonic image of the second range near the tip 141 of the trocar core 14. The phased array ultrasonic probe can be arranged at the tip position of the trocar core by means of wiring, and its physical size is smaller.

[0048] The phased array ultrasonic probe can be simply referred to as the phased array probe. The working frequency of the phased array ultrasonic probe is relatively high, and the depth it can detect is relatively shallow, with a small range. However, its accuracy is higher, the resolution of the generated second ultrasonic image is higher, and it can collect more subtle tissue details.

[0049] In some embodiments, an alternating use method can be adopted to navigate the implantation of the electrode into the trocar core. Improve the accuracy of navigation and reduce the probability of harm to the implanted person.

[0050] Optionally, the working frequency of the brain detection ultrasonic probe is in the first frequency range, where the ultrasonic detection wave in the first frequency range is used to collect the first ultrasonic image of the first range; the working frequency of the local detection ultrasonic probe is in the second frequency range, where the ultrasonic detection wave in the second frequency range is used to collect the second ultrasonic image of the second range, and the second frequency range is higher than the first frequency range.

[0051] As described above, the second frequency range is higher than the first frequency range. Generally speaking, the first frequency range is an intermediate frequency range greater than or equal to 4 MHz and less than 20 MHz. Preferably, it can be 6 MHz, 8 MHz, 10 MHz, etc. The above-mentioned second frequency range is a high-frequency range greater than or equal to 20 MHz. Preferably, it can be 30 MHz, 40 MHz, 50 MHz, etc. The ultrasonic detection signal within the intermediate frequency range has better penetration and can detect deeper tissues inside. The ultrasonic detection signal within the high-frequency range has higher accuracy, can detect more tissue details, and improve the resolution of ultrasonic images.

[0052] The above-mentioned first range can be the brain range. The convex array ultrasonic probe in this embodiment can detect from the brain epidermis to positions deep in the brainstem, hypothalamus, etc., and complete the ultrasonic detection of the entire brain part. It should be noted that the first range is the range on the scale of the entire brain. In some cases, for example, if the position of the cranial foramen ring is too low or too high, it may affect the boundary of the first range.

[0053] The above-mentioned second range can be the local brain range, specifically the range within a certain distance near the head end of the trocar core, to perform ultrasonic detection on the brain tissue near the head end of the trocar core, and obtain ultrasonic images with higher resolution and more details to guide the further movement of the trocar core.

[0054] Optionally, the convex array ultrasonic probe includes a housing and an ultrasonic transducer. The ultrasonic transducer includes a plurality of array elements, and the plurality of array elements are arranged along a curved surface to form a detection range with a preset angle.

[0055] The ultrasonic detection work of the convex array ultrasonic probe is mainly performed by the ultrasonic transducer. The circuit of the ultrasonic transducer is arranged inside the housing, and the housing is used to protect the internal circuit of the ultrasonic transducer.

[0056] As Figure 5 shown, the working frequency of the ultrasonic transducer of the convex array ultrasonic probe is 6 MHz. The ultrasonic transducer includes 48 array elements, and through geometric structure bending, it realizes detection in the range of 120° to 180°. It also includes a flexible circuit board 21, a matching layer 22, a backing layer 23, and a piezoelectric layer that is the same size as the matching layer 22 and covers under the matching layer 22. The backing layer is arranged below the piezoelectric layer to provide support for the flexible circuit board 21, the matching layer 22, and the piezoelectric layer, and block the influence of ultrasonic waves on the internal circuit components of the array probe.

[0057] Optionally, a sleeve is provided on the housing of the convex array ultrasonic probe. The sleeve is radially rotatably installed on the housing, and the sleeve is used for slidingly installing the trocar core to enable the trocar core to slide up and down and / or rotate.

[0058] As Figure 5As shown, the sleeve 24 is rotatably mounted radially on the housing, such as Figure 7 As shown, a trocar cannula 14 is slidably mounted within the sleeve. In this way, during the process of implanting the electrode with the trocar cannula, it can slide up and down while also being able to rotate.

[0059] In some other embodiments, the housing of the convex array ultrasound probe is clamped on the cranial hole ring, enabling the convex array ultrasound probe to rotate on the cranial hole ring. In this way, during the process of implanting the electrode with the trocar cannula, it can also rotate to a certain extent within the range of the cranial hole ring. This makes the operation of the trocar cannula more flexible and more convenient for electrode implantation.

