Ultrasound-guided transcranial nerve regulation system and method

Abstract

The invention discloses an ultrasound-guided transcranial nerve regulation and control system and method. The system comprises a helmet-type ultrasonic transducer, a multi-channel phased array controller and an upper computer which are connected in sequence. The helmet type ultrasonic transducer is in communication connection with the upper computer; the upper computer is used for determining a target visual target focusing area according to the multiple imaging echo signals and the multiple regulation and control echo signals, and the target visual target focusing area is used for nerve regulation and control; the multi-channel phased array controller is used for generating low-power electric signals and high-power electric signals and transmitting the electric signals to the helmet type ultrasonic transducer; the helmet type ultrasonic transducer is used for acquiring a plurality of imaging echo signals and a plurality of regulation and control echo signals according to the low-power electric signal and the high-power electric signal; the technical problem that an existing ultrasonic regulation and control system is too high in application cost is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic nerve regulation, and in particular to an ultrasound-guided transcranial nerve regulation system and method. Background Art

[0002] Neuromodulation technology is an important tool for neuroscience research, neuroengineering and clinical applications. At present, common neuromodulation methods include deep brain stimulation (DBS), transcranial direct current stimulation (tDCS), transcranial magnetic stimulation (TMS), optogenetics and transcranial ultrasound stimulation (TUS).

[0003] Transcranial focused ultrasound (tFUS) is a very promising new non-invasive neuromodulation method. It focuses ultrasound waves in a certain area of ​​the brain to form energy convergence, and stimulates the nerves or functional areas of the brain to modulate brain function, thereby improving some disease symptoms. It has high spatial resolution, effectiveness in targeting deep brain structures, low cost and good safety.

[0004] Most existing ultrasound control systems need to be manually built and are composed of multiple devices. They are then combined with technologies such as CT (Computed Tomography) and MRI (Magnetic Resonance Imaging) to obtain images of the patient's head for neural control. However, these imaging methods are very cumbersome and difficult to operate, and the system is bulky, resulting in excessively high application costs. Summary of the invention

[0005] The present invention provides an ultrasound-guided transcranial nerve regulation system and method, which are used to solve the technical problem of excessively high application cost of existing ultrasound regulation systems.

[0006] The first aspect of the present invention provides an ultrasound-guided transcranial nerve regulation system, the system comprising a helmet-type ultrasound transducer, a multi-channel phased array controller and a host computer connected in sequence;

[0007] The helmet-type ultrasonic transducer is communicatively connected with the host computer;

[0008] The host computer is used to obtain a first control instruction; when multiple imaging echo signals are received, a second control instruction is generated, and a preset signal processing algorithm is used to generate a sound speed imaging map and multiple signal sending interval steps according to each of the imaging echo signals, and each of the signal sending interval steps is sent to the helmet-type ultrasonic transducer; when multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each of the control echo signals and the sound speed imaging map, and the target visualization target focus area is used for neural control;

[0009] The multi-channel phased array controller is used to generate a low-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving a first control instruction sent by the host computer; and generate a high-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving a second control instruction sent by the host computer;

[0010] The helmet-type ultrasonic transducer is used for, when receiving the low-power electrical signal, converting the low-power electrical signal into an imaging ultrasonic signal and transmitting it to the patient's head, so as to receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal; when receiving the high-power electrical signal, converting the high-power electrical signal into a control ultrasonic signal, transmitting the control ultrasonic signal to the patient's head according to the signal sending interval step, so as to receive multiple control echo signals generated by the patient's head based on the control ultrasonic signal.

[0011] Furthermore, the helmet-type ultrasonic transducer includes a hemispherical shell, a plurality of circular arrays and an electrical interface;

[0012] The plurality of circle arrays include a plurality of circle control arrays and a plurality of circle imaging arrays;

[0013] The circular control arrays and the circular imaging arrays are alternately distributed on the inner spherical surface of the hemispherical shell;

[0014] Each of the circular control arrays is composed of a different number of control array elements, and each of the circular imaging arrays is composed of a different number of imaging array elements;

[0015] A control array element or an imaging array element is disposed at the vertex of the inner spherical surface of the hemispherical shell;

[0016] The electrical interface is arranged on the outer spherical surface of the hemispherical shell;

[0017] Each of the control array elements and each of the imaging array elements are connected to the multi-channel phased array controller via the electrical interface;

[0018] Each of the control array elements and each of the imaging array elements are communicatively connected to the host computer;

[0019] The imaging array element is used to convert the received low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head, so as to receive an imaging echo signal generated by the patient's head based on the imaging ultrasound signal and a control echo signal generated by the patient's head based on the control ultrasound signal;

[0020] The control array element is used to receive the imaging echo signal generated by the patient's head based on the imaging ultrasound signal, convert the received high-power electrical signal into a control ultrasound signal, and transmit the control ultrasound signal to the patient's head according to the signal sending interval step.

[0021] Furthermore, the helmet-type ultrasonic transducer is specifically used for:

[0022] When the low-power electrical signal is received, the received low-power electrical signal is converted into an imaging ultrasound signal through a target imaging array element and transmitted to the patient's head;

[0023] The imaging echo signals generated by the patient's head based on the imaging ultrasound signals are received by each of the imaging array elements and each of the control array elements respectively, and sent to the host computer;

[0024] The adjacent imaging array element is used as a new target imaging array element, and the received low-power electrical signal is converted into the imaging ultrasound signal through the new target imaging array element and transmitted to the patient's head, until a plurality of imaging array elements convert the low-power electrical signal into the imaging ultrasound signal and transmit it to the patient's head;

[0025] When the high-power electrical signal is received, the received high-power electrical signal is converted into a control ultrasonic signal through the target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal transmission interval step;

[0026] Receiving, by each of the imaging array elements, a control echo signal generated by the patient's head based on the control ultrasound signal and sending the signal to the host computer;

[0027] The adjacent control array element is used as a new target control array element, and the received high-power electrical signal is converted into the control ultrasonic signal through the new target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal sending interval step, until multiple control array elements convert the high-power electrical signal into the control ultrasonic signal and transmit it to the patient's head.

[0028] Further, the multi-channel phased array controller includes a low-power module and a high-power module;

[0029] The low-power module is connected to each of the imaging array elements via the electrical interface;

[0030] The high power module is connected to each of the control array elements through the electrical interface.

