Multi-array-element phased focused ultrasound transcranial rapid focusing method and device and storage medium

Abstract

The invention relates to a multi-array-element phased focused ultrasound transcranial rapid focusing method and device and a storage medium. According to the method, a focus and coordinates of all array elements can be determined according to three-dimensional MRI and CT images, and sound propagation speeds in a skull and brain tissues of all parts are calculated; obtaining a propagation path of the ultrasonic wave emitted by each array element according to the coordinates; calculating the total transmission time of each propagation path; calculating a difference value between the maximum transmission time and the total transmission time of other propagation paths; and according to the difference value, the phase difference of the corresponding array element is calculated, so that the input of the ultrasonic phase of the corresponding array element is adjusted. It can be understood that according to the technical scheme, feedback correction is not needed, the transcranial focusing effect of the multi-array-element phased focusing transducer is effectively improved, the calculation time is shortened, and the real-time performance of phased focus control is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a multi-element phased focused ultrasound transcranial rapid focusing method, equipment and storage medium. Background Art

[0002] In transcranial focused ultrasound therapy, the accuracy of the focusing method is the key to ensuring the treatment effect and safety. In actual applications, sound waves may deviate to varying degrees when passing through the skull, resulting in errors in the focus point, thus affecting the treatment effect. Therefore, during the treatment process, transcranial focused ultrasound must overcome the influence of the skull, especially the scattering and attenuation of ultrasound waves by the skull.

[0003] There are two mainstream focus adjustment methods: focus feedback correction technology and time reversal technology.

[0004] Focus feedback correction technology relies on real-time MRI imaging technology to monitor the propagation path and focal position of ultrasound. By obtaining feedback information from the treatment area in real time, the system can dynamically adjust the ultrasound emission parameters, such as beam intensity, direction, frequency, etc., according to actual conditions to ensure that the ultrasound is focused on the target brain area. The advantage of this technology is that it can be adjusted in real time during the treatment process, avoiding errors caused by differences in skull structure or individual differences, thereby achieving higher-precision treatment. However, due to the inherent limitations of the algorithm and hardware, and the need to wait for MRI imaging time, the calibration time is too long and the equipment requirements are high.

[0005] Time reversal technology uses an array ultrasonic transducer to send ultrasonic waves and receive reflected signals. The system records the received reflected signals and reverses time through a computer algorithm to transmit the received signals back. This process is equivalent to "reversing the flow" in time, allowing the sound waves to be accurately focused on the target area for treatment. The advantage of this method is that it does not require real-time image feedback, but instead performs a reverse calculation on the received echo signal. This makes the time reversal method more efficient in some cases, especially in situations where real-time imaging is difficult to implement. However, this method requires an accurate sound wave propagation model, is complex to calculate, and takes a long time to calculate, making it difficult to achieve rapid adjustment of the focus of multi-element phased focused ultrasound.

[0006] Therefore, the current mainstream focusing adjustment methods have a long processing time and the real-time performance of focusing adjustment is insufficient. There is an urgent need to develop a new multi-element phased transcranial focused ultrasound rapid focusing method that does not rely on feedback adjustment and complex acoustic models. Summary of the invention

[0007] In view of this, the purpose of the present invention is to provide a multi-element phased focused ultrasound transcranial rapid focusing method, device and storage medium to solve the problem that the mainstream focusing adjustment methods in the prior art have a long processing time and insufficient real-time focusing adjustment.

[0008] According to a first aspect of an embodiment of the present invention, a multi-element phased focused ultrasound transcranial rapid focusing method is provided, comprising:

[0009] Obtain and align the patient's brain three-dimensional MRI and CT image data to determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element;

[0010] Determine the sound propagation velocity in the skull and various parts of brain tissue based on the voxel values ​​in the three-dimensional MRI and CT image data of the brain;

[0011] According to the focal position coordinates and the position coordinates of each array element, a straight line propagation path from the ultrasonic wave emitted by each array element to the focal position is obtained;

[0012] According to the sound propagation speed in the skull and various parts of brain tissue, the propagation path of each array element is integrated and calculated to obtain the total transmission time of each propagation path;

[0013] deriving a maximum transmission time from the total transmission time of each transmission path, and calculating the difference between the maximum transmission time and the total transmission time of other transmission paths;

[0014] According to the difference, the phase difference of the corresponding array element is calculated, and the input of the ultrasonic phase of the corresponding array element is adjusted according to the phase difference.

