Closed-loop hemodynamic regulation imaging system and method for ultrasonic stimulation of peroneal nerves

Abstract

The invention discloses a closed-loop hemodynamic regulation imaging system and method for ultrasonic stimulation of peroneal nerves, and belongs to the technical field of ultrasonic stimulation regulation, and the system comprises a pulse Doppler ultrasonic imaging module, an ultrasonic stimulation parameter configuration module, a power supply module, an ultrasonic stimulation module, a feedback control module and an upper computer display module, the pulse Doppler ultrasonic imaging module is configured to perform color pulse Doppler imaging on the popliteal artery and the popliteal vein to obtain hemodynamic information of the two; the ultrasonic stimulation parameter configuration module is configured to receive the real-time ultrasonic stimulation parameters transmitted by the feedback control module and transmit the real-time ultrasonic stimulation parameters to the ultrasonic stimulation module through electric signals while configuring the real-time ultrasonic stimulation parameters according to the real-time ultrasonic stimulation parameters. According to the invention, hemodynamic real-time observation of ultrasonic stimulation of the peroneal nerve, the popliteal artery and the popliteal vein can be simultaneously carried out, automatic adjustment of hemodynamics can be realized by using a fuzzy logic control algorithm, blood circulation of legs is improved, and real-time and convenient adjustment effect detection is provided for ultrasonic stimulation of the peroneal nerve.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic stimulation and regulation, and in particular relates to a closed-loop hemodynamic regulation imaging system and method for ultrasonically stimulating the peroneal nerve. Background Art

[0002] Ultrasound is the most widely used technical means in the medical field. Ultrasound imaging has been used clinically for decades. Color Doppler blood flow imaging is based on pulsed Doppler technology to obtain the superposition of color blood flow and two-dimensional grayscale images. Compared with traditional B-type ultrasound imaging, color Doppler imaging technology can more intuitively display the flow direction, flow velocity, flow range, blood flow properties, and the presence or absence of reflux and shunt of blood flow. At present, color Doppler imaging has become an indispensable technology for ultrasound diagnosis. In addition, in recent years, neuromodulation technology has developed rapidly. Many technical means such as electrical stimulation technology, magnetic stimulation technology and ultrasound stimulation technology have been applied to the field of rehabilitation therapy. Among them, electrical stimulation is mainly used for anxiety, depression and children-related diseases, and magnetic stimulation is mainly used for central nervous system injury diseases. However, these two methods have certain limitations in their ability to produce a tight stimulation focus in deep tissues and are limited to induction in a relatively large area. Focused ultrasound stimulation, as a non-invasive examination method, can produce excitatory or inhibitory effects on neurons in the stimulation area. It can use spatial focusing ability for precise stimulation and then perform neuromodulation. The size of the focus is determined by the wavelength of the sound wave and the ultrasound transducer. In theory, millimeter-level focused stimulation can be achieved. Therefore, low-intensity focused ultrasound neuromodulation technology has very broad prospects in disease treatment.

[0003] Existing neural stimulation systems are mainly divided into electrical stimulation systems and ultrasonic stimulation systems, among which electrical stimulation is still the main means in the neural stimulation regulation method, and high-frequency electrical stimulation is used to achieve the treatment purpose of different nerves. For example, an electrical stimulation peroneal nerve system disclosed in Chinese patent document CN115087482A uses high-frequency stimulation to treat patients with symptoms of restless legs syndrome or periodic limb movement disorder by applying high-frequency pulse electrical stimulation treatment signals to the peroneal nerve or its branches, and characterizes the neural stimulation response based on the tension movement activation threshold, distraction threshold or pain threshold; another example is a neural stimulation system disclosed in Chinese patent document CN118286598A, which uses a remote control module to control the electrodes implanted in the body, and continuously monitors the bioelectric signals of the experimental subject to determine whether there is a risk of disease. Another example is a programmable active neural stimulation device disclosed in Chinese patent document CN118253035A, which controls any number of stimulation units to act on target nerves such as auditory nerves and visual nerves by programming, and can adjust the voltage amplitude, maintenance time, pulse width and other parameters of the electrical stimulation. Another example is a nerve electrical stimulation device and method for anti-fatigue disclosed in Chinese patent document CN118161748A. The electrical stimulation module of the device is divided into a vagus nerve stimulation unit and a trigeminal nerve stimulation unit. The electrical stimulation parameters are adjusted according to the collected ECG signals of the experimental subjects. The user can choose the way to stimulate the nerve points according to the needs. Another example is a hydrocephalus treatment system based on non-invasive ear vagus nerve stimulation disclosed in Chinese patent document CN118105625A. The system can freely adjust the size of the electrical stimulation sparse wave and dense wave to stimulate the ear vagus nerve and monitor the stimulation current at the same time.

[0004] The above patents all disclose related electrical stimulation neuromodulation systems, which adjust electrical stimulation parameters by collecting changes in physiological electrical signals stimulated by electrical stimulation. However, the electrical stimulation treatment method is not ideal when it comes to precise stimulation deep into tissues.

[0005] For example, the Chinese patent document CN118079257A discloses a variable frequency ultrasonic control device, which is based on the electrophysiological signal and the ultrasonic intensity function fitting model, and realizes the change of stimulation intensity by adjusting the ultrasonic stimulation parameters according to the amplitude of the patient's electrophysiological signal. Another example is a brain nerve stimulation detection device that combines electrical stimulation and ultrasonic stimulation with Chinese patent document CN117771544A. The device adjusts the intensity of the electrical stimulation signal and the ultrasonic stimulation signal according to the fluorescent signal of the experimental subject, and realizes the purpose of integrated detection of neuronal changes and regulation of neuronal activity. Another example is a closed-loop ultrasonic-optical combined visual stimulation system and method disclosed in Chinese patent document CN116849680A. The system adjusts the ultrasonic stimulation frequency and the light wave stimulation frequency according to the physiological electrical signal of the neural tissue of the experimental subject, and realizes the construction of a closed-loop stimulation system for the visual nerve by integrated light stimulation and ultrasonic stimulation. Another example is a full acoustic brain stimulation-brain imaging system disclosed in Chinese patent document CN116603180A. The system uses an ultrasonic imaging system to monitor the blood flow velocity of the target brain area after ultrasonic stimulation, and uses a PID algorithm based on the blood flow velocity to automatically adjust the parameters of the ultrasonic stimulation, thereby completing the construction of a full acoustic stimulation-imaging closed-loop system. Another example is a neural activity detection system under transcranial magnetic acoustic stimulation disclosed in Chinese patent document CN116570237A. The stimulation device of the system is divided into two types: an ultrasonic stimulation device and a magnetic field generating device. The system collects near-infrared detection data of the object to be tested to obtain the parameter value of the preset neural parameter. The neural parameter is a parameter that reflects the neural activity of the object to be tested under the ultrasonic stimulation and the magnetic field stimulation. Another example is a wearable ultrasonic stimulation compatible electrophysiological recording system disclosed in Chinese patent document CN116265040A. The system provides an ultrasonic stimulation module that can adjust the ultrasonic parameters in real time and an electrophysiological recording module for collecting, recording, and analyzing electrophysiological signals, thereby realizing a real-time and matching comparison of the ultrasonic stimulation and electrophysiological regulation effects. Another example is an ultrasonic stimulation dual closed-loop rehabilitation system disclosed in Chinese patent document CN115918565A. The system analyzes the experimental subject's movement posture adjustment data and ultrasonic stimulation brain electromyography data and adjusts the system training movement posture, movement speed and ultrasonic stimulation parameters based on this. Another example is an acoustic wave non-invasive brain-computer interface and control method disclosed in Chinese patent document CN115344122A. The ultrasonic cerebral blood flow imaging module obtains the target object's cerebral blood flow imaging information in real time to determine the control signal, and sends the control signal to the execution device, which includes an action device or an ultrasonic stimulation device. Another example is an intracranial multi-point blood oxygen monitoring and closed-loop ultrasonic stimulation device disclosed in Chinese patent document CN114947838A. The system aims to increase the intracranial blood oxygen value through ultrasonic stimulation, and uses optical fiber equipment to obtain the intracranial multi-point blood oxygen value and control the opening and closing of the stimulating ultrasonic transducer.For example, Chinese patent document CN114225243A discloses a neural control system for blood sugar regulation. The system takes the accompanying relationship between the neck blood vessels and the vagus nerve as its research mechanism, uses an ultrasonic imaging module to obtain real-time development signals of the neck blood vessels and a blood sugar monitoring module to obtain real-time blood sugar concentration signals and use them to locate the vagus nerve, thereby adjusting the focal position of the ultrasonic stimulation module and the parameters of the ultrasonic stimulation.