[0031] Furthermore, the preset signal processing algorithm includes a filtered back-projection algorithm, an Akaike information criterion algorithm, a Bezier curve theory, a ray tracing iteration algorithm, and a numerical simulation calculation algorithm; the host computer is specifically used for:

[0032] Obtaining a first control instruction and sending the instruction to the multi-channel phased array controller;

[0033] When a plurality of imaging echo signals are received, a second control instruction is generated and sent to the multi-channel phased array controller;

[0034] Performing signal segmentation on each of the imaging echo signals to determine a first sub-signal and a second sub-signal corresponding to each of the imaging echo signals;

[0035] Calculating the variance value corresponding to each of the imaging echo signals according to the first sub-signal and the second sub-signal corresponding to each of the imaging echo signals;

[0036] The Akaike information criterion algorithm is used to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal;

[0037] Determining the initial slowness distribution according to the flight time corresponding to each of the imaging echo signals using a filtered back projection algorithm;

[0038] Based on the Bezier curve theory, according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each of the imaging echo signals, the target propagation path corresponding to each of the imaging echo signals is determined;

[0039] Performing path segmentation on the target propagation path corresponding to each of the imaging echo signals, and determining sub-propagation paths within a plurality of pixels corresponding to each of the target propagation paths;

[0040] Based on a ray tracing iterative algorithm, the initial slowness distribution is optimized by using the flight time corresponding to each imaging echo signal and the sub-propagation paths within a plurality of pixels corresponding to each target propagation path to determine the target slowness distribution, and a sound velocity imaging diagram is generated according to the target slowness distribution;

[0041] Using a numerical simulation calculation algorithm to determine the signal sending interval step between each control array element according to the sound velocity imaging diagram and send the signal to the helmet-type ultrasonic transducer;

[0042] When multiple control echo signals are received, a beamforming algorithm is used to reconstruct each of the control echo signals to determine a beam path;

[0043] Superimposing the acoustic beam path and the sound velocity imaging map to determine an initial visualized target focus area;

[0044] Determining whether the initial visualized target focus area and the preset visualized target focus area are the same;

[0045] If they are the same, the initial visualization target focus area is used as the target visualization target focus area; and the target visualization target focus area is used for neural regulation.

[0046] A second aspect of the present invention provides an ultrasound-guided transcranial nerve regulation method, comprising:

[0047] When a plurality of imaging echo signals are received, a preset signal processing algorithm is used to generate a sound velocity imaging map according to each of the imaging echo signals;

[0048] When multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each of the control echo signals and the sound velocity imaging diagram, and the target visualization target focus area is used for neural control.

[0049] Furthermore, the preset signal processing algorithm includes a filtered back-projection algorithm, an Akaike information criterion algorithm, a Bezier curve theory, and a ray tracing iteration algorithm; the step of using the preset signal processing algorithm to generate a sound velocity imaging map according to each of the imaging echo signals includes:

[0050] Performing signal segmentation on each of the imaging echo signals to determine a first sub-signal and a second sub-signal corresponding to each of the imaging echo signals;

[0051] Calculating the variance value corresponding to each of the imaging echo signals according to the first sub-signal and the second sub-signal corresponding to each of the imaging echo signals;

[0052] The Akaike information criterion algorithm is used to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal;

[0053] Determining the initial slowness distribution according to the flight time corresponding to each of the imaging echo signals using a filtered back projection algorithm;

[0054] Based on the Bezier curve theory, according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each of the imaging echo signals, the target propagation path corresponding to each of the imaging echo signals is determined;

[0055] Performing path segmentation on the target propagation path corresponding to each of the imaging echo signals, and determining sub-propagation paths within a plurality of pixels corresponding to each of the target propagation paths;

[0056] Based on a ray tracing iterative algorithm, the initial slowness distribution is optimized using the flight time corresponding to each imaging echo signal and the sub-propagation path within a plurality of pixels corresponding to each target propagation path to determine the target slowness distribution, and a sound velocity imaging diagram is generated based on the target slowness distribution.

[0057] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the ultrasound-guided transcranial nerve regulation method as described in any one of the above items.

[0058] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the steps of the ultrasound-guided transcranial nerve regulation method as described in any one of the above items are implemented.

[0059] A fifth aspect of the present invention provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the ultrasound-guided transcranial nerve regulation method as described in any one of the above items.

[0060] It can be seen from the above technical solutions that the present invention has the following advantages:

[0061] The first aspect of the above technical solution of the present invention provides an ultrasound-guided transcranial nerve regulation system, which includes a helmet-type ultrasonic transducer, a multi-channel phased array controller and a host computer connected in sequence; wherein the helmet-type ultrasonic transducer is communicatively connected to the host computer; the host computer is used to obtain a first regulation instruction; when multiple imaging echo signals are received, a second regulation instruction is generated, and a preset signal processing algorithm is used to generate a sound velocity imaging map and multiple signal sending interval steps according to each imaging echo signal, and each signal sending interval step is sent to the helmet-type ultrasonic transducer; when multiple control echo signals are received, a beamforming algorithm is used to determine the target visualization target focus area according to each control echo signal and the sound velocity imaging map, and the target visualization target focus area is used for nerve regulation; the multi-channel phased array controller is used to generate a low-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving the first regulation instruction sent by the host computer; when receiving the second regulation instruction sent by the host computer, a high-power electrical signal is generated and transmitted to the helmet-type ultrasonic transducer A helmet-type ultrasonic transducer is used for converting a low-power electrical signal into an imaging ultrasonic signal and transmitting it to a patient's head when receiving a low-power electrical signal, so as to receive a plurality of imaging echo signals generated by the patient's head based on the imaging ultrasonic signal; when receiving a high-power electrical signal, the high-power electrical signal is converted into a control ultrasonic signal, and the control ultrasonic signal is transmitted to the patient's head according to the interval step of each signal transmission, so as to receive a plurality of control echo signals generated by the patient's head based on the control ultrasonic signal; based on the above scheme, the corresponding echo signal can be obtained by wearing the helmet-type ultrasonic transducer on the patient's head, and there is no need to splice multiple devices, which can simplify the system structure. At the same time, the upper computer processes the received imaging echo signal and the control echo signal based on a preset signal processing algorithm and a beamforming algorithm to obtain a target visualization target focus area, and performs a process of neural regulation through the target visualization target focus area. The present invention does not need to be combined with complex imaging technologies such as CT and MRI, which can reduce the difficulty of operation and thus reduce the application cost.