[0060] Optionally, a clamping structure is provided on the convex array ultrasound probe, and the clamping structure is arranged on the housing of the convex array ultrasound probe.

[0061] The above-mentioned clamping structure is used to clamp the convex array ultrasound probe on the cranial hole ring during use to fix the position of the convex array ultrasound probe.

[0062] Optionally, the device further includes: a movable host, which is connected to both the brain detection ultrasound probe and the local detection ultrasound probe, and is used to supply power to the brain detection ultrasound probe and the local detection ultrasound probe, and receive the data collected by the brain detection ultrasound probe and the local detection ultrasound probe.

[0063] The movable host can be connected to the brain detection ultrasound probe and the local detection ultrasound probe respectively through two independent connection lines. It can also be connected to both the brain detection ultrasound probe and the local detection ultrasound probe through a one-to-two connection line.

[0064] As a control device that connects both the brain detection ultrasound probe and the local detection ultrasound probe, due to its relatively large volume, being movable can make it more convenient to move according to the usage requirements.

[0065] In some other optional embodiments, the movable host is connected to the brain detection ultrasound probe, used to supply power to the brain detection ultrasound probe and receive the data collected by the brain detection ultrasound probe; a sleeve is also provided on the brain detection ultrasound probe, the trocar cannula is arranged within the sleeve, and is connected to the brain detection ultrasound probe through the sleeve, used to supply power to the phased array ultrasound probe through the connection line between the brain detection ultrasound probe and the movable host, and send the data collected by the phased array ultrasound probe to the movable host.

[0066] In the above-mentioned optional embodiments, the movable host uses one connection line to connect to the brain detection ultrasound probe and the local detection ultrasound probe successively. On the one hand, the structure is simpler and the use is more convenient. On the other hand, it can also reduce the equipment failure rate and increase the convenience of equipment replacement.

[0067] Specifically, the movable host is connected to the brain detection ultrasound probe. A sleeve is also provided on the brain detection ultrasound probe. The trocar needle core is arranged inside the sleeve, and the local detection ultrasound probe is connected to the brain detection ultrasound probe through the sleeve.

[0068] Optionally, the movable host includes: a display screen 4 and a movable body 5. The display screen 4 is arranged on the movable body 5. The movable body 5 includes a processing device and an operating device. The processing device is connected to the brain detection ultrasound probe and / or the local detection ultrasound probe through a connecting line.

[0069] A display screen is also provided on the movable host, which can display the generated first ultrasound image and second ultrasound image, and can also display specific detection data and perform data analysis, etc.

[0070] The movable host further includes a movable body, which drives the above-mentioned display screen, processing device, and operating device to move as a whole, so as to facilitate operation and use according to the usage requirements.

[0071] The movable host further includes a processing device, which can be used to control the operation of the brain detection ultrasound probe and / or the local detection ultrasound probe, and at the same time receive the ultrasound detection data collected by the brain detection ultrasound probe and / or the local detection ultrasound probe, perform data processing and analysis, and process the ultrasound detection data through a preset processing algorithm to obtain the corresponding ultrasound image.

[0072] For example, by using the processing algorithm of the B-mode ultrasound working mode, a B-mode ultrasound image can be obtained. By using the blood flow power Doppler algorithm, a blood vessel image can be obtained. By using the diverging wave imaging algorithm, a phased array diverging wave image can be obtained.

[0073] Figure 2 It is a flowchart of a real-time navigation imaging method for intracranial electrode implantation provided by an embodiment of the present application, as Figure 2 shown. According to another aspect of the present application, a real-time navigation imaging method for intracranial electrode implantation is provided, including the following steps:

[0074] Step S201: Real-time receive the first ultrasound detection data of the first range of the intracranial whole brain collected by the brain detection ultrasound probe. Among them, the brain detection ultrasound probe is installed on the cranial hole ring arranged on the brain, and the brain detection ultrasound probe faces the intracranial cavity to collect the first ultrasound detection data of the first range in real time;

[0075] Step S202: Generate a first ultrasound image according to the first ultrasound detection data;

[0076] Step S203: Receive in real time the second ultrasonic detection data within a second range near the tip of the trocar needle core collected by the local detection ultrasonic probe. The local detection ultrasonic probe is arranged at the tip of the trocar needle core. The trocar needle core is used to pass through the cranial aperture ring and insert the electrode into a predetermined position in the skull. The size of the second range is smaller than that of the first range.