[0006] The above patents all disclose related ultrasonic stimulation closed-loop systems. They have different regulatory purposes and the feedback signals of the systems are also different, but they all belong to the field of neural regulation technology. Further in-depth research is needed on the regulatory effect of ultrasonic stimulation.

[0007] In terms of hemodynamic regulation, ultrasound stimulation of the peroneal nerve has potential application value, such as improving blood circulation in the lower limbs and treating vascular diseases. However, the existing ultrasound stimulation system lacks real-time observation and regulation of the hemodynamics of the popliteal artery and vein while achieving peroneal nerve stimulation. This limits the application and development of ultrasound stimulation in the field of hemodynamic regulation.

[0008] Therefore, there is a need for a closed-loop hemodynamic regulation imaging system and method for ultrasonically stimulating the peroneal nerve, which can simultaneously realize real-time observation and regulation of the peroneal nerve, popliteal artery and popliteal vein through ultrasonic stimulation. Summary of the invention

[0009] The purpose of the present invention is to provide a closed-loop hemodynamic regulation imaging system and method for ultrasonic stimulation of the peroneal nerve, which can simultaneously perform real-time observation of the hemodynamics of the peroneal nerve, popliteal artery and popliteal vein under ultrasonic stimulation, and can use fuzzy logic control algorithm to achieve automatic regulation of hemodynamics, improve blood circulation, and provide real-time and convenient regulation effect detection for ultrasonic stimulation of the peroneal nerve.

[0010] To achieve the above purpose, the technical solution adopted by the present invention is:

[0011] A closed-loop hemodynamic regulation imaging system for ultrasonically stimulating the peroneal nerve comprises a pulsed Doppler ultrasonic imaging module, an ultrasonic stimulation parameter configuration module, a power module, an ultrasonic stimulation module, a feedback control module and a host computer display module, wherein:

[0012] The pulsed Doppler ultrasound imaging module is configured to perform color pulsed Doppler imaging on the popliteal artery and popliteal vein, obtain the hemodynamic information of the two, and transmit it to the upper computer display module; the hemodynamic information of the popliteal artery and popliteal vein includes the change curve information of the peak blood flow velocity of the popliteal vein, the stroke volume of the popliteal vein, the flow rate per unit time of the popliteal vein, the peak blood flow velocity of the popliteal artery, the stroke volume of the popliteal artery, the flow rate per unit time of the popliteal artery, and the resistance index of the popliteal artery;

[0013] The ultrasonic stimulation parameter configuration module is configured to receive the real-time ultrasonic stimulation parameters transmitted by the feedback control module and configure them accordingly while transmitting them to the ultrasonic stimulation module through electrical signals; the ultrasonic stimulation parameters include ultrasonic stimulation duration, ultrasonic stimulation sound intensity and ultrasonic stimulation frequency;

[0014] The power module is configured to supply voltage to the power consumption module;

[0015] The ultrasound stimulation module includes a transducer that targets the peroneal nerve in the subject's leg and delivers focused ultrasound stimulation;

[0016] The feedback control module includes a data extraction module and a fuzzy logic controller. The data extraction module extracts hemodynamic information from the pulsed Doppler ultrasound imaging module and transmits it to the fuzzy logic controller. The fuzzy logic controller performs fuzzy reasoning to obtain real-time ultrasound stimulation parameters and transmits them to the ultrasound stimulation parameter configuration module.

[0017] The upper computer display module is configured to calculate hemodynamic information using a matrix bundle algorithm based on generalized eigenvalues ​​and matrix rank reduction principles, display color Doppler images of the popliteal artery and popliteal vein and their hemodynamic changes, and perform dynamic image playback and image processing operations.

[0018] A further improvement of the technical solution of the present invention is that the pulse Doppler ultrasound imaging module includes an ultrasound transmitting module, an echo receiving and processing module, an FPGA main control module and an ultrasound imaging transducer, wherein:

[0019] The ultrasonic transmitting module is configured to generate a high-voltage pulse signal to excite the ultrasonic imaging transducer to generate an ultrasonic pulse signal, and includes a high-voltage pulse circuit and a transceiver isolation circuit;

[0020] The echo receiving and processing module is configured to implement pre-amplification, gain compensation and analog-to-digital conversion of the echo signal, and transmit the converted digital signal to the FPGA main control module;

[0021] The FPGA main control module is configured to receive and store echo data, perform dynamic digital filtering, envelope detection, logarithmic amplification, data secondary sampling, and communicate with the upper computer display module;

[0022] The ultrasonic imaging transducer is configured to convert the high voltage pulse signal into an ultrasonic signal, and then convert the ultrasonic echo signal into an electrical signal for transmission to the echo receiving and processing module.

[0023] A further improvement of the technical solution of the present invention is that the workflow of the pulsed Doppler ultrasound imaging module includes the following steps:

[0024] The high-voltage pulse circuit in the ultrasonic transmitting module transmits a precisely delayed high-voltage pulse signal according to ultrasonic focusing;

[0025] The high-voltage pulse signal is transmitted to the ultrasonic imaging transducer through the transceiver isolation circuit, and the ultrasonic imaging transducer converts the high-voltage pulse signal into an ultrasonic signal to scan the target area to be detected;

[0026] The ultrasonic imaging transducer converts the reflected echo signal of the target area to be measured into an electrical signal and transmits it to the echo receiving and processing module;

[0027] The echo receiving and processing module performs low-noise amplification, variable gain amplification, anti-aliasing filtering, and high-speed analog-to-digital conversion operations on the ultrasonic echo signal, and transmits the digital signal after analog-to-digital conversion to the FPGA main control module;

[0028] The FPGA main control module receives and stores the digital signal, processes it and transmits it to the upper computer display module.