[0062] The second aspect of the above technical scheme of the present invention provides an ultrasound-guided transcranial nerve regulation method. When multiple imaging echo signals are received, a preset signal processing algorithm is used to generate a sound speed imaging image according to each imaging echo signal; when multiple control echo signals are received, a beamforming algorithm is used to determine the target visualization target focus area according to each control echo signal and the sound speed imaging image, and the target visualization target focus area is used for nerve regulation; based on the above scheme, based on the preset signal processing algorithm and the beamforming algorithm, the received imaging echo signals and the control echo signals are processed to obtain the target visualization target focus area, and the process of nerve regulation is performed through the target visualization target focus area. The present invention does not need to be combined with complex imaging technologies such as CT and MRI, can reduce the difficulty of operation, and thus reduce the application cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0064] Figure 1 A schematic diagram of the structure of an ultrasound-guided transcranial nerve regulation system provided in Embodiment 1 of the present invention;

[0065] Figure 2 A schematic diagram of the structure of a helmet-type ultrasonic transducer provided in Embodiment 1 of the present invention;

[0066] Figure 3 An exemplary structural diagram of the distribution of the circular control array and the circular imaging array on the inner sphere provided in the first embodiment of the present invention;

[0067] Figure 4 A comparison diagram of the focus area of ​​the visualized target before and after correction of the ultrasound-guided transcranial nerve regulation system provided in the first embodiment of the present invention;

[0068] Figure 5 A schematic diagram of the workflow of an ultrasound-guided transcranial nerve regulation system is provided for the first embodiment of the present invention;

[0069] Figure 6 A flowchart of the steps of an ultrasound-guided transcranial nerve regulation method provided in Embodiment 2 of the present invention;

[0070] The meanings of the symbols in the accompanying drawings are as follows:

[0071] 1. Hemispherical shell; 2. Circle array; 3. Electrical interface; 4. Control array element; 5. Imaging array element. DETAILED DESCRIPTION

[0072] The embodiments of the present invention provide an ultrasound-guided transcranial nerve regulation system and method, which are used to solve the technical problem that the application cost of existing ultrasound regulation systems is too high.

[0073] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of an ultrasound-guided transcranial nerve regulation system provided in Example 1 of the present invention.

[0075] The present invention provides an ultrasound-guided transcranial nerve regulation system, which includes a helmet-type ultrasonic transducer, a multi-channel phased array controller and a host computer connected in sequence;

[0076] The helmet-type ultrasonic transducer is connected to the host computer for communication;

[0077] The host computer is used to obtain a first control instruction; when multiple imaging echo signals are received, a second control instruction is generated, and a preset signal processing algorithm is used to generate a sound velocity imaging map and multiple signal sending interval steps according to each imaging echo signal, and each signal sending interval step is sent to the helmet-type ultrasonic transducer; when multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each control echo signal and the sound velocity imaging map, and the target visualization target focus area is used for neural control;

[0078] It should be noted that when it is necessary to perform neural regulation on the patient's head, a first control instruction is generated by a host computer (or PC) and sent to a multi-channel phased array controller, triggering the multi-channel phased array controller to control the helmet-type ultrasonic transducer to perform a transmission ultrasonic computed tomography scan on the patient's head, that is, to emit an imaging ultrasonic signal, receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal, and reconstruct a sound velocity imaging image of the patient's head structure; a numerical simulation calculation algorithm is used to perform numerical simulation calculations on the sound velocity imaging image, and the time interval (signal sending interval step) for transmitting the control ultrasonic signal between each control array element 4 in the helmet-type ultrasonic transducer can be obtained, and then each signal sending interval step is sent to the helmet-type ultrasonic transducer, and each control array element in the helmet-type ultrasonic transducer then emits a control ultrasonic signal to the patient's head according to the corresponding signal sending interval step.

[0079] Exemplarily, assuming that the number of control array elements 4 is 3, a numerical simulation calculation algorithm is used to process the sound velocity imaging image, and a control array element closest to the focal area is taken as a reference, the delay is set to 0, and the signal sending interval step sizes corresponding to the three control array elements 4 are 0, 8us, and 12us, respectively. That is, the signal sending interval step size of the first control array element 4 that transmits a control ultrasonic signal is 0, and the delay of other array elements gradually increases with increasing distance, that is, after the first control array element transmits the control ultrasonic signal for 8us, the second control array element continues to transmit the control ultrasonic signal, and after another 12us, the third control array element 4 continues to transmit the control ultrasonic signal.

[0080] In this embodiment, the present invention combines transmission ultrasound computed tomography and a preset signal processing algorithm, and uses an imaging control integrated wearable ultrasonic transducer (helmet-type ultrasonic transducer) to transmit an imaging ultrasonic signal to the patient's head, and receives the returned echo signal to reconstruct a sound velocity imaging image of the patient's head structure; based on the reconstructed sound velocity imaging image, a computer is used to perform numerical simulation calculations to obtain the time delay of each control element of the transducer, that is, the time interval (signal sending interval step) between each control element for transmitting a control ultrasonic signal; based on the signal sending interval step for transmitting a control ultrasonic signal between each control element, the time delay of each control element is set, and a power ultrasonic signal is transmitted to the patient's head to act on the actual target focus area, and the actual target focus area is visualized, thereby obtaining a target visualized target focus area for neural regulation, that is, the helmet-type ultrasonic transducer is used to perform subsequent transcranial ultrasonic neural regulation or real-time monitoring on the target visualized target focus area.

[0081] The multi-channel phased array controller is used to generate a low-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving a first control instruction sent by the host computer; and generate a high-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving a second control instruction sent by the host computer;

[0082] It should be noted that the multi-channel phased array system consists of a high-power module and a low-power module. The high-power module adjusts the array element transmission power ultrasonic signal for ultrasonic control, and the low-power module adjusts the imaging array element to transmit imaging ultrasonic signal for ultrasonic imaging. The two modules can work simultaneously.

[0083] The helmet-type ultrasonic transducer is used for, when receiving a low-power electrical signal, converting the low-power electrical signal into an imaging ultrasonic signal and transmitting it to the patient's head, so as to receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal; when receiving a high-power electrical signal, converting the high-power electrical signal into a control ultrasonic signal, transmitting the control ultrasonic signal to the patient's head according to the interval step of each signal transmission, so as to receive multiple control echo signals generated by the patient's head based on the control ultrasonic signal.

[0084] It should be noted that a wearable hemispherical transducer (helmet-type ultrasonic transducer) with integrated imaging and control having multiple array elements (imaging array elements and control array elements) is used. The size of the transducer is slightly larger than the size of the patient's head for easy wearing. By individually adjusting the transmission or reception of ultrasonic signals by each array element, the helmet-type ultrasonic transducer can perform imaging or control actions respectively.