[0077] Step S204: Generate a second ultrasonic image based on the second ultrasonic detection data.

[0078] In the above steps, the first ultrasonic image of the entire brain in the skull is detected by the brain detection ultrasonic probe, and the second ultrasonic image within the second range near the tip of the trocar needle core is collected by the local detection ultrasonic probe during the electrode implantation process. The position of the trocar needle core in the entire brain is obtained through the first ultrasonic image, and the position of the tip of the trocar needle core for installing the electrode in the local area within the skull is obtained through the second ultrasonic image, and tissues such as nearby blood vessels are detailedly displayed, achieving the purpose of real-time navigation at two scales, namely, the brain dimension and the local dimension near the tip, during the electrode implantation process, realizing the technical effects of improving the efficiency of electrode implantation navigation and reducing the difficulty of electrode implantation, and further solving the problem in the related technology that during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process.

[0079] Optionally, the brain detection ultrasonic probe is a convex array ultrasonic probe, and the local detection ultrasonic probe is a phased array ultrasonic probe.

[0080] Receiving in real time the first ultrasonic detection data of the entire brain in the skull collected by the convex array ultrasonic probe and generating the first ultrasonic image based on the first ultrasonic detection data includes: sending, by the convex array ultrasonic probe, a first ultrasonic detection wave within a first frequency range in the direction towards the skull; receiving, by the convex array ultrasonic probe, the first echo of the first ultrasonic detection wave and converting the first echo into the first ultrasonic detection data; receiving the first ultrasonic detection data sent by the convex array ultrasonic probe and generating a corresponding first ultrasonic image based on the first ultrasonic detection data.

[0081] The second frequency range is higher than the first frequency range. Generally speaking, the first frequency range is an intermediate frequency range greater than or equal to 6 MHz and less than 20 MHz, and the second frequency range is a high frequency range greater than or equal to 20 MHz. The ultrasonic detection signal within the intermediate frequency range has better penetration and can detect deeper tissues inside. The ultrasonic detection signal within the high frequency range has higher accuracy, can detect more tissue details, and improves the resolution of the ultrasonic image.

[0082] Receiving in real time second ultrasonic detection data in a second range near the tip of the trocar needle core collected by a phased array ultrasonic probe, and generating a second ultrasonic image based on the second ultrasonic detection data includes: sending, by the phased array ultrasonic probe, a second ultrasonic detection wave in a second frequency range, wherein the detection direction of the phased array ultrasonic probe faces away from the side of the trocar needle core; receiving, by the phased array ultrasonic probe, a second echo of the second ultrasonic detection wave, and converting the second echo into second ultrasonic detection data; receiving the second ultrasonic detection data sent by the phased array ultrasonic probe, and generating a corresponding second ultrasonic image based on the second ultrasonic detection data.

[0083] It should be noted that the above-mentioned generating a corresponding first ultrasonic image based on the first ultrasonic detection data and generating a corresponding second ultrasonic image based on the second ultrasonic detection data both adopt the imaging algorithm of the B-mode ultrasound working mode to generate B-mode ultrasound images. In some other embodiments, other processing algorithms for ultrasonic detection data can also be adopted.

[0084] Optionally, the method further includes: displaying the first ultrasonic image in a first area on the screen, and synchronously displaying the second ultrasonic image in a second area on the screen; processing the first ultrasonic detection data through a first blood flow power Doppler algorithm to obtain a first blood vessel image with a first resolution; processing the second ultrasonic detection data through a second blood flow power Doppler algorithm to obtain a second blood vessel image with a second resolution, wherein the second resolution is greater than the first resolution; displaying the first blood vessel image in a third area on the screen, and synchronously displaying the second blood vessel image in a fourth area on the screen.

[0085] By adopting the blood flow power Doppler algorithm, a blood vessel image can be obtained. By adopting the diverging wave imaging algorithm, a phased array diverging wave image can be obtained.

[0086] The above-mentioned first area where the first ultrasonic image is displayed, the second area where the second ultrasonic image is displayed, the third area where the first blood vessel image is displayed, and the fourth area where the second blood vessel image is displayed can be display areas on different pages, that is, the above-mentioned first ultrasonic image, second ultrasonic image, first blood vessel image, and second blood vessel image can be displayed in different areas on the same page, or can be displayed in different areas on different pages, and are specifically displayed according to the user's needs and instructions.

[0087] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from here.