[0029] A further improvement of the technical solution of the present invention is that the fuzzy logic controller in the feedback control module includes fuzzification processing, fuzzy control rules, fuzzy reasoning and non-fuzzification processing, wherein:

[0030] The fuzzy processing adopts the selected popliteal vein blood flow peak velocity error, popliteal artery blood flow peak velocity error, popliteal artery resistance index error and the error change rate of the three as the six inputs of the fuzzy logic controller, and converts them into identifiable fuzzy quantities.

[0031] The fuzzy control rules include a database and a rule base; the database provides relevant definitions for processing fuzzy data, and divides each input quantity into seven fuzzy sets, namely, negative large NB, negative medium NM, negative small NS, near zero ZO, positive small PS, positive medium PM and positive large PB. The domains of the input quantities popliteal vein blood flow peak velocity error, popliteal artery blood flow peak velocity error, popliteal artery resistance index error and the error change rate of the three are all set to {-3,-2,-1,0,1,2,3}; the rule base provides language control rules to describe control objectives and strategies;

[0032] Fuzzy reasoning makes reasoning decisions based on fuzzy control rules and fuzzy quantities, and obtains the fuzzy output control quantity of the final output ultrasound stimulation parameters;

[0033] The defuzzification processing converts the fuzzy output control quantity obtained by fuzzy reasoning into the ultrasonic stimulation parameter control output, so that the ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency ratio are used as the three output quantities of the fuzzy logic controller for the ultrasonic stimulation parameter configuration module to call, where the domain of the output quantities ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency is set to {-4.5,-3,-1.5,0,1.5,3,4.5}.

[0034] A further improvement of the technical solution of the present invention is that the design process of the fuzzy logic controller includes the following steps:

[0035] Determine the structure of a single variable two-dimensional fuzzy controller;

[0036] Define the input and output fuzzy sets, and calculate the error E of the peak blood flow velocity of the popliteal artery VD and its error change rate Δ VD and control quantity stimulation time T n The fuzzy set and its domain are defined as follows:

[0037] E VD , Δ VD and T n The fuzzy sets are: {NB,NM,NS,ZO,PS,PM,PB}

[0038] E VD and Δ VD The domain of is: {-3,-2,-1,0,1,2,3}

[0039] T n The domain is: {-4.5,-3,-1.5,0,1.5,3,4.5}

[0040] The input and output fuzzy sets and their domains of the remaining fuzzy logic controllers are the same as those defined above;

[0041] Define input and output membership functions, determine membership functions for fuzzy linguistic variables, and determine the membership of elements in the domain to fuzzy linguistic variables;

[0042] Design fuzzy control rules. Fuzzy control rule statements constitute fuzzy models that describe many control processes.

[0043] Establish a 7*7 fuzzy control table of error and error rate, including the error E of the peak blood flow velocity of the popliteal artery VD and its error change rate Δ VD The 49 fuzzy rules described in this paper have an OR relationship between each fuzzy statement. The control quantity T1 is calculated by the control rule determined by the first statement, and then the control quantities T2, ..., T 49 , then the control quantity is a fuzzy set T, which is expressed as: T = T1 + T2 + Λ + T 49 ;

[0044] The final control quantity is obtained by reasoning using fuzzy reasoning algorithm and fuzzy rules;

[0045] The centroid method is used to take the centroid of the membership function curve and the horizontal coordinate, and the final output value is obtained by performing defuzzification processing.

[0046] A further improvement of the technical solution of the present invention is that the ultrasonic stimulation parameters are automatically adjusted by using a fuzzy logic controller, comprising the following steps:

[0047] The data extraction module in the feedback control module extracts hemodynamic information from the pulsed Doppler ultrasound imaging module, including the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg, which are recorded as VP n 、VD n and R n ;

[0048] The ultrasonic stimulation module releases ultrasonic stimulation to the peroneal nerve of the experimental subject for a time period of T n , the ultrasonic stimulation intensity is Q n , the ultrasonic stimulation frequency is F n Focused ultrasound stimulation;

[0049] The pulsed Doppler ultrasound imaging module performs color Doppler imaging and hemodynamic information extraction on the popliteal artery and popliteal vein of the experimental subject;

[0050] The data extraction module in the feedback control module extracts the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg after ultrasound stimulation from the pulsed Doppler ultrasound imaging module, which are recorded as VP n+1 、VD n+1 and R n+1 , calculate the three information errors and error change rates, denoted as E VP 、E VD 、E R and Δ VP , Δ VD , Δ R ;

[0051] The six variables E VP 、E VD 、E R and Δ VP , Δ VD , Δ R It is input as control variable into the fuzzy logic controller for fuzzification processing;

[0052] Based on the input quantity, the corresponding fuzzy logic control rule is found in the fuzzy control rule, and fuzzy reasoning is performed on the basis of the input quantity and output quantity. The result obtained by fuzzy reasoning is defuzzified, and the output quantity of the fuzzy logic controller is obtained. The ultrasonic stimulation time is T n+1 , the ultrasonic stimulation intensity is Q n+1 , the ultrasonic stimulation frequency is F n+1 ;

[0053] Set the parameter value T n+1 , Q n+1 、F n+1 The information is transmitted to the ultrasonic stimulation parameter configuration module for the next round of ultrasonic stimulation.

[0054] A further improvement of the technical solution of the present invention is that the host computer display module uses a matrix bundle algorithm based on the generalized eigenvalue and matrix rank reduction principle to directly estimate the peak velocity of popliteal artery and vein blood flow based on an adaptive rank selection method to obtain hemodynamic information, including the following steps:

[0055] The Doppler signal is regarded as a signal model composed of a series of complex exponential signals superimposed by the spatial matrix beam algorithm, as shown in the following formula:

[0056]

[0057] Where s represents the Doppler signal, K represents the order of the principal component of the signal model, and A m represents the complex amplitude, f dm represents the frequency of the mth order principal component, T pri represents the pulse repetition frequency, ω represents white noise, and N represents the sampling size of the Doppler signal;

[0058] The Doppler signal is divided into overlapping segments by the matrix bundle algorithm, and each segment is used as a row of the matrix to form a Hankel matrix. For a Doppler signal of size N, the Hankel matrix is ​​expressed as follows:

[0059]

[0060] Where L represents the dimension parameter, satisfying L≤Ceil(N / 2), Ceil(N / 2) is the smallest integer greater than or equal to N / 2, and L is between N / 3 and N / 2;

[0061] Calculate the reduced rank matrix of the Hankel matrix H and perform singular value decomposition, as shown in the following formula:

[0062]

[0063] in represents the augmented matrix, Δ represents the noise component, σ, u, and v represent the singular value, left singular vector, and right singular vector, respectively;

[0064] Delete the first and last rows of the matrix H respectively, construct a set of matrix pairs X1 and X0, and decompose them into the following form:

[0065] X1=Z L BZZ R T and X0=Z L BZ R T

[0066] Among them, Z L =[Z1 Z2 ... Z K],Z m =[Z m 0 Z m 1 ... Z m (N-L-1) ] T , z m =exp(j2πf dm T pri ), m=1,Λ,K, B=diag(A1,A2,Λ,A K ), Z = diag(z1,z2,Λ,z k ), Z R With Z L The structure is similar, T represents the matrix transpose;

[0067] Based on the above matrix decomposition form, the matrix bundle X1-λX0 is expressed as:

[0068] X1-λX0=Z L B[Z-λI]Z R T

[0069] If λ is equal to the main diagonal element in Z, then the rank of the matrix X1-λX0 decreases by 1, {z m} is the generalized eigenvalue λ of the matrix X1-λX0 m ;

[0070] The m-th order main Doppler frequency is obtained from the m-th generalized eigenvalue as shown below:

[0071]

[0072] Generalized Eigenvalues ​​of Matrix Bundles and Matrix X0 + The eigenvalues ​​of X1 are the same, and the superscript + indicates a pseudo-inverse matrix, which can be calculated by singular value decomposition of the matrix.