[0085] As a further improvement, refer to Figure 2 , the helmet-type ultrasonic transducer comprises a hemispherical shell 1, a plurality of circular arrays 2 and an electrical interface 3;

[0086] The multiple circle arrays 1 include multiple circle control arrays and multiple circle imaging arrays;

[0087] Each circle control array and each circle imaging array are alternately distributed on the inner spherical surface of the hemispherical shell 1;

[0088] Each circle control array is composed of a different number of control array elements 4, and each circle imaging array is composed of a different number of imaging array elements 5;

[0089] A control array element 4 or an imaging array element 5 is disposed at the vertex of the inner spherical surface of the hemispherical shell 1;

[0090] The electrical interface 3 is arranged on the outer spherical surface of the hemispherical shell 1;

[0091] Each control array element 4 and each imaging array element 5 is connected to the multi-channel phased array controller via an electrical interface 3;

[0092] Each control array element 4 and each imaging array element 5 is connected to the host computer for communication;

[0093] The imaging array element 5 is used to convert the received low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head, so as to receive an imaging echo signal generated by the patient's head based on the imaging ultrasound signal and a control echo signal generated by the patient's head based on the control ultrasound signal;

[0094] The control array element 4 is used to receive the imaging echo signal generated by the patient's head based on the imaging ultrasound signal, convert the received high-power electrical signal into a control ultrasound signal, and transmit the control ultrasound signal to the patient's head according to the signal sending interval step.

[0095] As a further improvement, the multi-channel phased array controller includes a low-power module and a high-power module;

[0096] The low-power module is connected to each imaging array element through an electrical interface;

[0097] The high power module is connected to each control array element through an electrical interface.

[0098] It should be noted that the array elements of the helmet-type ultrasonic transducer are divided into imaging array elements 5 and control array elements 4. The frequency range of imaging array element 5 is 1-20MHz, and the frequency range of control array element 4 is 100KHz-10MHz. The two array elements are used for ultrasonic imaging or ultrasonic control, respectively. That is, both array elements can receive echo signals, but the imaging array element only transmits imaging ultrasonic signals, and the control array element only transmits power ultrasonic signals (control ultrasonic signals). The two array elements are distributed on the inner surface of the transducer (the inner spherical surface of the hemispherical shell 1); among them, the control array element 4 and the imaging array element 5 both use piezoelectric elements; the low-power module and the high-power module are respectively connected to the host computer.

[0099] For better explanation, refer to Figure 3 , shows an example structural diagram of the distribution of the circular control array and the circular imaging array on the inner spherical surface provided in the first embodiment of the present invention. If an imaging array element 5 is provided at the vertex of the inner spherical surface of the hemispherical shell 1, then the cross-section of the inner spherical surface of the hemispherical shell 1 takes the imaging array element 5 as the center, and the circular control array and the circular imaging array are arranged alternately in sequence.

[0100] As a further improvement, the helmet-type ultrasonic transducer is specifically used for:

[0101] When a low-power electrical signal is received, the received low-power electrical signal is converted into an imaging ultrasound signal through the target imaging array element and transmitted to the patient's head;

[0102] The imaging echo signals generated by the patient's head based on the imaging ultrasound signals are received by each imaging array element 5 and each control array element 4 and sent to the host computer;

[0103] The adjacent imaging array element 5 is used as a new target imaging array element, and the received low-power electrical signal is converted into an imaging ultrasound signal through the new target imaging array element and transmitted to the patient's head, until the multiple imaging array elements 5 convert the low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head;

[0104] When a high-power electrical signal is received, the received high-power electrical signal is converted into a control ultrasonic signal through the target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal transmission interval step;

[0105] Each imaging array element 5 receives the control echo signal generated by the patient's head based on the control ultrasound signal and sends it to the host computer;

[0106] The adjacent control array element 4 is used as a new target control array element, and the received high-power electrical signal is converted into a control ultrasonic signal through the new target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal sending interval step until multiple control array elements convert the high-power electrical signal into a control ultrasonic signal and transmit it to the patient's head.

[0107] The target imaging array element is the imaging array element 5 that transmits imaging ultrasound signals to the patient's head.

[0108] The target control array element is the control array element 4 that transmits the control ultrasound signal to the patient's head.

[0109] It should be noted that when a low-power electrical signal is received, a certain imaging array element 5 of the helmet-type ultrasonic transducer serves as a target imaging array element to transmit an imaging ultrasonic signal to the patient's head, and all other imaging array elements 5 (excluding the imaging array element 5 currently transmitting the imaging ultrasonic signal) and all control array elements 4 receive the returned imaging echo signal and send it to the host computer, and then the second imaging array element 5 is excited, that is, the adjacent imaging array element 5 is used as a new target imaging array element, and all other imaging array elements 5 and all control array elements 4 of the helmet-type ultrasonic transducer receive the returned imaging echo signal in the same way and send it to the host computer, and the cycle is repeated in sequence until all imaging array elements 5 convert the low-power electrical signal into an imaging ultrasonic signal and transmit it to the patient's head; the helmet-type ultrasonic transducer based on the helmet-type design proposed in the present invention can fit the head more closely, reduce measurement errors, and improve the efficiency and accuracy of ultrasonic measurement; compared with traditional ultrasonic transducers, the helmet-type ultrasonic transducer has lower cost and higher cost performance.

[0110] Furthermore, when a high-power electrical signal is received, a certain control array element 4 of the helmet-type ultrasonic transducer is used as a target control array element to transmit a control ultrasonic signal to the patient's head, and then the second control array element 4 is stimulated, that is, the adjacent control array element 4 is used as a new target control array element, and the cycle is repeated in sequence until all the control array elements 4 convert the high-power electrical signal into a control ultrasonic signal and transmit it to the patient's head. All other imaging array elements 5 receive the returned control echo signal and send it to the host computer.

