An ultrasound-guided transcranial nerve regulation system and method

Abstract

The present invention discloses an ultrasonic-guided transcranial nerve regulation system and method, comprising a helmet-type ultrasonic transducer, a multi-channel phased array controller and a host computer which are connected in sequence; the helmet-type ultrasonic transducer is communicatively connected to the host computer; the host computer is configured to determine a target visualization target focusing area according to a plurality of imaging echo signals and a plurality of regulation echo signals, and the target visualization target focusing area is used for nerve regulation; the multi-channel phased array controller is configured to generate a low-power electrical signal and a high-power electrical signal and transmit them to the helmet-type ultrasonic transducer; the helmet-type ultrasonic transducer is configured to collect a plurality of imaging echo signals and a plurality of regulation echo signals according to the low-power electrical signal and the high-power electrical signal; thereby solving the technical problem of the excessively high application cost of the existing ultrasonic regulation system.

Description

Technical Field

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

[0002] Nerve regulation technology is an important tool for neuroscience research, neuroengineering and clinical applications. At present, common nerve regulation means 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 nerve regulation method. It forms an energy convergence by focusing ultrasonic waves in a certain area of the brain, and stimulates the nerve or functional area of the brain to modulate brain function, so as to improve some disease symptoms. It has the advantages of high spatial resolution, effectiveness for deep brain structures, low cost and good safety.

[0004] Most of the existing ultrasonic regulation systems need to be manually built and are composed of multiple pieces of equipment. Then, combined with technologies such as CT (Computed Tomography) and MRI (Magnetic Resonance Imaging), the head images of patients are obtained for nerve regulation. However, these imaging methods are very cumbersome, with a large operation difficulty, and the system is bulky, resulting in too high application costs. Summary of the Invention

[0005] The present invention provides an ultrasonic-guided transcranial nerve regulation system and method to solve the technical problem of too high application costs of the existing ultrasonic regulation systems.

[0006] An ultrasonic-guided transcranial nerve regulation system provided in the first aspect of the present invention, the system includes a helmet-type ultrasonic 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 configured to obtain a first regulation instruction; when receiving a plurality of imaging echo signals, generate a second regulation instruction, and generate a sound velocity imaging map and a plurality of signal transmission interval step lengths according to each of the imaging echo signals by using a preset signal processing algorithm, and send each of the signal transmission interval step lengths to the helmet-mounted ultrasonic transducer; when receiving a plurality of regulation echo signals, determine a target visualization target focusing area for nerve regulation according to each of the regulation echo signals and the sound velocity imaging map by using a beamforming algorithm.

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

[0010] The helmet-mounted ultrasonic transducer is configured to convert the low-power electrical signal into an imaging ultrasonic signal and transmit it to the patient's head when receiving the 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 the high-power electrical signal, convert the high-power electrical signal into a regulation ultrasonic signal, and transmit the regulation ultrasonic signal to the patient's head according to each of the signal transmission interval step lengths, so as to receive a plurality of regulation echo signals generated by the patient's head based on the regulation ultrasonic signal.

[0011] Further, the helmet-mounted ultrasonic transducer includes a hemispherical shell, a plurality of circular arrays, and an electrical interface.

[0012] The plurality of circular arrays include a plurality of circular regulation arrays and a plurality of circular imaging arrays.

[0013] Each of the circular regulation arrays and each of the circular imaging arrays are alternately distributed on the inner spherical surface of the hemispherical shell.

[0014] Each of the circular regulation arrays is composed of different numbers of regulation array elements, and each of the circular imaging arrays is composed of different numbers of imaging array elements.

[0015] One of the regulation array elements or one of the imaging array elements is provided at the vertex of the inner spherical surface of the hemispherical shell.

[0016] The electrical interface is provided on the outer spherical surface of the hemispherical shell.

[0017] Each of the regulation array elements and each of the imaging array elements are connected to the multi-channel phased array controller through the electrical interface.

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

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

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

[0021] Further, the helmet-type ultrasonic transducer is specifically configured to:

[0022] When receiving the low-power electrical signal, convert the received low-power electrical signal into an imaging ultrasonic signal through a target imaging array element and transmit it to the patient's head;

[0023] Receive the imaging echo signal generated by the patient's head based on the imaging ultrasonic signal through each of the imaging array elements and each of the regulation array elements, and transmit it to the host computer;

[0024] Use adjacent imaging array elements as new target imaging array elements, convert the received low-power electrical signal into the imaging ultrasonic signal through the new target imaging array elements and transmit it to the patient's head, until multiple imaging array elements all convert the low-power electrical signal into the imaging ultrasonic signal and transmit it to the patient's head;