[0088] It should be noted that the present application also provides an optional implementation manner, and the following will describe this implementation manner in detail.

[0089] This embodiment provides a miniature dual-frequency ultrasonic probe for real-time navigation and its imaging method. This embodiment utilizes the characteristics of dual-frequency transducers and related algorithms to achieve image navigation for implanted electrodes. Without changing the clinical DBS treatment process, this embodiment uses a medium-frequency small convex array probe to detect the cerebrovascular vessels on the brain surface layer and in the deep part of the craniotomy area. On the existing trocar, a miniature high-frequency phased array is integrated to perform real-time navigation during the electrode implantation process, identify finer blood vessels, and provide real-time navigation for the existing electrode surgery.

[0090] Figure 3 It is a schematic diagram of an intracranial electrode implantation navigation device provided according to an embodiment of the present application. As Figure 3 shown, in view of the current situation of no real-time image navigation during DBS electrode implantation, a miniature medium-frequency convex array and a high-frequency phased array ultrasonic imaging probe are integrated into one. For the positioning and path navigation requirements of Parkinson's brain pacemaker electrode implantation, the medium-frequency convex array probe imaging is used to reflect the position of the brain tissue. Figure 4-1-1 It is a schematic diagram of B-mode ultrasound imaging of a convex array ultrasonic probe provided according to an embodiment of the present application. As Figure 4-1-1 shown, B-mode ultrasound imaging is performed using a convex array ultrasonic probe, which is also the above-mentioned first ultrasonic image. Specifically, it is plane wave imaging. Figure 4-1-2 It is a schematic diagram of microvascular imaging of a convex array ultrasonic probe provided according to an embodiment of the present application. As Figure 4-1-2 shown, after performing microvascular Doppler imaging algorithm processing on the above-mentioned B-mode ultrasound image, a microvascular image is obtained, which is also the above-mentioned first vascular image. The above-mentioned microvessels are blood vessels that can be displayed at the resolution of the first ultrasonic image.

[0091] Figure 4-2-1 It is a schematic diagram of B-mode ultrasound imaging of a phased array ultrasonic probe provided according to an embodiment of the present application. As Figure 4-2-1 shown, B-mode ultrasound imaging is performed using a phased array ultrasonic probe, which is also the above-mentioned second ultrasonic image. Figure 4-2-2 It is a schematic diagram of microvascular imaging of a phased array ultrasonic probe provided according to an embodiment of the present application. As Figure 4-2-2 shown, after performing microvascular Doppler imaging algorithm processing on the above-mentioned B-mode ultrasound image, a microvascular image is obtained, which is also the above-mentioned second vascular image. The above-mentioned microvessels are blood vessels that can be displayed at the resolution of the second ultrasonic image.

[0092] Combined with the vascular Doppler algorithm, the blood vessel distribution situation on the entire depth path is obtained. Further, real-time high-resolution path navigation is performed through the high-frequency phased array ultrasound integrated with the trocar to ensure accurate placement of the electrode position and effectively avoid small blood vessels, solving the problems of large secondary injuries and low cure rate in clinical Parkinson's deep brain stimulation surgery.

[0093] 1. Imaging transducer of the mid-frequency convex array probe for the cerebral cortex (i.e., the above-mentioned convex array ultrasound probe): central frequency ≥ 4 MHz, size ≤ 10 mm, longitudinal resolution ≤ 0.5 mm, number of array elements ≥ 32 elements.

[0094] 2. Imaging transducer of the high-frequency phased array probe integrated in the trocar (i.e., the above-mentioned phased array ultrasound probe): central frequency ≥ 20 MHz, size ≤ 2 mm, longitudinal resolution ≤ 0.15 mm, length of the trocar integrating the micro transducer ≥ 12 cm, number of array elements ≥ 16 elements.

[0095] In the traditional DBS electrode implantation and positioning, it relies on preoperative planning, without intraoperative real-time image navigation and is limited by the magnetic resonance resolution > 400 μm, resulting in treatment side effects such as bleeding, secondary brain tissue injury, and electrode position deviation. This study can achieve vascular imaging of 100 μm - 400 μm on the electrode implantation path, target area detection, and preoperative planning calibration; detect bleeding around the target point and electrode path after implantation. The imaging resolution of the combination of medium and high frequencies is higher than preoperative magnetic resonance imaging, realizing intraoperative high-resolution real-time imaging navigation, reducing bleeding and secondary brain tissue injury, and precisely implanting the target nucleus, enabling more patients with indications to receive treatment with confidence.

