Ultrasonic cavitation monitoring method and system and storage medium

Abstract

The invention relates to an ultrasonic cavitation monitoring method and system and a storage medium. The method comprises the steps that a monitoring parameter threshold value is set; obtaining a region-of-interest image and image information; transmitting a pulse signal, performing cavitation imaging, and acquiring pulse information and cavitation imaging information; comparing the parameter threshold, the image information, the pulse information and the cavitation imaging information; if the comparison result does not meet the requirement, re-acquiring the image of the region of interest and the image information, or / and re-transmitting the pulse signal and the cavitation imaging, and acquiring the pulse information and the cavitation imaging information until the comparison result meets the requirement; if the comparison result meets the requirement, planning a target area and a target spot; and monitoring and adjusting the pulse emitted to the target area and the target spot until the cavitation cumulant meets the monitoring parameter threshold value, and stopping emitting the pulse. Compared with the prior art, real-time cavitation imaging and accurate monitoring can be achieved in the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an ultrasonic cavitation monitoring method, system and storage medium. Background Art

[0002] Therapeutic ultrasound uses the energy characteristics of ultrasound to apply a certain dose of ultrasound to the lesion site in the human body, and achieves the established medical purpose by affecting the state, function or structure of human tissue through a certain biophysical mechanism (mechanical, thermal or cavitation). With the development of ultrasonic phased array and brain neuroscience, the demand for the application research of ultrasonic neural regulation technology in the fields of neurodegenerative diseases and brain diseases is increasing. Among them, the cavitation effect is widely concerned as an important factor affecting the treatment results under high-intensity ultrasound. The ultrasonic cavitation effect refers to a series of dynamic processes such as contraction, expansion, oscillation and implosion of microbubbles in liquid under the action of ultrasound. Studies have found that the use of acoustic cavitation can open the blood-brain barrier of the human brain, allowing large molecular drugs to enter the human brain and treat brain and nerve diseases such as Parkinson's disease. After injecting microbubbles into the human brain, ultrasound can target and stimulate microbubbles in a specific area, reversibly open the blood-brain barrier in that area, and thus achieve the purpose of targeted drug delivery.

[0003] In practical applications, in order to detect the effect of ultrasound implementation in the target area, most of the existing technologies use passive cavitation detection (PCD) technology to detect and receive cavitation signals (i.e., using a transducer to passively receive acoustic changes such as acoustic scattering and emission caused by cavitation bubbles). PCD technology is a single-element technology and cannot perform cavitation imaging in real time. The implementation effect can only be evaluated through cavitation imaging after surgery. This passive method cannot detect the spatial cavitation intensity distribution in real time, which is not conducive to timely and accurate ultrasonic adjustment and control. In addition, due to the inability to implement monitoring, it is easy to cause irreversible damage and has the defect of low safety. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide an ultrasonic cavitation monitoring method, system and storage medium, which can realize real-time cavitation imaging and monitoring during surgery.

[0005] The object of the present invention can be achieved by the following technical solution: An ultrasonic cavitation monitoring method, comprising:

[0006] Set monitoring parameter thresholds;

[0007] Obtain images and image information of the region of interest;

[0008] Transmitting pulse signals, cavitation imaging, and acquiring pulse information and cavitation imaging information;

[0009] comparing the parameter threshold, image information, pulse information, and cavitation imaging information;

[0010] If the comparison result does not meet the requirements, reacquire the image and image information of the region of interest, or / and retransmit the pulse signal and cavitation imaging, and acquire the pulse information and cavitation imaging information, until the comparison result meets the requirements;

[0011] If the comparison result meets the requirements, the target area and target point are planned;

[0012] The pulses emitted to the target area and target point are monitored and adjusted until the cavitation accumulation meets the monitoring parameter threshold, and then the pulse emission is stopped.

[0013] Furthermore, the monitoring parameter threshold includes a steady-state cavitation dose intensity threshold P 阈 , position deviation threshold S 阈 , cavitation intensity cumulative threshold T 阈 .

[0014] Furthermore, the method for obtaining the image and image information of the region of interest includes:

[0015] Identify regions of interest;

[0016] A first image and first position information of the region of interest are acquired.

[0017] Furthermore, the first image is specifically a two-dimensional image or a three-dimensional image.