[0025] When receiving the high-power electrical signal, convert the received high-power electrical signal into a regulation ultrasonic signal through a target regulation array element, and transmit the regulation ultrasonic signal to the patient's head according to the signal transmission interval step size;

[0026] Receive the regulation echo signal generated by the patient's head based on the regulation ultrasonic signal through each of the imaging array elements and transmit it to the host computer;

[0027] Use adjacent regulation array elements as new target regulation array elements, convert the received high-power electrical signal into the regulation ultrasonic signal through the new target regulation array elements, and transmit the regulation ultrasonic signal to the patient's head according to the signal transmission interval step size, until multiple regulation array elements all convert the high-power electrical signal into the regulation 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 elements through the electrical interface;

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

[0031] Further, the preset signal processing algorithms include a filtered back-projection algorithm, an Akaike information criterion algorithm, a Bessel curve theory, a ray tracing iterative algorithm, and a numerical simulation calculation algorithm; the host computer is specifically configured to:

[0032] Obtain a first control instruction and send it to the multi-channel phased array controller;

[0033] When receiving multiple imaging echo signals, generate a second control instruction and send it to the multi-channel phased array controller;

[0034] Perform 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] Calculate a 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] Use the Akaike information criterion algorithm to calculate the flight time corresponding to each of the imaging echo signals according to the variance value corresponding to each of the imaging echo signals;

[0037] Use the filtered back-projection algorithm to determine an initial slowness distribution according to the flight time corresponding to each of the imaging echo signals;

[0038] Based on the Bessel curve theory, determine a target propagation path corresponding to each of the imaging echo signals according to the position coordinates of the control elements and the position coordinates of the imaging elements corresponding to each of the imaging echo signals;

[0039] Perform path segmentation on the target propagation path corresponding to each of the imaging echo signals to determine sub-propagation paths within multiple pixels corresponding to each of the target propagation paths;

[0040] Based on the ray tracing iterative algorithm, use the flight time corresponding to each of the imaging echo signals and the sub-propagation paths within multiple pixels corresponding to each of the target propagation paths to perform an optimization operation on the initial slowness distribution, determine a target slowness distribution, and generate a sound speed imaging map according to the target slowness distribution;

[0041] Use the numerical simulation calculation algorithm to determine a signal transmission interval step length between each of the control elements according to the sound speed imaging map and send it to the helmet-mounted ultrasonic transducer;

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

[0043] The acoustic beam path and the acoustic velocity imaging map are superimposed to determine the initial visualization target focusing area;

[0044] It is judged whether the initial visualization target focusing area is the same as the preset visualization target focusing area;

[0045] If they are the same, the initial visualization target focusing area is used as the target visualization target focusing area; the target visualization target focusing area is used for neuromodulation.

[0046] An ultrasound-guided transcranial neuromodulation method provided in the second aspect of the present invention includes:

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

[0048] When multiple regulation echo signals are received, a beamforming algorithm is used to determine the target visualization target focusing area according to each of the regulation echo signals and the acoustic velocity imaging map, and the target visualization target focusing area is used for neuromodulation.

[0049] Further, the preset signal processing algorithm includes a filtered backprojection algorithm, an Akaike information criterion algorithm, a Bessel curve theory, and a ray tracing iterative algorithm; the step of using the preset signal processing algorithm to generate an acoustic velocity imaging map according to each of the imaging echo signals includes:

[0050] Signal segmentation is performed 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] According to the first sub-signal and the second sub-signal corresponding to each of the imaging echo signals, the variance value corresponding to each of the imaging echo signals is calculated;

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

[0053] The filtered backprojection algorithm is used to determine the initial slowness distribution according to the flight time corresponding to each of the imaging echo signals;

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

[0055] Perform path segmentation on the target propagation paths corresponding to each of the imaging echo signals to determine sub-propagation paths within multiple pixels corresponding to each of the target propagation paths;

[0056] Based on the ray tracing iterative algorithm, perform an optimization operation on the initial slowness distribution by using the time of flight corresponding to each of the imaging echo signals and the sub-propagation paths within multiple pixels corresponding to each of the target propagation paths, determine the target slowness distribution, and generate a sound speed imaging map according to the target slowness distribution.

[0057] A computer device provided in the third aspect of the present invention includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the ultrasonic-guided transcranial nerve regulation method described in any one of the above.

[0058] A computer-readable storage medium provided in the fourth aspect of the present invention has a computer program stored thereon. When the computer program is executed, the steps of the ultrasonic-guided transcranial nerve regulation method described in any one of the above are implemented.

[0059] A computer program product provided in the fifth aspect of the present invention includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the steps of the ultrasonic-guided transcranial nerve regulation method described in any one of the above.