[0073] The further improvement of the technical solution of the present invention is that: the ultrasonic stimulation time is set to 0-10min, the ultrasonic stimulation sound intensity is set to 0-3W / cm2, and the ultrasonic stimulation frequency is set to 20-100KHz.

[0074] A further improvement of the technical solution of the present invention is that the transducer of the ultrasonic stimulation module adopts a single-element lens focusing ultrasonic transducer.

[0075] A closed-loop hemodynamic regulation imaging method for ultrasonically stimulating the peroneal nerve uses a closed-loop hemodynamic regulation system to automatically regulate hemodynamics, comprising the following steps:

[0076] Step S1: the power module supplies power;

[0077] Step S2: The pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein of the experimental subject to obtain the hemodynamic information of the popliteal artery and popliteal vein, and transmits the information to the upper computer display module;

[0078] Step S3: The ultrasonic stimulation parameter configuration module initializes the settings and transmits them to the ultrasonic stimulation module;

[0079] Step S4: the ultrasound stimulation module releases focused ultrasound stimulation to the peroneal nerve of the experimental subject's leg;

[0080] Step S5: the pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein after ultrasound stimulation, obtains the hemodynamic information of the popliteal artery and popliteal vein, and transmits it to the upper computer display module;

[0081] Step S6: The feedback control module extracts the hemodynamic information from the pulsed Doppler ultrasound imaging module in step S5 through its data extraction module and transmits it to the fuzzy logic controller for fuzzy reasoning to obtain real-time ultrasound stimulation parameters, and transmits them to the ultrasound stimulation parameter configuration module;

[0082] Step S7: The ultrasonic stimulation parameter configuration module receives the real-time ultrasonic stimulation parameters transmitted by the feedback control module in step S6 and configures them accordingly, and transmits them to the ultrasonic stimulation module at the same time, and then repeats steps S4-S6.

[0083] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is:

[0084] The closed-loop hemodynamic regulation imaging system and method for ultrasonic stimulation of the peroneal nerve of the present invention can simultaneously perform real-time observation of the hemodynamics of the peroneal nerve, popliteal artery and popliteal vein under ultrasonic stimulation, can use fuzzy logic control algorithm to achieve automatic regulation of hemodynamics, improve leg blood circulation, and provide real-time and convenient regulation effect detection for ultrasonic stimulation of the peroneal nerve.

[0085] The ultrasonic stimulation module adopted in the present invention releases ultrasonic stimulation to the peroneal nerve of the experimental subject, the pulsed Doppler ultrasonic imaging module synchronously observes the hemodynamic changes of the popliteal artery and the popliteal vein, the fuzzy logic controller in the feedback control module infers the ultrasonic stimulation parameters based on the hemodynamic data information collected by the imaging module, and the ultrasonic stimulation parameter configuration module adjusts the parameters of the ultrasound generated by the ultrasonic stimulation module. The present invention can realize the closed-loop regulation of leg hemodynamics by ultrasonic stimulation of the peroneal nerve, improve the blood circulation of the leg, and realize real-time monitoring of the ultrasonic stimulation effect by replacing traditional electrical stimulation with ultrasonic stimulation.

[0086] The ultrasonic stimulation module used in the present invention uses a single-element lens focused ultrasonic transducer, the ultrasonic parameter configuration module receives the ultrasonic parameter information from the feedback control module and transmits it to the ultrasonic stimulation module, the ultrasonic stimulation module emits ultrasonic waves according to the above parameter configuration through the ultrasonic stimulation transducer, the ultrasonic transducer single-element lens focuses the sound waves on the target area, the lens piezoelectric properties of the quartz material and the stability of the resonant frequency are very good, the ultrasonic stimulation transducer under high-voltage excitation generates high-intensity ultrasonic frequency, focuses on the target area of ​​the experimental subject and stimulates it. The present invention uses a single-element lens focused ultrasonic transducer accompanied by the mechanical effect of ultrasonic waves to stimulate the peroneal nerve, which can accurately stimulate the target area without causing damage to surrounding tissues.

[0087] The host computer display module in the present invention realizes ultrasonic color blood flow imaging by using a matrix beam algorithm based on the generalized eigenvalue and matrix rank reduction principle, and does not need to perform wall filtering on the echo signal, and can directly calculate the blood flow velocity from the Doppler signal. By constructing an extended Kankel matrix, the spatial matrix beam algorithm can better divide the signal components and background noise, thereby providing a more accurate velocity estimation, basically eliminating the aliasing phenomenon introduced by noise, and improving the blood flow velocity resolution.

[0088] The feedback control module in the present invention adopts a fuzzy logic controller to calculate ultrasonic parameters. Fuzzy control performs logical reasoning by using the rules of fuzzy logic control rules in language. In its reasoning process, an accurate mathematical model of the control process is not required, and it has strong fault tolerance. The system operator can easily perform human-computer interaction through natural language, and the reasoning rules of the entire fuzzy logic controller can be adjusted by changing the fuzzy conditional statements to adapt to changes in environmental characteristics and changes in the physical condition of the experimental subjects. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 It is the overall structural block diagram of the closed-loop hemodynamic regulation imaging system of the present invention;

[0090] Figure 2 It is a flowchart of the workflow of the closed-loop hemodynamic regulation imaging system of the present invention;

[0091] Figure 3 It is a structural schematic diagram of a feedback control module in the closed-loop hemodynamic regulation imaging system of the present invention;

[0092] Figure 4 It is a design flow chart of the fuzzy controller in the closed-loop hemodynamic regulation imaging system of the present invention;

[0093] Figure 5 It is a schematic diagram of the fuzzy control rules in the closed-loop hemodynamic regulation imaging system of the present invention. DETAILED DESCRIPTION

[0094] The present invention is further described in detail below in conjunction with embodiments:

[0095] Example 1

[0096] like Figure 1 As shown, this embodiment provides a closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of the peroneal nerve, including a pulsed Doppler ultrasound imaging module, an ultrasound stimulation parameter configuration module, a power module, an ultrasound stimulation module, a feedback control module and a host computer display module.