[0018] Furthermore, the method of transmitting pulse signals, cavitation imaging, and obtaining pulse information and cavitation imaging information includes:

[0019] The pulse signal is emitted, and the instantaneous steady-state cavitation dose intensity value P of the emitted pulse is compared with the steady-state cavitation dose intensity threshold value P 阈 Make comparisons;

[0020] If P is located at P 阈 range, then obtaining a cavitation image of the region of interest;

[0021] A steady-state cavitation dose intensity value of the cavitation image and second position information of the region of interest in the cavitation image are obtained.

[0022] Furthermore, if the comparison result does not meet the requirements, the method of reacquiring the image and image information of the region of interest, or / and retransmitting the pulse signal, cavitation imaging, and acquiring pulse information and cavitation imaging information until the comparison result meets the requirements includes:

[0023] Compare the position deviation S of the first position information and the second position information;

[0024] If the position deviation S exceeds the position deviation threshold S 阈 , then repeatedly acquire the image and image information of the region of interest, re-transmit the pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until S is less than or equal to S 阈 .

[0025] Furthermore, the planning of the target region and the target point includes: manually or automatically generating the target region on the image of the region of interest, or / and manually or automatically generating the target point on the image of the region of interest.

[0026] Furthermore, the method of monitoring and adjusting the pulses emitted to the target area and target point until the cavitation accumulation meets the monitoring parameter threshold, and then stopping the emission of pulses includes:

[0027] Obtain the steady-state cavitation dose intensity value P of the emission pulse in real time or at a certain interval;

[0028] If P>P 阈 , then stop emitting pulse signals, and after a set time t, return to re-emit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information;

[0029] If P is less than or equal to P 阈 , and the cumulative cavitation intensity reaches T 累积 , if T 累积 Reach T 阈 , then stop sending pulse signals.

[0030] An ultrasonic cavitation monitoring system comprises a control device, an ultrasonic transducer device and a data processing device, wherein the control device is connected to the ultrasonic transducer device and the data processing device respectively;

[0031] The control device is used to control the working states of the ultrasonic transducer device and the data processing device respectively;

[0032] The ultrasonic transducer is used to transmit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information;

[0033] The data processing device is used to set a monitoring parameter threshold; obtain an image of an area of ​​interest and image information; compare the parameter threshold, image information, pulse information, and cavitation imaging information; if the comparison result does not meet the requirements, feedback information to the control device; if the comparison result meets the requirements, plan the target area and target point; monitor and adjust the pulses emitted to the target area and target point until the cavitation accumulation meets the monitoring parameter threshold, and then feedback information to the control device.

[0034] Further, the data processing device includes a parameter setting module, an image acquisition module, a cavitation imaging module, a comparison module, a planning module and a monitoring module;

[0035] The parameter setting module is used to set the monitoring parameter threshold;

[0036] The image acquisition module is used to acquire the image and image information of the region of interest;

[0037] The cavitation imaging module is used for cavitation imaging and obtaining cavitation imaging information;

[0038] The comparison module is respectively connected to the parameter setting module, the image acquisition module, the ultrasonic transducer device, and the cavitation imaging module, and is used to compare the parameter threshold, image information, pulse information, and cavitation imaging information; if the comparison result does not meet the requirements, the image and image information of the region of interest are reacquired, or / and the pulse signal and cavitation imaging are retransmitted, and the pulse information and cavitation imaging information are acquired, until the comparison result meets the requirements; if the comparison result meets the requirements, a working signal is transmitted to the planning module;

[0039] The planning module is connected to the comparison module and is used to plan the target area and target point;

[0040] The monitoring module is connected to the ultrasonic transducer device and the planning module, and is used to monitor and adjust the pulses emitted to the target area and the target point until the cavitation accumulation meets the monitoring parameter threshold, and then feedback information to the control device to control the ultrasonic transducer device to stop emitting pulse signals and end pulse emission.