[0015] Preferably, the multi-element phased focused ultrasound transcranial rapid focusing method, the step of acquiring and registering the patient's brain three-dimensional MRI and CT image data, comprises:

[0016] Marking the position of each array element on the scalp of a patient wearing a helmet-type phased focused ultrasound transducer;

[0017] Collect 3D MRI and CT image data of the patient's brain;

[0018] According to the three-dimensional MRI and CT image data of the brain, the marked positions of each array element are used as reference points for registration to obtain a three-dimensional stereoscopic image matrix.

[0019] Preferably, determining the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element includes:

[0020] Constructing a three-dimensional coordinate system according to the three-dimensional image matrix, and determining the coordinates of each pixel value according to the distance between image pixels and the slice thickness;

[0021] The focus position coordinates and the position coordinates of each array element are determined according to the marked positions of each array element.

[0022] Preferably, determining the sound propagation velocity in the skull and various parts of brain tissue according to the voxel values ​​in the three-dimensional MRI and CT image data of the brain includes:

[0023] The sound propagation velocity of the skull is calculated based on the Heinz value H of the pixel point in the CT image:

[0024] 1500+1400(H / Hmax);

[0025] The sound propagation velocity in each part of the brain tissue is determined according to the grayscale value in the MRI image, where the sound propagation velocity at the position with a grayscale value of 0 is 1500m / s, the sound propagation velocity at the position with a grayscale value between 1 and 9 is 1475m / s, the sound propagation velocity at the position with a grayscale value between 10 and 20 is 1540m / s, the sound propagation velocity at the position with a grayscale value between 21 and 39 is 1546.3m / s, the sound propagation velocity at the position with a grayscale value between 40 and 50 is 1552.5m / s, the sound propagation velocity at the position with a grayscale value between 51 and 78 is 1546.3m / s, the sound propagation velocity at the position with a grayscale value between 81 and 220 is 1500m / s, and the sound propagation velocity at the position with a grayscale value greater than 221 is 3476m / s.

[0026] Preferably, the propagation path of each array element is integrated and calculated according to the sound propagation velocity in the skull and each part of the brain tissue to obtain the total transmission time of each propagation path, including:

[0027] The total distance of the propagation path of each array element is calculated according to the focus position coordinates and the position coordinates of each array element;

[0028] For each propagation path: the propagation path is divided into N equal sections with half of the minimum wavelength of the sound wave in the propagation path as the interval; the average sound speed of each section is calculated according to the sound propagation speed in the skull and each part of the brain tissue, and the sound propagation time of each distance is calculated according to the average sound speed; the sound propagation time of each distance on the propagation path is accumulated to obtain the total transmission time of the propagation path.

[0029] According to a second aspect of an embodiment of the present invention, a multi-element phased focused ultrasound transcranial rapid focusing device is provided, comprising:

[0030] A helmet-mounted multi-element phased focused ultrasonic transducer for transmitting ultrasonic signals;

[0031] MRI and CT image data acquisition module, used to obtain and align the patient's brain three-dimensional MRI and CT image data, and determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element;

[0032] The focusing calculation module is used to determine the sound propagation speed in the skull and various parts of brain tissue according to the voxel values ​​in the three-dimensional MRI and CT image data of the brain; obtain the straight-line propagation path from the ultrasonic wave emitted by each array element to the focal position according to the focal position coordinates and the position coordinates of each array element; integrate the propagation path of each array element according to the sound propagation speed in the skull and various parts of brain tissue to obtain the total transmission time of each transmission path; obtain the maximum transmission time from the total transmission time of each transmission path, and calculate the difference between the maximum transmission time and the total transmission time of other transmission paths; calculate the phase difference of the corresponding array element according to the difference, and adjust the input of the ultrasonic phase of the corresponding array element according to the phase difference.

[0033] According to a third aspect of an embodiment of the present invention, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above is implemented.