[0097] Among them, the pulsed Doppler ultrasound imaging module is configured to use a dynamic focusing phased array ultrasound transducer to perform color pulsed Doppler imaging on the popliteal artery and popliteal vein of the experimental subject, obtain the hemodynamic information of the popliteal artery and popliteal vein, and transmit it to the host computer display module. The hemodynamic information of the popliteal artery and popliteal vein includes the peak blood flow velocity of the popliteal vein, the stroke volume of the popliteal vein, the flow rate per unit time of the popliteal vein, the peak blood flow velocity of the popliteal artery, the stroke volume of the popliteal artery, the flow rate per unit time of the popliteal artery, and the change curve information of the popliteal artery resistance index.

[0098] Specifically, the pulse Doppler ultrasound imaging module includes an ultrasound transmitting module, an echo receiving and processing module, an FPGA main control module, and an ultrasound imaging transducer. Specifically, the ultrasound transmitting module is configured to generate a high-voltage pulse signal to excite the ultrasound imaging transducer to generate a 5MHz ultrasound pulse signal, which includes a high-voltage pulse circuit and a transceiver isolation circuit; the echo receiving and processing module is configured to implement preamplification, gain compensation, and analog-to-digital conversion of the echo signal, and transmit the converted digital signal to the FPGA main control module; the FPGA main control module is configured to implement functions such as echo data reception and storage, dynamic digital filtering, envelope detection, logarithmic amplification, data secondary sampling, and communication with the host computer display module; the ultrasound imaging transducer is configured to implement the conversion of the high-voltage pulse signal into an ultrasound signal, and then convert the ultrasound echo signal into an electrical signal and transmit it to the echo receiving and processing module.

[0099] The workflow of the pulsed Doppler ultrasound imaging module includes the following steps:

[0100] The high-voltage pulse circuit in the ultrasonic transmitting module transmits a precisely delayed high-voltage pulse signal according to ultrasonic focusing;

[0101] The high-voltage pulse signal is transmitted to the ultrasonic imaging transducer through the transceiver isolation circuit, and the ultrasonic imaging transducer converts the high-voltage pulse signal into an ultrasonic signal to scan the target area to be detected;

[0102] The ultrasonic imaging transducer converts the reflected echo signal of the target area to be measured into an electrical signal and transmits it to the echo receiving and processing module;

[0103] The echo receiving and processing module performs low-noise amplification, variable gain amplification, anti-aliasing filtering, and high-speed analog-to-digital conversion operations on the ultrasonic echo signal, and transmits the digital signal after analog-to-digital conversion to the FPGA main control module;

[0104] The FPGA main control module receives and stores the digital signal, processes it and transmits it to the upper computer display module.

[0105] The ultrasonic stimulation parameter configuration module is used to receive the real-time ultrasonic stimulation parameters transmitted by the feedback control module and configure them according to them while transmitting them to the ultrasonic stimulation module through electrical signals. The ultrasonic stimulation parameters include ultrasonic stimulation duration, ultrasonic stimulation sound intensity and ultrasonic stimulation frequency. The initial configuration of ultrasonic stimulation parameters is set based on the effective scheme of the previous experiment. After stimulation according to the initial ultrasonic stimulation parameters, the subsequent real-time ultrasonic stimulation parameters are obtained through the fuzzy logic controller in the feedback control module. For safety reasons, the ultrasonic stimulation time is set to 0-10min and the ultrasonic stimulation sound intensity is set to 0-3W / cm 2 , the ultrasonic stimulation frequency was set to 20-100KHz, and the duty cycle was set to 5%-80%.

[0106] The power module is configured to realize voltage supply for all power-consuming modules in the imaging system.

[0107] The ultrasound stimulation module includes a transducer that targets the peroneal nerve in the leg of the experimental subject and releases focused ultrasound stimulation. The transducer uses a single-element lens focused ultrasound transducer, which can use the lens to achieve precise focusing and accurately stimulate the peroneal nerve.

[0108] The feedback control module includes a data extraction module and a fuzzy logic controller, such as Figure 3 As shown, the data extraction module is configured to extract the real-time hemodynamic signal from the pulse Doppler ultrasound imaging module, and the fuzzy logic controller is configured to fuzzify the real-time signal transmitted from the data extraction module as the input of the pre-compiled fuzzy rules, and obtain the specific parameters of the next stage of ultrasound stimulation after completing the fuzzy reasoning. That is, the data extraction module of the feedback control module extracts the hemodynamic information from the pulse Doppler ultrasound imaging module and transmits it to the fuzzy logic controller, and the fuzzy logic controller performs fuzzy reasoning to obtain the real-time ultrasound stimulation parameters and transmits them to the ultrasound stimulation parameter configuration module.

[0109] The fuzzy logic controller includes fuzzification processing, fuzzy control rules, fuzzy reasoning and non-fuzzification processing. The fuzzy processing adopts the selected popliteal vein blood flow peak velocity error, popliteal artery blood flow peak velocity error, popliteal artery resistance index error and the error change rate of the three as the six input quantities of the fuzzy logic controller, and converts them into recognizable fuzzy quantities; the fuzzy control rules include a database and a rule base, in which the database provides the relevant definitions for processing fuzzy data, and divides each input quantity into 7 fuzzy sets, namely negative large NB, negative medium NM, negative small NS, near zero ZO, positive small PS, positive medium PM and positive large PB, that is, the domains of the input quantities popliteal vein blood flow peak velocity error, popliteal artery blood flow peak velocity error, popliteal artery resistance index error and the error change rate of the three are all set to {-3,-2,- 1,0,1,2,3}, and the rule base provides language control rules to describe control objectives and strategies; fuzzy reasoning is mainly realized on the basis of the above fuzzy control rules and fuzzy quantities, making reasoning decisions and obtaining the fuzzy output control quantity of the final output ultrasonic stimulation parameters; the defuzzification process converts the fuzzy output control quantity obtained by fuzzy reasoning into the ultrasonic stimulation parameter control output, so that the ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency ratio are used as the three output quantities of the fuzzy logic controller for the ultrasonic stimulation parameter configuration module to call, where the domain of the output quantities ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency is set to {-4.5,-3,-1.5,0,1.5,3,4.5}. The fuzzy logic controller uses the 7*7 rule table of error and error rate as the control rule. Therefore, the fuzzy logic controller contains 7*7*6*3 control rules in total.

[0110] Based on the decoupling characteristics of the fuzzy logic controller itself, decoupling is achieved in the controller structure by solving the fuzzy relationship equation, that is, the multi-input-multi-output fuzzy logic controller is decomposed into several multi-input-single-output fuzzy logic controllers, and then a single-variable fuzzy logic controller is used for design. Figure 4 As shown in Figure 1, the design process of the fuzzy logic controller includes the following steps:

[0111] Determine the structure of a single variable two-dimensional fuzzy controller;

[0112] Define the input and output fuzzy sets, and calculate the error E of the peak blood flow velocity of the popliteal artery VD and its error change rate Δ VD and control quantity stimulation time T n The fuzzy set and its domain are defined as follows:

[0113] E VD , Δ VD and T n The fuzzy sets are: {NB,NM,NS,ZO,PS,PM,PB}

[0114] E VD and Δ VD The domain of is: {-3,-2,-1,0,1,2,3}

[0115] T n The domain is: {-4.5,-3,-1.5,0,1.5,3,4.5}

[0116] The input and output fuzzy sets and their domains of the remaining fuzzy logic controllers are the same as those defined above;

[0117] Define input and output membership functions, determine membership functions for fuzzy linguistic variables, and determine the membership of elements in the domain to fuzzy linguistic variables;

[0118] Fuzzy control rules are designed based on experimental experience. Fuzzy control rule statements constitute fuzzy models that describe many control processes.