[0041] Further, the ultrasonic transducer device comprises an ultrasonic transmitting module, an ultrasonic transducer, a signal receiving module and a signal processing module which are connected in sequence, the ultrasonic transmitting module is connected to the control device, and the signal processing module is connected to the data processing device;

[0042] The ultrasonic transmitting module is used to drive the ultrasonic transducer to transmit a corresponding ultrasonic pulse signal;

[0043] The signal receiving module is used to receive the ultrasonic transducer electrical signal and transmit it to the signal processing module;

[0044] The signal processing module is used to analyze and process the electrical signal of the ultrasonic transducer to obtain B-ultrasound imaging and cavitation imaging.

[0045] Further, the signal processing module includes a preprocessing unit and a comparison unit, wherein the preprocessing unit is used to filter and weight the ultrasonic transducer electrical signal to perform subsequent B-ultrasound imaging and cavitation imaging;

[0046] The comparison unit is used to compare and judge the cavitation imaging result with the preset value, and the cavitation imaging result includes the steady-state cavitation dose intensity value of the cavitation image and the second position information of the region of interest in the cavitation image.

[0047] Furthermore, the ultrasonic transducer is specifically a transceiver-integrated ultrasonic phased array transducer.

[0048] Furthermore, the ultrasonic transmitting module specifically receives a corresponding control signal from the control device to drive and adjust the transmitting phase and intensity of each array element in the ultrasonic transducer, thereby adjusting the shape, size and position of the focus.

[0049] A computer storage medium having a computer program stored therein, wherein when the computer program is executed by a processor, the processor is caused to perform the following steps:

[0050] Set monitoring parameter thresholds;

[0051] Obtain images and image information of the region of interest;

[0052] Transmitting pulse signals, cavitation imaging, and acquiring pulse information and cavitation imaging information;

[0053] comparing the parameter threshold, image information, pulse information, and cavitation imaging information;

[0054] If the comparison result does not meet the requirements, reacquire the image and image information of the region of interest, or / and recontrol the emission pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until the comparison result meets the requirements;

[0055] If the comparison result meets the requirements, the target area and target point are planned;

[0056] The pulses emitted to the target area and the target point are monitored and adjusted until the cavitation accumulation meets the monitoring parameter threshold, and then the emission of pulses is stopped.

[0057] Compared with the prior art, the present invention has the following advantages:

[0058] The present invention sets monitoring parameter thresholds, including a steady-state cavitation dose intensity threshold P 阈 , position deviation threshold S 阈 , cavitation intensity cumulative threshold T 阈 , respectively used to make corresponding comparisons and judgments to determine whether it is necessary to re-emit the pulse signal, cavitation imaging, and obtain pulse information and cavitation imaging information; whether it is necessary to stop transmitting the pulse signal, which can fully ensure the accuracy of monitoring adjustment, so as to facilitate timely adjustment and higher operational safety.

[0059] The present invention arranges a control device to be connected with an ultrasonic transducer device and a data processing device respectively, and the control device controls the working states of the ultrasonic transducer device and the data processing device respectively, and the data processing device realizes data signal analysis and processing, and feeds back relevant information to the control device, thereby forming a closed-loop feedback control system. Combined with cavitation imaging technology, it can detect the spatial cavitation intensity distribution in real time and ensure timely and accurate control of the working state of the ultrasonic transducer device. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0061] Figure 2 It is a schematic diagram of the system architecture of the present invention;

[0062] Figure 3 It is a schematic diagram of the application process of the embodiment;

[0063] Explanation of the marks in the figure: 1. control device, 2. ultrasonic transducer device, 3. data processing device, 21. ultrasonic transmitting module, 22. ultrasonic transducer, 23. signal receiving module, 24. signal processing module, 31. parameter setting module, 32. image acquisition module, 33. cavitation imaging module, 34. comparison module, 35. planning module, 36. monitoring module. DETAILED DESCRIPTION

[0064] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0065] Example 1

[0066] like Figure 1 As shown, an ultrasonic cavitation monitoring method comprises:

[0067] Set monitoring parameter thresholds, where the monitoring parameter thresholds include the steady-state cavitation dose intensity threshold P 阈 , position deviation threshold S 阈 , cavitation intensity cumulative threshold T 阈 ;

[0068] The above parameter thresholds are set by the designer according to specific requirements.