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

[0061] In the first aspect of the above technical solution of the present invention, an ultrasound-guided transcranial nerve regulation system is provided. The system includes a helmet-mounted ultrasound transducer, a multi-channel phased array controller, and a host computer connected in sequence; wherein, the helmet-mounted ultrasound transducer is communicatively connected to the host computer; the host computer is configured to obtain a first regulation instruction; when receiving a plurality of imaging echo signals, generate a second regulation instruction, and generate a sound velocity imaging map and a plurality of signal transmission interval step lengths according to each imaging echo signal by using a preset signal processing algorithm, and send each signal transmission interval step length to the helmet-mounted ultrasound transducer; when receiving a plurality of regulation echo signals, determine a target visualization target focusing area for nerve regulation according to each regulation echo signal and the sound velocity imaging map by using a beamforming algorithm; the multi-channel phased array controller is configured to generate a low-power electrical signal and transmit it to the helmet-mounted ultrasound transducer when receiving the first regulation instruction sent by the host computer; when receiving the second regulation instruction sent by the host computer, generate a high-power electrical signal and transmit it to the helmet-mounted ultrasound transducer; the helmet-mounted ultrasound transducer is configured to convert the low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head when receiving the low-power electrical signal, so as to receive a plurality of imaging echo signals generated by the patient's head based on the imaging ultrasound signal; when receiving the high-power electrical signal, convert the high-power electrical signal into a regulation ultrasound signal, and transmit the regulation ultrasound signal to the patient's head according to each signal transmission interval step length, so as to receive a plurality of regulation echo signals generated by the patient's head based on the regulation ultrasound signal; based on the above solution, by wearing the helmet-mounted ultrasound transducer on the patient's head, the corresponding echo signals can be obtained, and there is no need to splice multiple devices, which can simplify the system structure. At the same time, through the host computer based on the preset signal processing algorithm and the beamforming algorithm, the received imaging echo signals and regulation echo signals are processed to obtain the target visualization target focusing area, and the process of nerve regulation is carried out through the target visualization target focusing area. The present invention does not need to combine complex imaging technologies such as CT and MRI, can reduce the operation difficulty, and thus reduce the application cost.

[0062] In the second aspect of the above technical solution of the present invention, an ultrasound-guided transcranial nerve regulation method is provided. When receiving a plurality of imaging echo signals, a sound velocity imaging map is generated according to each imaging echo signal by using a preset signal processing algorithm; when receiving a plurality of regulation echo signals, a target visualization target focusing area for nerve regulation is determined according to each regulation echo signal and the sound velocity imaging map by using a beamforming algorithm; based on the above solution, based on the preset signal processing algorithm and the beamforming algorithm, the received imaging echo signals and regulation echo signals are processed to obtain the target visualization target focusing area, and the process of nerve regulation is carried out through the target visualization target focusing area. The present invention does not need to combine complex imaging technologies such as CT and MRI, can reduce the operation difficulty, and thus reduce the application cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0064] Figure 1 FIG.

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

[0066] Figure 3 FIG.

[0067] Figure 4 FIG.

[0068] Figure 5 FIG.

[0069] Figure 6 FIG.

[0070] Among them, the meanings of the reference numerals of the drawings are as follows:

[0071] 1. Hemispherical housing; 2. Circular array; 3. Electrical interface; 4. Regulation element; 5. Imaging element. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0072] Embodiments of the present invention provide an ultrasonic-guided transcranial nerve regulation system and method for solving the technical problem of too high application cost of existing ultrasonic regulation systems.

[0073] In order to make the invention purpose, features, and advantages of the present invention more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0074] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of an ultrasonic-guided transcranial nerve regulation system provided in the first embodiment of the present invention.

[0075] An ultrasonic-guided transcranial nerve regulation system provided by the present invention includes a helmet-mounted ultrasonic transducer, a multi-channel phased array controller, and a host computer that are connected in sequence;

[0076] The helmet-mounted ultrasonic transducer is communicatively connected to the host computer;

[0077] The host computer is configured to obtain a first regulation instruction; when receiving multiple imaging echo signals, generate a second regulation instruction, and generate a sound velocity imaging map and multiple signal transmission interval step lengths according to each imaging echo signal by using a preset signal processing algorithm, and send each signal transmission interval step length to the helmet-mounted ultrasonic transducer; when receiving multiple regulation echo signals, determine a target visualization target focusing area according to each regulation echo signal and the sound velocity imaging map by using a beamforming algorithm, and the target visualization target focusing area is used for nerve regulation;

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

[0079] Exemplarily, assuming that the number of regulation elements 4 is 3, the sound velocity imaging map is processed by using a numerical simulation calculation algorithm. Taking a regulation element closest to the focusing area as a reference and setting the delay to 0, the signal transmission interval step lengths corresponding to the 3 regulation elements 4 are obtained as 0, 8 us, and 12 us respectively. That is, the signal transmission interval step length of the first regulation element 4 that emits the regulation ultrasonic signal is 0, and the delay of other elements gradually increases with the distance. That is, after 8 us from the emission of the regulation ultrasonic signal by the first regulation element, the second regulation element continues to emit the regulation ultrasonic signal, and after another 12 us, the third regulation element 4 continues to emit the regulation ultrasonic signal.