[0119] Establish a 7*7 fuzzy control table of error and error rate, such as Figure 5 As shown, the table includes the error E of the peak blood flow velocity in the popliteal artery VD and its error change rate Δ VD The 49 fuzzy rules described in this paper have an OR relationship between each fuzzy statement. The control quantity T1 is calculated by the control rule determined by the first statement, and then the control quantities T2, ..., T 49 , then the control quantity is a fuzzy set T, which is expressed as: T = T1 + T2 + Λ + T 49 ;

[0120] The final control quantity is obtained by reasoning using fuzzy reasoning algorithm and fuzzy rules;

[0121] The centroid method is used to take the centroid of the membership function curve and the horizontal coordinate, and the final output value is obtained by performing defuzzification processing.

[0122] The ultrasonic stimulation parameters are automatically adjusted using a fuzzy logic controller, including the following steps:

[0123] The data extraction module in the feedback control module extracts hemodynamic information from the pulsed Doppler ultrasound imaging module, including the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg, which are recorded as VP n 、VD n and R n ;

[0124] The ultrasonic stimulation module releases ultrasonic stimulation to the peroneal nerve of the experimental subject for a time period of T n , the ultrasonic stimulation intensity is Q n , the ultrasonic stimulation frequency is F nFocused ultrasound stimulation;

[0125] The pulsed Doppler ultrasound imaging module performs color Doppler imaging and hemodynamic information extraction on the popliteal artery and popliteal vein of the experimental subject;

[0126] The data extraction module in the feedback control module extracts the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg after ultrasound stimulation from the pulsed Doppler ultrasound imaging module, which are recorded as VP n+1 、VD n+1 and R n+1 , calculate the three information errors and error change rates, denoted as E VP 、E VD 、E R and Δ VP , Δ VD , Δ R ;

[0127] The six variables E VP 、E VD 、E R and Δ VP , Δ VD , Δ R It is input as control variable into the fuzzy logic controller for fuzzification processing;

[0128] Based on the input quantity, the corresponding fuzzy logic control rule is found in the fuzzy control rule, and fuzzy reasoning is performed on the basis of the input quantity and output quantity. The result obtained by fuzzy reasoning is defuzzified, and the output quantity of the fuzzy logic controller is obtained. The ultrasonic stimulation time is T n+1 , the ultrasonic stimulation intensity is Q n+1 , the ultrasonic stimulation frequency is F n+1 ;

[0129] Set the parameter value T n+1 , Q n+1 、F n+1 The information is transmitted to the ultrasonic stimulation parameter configuration module for the next round of ultrasonic stimulation.

[0130] The upper computer display module is configured to calculate the hemodynamic information using a matrix bundle algorithm based on generalized eigenvalues ​​and matrix rank reduction principles, display the color Doppler images of the popliteal artery and popliteal vein and their hemodynamic changes on a display, and perform dynamic image playback and image processing operations.

[0131] The host computer display module uses the matrix bundle algorithm based on the generalized eigenvalue and matrix rank reduction principle to directly estimate the peak velocity of popliteal artery and vein blood flow based on the adaptive rank selection method to obtain hemodynamic information without wall filtering, including the following steps:

[0132] The Doppler signal is regarded as a signal model composed of a series of complex exponential signals superimposed by the spatial matrix beam algorithm, as shown in the following formula:

[0133]

[0134] In the formula, s represents the Doppler signal, K represents the order of the principal component of the signal model, and A m represents the complex amplitude, f dm represents the frequency of the mth order principal component, T pri represents the pulse repetition frequency, ω represents white noise, and N represents the sampling size of the Doppler signal;

[0135] The Doppler signal is divided into overlapping segments by the matrix bundle algorithm, and each segment is used as a row of the matrix to form a Hankel matrix. For a Doppler signal of size N, the Hankel matrix is ​​expressed as follows:

[0136]

[0137] Where L represents the dimension parameter, satisfying L≤Ceil(N / 2), Ceil(N / 2) is the smallest integer greater than or equal to N / 2. For the subsequent matrix rank reduction, the best choice of L is between N / 3 and N / 2.

[0138] Calculate the reduced rank matrix of the Hankel matrix H and perform singular value decomposition, as shown in the following formula:

[0139]

[0140] in represents the augmented matrix, Δ represents the noise component, σ, u, and v represent the singular value, left singular vector, and right singular vector, respectively;

[0141] Delete the first and last rows of the matrix H respectively, construct a set of matrix pairs X1 and X0, and decompose them into the following form:

[0142] X1=Z L BZZ R T and X0=Z L BZ R T

[0143] Among them, Z L =[Z1 Z2 ... Z K ],Z m =[Z m 0 Z m 1 ... Z m (N-L-1) ]T , z m =exp(j2πf dm T pri ), m=1,Λ,K, B=diag(A1,A2,Λ,A K ), Z = diag(z1,z2,Λ,z k ), Z R With Z L The structure is similar, T represents the matrix transpose;

[0144] Based on the above matrix decomposition form, the matrix bundle X1-λX0 is expressed as:

[0145] X1-λX0=Z L B[Z-λI]Z R T

[0146] If λ is equal to the main diagonal element in Z, then the rank of the matrix X1-λX0 decreases by 1, {z m} is the generalized eigenvalue λ of the matrix X1-λX0 m ;

[0147] The m-th order main Doppler frequency is obtained from the m-th generalized eigenvalue as shown below:

[0148]

[0149] Generalized Eigenvalues ​​of Matrix Bundles and Matrix X0 + The eigenvalues ​​of X1 are the same, and the superscript + indicates a pseudo-inverse matrix, which can be calculated by singular value decomposition of the matrix.

[0150] This system acts on the peroneal nerve in the leg, synchronously realizing ultrasonic stimulation of the peroneal nerve and synchronously monitoring the hemodynamic changes of the popliteal artery and popliteal vein. The system feedback control module adjusts the ultrasonic stimulation parameters according to the hemodynamic information to achieve the effect of automatically regulating the blood circulation of the lower limbs, thereby improving the degree of automation of medical equipment.

[0151] Example 2

[0152] like Figure 2 As shown, this embodiment provides a closed-loop hemodynamic regulation imaging method for ultrasonically stimulating the peroneal nerve, using the closed-loop hemodynamic regulation system in Example 1 to automatically regulate hemodynamics, including the following steps:

[0153] Step S1: the power module supplies power;

[0154] Step S2: The pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein of the experimental subject to obtain the hemodynamic information of the popliteal artery and popliteal vein, and transmits the information to the upper computer display module;

[0155] Step S3: The ultrasonic stimulation parameter configuration module initializes the settings and transmits them to the ultrasonic stimulation module;

[0156] Step S4: the ultrasound stimulation module releases focused ultrasound stimulation to the peroneal nerve of the experimental subject's leg;

[0157] Step S5: the pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein after ultrasound stimulation, obtains the hemodynamic information of the popliteal artery and popliteal vein, and transmits it to the upper computer display module;

[0158] Step S6: The feedback control module extracts the hemodynamic information from the pulsed Doppler ultrasound imaging module in step S5 through its data extraction module and transmits it to the fuzzy logic controller for fuzzy reasoning to obtain real-time ultrasound stimulation parameters, and transmits them to the ultrasound stimulation parameter configuration module;

[0159] Step S7: The ultrasonic stimulation parameter configuration module receives the real-time ultrasonic stimulation parameters transmitted by the feedback control module in step S6 and configures them accordingly, and transmits them to the ultrasonic stimulation module at the same time, and then repeats steps S4-S6.