[0069] Acquiring an image and image information of a region of interest, the process includes: identifying the region of interest;

[0070] Acquire a first image and first position information of a region of interest;

[0071] The first image is specifically a two-dimensional image or a three-dimensional image;

[0072] The process of transmitting pulse signals, cavitation imaging, and obtaining pulse information and cavitation imaging information includes:

[0073] The pulse signal is emitted, and the instantaneous steady-state cavitation dose intensity value P of the emitted pulse is compared with the steady-state cavitation dose intensity threshold value P 阈 Make comparisons;

[0074] If P is located at P 阈 If the cavitation image of the area of ​​interest is within the range,

[0075] Acquiring a steady-state cavitation dose intensity value of the cavitation image and second position information of the region of interest in the cavitation image;

[0076] comparing parameter thresholds, image information, pulse information, and cavitation imaging information;

[0077] If the comparison result does not meet the requirements, the image and image information of the region of interest are reacquired, or / and the pulse signal and cavitation imaging are re-transmitted, and the pulse information and cavitation imaging information are acquired, until the comparison result meets the requirements. The process includes:

[0078] Compare the position deviation S of the first position information and the second position information;

[0079] If the position deviation S exceeds the position deviation threshold S 阈 , then repeatedly acquire the image and image information of the region of interest, re-transmit the pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until S is less than or equal to S 阈 ;

[0080] If the comparison result meets the requirements, the target region and the target point are planned, including: manually or automatically generating the target region on the region of interest image, or / and manually or automatically generating the target point on the region of interest image;

[0081] Monitor and adjust the pulses emitted to the target area and target point until the cavitation accumulation meets the monitoring parameter threshold, then stop emitting pulses. The process includes:

[0082] The steady-state cavitation dose intensity value P of the emission pulse is obtained in real time or at a certain interval. Specifically, it is calculated by the following formula:

[0083]

[0084] P(k,t)=X(k,t) 2 (k=0, 1, ..., N-1)

[0085]

[0086] Where X(k, t) represents the spectrum value of the time domain signal after Fourier transformation at time t, and k is the discrete point after the change;

[0087] x t (i) is the time domain signal collected at time t, i is the sampling point;

[0088] N is the total number of points of a single sampling time domain signal;

[0089] P(k,t) represents the intermediate variable, f0 is the pulse emission frequency, f s The frequency of adoption.

[0090] If P>P 阈 , then stop emitting pulse signals, and after a set time t, return to re-emit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information;

[0091] If P is less than or equal to P 阈 , and the cumulative cavitation intensity reaches T 累积 , if T 累积 Reach T 阈 , then stop transmitting the pulse signal. Specifically, it is calculated by the following formula:

[0092]

[0093] Example 2

[0094] Based on the method of Example 1, an ultrasonic cavitation monitoring system is constructed, such as Figure 2 As shown, it includes a control device 1, an ultrasonic transducer device 2 and a data processing device 3, and the control device 1 is connected to the ultrasonic transducer device 2 and the data processing device 3 respectively.

[0095] The control device 1 is used to control the working states of the ultrasonic transducer device 2 and the data processing device 3 respectively;

[0096] The ultrasonic transducer device 2 is used to transmit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information. The ultrasonic transducer device 2 includes an ultrasonic transmitting module 21, an ultrasonic transducer 22, a signal receiving module 23 and a signal processing module 24 which are connected in sequence. The ultrasonic transmitting module 21 is connected to the control device 1, and the signal processing module 24 is connected to the data processing device 3.

[0097] The ultrasonic transmitting module 21 is used to drive the ultrasonic transducer 22 to transmit corresponding ultrasonic pulse signals;

[0098] The signal receiving module 23 is used to receive the electrical signal of the ultrasonic transducer 22 and transmit it to the signal processing module 24;

[0099] The signal processing module 24 is used to analyze and process the electrical signal of the ultrasonic transducer 22 to obtain B-ultrasound imaging and cavitation imaging, wherein the signal processing module 24 includes a preprocessing unit and a comparison unit, and the preprocessing unit is used to filter and weight the electrical signal of the ultrasonic transducer 22 to perform subsequent B-ultrasound imaging and cavitation imaging;

[0100] The comparison unit is used to compare and judge the cavitation imaging result with the preset value, and the cavitation imaging result includes the steady-state cavitation dose intensity value of the cavitation image and the second position information of the region of interest in the cavitation image.