[0111] As a further improvement, the preset signal processing algorithms include filtered back-projection algorithm, Akaike information criterion algorithm, Bezier curve theory, ray tracing iteration algorithm, and numerical simulation calculation algorithm; the host computer is specifically used for:

[0112] Obtaining a first control instruction and sending it to a multi-channel phased array controller;

[0113] When a plurality of imaging echo signals are received, a second control instruction is generated and sent to the multi-channel phased array controller;

[0114] Performing signal segmentation on each imaging echo signal to determine a first sub-signal and a second sub-signal corresponding to each imaging echo signal;

[0115] Calculating the variance value corresponding to each imaging echo signal according to the first sub-signal and the second sub-signal corresponding to each imaging echo signal;

[0116] The Akaike information criterion algorithm is used to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal;

[0117] The initial slowness distribution is determined based on the flight time corresponding to each imaging echo signal using a filtered back-projection algorithm;

[0118] Based on the Bezier curve theory, the target propagation path corresponding to each imaging echo signal is determined according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each imaging echo signal;

[0119] Performing path segmentation on the target propagation path corresponding to each imaging echo signal, and determining sub-propagation paths within a plurality of pixels corresponding to each target propagation path;

[0120] Based on the ray tracing iterative algorithm, the initial slowness distribution is optimized by using the flight time corresponding to each imaging echo signal and the sub-propagation paths within multiple pixels corresponding to each target propagation path, the target slowness distribution is determined, and the sound velocity imaging map is generated according to the target slowness distribution;

[0121] A numerical simulation algorithm is used to determine the signal transmission interval step between each control array element according to the sound velocity imaging diagram and send it to the helmet-type ultrasonic transducer;

[0122] When multiple control echo signals are received, a beamforming algorithm is used to reconstruct each control echo signal to determine the acoustic beam path;

[0123] Superimpose the acoustic beam path and the sound velocity imaging map to determine the initial visualization target focus area;

[0124] Determine whether the initial visualization target focus area and the preset visualization target focus area are the same;

[0125] If they are the same, the initial visualization target focus area is used as the target visualization target focus area; the target visualization target focus area is used for neural regulation.

[0126] It should be noted that, in order to reconstruct the sound velocity imaging map, a transmission ultrasound computed tomography scan of the patient's head is performed using a helmet-type ultrasonic transducer. The transducer is set to have one array element transmit imaging signals and the remaining array elements receive signals. Each array element transmits signals in turn, and the flight time of each transmitter-receiver pair (consisting of an imaging array element that transmits signals and an imaging array element or a control array element that receives signals) is measured; then the initial slowness distribution is calculated based on the filtered back projection algorithm; based on the ray tracing iterative algorithm and the initial slowness distribution, iterative calculations are performed to obtain the final slowness distribution (target slowness distribution), and then the sound velocity imaging map is reconstructed.

[0127] The variance value corresponding to the imaging echo signal includes the variance value of the first sub-signal and the variance value of the second sub-signal.

[0128] Specifically, the flight time of each transmitter-receiver pair is first measured, that is, the flight time corresponding to each imaging echo signal, and the flight time of the imaging echo signal corresponding to each transmitter-receiver pair is extracted based on the AIC algorithm (Akaike Information Criterion algorithm). The AIC algorithm mainly estimates the flight time by detecting the difference between the signals before and after the flight time; the flight time processing process can be expressed as:

[0129] ;

[0130] in, is the flight time; is the variance value of the first sub-signal with the signal sampling point [1, k]; N is the number of sampling points in the signal region of interest; k is the sampling point corresponding to the assumed flight time in the signal region of interest; is the variance value of the second sub-signal with the signal sampling point [k+1,N].

[0131] Next, a filtered back-projection algorithm is used to determine the initial slowness distribution according to the flight time corresponding to each imaging echo signal; specifically: a one-dimensional Fourier transform is performed on the flight time corresponding to each imaging echo signal to determine multiple one-dimensional transformation times; a preset filtering function is used to obtain multiple filtering data according to each one-dimensional transformation time; a one-dimensional inverse Fourier transform is performed on each filtering data to determine multiple inverse transformation filtering data; multiple inverse transformation filtering data are back-projected to obtain multiple back-projection data; multiple back-projection data are superimposed to obtain the initial slowness distribution.

[0132] Furthermore, in actual propagation, sound waves always choose the propagation path with the shortest flight time for propagation, but actual biological tissues are non-uniform, and sound waves will refract at different tissue interfaces, that is, the propagation paths of the starting point and the end point may be curves. Therefore, it is necessary to determine the optimal propagation path between the transmitter-receiver pair, and model the optimal path between each transmitter-receiver pair (the array element of the transmitting signal and the array element of the receiving signal corresponding to each imaging echo signal will constitute a transmitter-receiver pair) as a Bezier curve, and use the quadratic Bezier curve as the generator of the optimal curve between the transmitter-receiver pair, that is, the present invention is based on the Bezier curve theory, and determines the target propagation path corresponding to each imaging echo signal according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each imaging echo signal; wherein, the processing process of the target propagation path can be expressed as:

[0133] ;

[0134] in, is the target propagation path; t is the parameter on the Bezier curve, indicating that To the end The interpolation position is at the starting point when t is 0 , when t is 1, it is at the end point , to provide different points for spatial sampling of the Bezier curve; is the position coordinate of the control array element corresponding to the imaging echo signal, indicating the other end of the curve; The radius of curvature is a point on the perpendicular line connecting the transmitter-receiver pair, that is, connecting the control array element and the imaging array element corresponding to the imaging echo signal. Decide; is the position coordinate of the imaging array element corresponding to the imaging echo signal, indicating one end of the curve.

[0135] Furthermore, the target propagation path corresponding to each imaging echo signal is segmented to determine the sub-propagation paths within multiple pixels corresponding to each target propagation path; wherein, due to the relationship expression between the slowness distribution and the acoustic wave propagation path, it can be expressed as:

[0136] ;

[0137] in, is the theoretical flight time; is the propagation path of the target propagation path corresponding to the transmitter-receiver pair a (the control array element and the imaging array element corresponding to the imaging echo signal) within the bth pixel; is the slowness of the biological tissue at the bth pixel, and the slowness is the reciprocal of the speed of sound; n is the total number of pixels.

[0138] Based on the above foundation, after calculating the flight time of different Bezier curves to determine the target propagation path corresponding to each imaging echo signal, since the relationship expression between the slowness distribution and the acoustic wave propagation path cannot be directly calculated and solved, the relationship expression between the slowness distribution and the acoustic wave propagation path is solved by iterative calculation based on the ray tracing iterative algorithm and the initial slowness distribution. The ML-EM algorithm (ray tracing iterative algorithm, expectation maximization Algorithm) is used for optimization calculation, and finally the actual slowness distribution (target slowness distribution) is solved, and then the sound velocity imaging map is reconstructed; specifically, the flight time corresponding to each imaging echo signal and the sub-propagation path within multiple pixels corresponding to each target propagation path are used to update the initial slowness distribution, determine the intermediate slowness distribution, and count the number of iterations in real time to determine whether the number of iterations reaches the preset update number threshold. If it reaches, the intermediate slowness distribution is used as the target slowness distribution; if it does not reach, the intermediate slowness distribution is used as the new initial slowness distribution, and the execution is jumped to the step of updating the initial slowness distribution using the flight time corresponding to each imaging echo signal and the sub-propagation path within multiple pixels corresponding to each target propagation path to determine the intermediate slowness distribution, until the number of iterations reaches the preset update number threshold, and the intermediate slowness distribution determined when the number of iterations reaches the preset update number threshold is used as the target slowness distribution; wherein, the updating process of the intermediate slowness distribution is specifically as follows:

[0139] ;

[0140] in, is the intermediate slowness distribution, indicating the slowness distribution of the nth iteration; is the initial slowness distribution, indicating the slowness distribution of the n-1th iteration; is the propagation path of the target propagation path corresponding to the transmitter-receiver pair a (the control array element and the imaging array element corresponding to the imaging echo signal) within the bth pixel; M is the total number of transmitter-receiver pairs; is the flight time; N is the total number of pixels segmented in the area to be reconstructed (area to be regulated) including the patient's head.

