Transcranial focused ultrasound stimulation nerve regulation and control system and method

Abstract

The invention discloses a transcranial focused ultrasound stimulation nerve regulation and control system which comprises an ultrasound nerve regulation and control device and a precise regulation and control positioning system. The ultrasonic nerve regulation and control device comprises an ultrasonic generating device, an ultrasonic transducer, a parameter regulation and control circuit, an array element regulation and control circuit and a parameter setting module. The precise regulation and control positioning system comprises a 3D simulation system, a probe fixing device, a position regulation device and a position matching tracking device; the ultrasonic nerve regulation and control device is used for emitting ultrasonic waves and controlling and adjusting parameters; and the precise regulation and control positioning system is used for determining the optimal position of the ultrasonic transducer according to the shape and structural characteristics of the head to be stimulated and the target spot to be stimulated and fixing the ultrasonic transducer at the optimal position.

Description

Technical Field

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

[0002] Neuromodulation technology uses physical stimulation such as electricity, magnetism, light, and ultrasound to regulate the nervous system, such as excitation and inhibition, thereby improving human nerve function and having a significant effect on the recovery of functional disorders caused by neurological diseases. Transcranial focused ultrasound stimulation, as a non-invasive neuromodulation method, has higher spatial accuracy and control depth than electrical and magnetic stimulation. It can focus and transmit ultrasound energy to local areas of the brain, and use the mechanical effect and cavitation effect generated by focusing to regulate neuronal activity to improve nerve function.

[0003] Since ultrasound penetrating the skull causes changes in path and attenuation of intensity, it is difficult to determine the position of the ultrasound transducer. Currently, only surgical guidance is possible to achieve a controllable combination of sound field depth and focus. Traditional focused ultrasound systems can often only rely on experience to fix the transducer in a certain position for stimulation, and it is difficult to determine whether the expected target is stimulated. In addition, the common system is a single-element transducer with fixed stimulation frequency, depth and focal position, which cannot meet the needs of parameter adjustment for multiple diseases and coordinated stimulation of multiple brain regions. How to achieve parameter adjustment and multi-target joint stimulation suitable for different scenarios, and accurately locate the target, is a problem that urgently needs to be solved in the existing technology. Summary of the invention

[0004] To this end, the present invention provides a transcranial focused ultrasound stimulation neural regulation system and method, which can solve technical problems such as the inability of a single device in the prior art to achieve multi-target joint stimulation and the difficulty in achieving precise positioning.

[0005] In order to achieve the purpose of the present invention, the following technical solutions are adopted:

[0006] A transcranial focused ultrasound stimulation neuroregulatory system comprises an ultrasonic neuroregulatory device and a precise control and positioning system; wherein the ultrasonic neuroregulatory device comprises an ultrasonic wave generator, an ultrasonic transducer, a parameter control circuit, an array element control circuit and a parameter setting module; the precise control and positioning system comprises a 3D simulation system, a probe fixing device, a position adjustment device and a position matching tracking device; the ultrasonic neuroregulatory device is used to emit ultrasonic waves and control and adjust its parameters; the precise control and positioning system is used to determine the optimal position of the ultrasonic transducer according to the shape and structural characteristics of the skull to be stimulated and the target to be stimulated and fix it at the optimal position.

[0007] The transcranial focused ultrasound stimulation nerve regulation system, wherein: in the ultrasonic nerve regulation device, the ultrasonic generating device is used to generate an electrical signal of a certain time series, and the parameter control circuit is used to control the frequency, period, duty cycle, and amplitude of the electrical signal generated by the ultrasonic generating device; the output end of the ultrasonic generating device is connected to the ultrasonic transducer, and the ultrasonic transducer converts the electrical signal emitted by the ultrasonic generating device into an ultrasonic wave.

[0008] The transcranial focused ultrasound stimulation nerve regulation system, wherein: the ultrasonic nerve regulation device includes one or more ultrasonic generating devices, which are respectively connected to multiple ultrasonic transducers or multiple array elements of one ultrasonic transducer.

[0009] The transcranial focused ultrasound stimulation nerve regulation system, wherein: the ultrasonic generating device includes a signal generating module, a power amplifier, an impedance matching module and a feedback control module.

[0010] The transcranial focused ultrasound stimulation nerve regulation system, wherein: the power amplifier includes multiple levels of amplifier units.