[0034] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0035] It is understandable that the technical solution shown in the present invention can determine the focus and the coordinates of each array element according to the three-dimensional MRI and CT images, calculate the sound propagation speed in the skull and various parts of brain tissue; obtain the propagation path of the ultrasound emitted by each array element according to the coordinates; and then calculate the total transmission time of each transmission path; calculate the difference between the maximum transmission time and the total transmission time of other transmission paths; and calculate the phase difference of the corresponding array element according to the difference, so as to adjust the input of the ultrasonic phase of the corresponding array element. It is understandable that the technical solution shown in the present invention does not require feedback correction, effectively improves the transcranial focusing effect of the multi-element phased focusing transducer, reduces the calculation time, and improves the real-time performance of the phased focus control.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] Figure 1 It is a schematic diagram of the steps of a multi-element phased focused ultrasound transcranial rapid focusing method according to an exemplary embodiment;

[0039] Figure 2 is a schematic diagram showing a multi-element position and a focus position according to an exemplary embodiment;

[0040] Figure 3is a schematic diagram of a single section image after registration of cranial MRI and CT according to an exemplary embodiment;

[0041] Figure 4 is a schematic diagram of a cross-sectional sound velocity image according to an exemplary embodiment;

[0042] Figure 5 It is a schematic diagram showing comparison of delay results of each array element according to an exemplary embodiment. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0044] In one embodiment, Figure 1 is a schematic diagram of the steps of a multi-element phased focused ultrasound transcranial rapid focusing method according to an exemplary embodiment, see Figure 1 , a multi-element phased focused ultrasound transcranial rapid focusing method is provided, comprising:

[0045] Step S11, acquiring and registering the patient's brain three-dimensional MRI and CT image data, and determining the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element.

[0046] Step S12: Determine the sound propagation velocity in the skull and various parts of brain tissue according to the voxel values ​​in the three-dimensional MRI and CT image data of the brain.

[0047] Step S13: According to the focal position coordinates and the position coordinates of each array element, a straight-line propagation path from the ultrasonic wave emitted by each array element to the focal position is obtained.

[0048] Step S14: Integrate the propagation path of each array element according to the sound propagation velocity in the skull and each part of the brain tissue to obtain the total transmission time of each propagation path.

[0049] Step S15, deriving the maximum transmission time from the total transmission time of each transmission path, and calculating the difference between the maximum transmission time and the total transmission time of other transmission paths.

[0050] Step S16: Calculate the phase difference of the corresponding array element according to the difference, and adjust the ultrasonic phase input of the corresponding array element according to the phase difference.

[0051] It is understandable that the technical solution shown in the present invention can determine the focus and the coordinates of each array element according to the three-dimensional MRI and CT images, calculate the sound propagation speed in the skull and various parts of brain tissue; obtain the propagation path of the ultrasound emitted by each array element according to the coordinates; and then calculate the total transmission time of each transmission path; calculate the difference between the maximum transmission time and the total transmission time of other transmission paths; and calculate the phase difference of the corresponding array element according to the difference, so as to adjust the input of the ultrasonic phase of the corresponding array element. It is understandable that the technical solution shown in the present invention does not require feedback correction, effectively improves the transcranial focusing effect of the multi-element phased focusing transducer, reduces the calculation time, and improves the real-time performance of the phased focus control.

[0052] In specific practice, when performing transcranial focused ultrasound therapy, a helmet-type multi-element phased focused ultrasound transducer can be used to transmit ultrasonic signals. Figure 2 In this embodiment, a planar ultrasonic probe with 12 array elements arranged in 3×4 is selected. Figure 2 As shown in ① to Array element number.

[0053] When executing step S11, it includes:

[0054] The positions of each array element are marked on the scalp of a patient wearing a helmet-type phased focused ultrasound transducer; three-dimensional MRI and CT image data of the brain of the patient are collected; and the marked positions of each array element are used as reference points for registration according to the three-dimensional MRI and CT image data of the brain to obtain a three-dimensional stereoscopic image matrix.

[0055] In specific practice, the patient wears a helmet-mounted phased focused ultrasound transducer, and uses an adhesive water-based substance to mark the position of each array element on the scalp. Then, three-dimensional MRI and CT image data of the brain are collected and aligned based on the marked array element positions as reference points.