[0101] In this embodiment, the ultrasonic transducer 21 is specifically a transceiver-integrated ultrasonic phased array transducer, and the ultrasonic transmitting module 21 specifically receives a corresponding control signal from the control device 1 to drive and adjust the transmission phase and intensity of each array element in the ultrasonic transducer 22, thereby adjusting the shape, size and position of the focus.

[0102] The data processing device 3 is used to set the monitoring parameter threshold; obtain the image and image information of the region of interest; compare the parameter threshold, image information, pulse information, and cavitation imaging information; if the comparison result does not meet the requirements, feedback information to the control device; if the comparison result meets the requirements, plan the target area and target point; monitor and adjust the pulses emitted to the target area and target point until the cavitation accumulation meets the monitoring parameter threshold, and then feedback information to the control device.

[0103] The data processing device 3 includes a parameter setting module 31, an image acquisition module 32, a cavitation imaging module 33, a comparison module 34, a planning module 35 and a monitoring module 36;

[0104] A parameter setting module 31 is used to set monitoring parameter thresholds;

[0105] An image acquisition module 32, used to acquire an image of a region of interest and image information;

[0106] A cavitation imaging module 33, used for cavitation imaging and obtaining cavitation imaging information;

[0107] The comparison module 34 is respectively connected to the parameter setting module 31, the image acquisition module 32, the ultrasonic transducer 2, and the cavitation imaging module 33, and is used to compare the parameter threshold, image information, pulse information, and cavitation imaging information; if the comparison result does not meet the requirements, the image and image information of the region of interest are reacquired, or / and the pulse signal and cavitation imaging are retransmitted, and the pulse information and cavitation imaging information are acquired, until the comparison result meets the requirements; if the comparison result meets the requirements, a working signal is transmitted to the planning module 35;

[0108] A planning module 35, connected to the comparison module 34, is used to plan the target area and target point;

[0109] The monitoring module 36 is connected to the ultrasonic transducer device 2 and the planning module 35, and is used to monitor and adjust the pulses emitted to the target area and the target point until the cavitation accumulation meets the monitoring parameter threshold, and then feedback information to the control device 1 to control the ultrasonic transducer device 2 to stop emitting pulse signals and end pulse emission.

[0110] Example 3

[0111] This embodiment applies the above solution, such as Figure 3 As shown, CI_P is the instantaneous cavitation intensity, CI_T is the cumulative cavitation intensity, and is the time integral of CI_P from the start of calculation.

[0112] Before ultrasonic cavitation monitoring, a pulse signal of lower intensity is emitted, and passive cavitation imaging is used to determine whether the actual treatment target area is consistent with the preset position. If not, the emission parameters are adjusted according to the offset coordinates for correction. At the same time, the cavitation intensity under the emission intensity is calculated to confirm the cavitation safety threshold and the actual treatment recommended intensity.

[0113] After the calibration is completed, the target area is outlined on the B-ultrasound image and the target points are planned to open the entire target area.

[0114] For cavitation doses CI_P and CI_T, CI_P is the steady-state cavitation dose intensity, which is the average of the subharmonic and superharmonic intensities (N / 2f_0, N=2n-1, n=1,2,3,...) relative to the emission fundamental frequency f0, and CI_T is the time integral calculated from the starting time to the current CI_P, representing the cavitation dose.

[0115] When cavitation monitoring starts, there are two interruptions: 1) The instantaneous cavitation intensity CI_P at each moment is compared with the safety threshold. When it exceeds the safety threshold, it triggers the stop of pulse signal emission, and repeats the correction work after resting for more than 30 minutes. If CI_P is still greater than the safety threshold, the current cavitation monitoring process is stopped; 2) When the cumulative cavitation intensity CI_T reaches the target value, it is considered that the monitoring treatment of the target target is completed, and the monitoring treatment of the next target target is carried out.