[0011] The transcranial focused ultrasound stimulation neuroregulatory system, wherein: an ultrasonic neuroregulatory device includes multiple ultrasonic transducers; the surface shape of the ultrasonic transducer is planar or curved focusing type, and the array element arrangement includes linear parallel arrangement, spiral arrangement, and circular nested arrangement.

[0012] A method for neuromodulation using transcranial focused ultrasound stimulation, wherein the method is performed by the above-mentioned transcranial focused ultrasound stimulation neuromodulation system; the method comprises:

[0013] 1) Determine the target and parameters of ultrasound stimulation according to the user's situation;

[0014] 2) Import the user's head image data and calculate the optimal position of the ultrasound transducer probe;

[0015] 3) Installing the ultrasonic transducer probe on the probe fixture to match the calculated optimal position;

[0016] 4) Set the parameters of the transcranial focused ultrasound stimulation neural regulation system.

[0017] A computer readable memory stores processor executable instructions, and when the instructions are executed by the processor, the processor executes the method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the overall structure diagram of the transcranial focused ultrasound stimulation neural regulation system;

[0019] Figure 2 This is a schematic diagram of the structure of the transcranial focused ultrasound stimulation neural regulation system;

[0020] Figure 3 is a schematic diagram of the structure of an ultrasonic transducer;

[0021] Figure 4 A schematic diagram of a method for adjusting the focusing area of ​​multiple linearly parallel array elements;

[0022] Figure 5 A schematic diagram of adjusting the focus area of ​​a transducer with multiple array elements arranged in a square array;

[0023] Figure 6 It is a structural schematic diagram of a mechanical arm type position adjustment device;

[0024] Figure 7 It is a structural schematic diagram of a three-dimensional mobile platform position adjustment device;

[0025] Figure 8 Flow chart of the transcranial focused ultrasound stimulation neuromodulation method. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1-8 , the specific implementation modes of the present invention are described in detail. The implementation modes are exemplary and are only used to explain the present invention, and should not be understood as limiting the present invention. Obviously, the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0027] "One embodiment" or "some embodiments" described in this specification means that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, in this specification, the terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0028] like Figure 1 and Figure 2As shown, a transcranial focused ultrasound stimulation neuroregulatory system includes an ultrasound neuroregulatory device A and a precise control and positioning system B. The ultrasound neuroregulatory device A includes an ultrasound generating device A1, an ultrasound transducer A2, a parameter control circuit A3, an array element control circuit A4, and a parameter setting module A5. The precise control and positioning system B includes a 3D simulation system B1, a probe fixing device B2, a position adjustment device B3, and a position matching tracking device B4. The ultrasound neuroregulatory device A is used to emit ultrasound and control and adjust its parameters to achieve ultrasound stimulation. The precise control and positioning system B is used to determine the optimal position of the ultrasound transducer A2 according to the shape and structural characteristics of the skull to be stimulated and the target to be stimulated and fix it at the optimal position.

[0029] Specifically, in the ultrasonic nerve regulation device A, the ultrasonic generator A1 is used to generate an electrical signal of a certain time series, and the parameter control circuit A3 is used to control the frequency, period, duty cycle, amplitude, etc. of the electrical signal generated by the ultrasonic generator A1. The output end of the ultrasonic generator A1 is connected to the ultrasonic transducer A2, and the ultrasonic transducer A2 converts the electrical signal emitted by the ultrasonic generator A1 into an ultrasonic wave. Among them, the ultrasonic transducer A2 includes one or more array elements, and a main structure is formed by the combination and arrangement of array elements of different shapes. The array element control circuit A4 is used to control the selection of multiple array elements of the ultrasonic transducer A2 and the timing of its operation.

[0030] Furthermore, the ultrasonic nerve regulation device A includes one or more ultrasonic generating devices A1, which are respectively connected to multiple ultrasonic transducers A2 or multiple array elements of an ultrasonic transducer. The ultrasonic generating device A1 includes a signal generating module A11, a power amplifier A12, an impedance matching module A13 and a feedback control module A14. Among them, the signal generating module A11 includes at least two signal generators, and through the cooperation of signal generator 1 and signal generator 2, a pulse sequence with a certain fundamental frequency and periodic frequency combination can be emitted, and the fundamental frequency, repetition frequency, duty cycle, amplitude, etc. of the pulse sequence can be adjusted by setting the output waveforms of the two signal generators respectively. The output waveform can be a sine wave, square wave, triangle wave or other arbitrary periodic waveform. Among them, the fundamental frequency and amplitude are controlled by signal generator 2, and the fundamental period number, pulse group repetition frequency, and pulse group repetition period are controlled by signal generator 1. The duty cycle is jointly determined by signal generator 1 and signal generator 2, and its calculation formula is:

[0031]

[0032] Where DC is the duty cycle, NC is the fundamental wave period number, f1 is the frequency of signal generator 1, and f2 is the frequency of signal generator 2.