[0056] It should be noted that determining the focal position coordinates and the position coordinates of each array element of transcranial focused ultrasound includes: constructing a three-dimensional coordinate system based on the three-dimensional stereoscopic image matrix, determining the coordinates of each pixel value based on the distance between image pixels and the slice thickness; and determining the focal position coordinates and the position coordinates of each array element based on the marked position of each array element.

[0057] In specific practice, when constructing a three-dimensional coordinate system, the upper left corner vertex of the registered three-dimensional stereoscopic image matrix is ​​taken as the origin, the first dimension of the matrix is ​​the z-axis direction, the second dimension of the matrix is ​​the x-axis direction, and the third dimension of the matrix is ​​the y-axis direction. Then, the coordinates of each pixel value are determined according to the distance between the image pixels and the slice thickness, and the coordinates of each array element and the focal coordinates are determined according to the marked array element position.

[0058] like Figure 2The figure shows the data of the brain 3D MRI and CT images of a case after registration, as well as the constructed 3D coordinate system. Figure 2 The coordinates of array elements 1 to 12 shown in the figure are (35, 43, 73), (40, 43, 73), (45, 43, 73), (50, 43, 73), (35, 48, 73), (40, 48, 73), (45, 48, 73), (50, 48, 73), (35, 53, 73), (40, 53, 73), (45, 53, 73) and (50, 53, 73), and the coordinates of the focus position are (42, 60, 42).

[0059] When executing step S12, it should be noted that the sound propagation velocity in the skull and various parts of the brain tissue is determined based on the voxel values ​​in the three-dimensional MRI and CT image data of the brain, including: calculating the sound propagation velocity of the skull based on the Heinz value of the pixel point in the CT image; and determining the sound propagation velocity in various parts of the brain tissue based on the grayscale value in the MRI image.

[0060] In specific practice, Figure 3 The MRI and CT registered images of a single section after registration in step S11 are shown. The sound propagation velocity of the skull is calculated as 1500+1400 (H / Hmax) according to the Heinz value H of the pixel point in the CT image; the sound propagation velocity in each part of the brain tissue is determined according to the gray value in the MRI image, wherein the sound propagation velocity at the position with a gray value of 0 is 1500m / s, the sound propagation velocity at the position with a gray value between 1 and 9 is 1475m / s, and the sound propagation velocity at the position with a gray value between 10 and 20 is 1475m / s. The sound propagation velocity at the position with grayscale value between 1 and 39 is 1540m / s, the sound propagation velocity at the position with grayscale value between 40 and 50 is 1552.5m / s, the sound propagation velocity at the position with grayscale value between 51 and 78 is 1546.3m / s, the sound propagation velocity at the position with grayscale value between 81 and 220 is 1500m / s, and the sound propagation velocity at the position with grayscale value greater than 221 is 3476m / s. Figure 4 for Figure 3 Sound velocity diagram corresponding to the slice shown.

[0061] When executing step S13, the propagation path and direction of the ultrasonic wave emitted by each array element to the focal position are determined in a straight line form according to the focal point and the coordinates of each array element. Figure 2 The straight line shown in is the sound propagation path from array element No. 5 to the target focus.

[0062] When executing step S14, it should be noted that, according to the sound propagation speed in the skull and various parts of the brain tissue, the propagation path of each array element is integrated and calculated to obtain the total transmission time of each propagation path, including:

[0063] The total distance of the propagation path of each array element is calculated according to the focus position coordinates and the position coordinates of each array element;

[0064] For each propagation path: the propagation path is divided into N equal sections with half of the minimum wavelength of the sound wave in the propagation path as the interval; the average sound speed of each section is calculated according to the sound propagation speed in the skull and each part of the brain tissue, and the sound propagation time of each distance is calculated according to the average sound speed; the sound propagation time of each distance on the propagation path is accumulated to obtain the total transmission time of the propagation path.