[0116] Example 4

[0117] This embodiment further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the processor executes the following steps:

[0118] Set monitoring parameter thresholds;

[0119] Obtain images and image information of the region of interest;

[0120] Transmitting pulse signals, cavitation imaging, and acquiring pulse information and cavitation imaging information;

[0121] comparing parameter thresholds, image information, pulse information, and cavitation imaging information;

[0122] If the comparison result does not meet the requirements, reacquire the image and image information of the region of interest, or / and recontrol the emission pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until the comparison result meets the requirements;

[0123] If the comparison result meets the requirements, the target area and target point are planned;

[0124] Monitor and adjust the pulses emitted to the target area and target point until the cavitation accumulation meets the monitoring parameter threshold, then control to stop emitting pulses.

Claims

1. An ultrasonic cavitation monitoring method, characterized in that: include: Set monitoring parameter thresholds; Obtain images and image information of the region of interest; Transmitting pulse signals, cavitation imaging, and acquiring pulse information and cavitation imaging information; comparing the parameter threshold, image information, pulse information, and cavitation imaging information; If the comparison result does not meet the requirements, reacquire the image and image information of the region of interest, or / and retransmit the pulse signal and cavitation imaging, and acquire the pulse information and cavitation imaging information, until the comparison result meets the requirements; If the comparison result meets the requirements, the target area and target point are planned; The pulses emitted to the target area and target point are monitored and adjusted until the cavitation accumulation meets the monitoring parameter threshold, and then the emission of pulses is stopped.

2. The ultrasonic cavitation monitoring method according to claim 1, characterized in that: The monitoring parameter thresholds include: steady-state cavitation dose intensity threshold P 阈 , position deviation threshold S 阈 , cavitation intensity cumulative threshold T 阈 .

3. The ultrasonic cavitation monitoring method according to claim 2, characterized in that: The method for obtaining the image and image information of the region of interest comprises: Identify regions of interest; A first image and first position information of the region of interest are acquired.

4. The ultrasonic cavitation monitoring method according to claim 3, characterized in that: The first image is specifically a two-dimensional image or a three-dimensional image.

5. The ultrasonic cavitation monitoring method according to claim 3, characterized in that: The method of transmitting pulse signals, cavitation imaging, and obtaining pulse information and cavitation imaging information includes: The pulse signal is emitted, and the instantaneous steady-state cavitation dose intensity value P of the emitted pulse is compared with the steady-state cavitation dose intensity threshold value P 阈 Make comparisons; If P is located at P 阈 range, then obtaining a cavitation image of the region of interest; A steady-state cavitation dose intensity value of the cavitation image and second position information of the region of interest in the cavitation image are obtained.

6. The ultrasonic cavitation monitoring method according to claim 5, characterized in that: If the comparison result does not meet the requirements, the method of reacquiring the image and image information of the region of interest, or / and retransmitting the pulse signal, cavitation imaging, and acquiring pulse information and cavitation imaging information until the comparison result meets the requirements includes: Compare the position deviation S of the first position information and the second position information; If the position deviation S exceeds the position deviation threshold S 阈 , then repeatedly acquire the image and image information of the region of interest, re-transmit the pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until S is less than or equal to S 阈 .

7. The ultrasonic cavitation monitoring method according to claim 1, characterized in that: The planning of the target region and target point includes: manually or automatically generating the target region on the region of interest image, or / and manually or automatically generating the target point on the region of interest image.

8. The ultrasonic cavitation monitoring method according to claim 2, characterized in that: The method of monitoring and adjusting the pulses emitted to the target area and the target point until the cavitation accumulation meets the monitoring parameter threshold, and then stopping the emission of pulses comprises: Obtain the steady-state cavitation dose intensity value P of the emission pulse in real time or at a certain interval; If P>P 阈 , then stop emitting pulse signals, and after a set time t, return to re-emit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information; If P is less than or equal to P 阈 , and the cumulative cavitation intensity reaches T 累积 , if T 累积 Reach T 阈 , then stop sending pulse signals.

9. An ultrasonic cavitation monitoring system, implemented by the ultrasonic cavitation monitoring method according to claim 1, characterized in that: It comprises a control device (1), an ultrasonic transducer device (2) and a data processing device (3), wherein the control device (1) is connected to the ultrasonic transducer device (2) and the data processing device (3) respectively; The control device (1) is used to control the working states of the ultrasonic transducer device (2) and the data processing device (3) respectively; The ultrasonic transducer device (2) is used to transmit pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information; The data processing device (3) is used to set a monitoring parameter threshold; obtain an image of a region of interest and image information; compare the parameter threshold, image information, pulse information, and cavitation imaging information; and if the comparison result does not meet the requirements, feed back information to the control device (1); If the comparison result meets the requirements, the target area and target point are planned; The pulses emitted to the target area and the target point are monitored and adjusted until the cavitation accumulation meets the monitoring parameter threshold, and then the information is fed back to the control device (1).