[0033] According to a specific embodiment, the required ultrasonic fundamental frequency is 0.5MHz, the pulse group repetition frequency is 1KHz, the pulse group repetition period is 500, the duty cycle is 36%, and the fundamental period is calculated to be 180. Then the output end of the signal generator 1 and the output end of the signal generator 2 can be connected to the two input ends of the multiplier circuit, and the signal generator 2 is set to emit a continuous sine wave of 0.5MHz, and the signal generator 1 is set to emit a square wave signal with a frequency of 1KHz, a duty cycle of 36%, and a period of 500. In this way, when the signal generator 1 is at a high level, the output signal of the output end of the multiplier circuit is the signal emitted by the signal generator 2; when the signal generator 1 is at a low level, the output signal of the output end of the multiplier circuit is a low level signal, and the signal finally emitted by the output end of the multiplier circuit is the required ultrasonic stimulation sequence.

[0034] The power amplifier A12 includes multiple levels of amplifier units, which amplify the low voltage signal generated by the signal generating module A11 to a high voltage signal that can generate ultrasonic waves, and input it into the ultrasonic transducer A2 to generate ultrasonic signals. The impedance matching module A13 is arranged between the power amplifier A12 and the ultrasonic transducer A2, and plays a role of variable resistance by adding a transformer between the output signal end of the power amplifier A12 and the load of the transducer A2, so that the input impedance of the transducer A2 is consistent with the output impedance of the power amplifier A12, and is used to adjust the impedance matching between the power supply and the ultrasonic transducer A2, so that the ultrasonic generating device can work efficiently and stably. The input end of the feedback control module A14 is connected to the output end of the power amplifier A12, and the output end of the feedback control module A14 is respectively connected to the input end of the signal generating module A11 and the input end of the power amplifier A12. The feedback control module A14 detects the power and frequency of the output signal of the power amplifier A12 and makes real-time feedback adjustments. The feedback control module A14 controls and adjusts the power amplifier A12 to ensure the output power stability. The feedback control module A14 controls and adjusts the signal generating module A11 to adjust the signal frequency within a certain range of the transducer resonant frequency, ensuring that the generator is always in the best working state.

[0035] An ultrasonic nerve regulation device A may include one or more ultrasonic transducers A2 to adapt to different stimulation frequencies, targets and different application scenarios. Specifically, the ultrasonic transducer A2 may be of various types such as piezoelectric ceramics, piezoelectric organic materials, hybrid piezoelectric materials, etc., and may be composed of a single or multiple array elements in different arrangements and combinations. Figure 3 As shown, the surface shape of the ultrasonic transducer A2 can be flat or curved, and the array element arrangement includes linear parallel arrangement, spiral arrangement, circular nested arrangement, etc. Multiple array elements can have the same center frequency or different center frequencies.

[0036] The array element control circuit A4 can be an FPGA module circuit, including a clock synchronization circuit A41 and a timing control circuit A42. The clock synchronization circuit A41 is connected to each array element of the ultrasonic transducer A2, and each array element is connected to a path for synchronizing the time signals of each path. The timing control circuit A42 is used to send an excitation signal to each array element, control the working timing of different array elements, and realize the adjustment of the focus position and stimulation frequency of the multi-element transducer by controlling the time delay of the array element excitation.

[0037] like Figure 4 As shown, according to a specific embodiment, the ultrasonic transducer A2 is a plurality of array elements arranged linearly and in parallel, which can be arranged on the head to cover the entire motion area. The array element control circuit A4 controls the excitation signal delay of each array element to gradually decrease from the middle to the two ends by setting the emission time delay of the path connected to each array element, so that the ultrasonic waves emitted by each array element can be superimposed and focused on one area along the central axis direction of the array. All the array elements are divided into N combination units according to a certain arrangement, and each combination unit is set with an emission time delay, and the excitation signal delay of each array element is controlled to gradually decrease from the middle to the two ends, so that the ultrasonic waves emitted by each array element in each part can be superimposed and focused on one area along the central axis direction of the part of the array, and finally the ultrasonic waves emitted by the entire ultrasonic transducer A2 are focused on N different areas, thereby realizing synchronous stimulation of multiple targets.