[0080] In this embodiment, the present invention combines transmission ultrasonic computed tomography and a preset signal processing algorithm, and uses an imaging and regulation integrated wearable ultrasonic transducer (helmet-type ultrasonic transducer) to transmit imaging ultrasonic signals to a patient's head and receive the returned echo signals, and reconstructs a sound velocity imaging map of the patient's head structure; according to the reconstructed sound velocity imaging map, through computer numerical simulation calculation, the time delay of each regulation array element of the transducer is obtained, that is, the time interval (signal transmission interval step) for transmitting regulation ultrasonic signals between each regulation array element; according to the signal transmission interval step for transmitting regulation ultrasonic signals between each regulation array element, the time delay of each regulation array element is set, and power ultrasonic signals are transmitted to the patient's head, acting on the actual target focusing area, visualizing the actual target focusing area, so as to obtain a target visual target focusing area for neuromodulation, that is, using the helmet-type ultrasonic transducer to perform subsequent transcranial ultrasonic neuromodulation or real-time monitoring on the target visual target focusing area.

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

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

[0083] The helmet-type ultrasonic transducer is configured to convert the low-power electrical signal into an imaging ultrasonic signal and transmit it to the patient's head to receive multiple imaging echo signals generated by the patient's head based on the imaging ultrasonic signal when receiving the low-power electrical signal; and convert the high-power electrical signal into a regulation ultrasonic signal and transmit the regulation ultrasonic signals to the patient's head according to each signal transmission interval step to receive multiple regulation echo signals generated by the patient's head based on the regulation ultrasonic signal when receiving the high-power electrical signal.

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

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

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

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

[0088] Each circle regulation array is composed of different numbers of regulation array elements 4, and each circle imaging array is composed of different numbers of imaging array elements 5;

[0089] One regulation array element 4 or one imaging array element 5 is arranged 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 regulation array element 4 and each imaging array element 5 are connected to the multi-channel phased array controller through the electrical interface 3;

[0092] Each regulation array element 4 and each imaging array element 5 are communicatively connected to the host computer;

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

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

[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 the electrical interface;

[0097] The high-power module is connected to each regulation array element through the 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 regulation array elements 4. The frequency range of the imaging array elements 5 is 1-20 MHz, and the frequency range of the regulation array elements 4 is 100 KHz-10 MHz. The two types of array elements are respectively used for ultrasonic imaging or ultrasonic regulation. That is, both types of array elements can receive echo signals, but the imaging array elements only emit imaging ultrasonic signals, and the regulation array elements only emit power ultrasonic signals (regulation ultrasonic signals). The two types of array elements are distributed on the inner surface of the transducer (the inner spherical surface of the hemispherical shell 1); among them, both the regulation array element 4 and the imaging array element 5 adopt piezoelectric elements; the low-power module and the high-power module are respectively connected to the host computer.

[0099] For better illustration, refer toFigure 3 shows an exemplary structural diagram of the circle control array and the circle imaging array provided in the first embodiment of the present invention distributed on the inner spherical surface. If an imaging 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 is centered on the imaging element 5, and the circle control array and the circle imaging array are alternately arranged in sequence.

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

[0101] When receiving a low-power electrical signal, convert the received low-power electrical signal into an imaging ultrasonic signal through the target imaging element and transmit it to the patient's head;

[0102] Receive the imaging echo signals generated by the patient's head based on the imaging ultrasonic signals through each imaging element 5 and each control element 4 respectively, and send them to the host computer;

[0103] Take the adjacent imaging elements 5 as new target imaging elements, convert the received low-power electrical signal into an imaging ultrasonic signal through the new target imaging elements, and transmit the imaging ultrasonic signal to the patient's head until multiple imaging elements 5 all convert the low-power electrical signal into an imaging ultrasonic signal and transmit it to the patient's head;

[0104] When receiving a high-power electrical signal, convert the received high-power electrical signal into a control ultrasonic signal through the target control element, and transmit the control ultrasonic signal to the patient's head according to the signal transmission interval step size;

[0105] Receive the control echo signals generated by the patient's head based on the control ultrasonic signals through each imaging element 5 respectively, and send them to the host computer;

[0106] Take the adjacent control elements 4 as new target control elements, convert the received high-power electrical signal into a control ultrasonic signal through the new target control elements, and transmit the control ultrasonic signal to the patient's head according to the signal transmission interval step size until multiple control elements all convert the high-power electrical signal into a control ultrasonic signal and transmit it to the patient's head.