10. The ultrasonic cavitation monitoring system according to claim 9, characterized in that: The data processing device (3) comprises a parameter setting module (31), an image acquisition module (32), a cavitation imaging module (33), a comparison module (34), a planning module (35) and a monitoring module (36); The parameter setting module (31) is used to set a monitoring parameter threshold; The image acquisition module (32) is used to acquire an image of a region of interest and image information; The cavitation imaging module (33) is used for cavitation imaging and obtaining cavitation imaging information; The comparison module (34) is respectively connected to the parameter setting module (31), the image acquisition module (32), the ultrasonic transducer device (2), and the cavitation imaging module (33), and is used to compare the parameter threshold, image information, pulse information, and cavitation imaging information; if the comparison result does not meet the requirements, the image and image information of the region of interest are re-acquired, or / and the pulse signal and cavitation imaging are re-transmitted, and the pulse information and cavitation imaging information are acquired, until the comparison result meets the requirements; if the comparison result meets the requirements, a working signal is transmitted to the planning module (35); The planning module (35) is connected to the comparison module (34) and is used to plan the target area and target point; The monitoring module (36) is connected to the ultrasonic transducer device (2) and the planning module (35) and is used to monitor and adjust the pulses emitted to the target area and the target point until the cavitation accumulation meets the monitoring parameter threshold, and then feedback information to the control device (1) to control the ultrasonic transducer device (2) to stop emitting pulse signals and end pulse emission.

11. The ultrasonic cavitation monitoring system according to claim 9, characterized in that: The ultrasonic transducer device (2) comprises an ultrasonic transmitting module (21), an ultrasonic transducer (22), a signal receiving module (23) and a signal processing module (24) which are connected in sequence, the ultrasonic transmitting module (21) is connected to the control device (1), and the signal processing module (24) is connected to the data processing device (3); The ultrasonic transmitting module (21) is used to drive the ultrasonic transducer (22) to transmit a corresponding ultrasonic pulse signal; The signal receiving module (23) is used to receive the electrical signal of the ultrasonic transducer (22) and transmit it to the signal processing module (24); The signal processing module (24) is used to analyze and process the electrical signal of the ultrasonic transducer (22) to obtain B-ultrasound imaging and cavitation imaging.

12. The ultrasonic cavitation monitoring system according to claim 11, characterized in that: The signal processing module (24) comprises a preprocessing unit and a comparison unit, wherein the preprocessing unit is used to filter and weight the electrical signal of the ultrasonic transducer (22) to perform subsequent B-ultrasound imaging and cavitation imaging; The comparison unit is used to compare and judge the cavitation imaging result with the preset value, and the cavitation imaging result includes the steady-state cavitation dose intensity value of the cavitation image and the second position information of the region of interest in the cavitation image.

13. The ultrasonic cavitation monitoring system according to claim 11, characterized in that: The ultrasonic transmitting module (21) specifically receives a corresponding control signal from the control device (1) to drive and adjust the transmitting phase and intensity of each array element in the ultrasonic transducer (22), thereby adjusting the shape, size and position of the focus.

14. A computer storage medium storing a computer program, wherein: When the computer program is executed by a processor, the processor performs the following steps: Set monitoring parameter thresholds; Obtain images and image information of the region of interest; Control the emission of pulse signals, cavitation imaging, and obtain pulse information and cavitation imaging information; comparing the parameter threshold, image information, pulse information, and cavitation imaging information; If the comparison result does not meet the requirements, reacquire the image and image information of the region of interest, or / and recontrol the emission pulse signal, cavitation imaging, and acquire the pulse information and cavitation imaging information until the comparison result meets the requirements; If the comparison result meets the requirements, the target area and target point are planned; The pulses emitted to the target area and the target point are monitored and adjusted until the cavitation accumulation meets the monitoring parameter threshold, and then the emission of pulses is stopped.

Images