[0038] The ultrasonic transducer A2 can also be a plurality of array elements arranged in a square array, a circular array, or an irregular shape. By selecting different working array elements through the array element control circuit A4 and applying a certain sequence of excitation signals with different delays, the position of the focal area can be changed to achieve regulation and control of the stimulation target under the condition of a fixed transducer position. Figure 5 As shown, the ultrasonic transducer A2 includes 32 array elements arranged in a 4*8 square array, wherein the black ones are working array elements selected by the array element control circuit A4. By applying excitation signals with different delays to the 5 working array elements on the left, the ultrasonic wave can be focused on area 1, and by applying excitation signals with different delays to the 4 working array elements on the right, the ultrasonic wave can be focused on area 2. Figure 5 This is only an example of a typical case. By changing the selected working array element and the delay of applying the excitation signal, other adjustments of various focus areas can be achieved.

[0039] According to another embodiment, the ultrasonic transducer A2 is a plurality of array elements with different operating frequencies arranged in a ring-shaped nested manner, the central array element is a circular low-frequency focusing array element with a frequency of 0.2MHz, and the middle array element is a ring-shaped low-frequency focusing array element with a frequency of 0.5MHz, which are respectively used to inhibit neuronal activity in target brain areas at different depths; the outer array element is a ring-shaped high-frequency focusing array element with a frequency of 1MHz, which is used for ablation of damaged tissue in specific brain areas. According to the needs of the application scenario, the array element control circuit A4 sends an excitation signal to different array elements or a combination of different array elements of the ultrasonic transducer A2, which can realize the switching of different operating frequencies of the same transducer. In this embodiment, when the system is used for brain tissue ablation, the array element control circuit A4 sends an excitation signal to the external array element, and the central array element and the middle array element do not work; when the system is used for 0.5MHz low-frequency stimulation, the array element control circuit A4 sends an excitation signal to the middle array element, and the central array element and the external array element do not work; when the system is used for 0.2MHz low-frequency stimulation, the array element control circuit A4 sends an excitation signal to the middle array element, and the middle array element and the external array element do not work; in a special application scenario, the array element control circuit A4 can send excitation signals to the central array element and the middle array element alternately at a certain time interval to achieve alternating stimulation of different frequencies at the same target. Ultrasonic waves emitted by ultrasonic array elements of different frequencies and structures have differences in focusing accuracy, depth, and thermal effects on tissues. Alternating stimulation of different frequencies can effectively improve the stimulation effect and increase safety. With this structural design, a transducer can achieve different applications while keeping its position fixed. This structural design also provides a convenient research method for comparing the effects of different stimulation frequencies at the same target.

[0040] The parameter setting module A5 can set parameters such as fundamental frequency, fundamental period number, pulse group repetition frequency, pulse group repetition period, duty cycle, amplitude, etc., and send instructions to the parameter control circuit A3 to control it to adjust the parameters. The parameter setting module A5 can also send different instructions to the array element control circuit A4 according to the set parameters to control it to adjust whether different array elements work and the working timing. According to a specific embodiment, the parameter setting module A5 is a human-computer interaction interface, which includes a setting interface for parameters such as fundamental frequency, fundamental period number, pulse group repetition frequency, pulse group repetition period, duty cycle, amplitude, etc. The size of each parameter can be adjusted by + / -, or the parameters can be set by entering a number in a certain range. The parameter setting module A5 contains typical parameter setting templates for some specific stimulation modes, and you can directly choose to use one of the templates. The parameters set by yourself can also be saved as templates for direct call next time.