[0096] (1) Miniaturization design of the ultrasound probe;

[0097] In order to meet the requirements of the skull opening size for electrode implantation, the miniaturization design and implementation of the mid-frequency convex array probe for the brain surface applied in the cranial hole ring; the design and implementation of the invasive miniaturized high-frequency phased array probe applied in the trocar; this miniaturized, medium and high-frequency combined design is very practical.

[0098] (2) Medium and high-frequency fusion ultrasound imaging technology based on the B-mode ultrasound working mode, micro blood flow, and phased divergent waves;

[0099] This device uses the mid-frequency convex array B-mode ultrasound working mode for imaging, monitors the implantation of the invasive trocar in real-time imaging, avoids important blood vessels by showing in real-time through the micro blood flow Doppler algorithm, combines the phased divergent waves in the invasive trocar, performs high-resolution imaging during the real-time front-end puncture process, identifies the nucleus, and conducts precise implantation navigation through the medium and high-frequency fusion technology.

[0100] The key technology of this embodiment lies in:

[0101] 1. Miniaturization of the miniaturized mid-frequency convex array ultrasound probe placed in the cranial hole ring.

[0102] Figure 5 It is a schematic diagram of the structure of the convex array ultrasound probe provided according to the embodiment of the present application, as Figure 5As shown, preferably, the convex array ultrasonic probe is designed to be 6 MHz and have 48 array elements. The convex array ultrasonic probe includes a housing and an ultrasonic transducer part. The ultrasonic transducer includes 48 array elements. Through geometric structure bending, detection in the range of 120° to 180° is achieved. The ultrasonic transducer also includes a piezoelectric layer 21, a matching layer 22, a flexible circuit board 23, and a backing layer. The backing layer is arranged under the flexible circuit board 23, provides support for the piezoelectric layer 21, the matching layer 22, and the flexible circuit board 23, and blocks the influence of ultrasonic waves on the internal circuit components of the phased array probe. The backing layer is not shown in the figure.

[0103] 2. Develop a micro high-frequency phased array ultrasonic probe that can be integrated on the trocar core.

[0104] Figure 6 It is a schematic diagram of the installation structure of the phased array ultrasonic probe provided according to the embodiment of the present application. As Figure 6 shown, preferably, the phased array ultrasonic probe 3 is designed to be 30 MHz and have 16 array elements, achieving a penetration depth of about 10 mm and a resolution of about 100 microns. The transducer of the phased array ultrasonic probe is placed inside the trocar core.

[0105] Figure 7 It is a schematic diagram of the assembly structure of the convex array ultrasonic probe and the phased array ultrasonic probe provided according to the embodiment of the present application. As Figure 7 shown, the phased array ultrasonic probe 3 and the trocar core 14 are combined mechanically to form a medium-high frequency ultrasonic probe, which is placed in the cranial hole ring 13 and used in cooperation with the convex array ultrasonic probe 2.

[0106] 3. Microvascular function imaging algorithm, phased divergent wave, medium-high frequency fusion imaging algorithm.

[0107] This real-time method uses micro medium-high frequency probe technology, combines the B-mode ultrasound working mode, the micro blood flow power Doppler algorithm, and the phased array divergent wave imaging algorithm to realize the imaging of the distribution of small and medium-sized blood vessels and nuclei after craniotomy, and achieve the goal of accurate real-time navigation for implanting electrodes.

[0108] The embodiment of the present application also provides a real-time navigation device for intracranial electrode implantation. It should be noted that the real-time navigation device for intracranial electrode implantation in the embodiment of the present application can be used to execute the real-time navigation imaging method for intracranial electrode implantation provided in the embodiment of the present application. The real-time navigation device for intracranial electrode implantation provided in the embodiment of the present application will be introduced below. The device includes: a first receiving module, a first imaging module, a second receiving module, and a second imaging module. The device will be described in detail below.