[0107] The target imaging element is the imaging element 5 that emits the imaging ultrasonic signal to the patient's head.

[0108] The target control element is the control element 4 that emits the control ultrasonic signal to the patient's head.

[0109] It should be noted that when a low-power electrical signal is received, a certain imaging element 5 of the helmet-mounted ultrasonic transducer serves as the target imaging element, and emits imaging ultrasonic signals towards the patient's head. All other imaging elements 5 (excluding the imaging element 5 that currently emits imaging ultrasonic signals) and all regulation elements 4 receive the returned imaging echo signals and send them to the host computer. Then, the second imaging element 5 is excited, that is, the adjacent imaging element 5 is used as the new target imaging element. All other imaging elements 5 and all regulation elements 4 of the helmet-mounted ultrasonic transducer receive the returned imaging echo signals and send them to the host computer in the same way, and cycle in turn until all imaging elements 5 convert the low-power electrical signals into imaging ultrasonic signals and emit them to the patient's head. The helmet-mounted ultrasonic transducer proposed by the present invention based on the helmet-mounted design 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-mounted ultrasonic transducer has lower costs and higher cost performance.

[0110] Further, when a high-power electrical signal is received, a certain regulation element 4 of the helmet-mounted ultrasonic transducer serves as the target regulation element, and emits regulation ultrasonic signals towards the patient's head. Then, the second regulation element 4 is excited, that is, the adjacent regulation element 4 is used as the new target regulation element, and cycles in turn until all regulation elements 4 convert the high-power electrical signals into regulation ultrasonic signals and emit them to the patient's head. All other imaging elements 5 receive the returned regulation echo signals and send them to the host computer.

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

[0112] Obtain the first regulation instruction and send it to the multi-channel phased array controller;

[0113] When multiple imaging echo signals are received, generate the second regulation instruction and send it to the multi-channel phased array controller;

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

[0115] According to the first sub-signal and the second sub-signal corresponding to each imaging echo signal, calculate the variance value corresponding to each imaging echo signal;

[0116] Use 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;

[0117] Use the filtered back-projection algorithm to determine the initial slowness distribution according to the flight time corresponding to each imaging echo signal;

[0118] Based on the Bessel curve theory, determine the target propagation path corresponding to each imaging echo signal according to the position coordinates of the modulation array elements and the position coordinates of the imaging array elements corresponding to each imaging echo signal;

[0119] Perform path segmentation on the target propagation path corresponding to each imaging echo signal to determine the sub-propagation paths within multiple pixels corresponding to each target propagation path;

[0120] Based on the ray tracing iterative algorithm, optimize the initial slowness distribution 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, determine the target slowness distribution, and generate a sound speed imaging map according to the target slowness distribution;

[0121] Use the numerical simulation calculation algorithm to determine the signal transmission interval step length between each modulation array element according to the sound speed imaging map and send it to the helmet-mounted ultrasonic transducer;

[0122] When multiple modulation echo signals are received, use the beamforming algorithm to reconstruct each modulation echo signal to determine the sound beam path;

[0123] Overlay the sound beam path and the sound speed imaging map to determine the initial visualization target focusing area;

[0124] Judge whether the initial visualization target focusing area is the same as the preset visualization target focusing area;

[0125] If they are the same, use the initial visualization target focusing area as the target visualization target focusing area; the target visualization target focusing area is used for neuromodulation.

[0126] It should be noted that to reconstruct the sound speed imaging map, a helmet-mounted ultrasonic transducer is used to perform transmission ultrasonic computed tomography on the patient's head. The transducer is set to emit imaging signals with one array element and the remaining array elements receive signals. Each array element emits signals in turn, and the flight time of each transmitter-receiver pair (consisting of an imaging array element that emits a signal and an imaging array element or modulation array element that receives a signal) is measured; then the initial slowness distribution is calculated based on the filtered back-projection algorithm; iterative calculation is performed based on the ray tracing iterative algorithm and the initial slowness distribution to obtain the final slowness distribution (target slowness distribution), and then the sound speed 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, first measure the flight time of each transmitter-receiver pair, that is, the flight time corresponding to each imaging echo signal. Select the AIC algorithm (Akaike Information Criterion) to extract the flight time of the imaging echo signal corresponding to each transmitter-receiver pair. The AIC algorithm mainly estimates the flight time by detecting the difference in signals before and after the flight time. Among them, the processing process of the flight time can be expressed as:

[0129] ;

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

[0131] Next, use the filtered back-projection algorithm to determine the initial slowness distribution according to the flight time corresponding to each imaging echo signal. Specifically: perform one-dimensional Fourier transform on the flight time corresponding to each imaging echo signal respectively to determine multiple one-dimensional transform times; use a preset filter function to obtain multiple filtered data according to each one-dimensional transform time; perform inverse one-dimensional Fourier transform on each filtered data respectively to determine multiple inverse transform filtered data; perform back-projection on each of the multiple inverse transform filtered data respectively to obtain multiple back-projection data; superimpose the multiple back-projection data to obtain the initial slowness distribution.