[0041] The 3D simulation system B1 in the precise control and positioning system B can import CT or MRI image data, perform three-dimensional modeling based on the CT or MRI image data of the user's head, generate a three-dimensional simulation model of the head, and set the virtual sound source according to the parameters set in the parameter setting module A5 to simulate the ultrasonic stimulation effect, and compare the simulated sound field results with the target to be stimulated to determine the optimal fixed position of the transducer A2. Specifically, after the 3D simulation system B1 imports CT or MRI image data, it can perform image segmentation on different structures such as the scalp, skull, and brain tissue by setting different grayscale thresholds, and extract the contour image of the skull for meshing and three-dimensional structure reconstruction. A certain thickness of water medium is set on the outside of the three-dimensional structure of the skull to simulate the transducer water area, the brain tissue area inside the three-dimensional structure of the skull is set as the brain tissue, and the water medium, skull, and brain tissue are respectively set with corresponding acoustic parameter density, sound velocity, and absorption coefficient to form a cranial acoustic simulation model. Specifically, the acoustic parameter density of water, skull, and brain tissue is set to 1000kg / m 3 、1912kg / m 3 、1030kg / m 3 , the sound speed is set to 1500m / s, 2300m / s, 1560m / s, and the absorption coefficient is set to 0.2dB / cm·MHz, 8dB / cm·MHz, and 0.23dB / cm·MHz, respectively. According to the needs of neuromodulation therapy, the appropriate stimulation target is located in the image and matched to the three-dimensional model to display its position. On the spherical surface with the target as the center and the focal length of the ultrasonic transducer A2 as the radius, a point perpendicular to the skull surface and located outside the skull surface is selected and set as the initial point of the virtual sound source. The vertical angle is used as the initial angle. The parameters of the sound source are set according to the ultrasonic stimulation parameters set in the parameter setting software. The ultrasonic stimulation effect is simulated, and the simulated sound field results are compared with the target to be stimulated. When the target is located at the center focus of the sound field, the position of the virtual sound source is the optimal fixed position of the ultrasonic transducer A2. If there is a certain distance deviation between the focus of the sound field and the target point in the simulation result of the initial point, the position of the sound source is adjusted in the corresponding direction of the deviation by using the gradient descent method to perform simulation again until the focus of the sound field coincides with the target point position. This sound source position is used as the optimal fixed position of the ultrasonic transducer A2.

[0042] like Figure 1 and Figure 2As shown, the position adjustment device B3 of B in the precise control and positioning system is an electric device, which can automatically control and adjust the end of the position adjustment device B3 to move to any position within a certain range of three-dimensional space. The end of the position adjustment device B3 is connected to the probe fixing device B2, and the probe fixing device B2 includes a clamp B21 and a locking device B22 that match the shape of the ultrasonic transducer probe, and the ultrasonic transducer A2 probe is fixed in a specific position by cooperating with the position adjustment device B3. According to a specific embodiment, the position adjustment device B3 is a mechanical arm with 6 degrees of freedom, including three bionic shoulder, elbow, and wrist joints, such as Figure 6 As shown. The shoulder joint B32 is connected to the base B31, and includes axis 1 and axis 2, which are driven by a motor to realize joint rotation and bending movements; the elbow joint B33 includes axis 3, which is driven by a motor to realize joint bending; the wrist joint B34 includes axis 4, axis 5 and axis 6, which are driven by a motor to realize the movement of the joint in various planes in three-dimensional space. The probe fixture B2 is connected to axis 6, and the ultrasonic transducer A2 is fixed on the probe fixture B2. Axis 1, axis 2 and axis 3 cooperate to adjust the approximate spatial position of the ultrasonic transducer A2, and axis 4, axis 5 and axis 6 cooperate to adjust the direction of the ultrasonic transducer A2. According to another specific embodiment, the position adjustment device B3 is a three-dimensional mobile platform with an adjustable end angle, such as Figure 7 As shown. The position adjustment device B3 includes a module B35 that can move along the X, Y, and Z coordinate axes of the three-dimensional space. The end of B35 is connected to the probe fixture B2, and the ultrasonic transducer A2 is fixed on the probe fixture B2. The approximate position of the ultrasonic transducer A2 is determined by controlling the movement of the moving module B35 on the three coordinate axes. The moving module B35 includes an axis A and an axis B, which are driven by a motor to rotate the axis A and the axis B to achieve the direction adjustment of the probe fixture B2, so that the fixed angle of the ultrasonic transducer A2 matches the shape of the head. The position matching tracking device B4 in the precise control and positioning system B includes an image acquisition module B41, an image recognition module B42, and a position tracking control module B43. The image acquisition module B41 acquires a three-dimensional image of the head, performs image recognition through the image recognition module, establishes a head space structure model, and performs position matching with the three-dimensional simulation model of the head established in the 3D simulation system B1, that is, establishes a corresponding relationship between each position point in the head space structure model and the coordinate point in the three-dimensional simulation model, and realizes the calibration of the actual space position and the simulated position. During the ultrasonic stimulation process, the characteristic marks on the head surface are identified through the image recognition module, and the positional relationship between them and the optimal fixed position of the ultrasonic transducer determined by simulation is calculated. When the head moves, the position change of the mark is tracked, and instructions are sent to the position adjustment device to enable it to track and adjust the position accordingly.