[0065] In practice, the total distance L of the propagation path of each array element is first calculated, and the half of the minimum wavelength of the sound wave in the propagation path (λ min / 2) is the interval to divide the distance into N equal segments, that is, N = 2L / λ min ; Estimate the sound propagation time of each distance according to the average sound speed of each path, and accumulate all the time on the path to obtain the total transmission time of each path. In this embodiment, taking array element ⑤ as an example, the distance L from the array element to the focus can be calculated by the coordinates of array element ⑤ and the focus to obtain L = 34mm. In this embodiment, the fundamental frequency of ultrasound is 0.5MHz, and the corresponding minimum wavelength λ min It can be obtained by dividing the minimum sound velocity obtained in step S12 by the fundamental frequency, corresponding to λ min is 3mm, then the path from array element ⑤ to the focal position can be divided into N=23 segments. According to the array element ⑤ and the focal coordinates and the path, it is determined to be divided into N=23 segments. The coordinates of each point in the middle of the path can be obtained by linearly inserting 22 points (i.e., N-1) at equal intervals along the three directions of x, y, and z. Then, according to the location of each small segment of the path, the corresponding average sound speed is calculated on the sound speed diagram obtained in step S12, and the sound propagation time of each distance is estimated by dividing the segment distance by the average sound speed, and all the time on the path is accumulated to obtain the total transmission time of each path. Perform the calculation of step S14 on each array element to obtain the transmission time of each array element propagation path.

[0066] In step S15, the phase difference of the corresponding array element is estimated according to the difference between the maximum transmission time obtained in step S14 and the transmission time of the acoustic propagation path of each array element. Figure 5 . Figure 5 The figure also shows the results of simulating the existing time reversal delay calculation method using K-wave software.

[0067] from Figure 5 It can be seen from the results in that the method proposed in the present invention is close to the results obtained based on the existing K-wave software and time reversal method, indicating that the method results of the present invention are reliable.

[0068] However, it is worth noting that the time taken for the method of the present invention to calculate the above results is 0.1 seconds, while the calculation time based on K-wave software and the time reversal method is 146.3 seconds.

[0069] By adopting the method described in the present invention, the multi-element transcranial focusing method of this embodiment does not rely on feedback adjustment and complex acoustic models, and can realize a multi-element phased transcranial focused ultrasound rapid focusing method, reduce calculation time, and improve the real-time performance of focusing adjustment.

[0070] Therefore, the multi-element phased focused ultrasound transcranial rapid focusing method and system provided by the present invention has a good application prospect in the treatment of brain tumors.

[0071] According to a second aspect of an embodiment of the present invention, a multi-element phased focused ultrasound transcranial rapid focusing device is provided, comprising:

[0072] A helmet-mounted multi-element phased focused ultrasonic transducer for transmitting ultrasonic signals;

[0073] MRI and CT image data acquisition module, used to obtain and align the patient's brain three-dimensional MRI and CT image data, and determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element;

[0074] The focusing calculation module is used to determine the sound propagation speed in the skull and various parts of brain tissue according to the voxel values ​​in the three-dimensional MRI and CT image data of the brain; obtain the straight-line propagation path from the ultrasonic wave emitted by each array element to the focal position according to the focal position coordinates and the position coordinates of each array element; integrate the propagation path of each array element according to the sound propagation speed in the skull and various parts of brain tissue to obtain the total transmission time of each transmission path; obtain the maximum transmission time from the total transmission time of each transmission path, and calculate the difference between the maximum transmission time and the total transmission time of other transmission paths; calculate the phase difference of the corresponding array element according to the difference, and adjust the input of the ultrasonic phase of the corresponding array element according to the phase difference.

[0075] According to a third aspect of an embodiment of the present invention, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above is implemented.

[0076] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0077] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0078] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0079] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0080] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0081] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0082] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0084] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-element phased focused ultrasound transcranial rapid focusing method, characterized in that: include: Obtain and align the patient's brain three-dimensional MRI and CT image data to determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element; Determine the sound propagation velocity in the skull and various parts of brain tissue based on the voxel values ​​in the three-dimensional MRI and CT image data of the brain; According to the focal position coordinates and the position coordinates of each array element, a straight line propagation path from the ultrasonic wave emitted by each array element to the focal position is obtained; According to the sound propagation speed in the skull and various parts of brain tissue, the propagation path of each array element is integrated and calculated to obtain the total transmission time of each propagation path; deriving a maximum transmission time from the total transmission time of each transmission path, and calculating the difference between the maximum transmission time and the total transmission time of other transmission paths; According to the difference, the phase difference of the corresponding array element is calculated, and the input of the ultrasonic phase of the corresponding array element is adjusted according to the phase difference.