[0132] Furthermore, sound waves always choose the propagation path with the shortest flight time during actual propagation. However, due to the inhomogeneity of actual biological tissues, sound waves will refract at different tissue interfaces, that is, the propagation path between the starting point and the ending point may be a curve. Therefore, it is necessary to determine the best propagation path between the transmitter and receiver pairs. Model the best path between each transmitter-receiver pair (the array elements of the transmitted signal and the received signal corresponding to each imaging echo signal will form a transmitter-receiver pair) as a Bessel curve, and use a quadratic Bessel curve as the generator of the optimal curve between the transmitter-receiver pairs. That is, based on the Bessel curve theory, according to the position coordinates of the control array elements and the position coordinates of the imaging array elements corresponding to each imaging echo signal, determine the target propagation path corresponding to each imaging echo signal. Among them, the processing process of the target propagation path can be expressed as:

[0133] ;

[0134] Among them, is the target propagation path; t is the parameter on the Bessel curve, representing the interpolation position from the starting point to the ending point When t is 0, it is located at the starting point and when t is 1, it is located at the ending point to provide spatial sampling of the Bessel curve at different points; is the position coordinate of the control array element corresponding to the imaging echo signal, representing the other end of the curve; is a point on the perpendicular line of the straight line connecting the transmitter-receiver pair, that is, the straight line connecting the control array element corresponding to the imaging echo signal and the imaging array element. The radius of curvature is determined by ; is the position coordinate of the imaging array element corresponding to the imaging echo signal, representing one end of the curve.

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

[0136] ;

[0137] where 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 b-th pixel; is the slowness of the biological tissue at the b-th pixel. The slowness is the reciprocal of the sound speed; n is the total number of pixels.

[0138] Based on the above, after determining the target propagation path corresponding to each imaging echo signal by calculating the flight time of different Bessel curves, since the relational expression between the slowness distribution and the acoustic wave propagation path cannot be directly calculated and solved, iterative calculation is performed based on the ray tracing iterative algorithm and the initial slowness distribution to solve the relational expression between the slowness distribution and the acoustic wave propagation path. Usually, the ML-EM algorithm (ray tracing iterative algorithm, Expectation Maximization Algorithm) is selected for optimization calculation, and finally the actual slowness distribution (target slowness distribution) is solved, and then the sound speed imaging map is reconstructed. Specifically, the flight time corresponding to each imaging echo signal and the sub-propagation paths within multiple pixels corresponding to each target propagation path are used to update the initial slowness distribution, the intermediate slowness distribution is determined, and the iteration count is statistically monitored in real time to determine whether the iteration count reaches the preset update count 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 step of using the flight time corresponding to each imaging echo signal and the sub-propagation paths within multiple pixels corresponding to each target propagation path to update the initial slowness distribution to determine the intermediate slowness distribution is jumped to and executed until the iteration count reaches the preset update count threshold, and the intermediate slowness distribution determined when the iteration count reaches the preset update count threshold is used as the target slowness distribution. Among them, the update process of the intermediate slowness distribution is specifically as follows:

[0139] ;

[0140] Among them, is the intermediate slowness distribution, representing the slowness distribution of the nth iteration; is the initial slowness distribution, representing the slowness distribution of the (n - 1)th iteration; is the propagation path of the target propagation path corresponding to the transmitter-receiver pair a (the regulated 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 pixel points segmented by the region to be reconstructed (region to be regulated) including the patient's head.

[0141] Furthermore, a numerical simulation calculation algorithm is used to numerically simulate the time interval (signal transmission interval step size) between the regulated ultrasonic signals transmitted between each regulated array element in the helmet-type ultrasonic transducer for the sound speed imaging map, and then each signal transmission interval step size is sent to the helmet-type ultrasonic transducer, and each regulated array element in the helmet-type ultrasonic transducer then transmits regulated ultrasonic signals to the patient's head according to the corresponding signal transmission interval step size.