[0141] Furthermore, a numerical simulation calculation algorithm is used to perform numerical simulation on the sound velocity imaging image to calculate the time interval (signal sending interval step) for transmitting the controlled ultrasonic signal between each control array element in the helmet-type ultrasonic transducer, and then each signal sending interval step is sent to the helmet-type ultrasonic transducer. Each control array element in the helmet-type ultrasonic transducer then transmits the controlled ultrasonic signal to the patient's head according to the corresponding signal sending interval step.

[0142] Furthermore, each control array element in the helmet-type ultrasonic transducer transmits a control ultrasonic signal to the patient's head according to the corresponding signal sending interval step, the imaging array element receives the echo signal, and visualizes the actual target focus area, and determines whether the initial visualized target focus area is the same as the preset visualized target focus area. If not, the preset update number threshold is updated to obtain a new update number threshold, and the target slowness distribution is used as the new initial slowness distribution. The execution jumps to the step of updating the initial slowness distribution using the flight time corresponding to each imaging echo signal and the sub-propagation path within multiple pixels corresponding to each target propagation path, determining the intermediate slowness distribution, and counting the number of iterations in real time until the initial visualized target focus area is the same as the preset visualized target focus area, and the initial visualized target focus area determined when the initial visualized target focus area and the preset visualized target focus area are the same is used as the target visualized target focus area, and finally the precise focusing of the transcranial nerve control target is successfully achieved.

[0143] It is worth mentioning that see Figure 4 , the reconstructed sound beam path is superimposed on the reconstructed sound velocity imaging map, so as to realize the visualization of the actual target focus area, which is used to judge whether the preset target focus area is the same as the actual target focus area. If the initial visualized target focus area is different from the preset visualized target focus area, it indicates that the area is not the area to be regulated in the patient's head, and it needs to be corrected, and the expected number of iterations is increased, and the sound velocity imaging map is re-determined until the initial visualized target focus area is the same as the preset visualized target focus area, thereby obtaining the target visualized target focus area.

[0144] For example, see Figure 5First, based on the ray tracing iterative algorithm technology, a wearable ultrasonic transducer (helmet-type ultrasonic transducer) with integrated imaging and control is used to perform transmission ultrasonic computed tomography imaging of the patient's head to obtain a sound velocity imaging map of the patient's head structure; a visualization target focus area is preset, and the time delay of the transmitted signal between each control array element in the helmet-type ultrasonic transducer is obtained by numerical simulation calculation; the signal sending interval step of each control array element is set according to each time delay, and a power ultrasonic signal is transmitted to the patient's head to act on the actual target focus area, and the actual target focus area is visualized to obtain an initial visualization target focus area, and it is judged whether the initial visualization target focus area is the preset visualization target focus area. If they are the same, subsequent control is started, otherwise the expected number of iterations is increased, and the sound velocity imaging map is re-determined until the initial visualization target focus area is the same as the preset visualization target focus area, and finally the precise focusing of the transcranial nerve control target is successfully achieved. The present invention is based on ultrasonic imaging and ultrasonic regulation, with a simple method and high regulation accuracy. It can improve the current disadvantages that the need to combine other imaging methods to achieve precise transcranial ultrasonic neuroregulation leads to higher costs, greater complexity, and difficulty in grassroots promotion, thereby achieving high regulation accuracy and facilitating grassroots promotion.

[0145] As a comparison of technical effects, we can refer to the existing technology. When traditional transcranial focused ultrasound penetrates the patient's head, the phase of the ultrasound wave will be distorted, making it difficult to accurately focus in the control area. Among the existing transcranial focused ultrasound precision control technologies, it is usually necessary to first combine CT, MRI and other technologies to obtain the patient's head image, but these imaging methods are relatively cumbersome, expensive, inefficient and poorly compatible, which is not conducive to grassroots promotion. At the same time, some of the solutions currently proposed ignore the fact that focused ultrasound control is actually forward propagation in the sound field simulation. The technical solution based on the time inversion method obtains that the focus of the ultrasound wave emitted by the ultrasonic transducer at the placement position in the skull may still have a certain degree of spatial error with the target target; and these solutions also fail to provide visual sound field distribution information to guide the placement of the ultrasonic transducer.

[0146] Based on the above problems, the present invention proposes an ultrasound-guided transcranial nerve regulation system, which is based on ray tracing iterative algorithm technology and uses a wearable ultrasonic transducer (helmet-type ultrasonic transducer) with integrated imaging and regulation to perform transmission ultrasound computed tomography imaging on the patient's head to obtain a sound velocity imaging map of the patient's head structure; based on the time delay of each control array element obtained from the sound velocity imaging map, a power ultrasound signal is emitted to the patient's head to act on the actual target focus area, and the actual target focus area is visualized, and finally the precise focusing of the transcranial nerve regulation target is successfully achieved; the present invention is based on ultrasound imaging and ultrasound regulation, and there is no need to use other imaging methods to image the patient's head, so as to achieve precise regulation of the transcranial nerves. The method is more convenient and effectively reduces the cost, which is conducive to grassroots promotion; the present invention completes the reconstruction of the sound velocity map based on refraction-corrected transmission ultrasound computed tomography technology, and has higher regulation accuracy than other reconstruction methods using a straight path assumption; it is a non-invasive regulation method, which has high spatial resolution, penetration and contrast while having better safety.