2. The multi-element phased focused ultrasound transcranial rapid focusing method according to claim 1, characterized in that: The step of acquiring and registering the patient's brain three-dimensional MRI and CT image data comprises: Marking the position of each array element on the scalp of a patient wearing a helmet-type phased focused ultrasound transducer; Collect 3D MRI and CT image data of the patient's brain; According to the three-dimensional MRI and CT image data of the brain, the marked positions of each array element are used as reference points for registration to obtain a three-dimensional stereoscopic image matrix.

3. The multi-element phased focused ultrasound transcranial rapid focusing method according to claim 2, characterized in that: Determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element, including: Constructing a three-dimensional coordinate system according to the three-dimensional image matrix, and determining the coordinates of each pixel value according to the distance between image pixels and the slice thickness; The focus position coordinates and the position coordinates of each array element are determined according to the marked positions of each array element.

4. The multi-element phased focused ultrasound transcranial rapid focusing method according to claim 1, characterized in that: Based on the voxel values ​​in the 3D MRI and CT image data of the brain, the sound propagation velocity in the skull and various parts of the brain tissue is determined, including: The sound propagation velocity of the skull is calculated based on the Heinz value H of the pixel point in the CT image as 1500+1400 (H / Hmax); The sound propagation velocity in each part of the brain tissue is determined according to the grayscale value in the MRI image, where the sound propagation velocity at the position with a grayscale value of 0 is 1500m / s, the sound propagation velocity at the position with a grayscale value between 1 and 9 is 1475m / s, the sound propagation velocity at the position with a grayscale value between 10 and 20 is 1540m / s, the sound propagation velocity at the position with a grayscale value between 21 and 39 is 1546.3m / s, the sound propagation velocity at the position with a grayscale value between 40 and 50 is 1552.5m / s, the sound propagation velocity at the position with a grayscale value between 51 and 78 is 1546.3m / s, the sound propagation velocity at the position with a grayscale value between 81 and 220 is 1500m / s, and the sound propagation velocity at the position with a grayscale value greater than 221 is 3476m / s.

5. The multi-element phased focused ultrasound transcranial rapid focusing method according to claim 1, characterized in that: According to the sound propagation speed in the skull and various parts of brain tissue, the propagation path of each array element is integrated and calculated to obtain the total transmission time of each propagation path, including: The total distance of the propagation path of each array element is calculated according to the focus position coordinates and the position coordinates of each array element; For each propagation path: the propagation path is divided into N equal sections with half of the minimum wavelength of the sound wave in the propagation path as the interval; the average sound speed of each section is calculated according to the sound propagation speed in the skull and each part of the brain tissue, and the sound propagation time of each distance is calculated according to the average sound speed; the sound propagation time of each distance on the propagation path is accumulated to obtain the total transmission time of the propagation path.

6. A multi-element phased focused ultrasound transcranial rapid focusing device, characterized in that: include: A helmet-mounted multi-element phased focused ultrasonic transducer for transmitting ultrasonic signals; MRI and CT image data acquisition module, used to obtain and align the patient's brain three-dimensional MRI and CT image data, and determine the focal position coordinates and the position coordinates of each transcranial focused ultrasound array element; The focusing calculation module is used to determine the sound propagation velocity in the skull and various parts of brain tissue according to the voxel values ​​in the three-dimensional MRI and CT image data of the brain; obtain the straight-line propagation path of the ultrasonic wave emitted by each array element to the focal position according to the focal position coordinates and the position coordinates of each array element; and integrate the propagation path of each array element according to the sound propagation velocity in the skull and various parts of brain tissue to obtain the total transmission time of each propagation path; deriving a maximum transmission time from the total transmission time of each transmission path, and calculating the difference between the maximum transmission time and the total transmission time of other transmission paths; According to the difference, the phase difference of the corresponding array element is calculated, and the input of the ultrasonic phase of the corresponding array element is adjusted according to the phase difference.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

Images