[0142] Further, each regulation array element in the helmet-type ultrasonic transducer transmits a regulation ultrasonic signal to the patient's head according to the corresponding signal transmission interval step length. The imaging array element receives the echo signal and visualizes the actual target focusing area, and determines whether the initial visualized target focusing area is the same as the preset visualized target focusing area. If they are not the same, the preset update times threshold is updated to obtain a new preset update times threshold. The target slowness distribution is used as the new initial slowness distribution, and then it jumps to execute the step of updating the initial slowness distribution 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, determining the intermediate slowness distribution, and statistically counting the iteration times in real time until the initial visualized target focusing area is the same as the preset visualized target focusing area. The initial visualized target focusing area determined when the initial visualized target focusing area and the preset visualized target focusing area are the same is used as the target visualized target focusing area, and finally, the accurate focusing of the transcranial nerve regulation target is successfully achieved.

[0143] It is worth mentioning that, please refer to Figure 4 , overlay the reconstructed acoustic beam path with the reconstructed sound speed imaging map, so as to realize the visualization of the actual target focusing area, and be used to judge whether the preset target focusing area is the same as the actual target focusing area. If the initial visualized target focusing area is not the same as the preset visualized target focusing area, it indicates that this area is not the area to be regulated on the patient's head, and it needs to be corrected, increase the expected number of iterations, and re-determine the sound speed imaging map until the initial visualized target focusing area is the same as the preset visualized target focusing area, so as to obtain the target visualized target focusing area.

[0144] Exemplarily, please refer to Figure 5, first, based on the ray tracing iterative algorithm technology, use a wearable ultrasonic transducer (helmet-type ultrasonic transducer) that integrates imaging and regulation to perform transmission ultrasonic computed tomography imaging on the patient's head to obtain a sound velocity imaging map of the patient's head structure; preset a visual target focusing area, and obtain the time delay between the transmitted signals of each regulation element in the helmet-type ultrasonic transducer through numerical simulation calculation; set the signal transmission interval step length of each regulation element according to each time delay, and transmit a high-power ultrasonic signal to the patient's head, acting on the actual target focusing area to visualize the actual target focusing area, obtain the initial visual target focusing area, and determine whether the initial visual target focusing area is the preset visual target focusing area. If they are the same, start subsequent regulation; otherwise, increase the expected number of iterations, re-determine the sound velocity imaging map until the initial visual target focusing area is the same as the preset visual target focusing area, and finally successfully achieve the precise focusing of the transcranial nerve regulation target. The present invention is based on ultrasonic imaging and ultrasonic regulation, with a simple method and high regulation accuracy, which can improve the disadvantages that the current precise transcranial ultrasonic nerve regulation needs to be combined with other imaging methods for imaging, resulting in high costs, greater complexity, and difficulty in grass-roots promotion, so as to achieve high regulation accuracy and facilitate grass-roots promotion.

[0145] As a comparison of technical effects, it can be referred to in combination with the prior art. When traditional transcranial focused ultrasound penetrates the patient's head, the phase of the ultrasonic wave will be distorted, resulting in difficulty in precisely forming a focus in the regulation area. Among the current existing transcranial focused ultrasound precise regulation technologies, it is usually necessary to first combine technologies such as CT and MRI to obtain the patient's head image, but these imaging methods are relatively cumbersome, expensive, inefficient, and have poor compatibility, which is not conducive to grass-roots promotion. At the same time, some of the current proposed solutions ignore the fact that the focused ultrasound regulation actually propagates forward in the acoustic field simulation. The ultrasonic focus formed in the brain by the ultrasonic waves emitted by the ultrasonic transducer placed at the position obtained by the technical solution based on the time reversal method may still have a certain degree of spatial error from the target target; and these solutions also fail to provide visual acoustic field distribution information to guide the placement of the ultrasonic transducer.

[0146] Based on the above problems, the present invention proposes an ultrasonic-guided transcranial nerve regulation system. Based on the ray tracing iterative algorithm technology, a wearable ultrasonic transducer (helmet-type ultrasonic transducer) that integrates imaging and regulation is used to perform transmission ultrasonic 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 delays of each regulation array element obtained from the sound velocity imaging map, a power ultrasonic signal is emitted to the patient's head, acting on the actual target focusing area, visualizing the actual target focusing area, and finally successfully achieving precise focusing of the transcranial nerve regulation target; based on ultrasonic imaging and ultrasonic regulation, the present invention can achieve precise regulation of the transcranial nerve without using other imaging methods to image the patient's head additionally, the method is more convenient and effectively reduces the cost, which is conducive to grass-roots promotion; the present invention completes the sound velocity map reconstruction based on the refraction correction transmission ultrasonic computed tomography technology, and has higher regulation accuracy compared with other reconstruction methods that adopt the straight-line path assumption; it is a non-invasive regulation method, which has better safety while having high spatial resolution, penetration and contrast.