[0109] A first receiving module, configured to receive in real time first ultrasonic detection data of a first range of the entire intracranial brain collected by an intracranial detection ultrasonic probe, wherein the intracranial detection ultrasonic probe is installed on a cranial hole ring provided on the brain, and the intracranial detection ultrasonic probe faces the intracranial cavity to collect in real time first ultrasonic detection data of the first range in the intracranial cavity; a first imaging module, connected to the first receiving module, configured to generate a first ultrasonic image according to the first ultrasonic detection data; a second receiving module, connected to the first imaging module, configured to receive in real time second ultrasonic detection data of a second range near the tip of the trocar cannula collected by a local detection ultrasonic probe, wherein the local detection ultrasonic probe is provided at the tip of the trocar cannula, and the trocar cannula is used to penetrate the cranial hole ring and insert an electrode into a predetermined position in the intracranial cavity, and the size of the second range is smaller than the size of the first range; a second imaging module, connected to the second receiving module, configured to generate a second ultrasonic image according to the second ultrasonic detection data.

[0110] The real-time navigation device for intracranial electrode implantation provided by the embodiment of the present application detects a first ultrasonic image of a first range of the entire intracranial brain through an intracranial detection ultrasonic probe, and collects a second ultrasonic image within a second range near the tip of the trocar cannula during the electrode implantation process through a local detection ultrasonic probe, obtains the position of the trocar cannula in the entire brain through the first ultrasonic image, and obtains the position of the tip of the trocar cannula for installing the electrode in the local intracranial area through the second ultrasonic image, and details and displays tissues such as nearby blood vessels, achieving the purpose of real-time navigation at two scales of the entire brain and near the tip during the electrode implantation process, realizing the technical effects of improving the efficiency of electrode implantation navigation and reducing the difficulty of electrode implantation, and further solving the problem that in the related art, during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process.

[0111] The real-time navigation device for intracranial electrode implantation includes a processor and a memory. The first receiving module, the first imaging module, the second receiving module, the second imaging module, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0112] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem that in the related art, during intracranial electrode implantation, only static images before and after implantation can be used for navigation, and real-time navigation cannot be performed during the implantation process is solved.

[0113] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0114] An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the real-time navigation imaging method for intracranial electrode implantation is implemented.

[0115] An embodiment of the present invention provides a processor for running a program, wherein when the program runs, the real-time navigation imaging method for intracranial electrode implantation is executed.

[0116] Figure 8 is a schematic diagram of an electronic device provided according to an embodiment of the present application. As Figure 8 shown, an embodiment of the present application provides an electronic device 80, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the steps of any of the above methods are implemented.

[0117] The devices herein can be servers, PCs, PADs, mobile phones, etc.

[0118] The present application also provides a computer program product, which is suitable for executing a program initialized with the steps of any of the above methods when executed on a real-time navigation device for intracranial electrode implantation.

[0119] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable real-time navigation devices for intracranial electrode implantation to generate a machine, so that the instructions executed by the processor of the computer or other programmable real-time navigation devices for intracranial electrode implantation generate means for implementing the functions specified in Figure 1 each of the flows or multiple flows and / or blocks Figure 1 each of the blocks or multiple blocks.

[0121] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable real-time navigation device for intracranial electrode implantation to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in the process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0122] These computer program instructions can also be loaded onto a computer or other programmable real-time navigation device for intracranial electrode implantation, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing steps for implementing the functions specified in the process Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0123] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0124] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0125] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0126] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0127] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A real-time navigation device for intracranial electrode implantation, characterized in that, Comprising: A brain detection ultrasound probe and a local detection ultrasound probe; The brain detection ultrasound probe is installed on a cranial hole ring provided on the brain, and the brain detection ultrasound probe faces intracranially. Among them, the brain detection ultrasound probe is used to collect first ultrasound images of the first range of the entire intracranial brain in real time; The local detection ultrasound probe is arranged at the head end of the trocar cannula core. Among them, the trocar cannula core is used to pass through the cranial hole ring and insert an electrode into a predetermined position intracranially; The local detection ultrasound probe is used to collect second ultrasound images within a second range near the head end. Among them, the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasound image is higher than that of the first ultrasound image. The position of the trocar cannula core in the entire brain is obtained through the first ultrasound image, and the position of the head end of the trocar cannula core for installing the electrode in the local intracranial area is obtained through the second ultrasound image.

2. The navigation device according to claim 1, wherein The operating frequency of the brain detection ultrasound probe is within a first frequency range, and the ultrasound detection wave within the first frequency range is used to collect the first ultrasound images of the first range; The operating frequency of the local detection ultrasound probe is within a second frequency range, and the ultrasound detection wave within the second frequency range is used to collect the second ultrasound images of the second range. The second frequency range is higher than the first frequency range.