[0160] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve, characterized in that: It includes a pulse Doppler ultrasound imaging module, an ultrasound stimulation parameter configuration module, a power module, an ultrasound stimulation module, a feedback control module and a host computer display module, wherein: The pulsed Doppler ultrasound imaging module is configured to perform color pulsed Doppler imaging on the popliteal artery and popliteal vein, obtain the hemodynamic information of the two, and transmit it to the upper computer display module; the hemodynamic information of the popliteal artery and popliteal vein includes the change curve information of the peak blood flow velocity of the popliteal vein, the stroke volume of the popliteal vein, the flow rate per unit time of the popliteal vein, the peak blood flow velocity of the popliteal artery, the stroke volume of the popliteal artery, the flow rate per unit time of the popliteal artery, and the resistance index of the popliteal artery; The ultrasonic stimulation parameter configuration module is configured to receive the real-time ultrasonic stimulation parameters transmitted by the feedback control module and configure them accordingly while transmitting them to the ultrasonic stimulation module through electrical signals; the ultrasonic stimulation parameters include ultrasonic stimulation duration, ultrasonic stimulation sound intensity and ultrasonic stimulation frequency; The power module is configured to supply voltage to the power consumption module; The ultrasound stimulation module includes a transducer that targets the peroneal nerve in the subject's leg and delivers focused ultrasound stimulation; The feedback control module includes a data extraction module and a fuzzy logic controller. The data extraction module extracts hemodynamic information from the pulsed Doppler ultrasound imaging module and transmits it to the fuzzy logic controller. The fuzzy logic controller performs fuzzy reasoning to obtain real-time ultrasound stimulation parameters and transmits them to the ultrasound stimulation parameter configuration module. The upper computer display module is configured to calculate hemodynamic information using a matrix bundle algorithm based on generalized eigenvalues ​​and matrix rank reduction principles, display color Doppler images of the popliteal artery and popliteal vein and their hemodynamic changes, and perform dynamic image playback and image processing operations.

2. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of the peroneal nerve according to claim 1, characterized in that: The pulse Doppler ultrasound imaging module includes an ultrasound transmitting module, an echo receiving and processing module, an FPGA main control module and an ultrasound imaging transducer, wherein: The ultrasonic transmitting module is configured to generate a high-voltage pulse signal to excite the ultrasonic imaging transducer to generate an ultrasonic pulse signal, and includes a high-voltage pulse circuit and a transceiver isolation circuit; The echo receiving and processing module is configured to implement pre-amplification, gain compensation and analog-to-digital conversion of the echo signal, and transmit the converted digital signal to the FPGA main control module; The FPGA main control module is configured to receive and store echo data, perform dynamic digital filtering, envelope detection, logarithmic amplification, data secondary sampling, and communicate with the upper computer display module; The ultrasonic imaging transducer is configured to convert the high voltage pulse signal into an ultrasonic signal, and then convert the ultrasonic echo signal into an electrical signal for transmission to the echo receiving and processing module.

3. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of the peroneal nerve according to claim 2, characterized in that: The workflow of the pulsed Doppler ultrasound imaging module includes the following steps: The high-voltage pulse circuit in the ultrasonic transmitting module transmits a precisely delayed high-voltage pulse signal according to ultrasonic focusing; The high-voltage pulse signal is transmitted to the ultrasonic imaging transducer through the transceiver isolation circuit, and the ultrasonic imaging transducer converts the high-voltage pulse signal into an ultrasonic signal to scan the target area to be detected; The ultrasonic imaging transducer converts the reflected echo signal of the target area to be measured into an electrical signal and transmits it to the echo receiving and processing module; The echo receiving and processing module performs low-noise amplification, variable gain amplification, anti-aliasing filtering, and high-speed analog-to-digital conversion operations on the ultrasonic echo signal, and transmits the digital signal after analog-to-digital conversion to the FPGA main control module; The FPGA main control module receives and stores the digital signal, processes it and transmits it to the upper computer display module.

4. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of the peroneal nerve according to claim 3, characterized in that: The fuzzy logic controller in the feedback control module includes fuzzification processing, fuzzy control rules, fuzzy reasoning and non-fuzzification processing, wherein: The fuzzy processing adopts the selected popliteal vein blood flow peak velocity error, popliteal artery blood flow peak velocity error, popliteal artery resistance index error and the error change rate of the three as the six inputs of the fuzzy logic controller, and converts them into identifiable fuzzy quantities. The fuzzy control rules include a database and a rule base; the database provides relevant definitions for processing fuzzy data, and divides each input quantity into 7 fuzzy sets, namely, negative large NB, negative medium NM, negative small NS, near zero ZO, positive small PS, positive medium PM and positive large PB, and the domains of the input quantities of the popliteal vein blood flow peak velocity error, the popliteal artery blood flow peak velocity error, the popliteal artery resistance index error and the error change rate of the three are all set to {-3,-2,-1,0,1,2,3}; the rule base provides language control rules to describe the control objectives and strategies; Fuzzy reasoning makes reasoning decisions based on fuzzy control rules and fuzzy quantities, and obtains the fuzzy output control quantity of the final output ultrasound stimulation parameters; The defuzzification processing converts the fuzzy output control quantity obtained by fuzzy reasoning into the ultrasonic stimulation parameter control output, so that the ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency ratio are used as the three output quantities of the fuzzy logic controller for the ultrasonic stimulation parameter configuration module to call, where the domain of the output quantities ultrasonic stimulation time, ultrasonic stimulation intensity and ultrasonic stimulation frequency is set to {-4.5,-3,-1.5,0,1.5,3,4.5}.

5. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve according to claim 4, characterized in that: The design process of the fuzzy logic controller includes the following steps: Determine the structure of a single variable two-dimensional fuzzy controller; Define the input and output fuzzy sets, and calculate the error E of the peak blood flow velocity of the popliteal artery VD and its error change rate Δ VD and control quantity stimulation time T n The fuzzy set and its domain are defined as follows: E VD , Δ VD and T n The fuzzy sets are: {NB,NM,NS,ZO,PS,PM,PB} E VD and Δ VD The domain of is: {-3,-2,-1,0,1,2,3} T n The domain is: {-4.5,-3,-1.5,0,1.5,3,4.5} The input and output fuzzy sets and their domains of the remaining fuzzy logic controllers are the same as those defined above; Define input and output membership functions, determine membership functions for fuzzy linguistic variables, and determine the membership of elements in the domain to fuzzy linguistic variables; Design fuzzy control rules. Fuzzy control rule statements constitute fuzzy models that describe many control processes. Establish a 7*7 fuzzy control table of error and error rate, including the error E of the peak blood flow velocity of the popliteal artery VD and its error change rate Δ VD The 49 fuzzy rules described in this paper have an OR relationship between each fuzzy statement. The control quantity T1 is calculated by the control rule determined by the first statement, and then the control quantities T2, ..., T 49 , then the control quantity is the fuzzy set T, which is expressed as: T = T1 + T2 + Λ + T 49 ; The final control quantity is obtained by reasoning using fuzzy reasoning algorithm and fuzzy rules; The centroid method is used to take the centroid of the membership function curve and the horizontal coordinate, and the final output value is obtained by performing defuzzification processing.

6. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve according to claim 5, characterized in that: The ultrasonic stimulation parameters are automatically adjusted using a fuzzy logic controller, including the following steps: The data extraction module in the feedback control module extracts hemodynamic information from the pulsed Doppler ultrasound imaging module, including the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg, which are recorded as VP n 、VD n and R n ; The ultrasonic stimulation module releases ultrasonic stimulation to the peroneal nerve of the experimental subject for a time period of T n , the ultrasonic stimulation intensity is Q n , the ultrasonic stimulation frequency is F n Focused ultrasound stimulation; The pulsed Doppler ultrasound imaging module performs color Doppler imaging and hemodynamic information extraction on the popliteal artery and popliteal vein of the experimental subject; The data extraction module in the feedback control module extracts the peak velocity of the popliteal vein blood flow, the peak velocity of the popliteal artery blood flow and the popliteal artery resistance index of the experimental subject's leg after ultrasound stimulation from the pulsed Doppler ultrasound imaging module, which are recorded as VP n+1 、VD n+1 and R n+1 , calculate the three information errors and error change rates, denoted as E VP 、E VD 、E R and Δ VP , Δ VD , Δ R ; The six variables E VP 、E VD 、E R and Δ VP , Δ VD , Δ R It is input as control variable into the fuzzy logic controller for fuzzification processing; Based on the input quantity, the corresponding fuzzy logic control rule is found in the fuzzy control rule, and fuzzy reasoning is performed on the basis of the input quantity and output quantity. The result obtained by fuzzy reasoning is defuzzified, and the output quantity of the fuzzy logic controller is obtained. The ultrasonic stimulation time is T n+1 , the ultrasonic stimulation intensity is Q n+1 , the ultrasonic stimulation frequency is F n+1 ; Set the parameter value T n+1 , Q n+1 、F n+1 The information is transmitted to the ultrasonic stimulation parameter configuration module for the next round of ultrasonic stimulation.

7. A closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve according to claim 6, characterized in that: The host computer display module uses the matrix bundle algorithm based on the generalized eigenvalue and matrix rank reduction principle to directly estimate the peak velocity of popliteal artery and vein blood flow based on the adaptive rank selection method to obtain hemodynamic information, including the following steps: The Doppler signal is regarded as a signal model composed of a series of complex exponential signals superimposed by the spatial matrix beam algorithm, as shown in the following formula: In the formula, s represents the Doppler signal, K represents the order of the principal component of the signal model, and A m represents the complex amplitude, f dm represents the frequency of the mth order principal component, T pri represents the pulse repetition frequency, ω represents white noise, and N represents the sampling size of the Doppler signal; The Doppler signal is divided into overlapping segments by the matrix bundle algorithm, and each segment is used as a row of the matrix to form a Hankel matrix. For a Doppler signal of size N, the Hankel matrix is ​​expressed as follows: Where L represents the dimension parameter, satisfying L≤Ceil(N / 2), Ceil(N / 2) is the smallest integer greater than or equal to N / 2, and L is between N / 3 and N / 2; Calculate the reduced rank matrix of the Hankel matrix H and perform singular value decomposition, as shown in the following formula: in represents the augmented matrix, Δ represents the noise component, σ, u, and v represent the singular value, left singular vector, and right singular vector, respectively; Delete the first and last rows of the matrix H respectively, construct a set of matrix pairs X1 and X0, and decompose them into the following form: X1=Z L BZZ R T and X0=Z L BZ R T Among them, Z L =[Z1 Z2…Z K ],Z m =[Z m 0 Z m 1 …Z m (N-L-1) ] T , z m =exp(j2πf dm T pri ), m=1,Λ,K, B=diag(A1,A2,Λ,A K ), Z = diag(z1,z2,Λ,z k ), Z R With Z L The structure is similar, T represents the matrix transpose; Based on the above matrix decomposition form, the matrix bundle X1-λX0 is expressed as: X1-λX0=Z L B[Z-λI]Z R T If λ is equal to the main diagonal element in Z, then the rank of the matrix X1-λX0 decreases by 1, {z m } is the generalized eigenvalue λ of the matrix X1-λX0 m ; The m-th order main Doppler frequency is obtained from the m-th generalized eigenvalue as shown below: Generalized Eigenvalues ​​of Matrix Bundles and Matrix X0 + The eigenvalues ​​of X1 are the same, and the superscript + indicates a pseudo-inverse matrix, which can be calculated by singular value decomposition of the matrix.

8. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve according to claim 1, characterized in that: The ultrasonic stimulation time is set to 0-10 min, the ultrasonic stimulation intensity is set to 0-3 W / cm2, and the ultrasonic stimulation frequency is set to 20-100 KHz.

9. The closed-loop hemodynamic regulation imaging system for ultrasonic stimulation of peroneal nerve according to claim 1, characterized in that: The transducer of the ultrasonic stimulation module adopts a single-element lens focusing ultrasonic transducer.

10. A closed-loop hemodynamic regulation imaging method for ultrasonic stimulation of peroneal nerve, characterized in that: Automatic regulation of hemodynamics using the closed-loop hemodynamic regulation system according to any one of claims 1 to 9 comprises the following steps: Step S1: the power module supplies power; Step S2: The pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein of the experimental subject to obtain the hemodynamic information of the popliteal artery and popliteal vein, and transmits the information to the upper computer display module; Step S3: The ultrasonic stimulation parameter configuration module initializes the settings and transmits them to the ultrasonic stimulation module; Step S4: the ultrasound stimulation module releases focused ultrasound stimulation to the peroneal nerve of the experimental subject's leg; Step S5: the pulsed Doppler ultrasound imaging module performs color pulsed Doppler imaging on the popliteal artery and popliteal vein after ultrasound stimulation, obtains the hemodynamic information of the popliteal artery and popliteal vein, and transmits it to the upper computer display module; Step S6: The feedback control module extracts the hemodynamic information from the pulsed Doppler ultrasound imaging module in step S5 through its data extraction module and transmits it to the fuzzy logic controller for fuzzy reasoning to obtain real-time ultrasound stimulation parameters, and transmits them to the ultrasound stimulation parameter configuration module; Step S7: The ultrasonic stimulation parameter configuration module receives the real-time ultrasonic stimulation parameters transmitted by the feedback control module in step S6 and configures them accordingly, and transmits them to the ultrasonic stimulation module at the same time, and then repeats steps S4-S6.

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