[0147] In an embodiment of the present invention, the present invention provides an ultrasound-guided transcranial nerve regulation system, which includes a helmet-mounted ultrasound transducer, a multi-channel phased array controller, and a host computer connected in sequence; wherein, the helmet-mounted ultrasound transducer is communicatively connected to the host computer; the host computer is configured to obtain a first regulation instruction; when receiving a plurality of imaging echo signals, generate a second regulation instruction, and generate a sound velocity imaging map and a plurality of signal transmission interval step lengths according to each imaging echo signal by using a preset signal processing algorithm, and send each signal transmission interval step length to the helmet-mounted ultrasound transducer; when receiving a plurality of regulation echo signals, use a beamforming algorithm to determine a target visualization target focusing area according to each regulation echo signal and the sound velocity imaging map, and the target visualization target focusing area is used for nerve regulation; the multi-channel phased array controller is configured to generate a low-power electrical signal and transmit it to the helmet-mounted ultrasound transducer when receiving the first regulation instruction sent by the host computer; when receiving the second regulation instruction sent by the host computer, generate a high-power electrical signal and transmit it to the helmet-mounted ultrasound transducer; the helmet-mounted ultrasound transducer is configured to convert the low-power electrical signal into an imaging ultrasound signal and transmit it to the patient's head when receiving the low-power electrical signal, so as to receive a plurality of imaging echo signals generated by the patient's head based on the imaging ultrasound signal; when receiving the high-power electrical signal, convert the high-power electrical signal into a regulation ultrasound signal, and transmit the regulation ultrasound signal to the patient's head according to each signal transmission interval step length, so as to receive a plurality of regulation echo signals generated by the patient's head based on the regulation ultrasound signal; based on the above solution, by wearing the helmet-mounted ultrasound transducer on the patient's head, the corresponding echo signals can be obtained, and there is no need to splice multiple pieces of equipment, which can simplify the system structure. At the same time, through the host computer based on the preset signal processing algorithm and the beamforming algorithm, the received imaging echo signals and regulation echo signals are processed to obtain the target visualization target focusing area, and the process of nerve regulation is carried out through the target visualization target focusing area. The present invention does not need to combine complex imaging technologies such as CT and MRI, which can reduce the operation difficulty and thus reduce the application cost.

[0148] Please refer to Figure 6 , Figure 6 which is a flowchart of the steps of an ultrasound-guided transcranial nerve regulation method provided in the second embodiment of the present invention.

[0149] An ultrasound-guided transcranial nerve regulation method provided by the present invention includes:

[0150] Step 601, when receiving a plurality of imaging echo signals, generate a sound velocity imaging map according to each imaging echo signal by using a preset signal processing algorithm;

[0151] The preset signal processing algorithm includes a filtered back projection algorithm, an Akaike information criterion algorithm, a Bessel curve theory, and a ray tracing iterative algorithm.

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

[0153] Step S11: Segment the signal of each imaging echo signal to determine a first sub-signal and a second sub-signal corresponding to each imaging echo signal;

[0154] Step S12: Calculate 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: Calculate the flight time corresponding to each imaging echo signal according to the variance value corresponding to each imaging echo signal by using the Akaike information criterion algorithm;

[0156] Step S14: Determine the initial slowness distribution according to the flight time corresponding to each imaging echo signal by using the filtered back-projection algorithm;

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

[0158] Step S16: Segment the target propagation path corresponding to each imaging echo signal to determine the sub-propagation paths within multiple pixels corresponding to each target propagation path;

[0159] Step S17: Based on the ray tracing iteration algorithm, optimize the initial slowness distribution 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, determine the target slowness distribution, and generate a sound speed imaging map according to the target slowness distribution.

[0160] Step 602: When receiving multiple modulation echo signals, use the beamforming algorithm to determine the target visualization target focusing area according to each modulation echo signal and the sound speed imaging map, and the target visualization target focusing area is used for nerve modulation.

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

[0162] An embodiment of the present invention also provides a computer device, including a memory and a processor, where a computer program is stored in the memory; when the computer program is executed by the processor, the processor is caused to execute the steps of the ultrasound-guided transcranial nerve regulation method in the second embodiment as described above.

[0163] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the steps of the ultrasound-guided transcranial nerve regulation method in the second embodiment as described above are implemented.

[0164] An embodiment of the present invention also provides a computer program product, including a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the ultrasound-guided transcranial nerve regulation method in the second embodiment as described above are implemented.

[0165] In several embodiments provided by 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 merely illustrative. For example, the division of units is only a logical function division, and 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0166] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 a plurality of 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 each signal transmission interval step, so as to receive a plurality of control echo signals generated by the patient's head based on the control ultrasonic signal; 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.

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. 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 map, and the target visualization target focus area is used for neural control; 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 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; The processing process of the target propagation path is specifically as follows: ； 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.

6. 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 claimed in claim 5.

7. 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 claim 5 is implemented.

8. 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 perform the ultrasound-guided transcranial nerve regulation method as claimed in claim 5.

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