3. The navigation device according to claim 1, characterized in that, The brain detection ultrasound probe is a convex array ultrasound probe, and the local detection ultrasound probe is a phased array ultrasound probe.

4. The navigation device according to claim 3, wherein, The convex array ultrasound probe includes a housing and an ultrasound transducer, The ultrasound transducer includes a plurality of array elements, and the plurality of array elements are arranged along a curved surface to form a detection range with a preset angle.

5. The navigation device according to claim 4, characterized in that A sleeve is provided on the housing of the convex array ultrasound probe, The sleeve is radially rotatably installed on the housing, and the sleeve is used to slidably install the trocar cannula core so that the trocar cannula core can slide up and down and / or rotate.

6. The navigation device according to claim 5, characterized in that, A caliper structure is also provided on the housing of the convex array ultrasound probe, The caliper structure is provided on the housing of the convex array ultrasound probe and is used to clamp the convex array ultrasound probe on the cranial hole ring during use to fix the position of the convex array ultrasound probe.

7. The navigation device according to claim 3, characterized in that, The device further includes: a movable host, The movable host is connected to both the brain detection ultrasound probe and the local detection ultrasound probe, and is used to supply power to the brain detection ultrasound probe and the local detection ultrasound probe and receive the data collected by the brain detection ultrasound probe and the local detection ultrasound probe; The movable host includes: a display screen and a movable body; The display screen is arranged on the movable body, and the movable body includes a processing device and an operating device. The processing device is connected to the convex array ultrasound probe through a connecting wire.

8. A real-time navigation imaging method for intracranial electrode implantation, characterized in that, Comprising: Real-time receiving first ultrasound detection data of the first range of the entire intracranial brain collected by the brain detection ultrasound probe. Among them, the brain detection ultrasound probe is installed on a cranial hole ring provided on the brain, and the brain detection ultrasound probe faces intracranially, and real-time collects first ultrasound detection data of the first range intracranially; Generate a first ultrasonic image based on the first ultrasonic detection data; Receive in real time second ultrasonic detection data of a second range near the tip of the trocar needle core collected by a local detection ultrasonic probe, wherein the local detection ultrasonic probe is arranged at the tip of the trocar needle core, the trocar needle core is used to pass through the cranial hole ring and insert an electrode into a predetermined position in the skull, and the size of the second range is smaller than the size of the first range; Generate a second ultrasonic image based on the second ultrasonic detection data.

9. The navigation imaging method according to claim 8, wherein The brain detection ultrasonic probe is a convex array ultrasonic probe, and the local detection ultrasonic probe is a phased array ultrasonic probe. Receiving in real time first ultrasonic detection data of a first range of the whole brain in the skull collected by the convex array ultrasonic probe, and generating a first ultrasonic image based on the first ultrasonic detection data includes: Send a first ultrasonic detection wave in a first frequency range in the direction towards the skull through the convex array ultrasonic probe; Receive a first echo of the first ultrasonic detection wave through the convex array ultrasonic probe, and convert the first echo into first ultrasonic detection data; Receive the first ultrasonic detection data sent by the convex array ultrasonic probe, and generate a corresponding first ultrasonic image based on the first ultrasonic detection data; Receiving in real time second ultrasonic detection data of a second range near the tip of the trocar needle core collected by the phased array ultrasonic probe, and generating a second ultrasonic image based on the second ultrasonic detection data includes: Send a second ultrasonic detection wave in a second frequency range through the phased array ultrasonic probe, wherein the detection direction of the phased array ultrasonic probe is towards the side away from the trocar needle core; Receive a second echo of the second ultrasonic detection wave through the phased array ultrasonic probe, and convert the second echo into second ultrasonic detection data; Receive the second ultrasonic detection data sent by the phased array ultrasonic probe, and generate a corresponding second ultrasonic image based on the second ultrasonic detection data.

10. The navigation imaging method according to claim 9, wherein The method further includes: Display the first ultrasonic image in a first area on the screen, and synchronously display the second ultrasonic image in a second area on the screen; Process the first ultrasonic detection data through a first blood flow power Doppler algorithm to obtain a first vascular image with a first resolution; Process the second ultrasonic detection data through a second blood flow power Doppler algorithm to obtain a second vascular image with a second resolution, wherein the second resolution is greater than the first resolution; Display the first vascular image in a third area on the screen, and synchronously display the second vascular image in a fourth area on the screen.

Images