[0043] like Figure 8As shown, a method for performing transcranial focused ultrasound stimulation neural regulation using the aforementioned system comprises the following steps:

[0044] 1) Determine the target point (position, depth) of ultrasonic stimulation and parameters such as fundamental frequency, fundamental cycle number, pulse group repetition frequency, pulser repetition cycle, duty cycle, amplitude, etc. according to the user's situation;

[0045] 2) Import the user's head image data, use the 3D simulation system to perform modeling and simulation, and calculate the optimal position of the ultrasonic transducer probe;

[0046] 3) installing the ultrasonic transducer probe on the probe fixing device, and adjusting its position on the user's scalp surface using the position adjustment device until it matches the optimal position obtained by 3D simulation calculation;

[0047] 4) Turn on the ultrasonic nerve regulation device and use the parameter setting module to set the parameters of the transcranial focused ultrasound stimulation nerve regulation system;

[0048] 5) Start ultrasonic nerve stimulation and use the position matching tracking device to track and adjust the probe position during the stimulation process to ensure that it is always in the optimal stimulation position.

[0049] Through the present invention, joint stimulation of multiple targets and precise positioning can be achieved.

[0050] According to one embodiment of the present disclosure, a computer-readable storage medium is provided. A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps of any method of transcranial focused ultrasound stimulation neural regulation provided in an embodiment of the present application. The beneficial effects that can be achieved by the embodiments of the present application can be achieved, as detailed in the previous embodiments, which will not be repeated here. The specific implementation of each of the above operations can be referred to the previous embodiments, which will not be repeated here.

[0051] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. More specifically, it may include specific categories such as static random-access memory (SRAM) and dynamic random access memory (DRAM).

[0052] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A transcranial focused ultrasound stimulation neural regulation system, characterized in that: It includes an ultrasonic nerve regulation device and a precise control and positioning system; wherein, the ultrasonic nerve regulation device includes an ultrasonic generating device, an ultrasonic transducer, a parameter control circuit, an array element control circuit and a parameter setting module; the precise control and positioning system includes a 3D simulation system, a probe fixing device, a position adjustment device and a position matching tracking device; the ultrasonic nerve regulation device is used to emit ultrasonic waves and control and adjust its parameters; the precise control and positioning system is used to determine the optimal position of the ultrasonic transducer according to the shape and structural characteristics of the head to be stimulated and the target to be stimulated and fix it at the optimal position.

2. The transcranial focused ultrasound stimulation neural regulation system according to claim 1, characterized in that: In the ultrasonic nerve regulation device, the ultrasonic generator is used to generate electrical signals in a certain time sequence.

3. The transcranial focused ultrasound stimulation neural regulation system according to claim 1, characterized in that: The ultrasonic nerve regulation device includes one or more ultrasonic wave generating devices, which are respectively connected to multiple ultrasonic transducers or multiple array elements of one ultrasonic transducer.

4. The transcranial focused ultrasound stimulation neural regulation system according to claim 1, characterized in that: The ultrasonic generating device comprises a signal generating module, a power amplifier, an impedance matching module and a feedback control module.

5. The transcranial focused ultrasound stimulation neural regulation system according to claim 1, characterized in that: The power amplifier includes a plurality of stages of amplifier units.

6. The transcranial focused ultrasound stimulation neural regulation system according to claim 1, characterized in that: An ultrasonic neuromodulation device includes one or more ultrasonic transducers.

7. A method for stimulating nerve regulation using transcranial focused ultrasound, characterized in that The method is performed by the transcranial focused ultrasound stimulation neural regulation system according to any one of claims 1 to 6; the method comprises: 1) Determine the target and parameters of ultrasound stimulation according to the user's situation; 2) Import the user's head image data and calculate the optimal position of the ultrasound transducer probe; 3) Installing the ultrasonic transducer probe on the probe fixture to match the calculated optimal position; 4) Set the parameters of the transcranial focused ultrasound stimulation neural regulation system.

8. A computer readable memory, characterized in that: Processor executable instructions are stored, and when the instructions are executed by a processor, the processor is caused to perform the method according to claim 7.

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