[0147] In an embodiment of the present invention, the present invention provides an ultrasound-guided transcranial nerve regulation system, which includes a helmet-type ultrasonic transducer, a multi-channel phased array controller and a host computer connected in sequence; wherein the helmet-type ultrasonic transducer is communicatively connected to the host computer; the host computer is used to obtain a first regulation instruction; when multiple imaging echo signals are received, a second regulation instruction is generated, and a preset signal processing algorithm is used to generate a sound velocity imaging map and multiple signal sending interval steps according to each imaging echo signal, and each signal sending interval step is sent to the helmet-type ultrasonic transducer; when multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each control echo signal and the sound velocity imaging map, and the target visualization target focus area is used for nerve regulation; the multi-channel phased array controller is used to generate a low-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving the first regulation instruction sent by the host computer; when receiving the second regulation instruction sent by the host computer, a high-power electrical signal is generated and transmitted to the helmet-type ultrasonic transducer; The helmet-type ultrasonic transducer is used for converting the low-power electrical signal into an imaging ultrasonic signal and transmitting it to the patient's head when receiving a low-power electrical signal, so as to receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal; when receiving a high-power electrical signal, the high-power electrical signal is converted into a control ultrasonic signal, and the control ultrasonic signal is transmitted to the patient's head according to the interval step of each signal transmission, so as to receive multiple control echo signals generated by the patient's head based on the control ultrasonic signal; based on the above scheme, the corresponding echo signal can be obtained by wearing the helmet-type ultrasonic transducer on the patient's head, and there is no need to splice multiple equipments, which can simplify the system structure. At the same time, the upper computer processes the received imaging echo signal and the control echo signal based on the preset signal processing algorithm and the beamforming algorithm to obtain the target visualization target focus area, and the process of performing neural control through the target visualization target focus area does not need to be combined with complex imaging technologies such as CT and MRI, which can reduce the difficulty of operation and thus reduce the application cost.

[0148] See also Figure 6 , Figure 6 This is a flowchart of the steps of an ultrasound-guided transcranial nerve regulation method provided in Example 2 of the present invention.

[0149] The present invention provides an ultrasound-guided transcranial nerve regulation method, comprising:

[0150] Step 601: when multiple imaging echo signals are received, a preset signal processing algorithm is used to generate a sound velocity imaging map according to each imaging echo signal;

[0151] The preset signal processing algorithms include filtered back projection algorithm, Akaike information criterion algorithm, Bezier curve theory, and ray tracing iterative algorithm.

[0152] Further, step 601 may include the following sub-steps:

[0153] Step S11, performing signal segmentation on each imaging echo signal to determine a first sub-signal and a second sub-signal corresponding to each imaging echo signal;

[0154] Step S12, calculating the variance value corresponding to each imaging echo signal according to the first sub-signal and the second sub-signal corresponding to each imaging echo signal;

[0155] Step S13, using the Akaike information criterion algorithm to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal;

[0156] Step S14, using a filtered back projection algorithm to determine the initial slowness distribution according to the flight time corresponding to each imaging echo signal;

[0157] Step S15, based on the Bezier curve theory, according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each imaging echo signal, determine the target propagation path corresponding to each imaging echo signal;

[0158] Step S16, segmenting the target propagation paths corresponding to the imaging echo signals, and determining sub-propagation paths within a plurality of pixels corresponding to the target propagation paths;

[0159] Step S17, based on the ray tracing iterative algorithm, the initial slowness distribution is optimized using the flight time corresponding to each imaging echo signal and the sub-propagation paths within multiple pixels corresponding to each target propagation path, the target slowness distribution is determined, and a sound velocity imaging diagram is generated according to the target slowness distribution.

[0160] Step 602: When multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each control echo signal and the sound velocity imaging diagram, and the target visualization target focus area is used for neural control.

[0161] In an embodiment of the present invention, the present invention provides an ultrasound-guided transcranial nerve regulation method. When multiple imaging echo signals are received, a preset signal processing algorithm is used to generate a sound velocity imaging image according to each imaging echo signal; when multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each control echo signal and the sound velocity imaging image, and the target visualization target focus area is used for nerve regulation; based on the above scheme, based on the preset signal processing algorithm and the beamforming algorithm, the received imaging echo signals and the control echo signals are processed to obtain the target visualization target focus area, and the process of nerve regulation is performed through the target visualization target focus area. The present invention does not need to be combined with complex imaging technologies such as CT and MRI, can reduce the difficulty of operation, and thus reduce the application cost.

[0162] An embodiment of the present invention further provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory; when the computer program is executed by the processor, the processor executes the steps of the ultrasound-guided transcranial nerve regulation method of the above-mentioned embodiment 2.

[0163] An embodiment of the present invention further provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the ultrasound-guided transcranial nerve regulation method of the above-mentioned embodiment 2 are implemented.

[0164] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which implements the steps of the ultrasound-guided transcranial nerve regulation method of the above-mentioned embodiment 2 when the computer program / instruction is executed by a processor.

[0165] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0167] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasound-guided transcranial nerve regulation system, characterized in that: The system comprises a helmet-type ultrasonic transducer, a multi-channel phased array controller and a host computer connected in sequence; The helmet-type ultrasonic transducer is communicatively connected with the host computer; The host computer is used to obtain a first control instruction; when receiving multiple imaging echo signals, generate a second control instruction, and use a preset signal processing algorithm to generate a sound speed imaging map and multiple signal sending interval step lengths according to each of the imaging echo signals, and send each of the signal sending interval step lengths to the helmet-type ultrasonic transducer; When multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each of the control echo signals and the sound velocity imaging map, and the target visualization target focus area is used for neural control; The multi-channel phased array controller is used to generate a low-power electrical signal and transmit it to the helmet-type ultrasonic transducer when receiving a first control instruction sent by the host computer; When receiving the second control instruction sent by the host computer, generating a high-power electrical signal and transmitting it to the helmet-type ultrasonic transducer; The helmet-type ultrasonic transducer is used for, when receiving the low-power electrical signal, converting the low-power electrical signal into an imaging ultrasonic signal and transmitting it to the patient's head, so as to receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal; when receiving the high-power electrical signal, converting the high-power electrical signal into a control ultrasonic signal, transmitting the control ultrasonic signal to the patient's head according to the signal sending interval step, so as to receive multiple control echo signals generated by the patient's head based on the control ultrasonic signal.

2. The ultrasound-guided transcranial nerve regulation system according to claim 1, characterized in that: The helmet-type ultrasonic transducer comprises a hemispherical shell, a plurality of circular arrays and an electrical interface; The plurality of circle arrays include a plurality of circle control arrays and a plurality of circle imaging arrays; The circular control arrays and the circular imaging arrays are alternately distributed on the inner spherical surface of the hemispherical shell; Each of the circular control arrays is composed of a different number of control array elements, and each of the circular imaging arrays is composed of a different number of imaging array elements; A control array element or an imaging array element is disposed at the vertex of the inner spherical surface of the hemispherical shell; The electrical interface is arranged on the outer spherical surface of the hemispherical shell; Each of the control array elements and each of the imaging array elements are connected to the multi-channel phased array controller via the electrical interface; Each of the control array elements and each of the imaging array elements are communicatively connected to the host computer; The imaging array element is used to convert the received low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head, so as to receive an imaging echo signal generated by the patient's head based on the imaging ultrasound signal and a control echo signal generated by the patient's head based on the control ultrasound signal; The control array element is used to receive the imaging echo signal generated by the patient's head based on the imaging ultrasound signal, convert the received high-power electrical signal into a control ultrasound signal, and transmit the control ultrasound signal to the patient's head according to the signal sending interval step.

3. The ultrasound-guided transcranial nerve regulation system according to claim 2, characterized in that: The helmet-type ultrasonic transducer is specifically used for: When the low-power electrical signal is received, the received low-power electrical signal is converted into an imaging ultrasound signal through a target imaging array element and transmitted to the patient's head; The imaging echo signals generated by the patient's head based on the imaging ultrasound signals are received by each of the imaging array elements and each of the control array elements respectively, and sent to the host computer; The adjacent imaging array element is used as a new target imaging array element, and the received low-power electrical signal is converted into the imaging ultrasound signal through the new target imaging array element and transmitted to the patient's head, until a plurality of imaging array elements convert the low-power electrical signal into the imaging ultrasound signal and transmit it to the patient's head; When the high-power electrical signal is received, the received high-power electrical signal is converted into a control ultrasonic signal through the target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal transmission interval step; Receiving, by each of the imaging array elements, a control echo signal generated by the patient's head based on the control ultrasound signal and sending the signal to the host computer; The adjacent control array element is used as a new target control array element, and the received high-power electrical signal is converted into the control ultrasonic signal through the new target control array element, and the control ultrasonic signal is transmitted to the patient's head according to the signal sending interval step, until multiple control array elements convert the high-power electrical signal into the control ultrasonic signal and transmit it to the patient's head.

4. The ultrasound-guided transcranial nerve regulation system according to claim 2, characterized in that: The multi-channel phased array controller includes a low-power module and a high-power module; The low-power module is connected to each of the imaging array elements via the electrical interface; The high power module is connected to each of the control array elements through the electrical interface.

5. The ultrasound-guided transcranial nerve regulation system according to claim 1, characterized in that: The preset signal processing algorithms include filtered back-projection algorithm, Akaike information criterion algorithm, Bezier curve theory, ray tracing iteration algorithm, and numerical simulation calculation algorithm; the host computer is specifically used for: Obtaining a first control instruction and sending the instruction to the multi-channel phased array controller; When a plurality of imaging echo signals are received, a second control instruction is generated and sent to the multi-channel phased array controller; Performing signal segmentation on each of the imaging echo signals to determine a first sub-signal and a second sub-signal corresponding to each of the imaging echo signals; Calculating the variance value corresponding to each of the imaging echo signals according to the first sub-signal and the second sub-signal corresponding to each of the imaging echo signals; The Akaike information criterion algorithm is used to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal; Determining the initial slowness distribution according to the flight time corresponding to each of the imaging echo signals using a filtered back projection algorithm; Based on the Bezier curve theory, according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each of the imaging echo signals, the target propagation path corresponding to each of the imaging echo signals is determined; Performing path segmentation on the target propagation path corresponding to each of the imaging echo signals, and determining sub-propagation paths within a plurality of pixels corresponding to each of the target propagation paths; Based on a ray tracing iterative algorithm, the initial slowness distribution is optimized by using the flight time corresponding to each imaging echo signal and the sub-propagation paths within a plurality of pixels corresponding to each target propagation path to determine the target slowness distribution, and a sound velocity imaging diagram is generated according to the target slowness distribution; Using a numerical simulation calculation algorithm to determine the signal sending interval step between each control array element according to the sound velocity imaging diagram and send the signal to the helmet-type ultrasonic transducer; When multiple control echo signals are received, a beamforming algorithm is used to reconstruct each of the control echo signals to determine a beam path; Superimposing the acoustic beam path and the sound velocity imaging map to determine an initial visualized target focus area; Determining whether the initial visualized target focus area and the preset visualized target focus area are the same; If they are the same, the initial visualized target focus area is used as the target visualized target focus area; The objective visualization target focal area is used for neuromodulation.

6. An ultrasound-guided transcranial nerve regulation method, characterized in that: include: When a plurality of imaging echo signals are received, a preset signal processing algorithm is used to generate a sound velocity imaging map according to each of the imaging echo signals; When multiple control echo signals are received, a beamforming algorithm is used to determine a target visualization target focus area according to each of the control echo signals and the sound velocity imaging diagram, and the target visualization target focus area is used for neural control.

7. The ultrasound-guided transcranial nerve regulation method according to claim 6, characterized in that: The preset signal processing algorithm includes a filtered back-projection algorithm, an Akaike information criterion algorithm, a Bezier curve theory, and a ray tracing iteration algorithm; the step of using the preset signal processing algorithm to generate a sound velocity imaging map according to each of the imaging echo signals includes: Performing signal segmentation on each of the imaging echo signals to determine a first sub-signal and a second sub-signal corresponding to each of the imaging echo signals; Calculating the variance value corresponding to each of the imaging echo signals according to the first sub-signal and the second sub-signal corresponding to each of the imaging echo signals; The Akaike information criterion algorithm is used to calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal; Determining the initial slowness distribution according to the flight time corresponding to each of the imaging echo signals using a filtered back projection algorithm; Based on the Bezier curve theory, according to the position coordinates of the control array element and the position coordinates of the imaging array element corresponding to each of the imaging echo signals, the target propagation path corresponding to each of the imaging echo signals is determined; Performing path segmentation on the target propagation path corresponding to each of the imaging echo signals, and determining sub-propagation paths within a plurality of pixels corresponding to each of the target propagation paths; Based on a ray tracing iterative algorithm, the initial slowness distribution is optimized using the flight time corresponding to each imaging echo signal and the sub-propagation path within a plurality of pixels corresponding to each target propagation path to determine the target slowness distribution, and a sound velocity imaging diagram is generated based on the target slowness distribution.

8. A computer device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the ultrasound-guided transcranial nerve regulation method as described in any one of claims 6-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the ultrasound-guided transcranial nerve regulation method according to any one of claims 6 to 7 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, wherein when the program instructions are executed by a computer, the computer is caused to execute the ultrasound-guided transcranial nerve regulation method as described in any one of claims 6-7.

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