Closed-loop transcranial acoustic magnetic stimulation neural circuit regulation and control system and method

Abstract

The invention relates to a closed-loop transcranial acoustic-magnetic stimulation neural circuit regulation and control system and method, and the system comprises an individualized simulation navigation module which is used for carrying out the simulation navigation of ultrasonic stimulation and magnetic stimulation on a brain region of a regulation and control object, and obtaining a stimulation site; the transcranial ultrasonic stimulation module is used for outputting ultrasonic stimulation by adopting the initialized stimulation parameters according to the stimulation sites and carrying out transcranial ultrasonic stimulation on the regulation and control object; the transcranial magnetic stimulation module is used for outputting magnetic stimulation by adopting the initialized stimulation parameters according to the stimulation sites and carrying out transcranial magnetic stimulation on the regulation and control object; and the electroencephalogram collecting, processing and feedback module is used for synchronously collecting and analyzing electroencephalogram signals in the acoustic and magnetic combined stimulation process and optimizing stimulation parameters. According to the method, high spatial resolution of transcranial ultrasonic stimulation, flexibility of transcranial magnetic stimulation and real-time processing of electroencephalogram data are combined, and accurate individualized neural circuit regulation and control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of neuromodulation, and particularly to a closed-loop transcranial acoustic magnetic stimulation neural circuit regulation system and method. Background Art

[0002] As a newly developed non-invasive brain stimulation technology, transcranial ultrasound stimulation realizes neuromodulation by transmitting ultrasound into specific brain regions of the brain to activate or inhibit the activities of the corresponding brain regions. Compared with other non-invasive neuromodulation technologies, ultrasound can reach deep brain regions with high spatial resolution. Transcranial ultrasound stimulation has achieved good results in aspects such as mood regulation, memory enhancement, and disease regulation.

[0003] Transcranial magnetic stimulation is a non-invasive brain neuromodulation technology that directly acts on the cerebral cortex using magnetic field pulses to regulate brain activities. Traditional transcranial ultrasound stimulation and transcranial magnetic stimulation are two independent regulation methods, and the stimulation is open-loop. During the regulation process, the stimulation parameters (such as stimulation intensity, stimulation frequency, and duty cycle, etc.) remain fixed. However, due to individual differences, even with the same stimulation parameters, the regulation effects will vary due to different individual differences. Summary of the Invention

[0004] The purpose of the present invention is to provide a closed-loop transcranial acoustic magnetic stimulation neural circuit regulation system and method, which combines the high spatial resolution of transcranial ultrasound stimulation, the flexibility of transcranial magnetic stimulation, and the real-time processing of electroencephalogram data to achieve precise individualized neural circuit regulation.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] A closed-loop transcranial acoustic magnetic stimulation neural circuit regulation system includes: an individualized simulation navigation module, a transcranial ultrasound stimulation module, a transcranial magnetic stimulation module, and an electroencephalogram acquisition processing feedback module;

[0007] The individualized simulation navigation module is used to perform simulation navigation of ultrasound stimulation and magnetic stimulation on the brain regions of the regulation object to obtain stimulation sites;

[0008] The transcranial ultrasound stimulation module is used to output ultrasonic stimulation according to the stimulation sites by using initialization stimulation parameters to perform transcranial ultrasound stimulation on the regulation object;

[0009] The transcranial magnetic stimulation module is used to output magnetic stimulation according to the stimulation sites by using initialization stimulation parameters to perform transcranial magnetic stimulation on the regulation object;

[0010] The electroencephalogram acquisition processing feedback module is used to synchronously collect electroencephalogram signals during the combined acoustic and magnetic stimulation process and perform analysis to optimize the stimulation parameters.

[0011] Optionally, the individualized simulation navigation module includes: an ultrasonic simulation navigation unit and a magnetic simulation navigation unit;

[0012] The ultrasonic simulation navigation unit is configured to obtain nuclear magnetic imaging data of a regulation object, construct a multi-layer cranial simulation model, and determine ultrasonic stimulation sites according to the acoustic characteristics of each layer of the multi-layer cranial simulation model;

[0013] The magnetic simulation navigation unit is configured to determine magnetic stimulation sites according to the magnetic characteristics of each layer of the multi-layer cranial simulation model.

[0014] Optionally, outputting ultrasonic stimulation and magnetic field stimulation using initial stimulation parameters includes: selecting corresponding stimulation parameters in an acoustic and magnetic stimulation library as the initial stimulation parameters according to the stimulation sites, and outputting ultrasonic stimulation and magnetic field stimulation.

[0015] Optionally, the transcranial ultrasonic stimulation module includes a first signal generator, a first power amplifier, an ultrasonic transducer, and a collimator;

[0016] The first signal generator is configured to generate a signal for ultrasonic stimulation;

[0017] The first power amplifier is configured to amplify the electrical signal generated by the first signal generator;

[0018] The ultrasonic transducer is configured to convert the electrical signal amplified by the first power amplifier into an ultrasonic signal, wherein the nearest fixed position of the ultrasonic transducer is determined according to the ultrasonic stimulation site;

[0019] The collimator is configured to adjust the target point of ultrasonic stimulation and transmit ultrasonic waves into the brain.

[0020] Optionally, the collimator is a 3D printed transparent conical tube containing a coupling agent.

[0021] Optionally, the transcranial magnetic stimulation module includes: a second signal generator, a second power amplifier, and a stimulation coil;

[0022] The second signal generator is configured to generate and adjust the stimulation signal of TMS;

[0023] The second power amplifier is configured to amplify the electrical signal generated by the second signal generator;

[0024] The stimulation coil is configured to generate a magnetic field pulse according to the electrical signal amplified by the second power amplifier, wherein the nearest fixed position of the stimulation coil is determined according to the magnetic stimulation site, and the stimulation coil is a butterfly coil.

[0025] Optionally, the EEG acquisition and processing feedback module includes: an EEG signal acquisition end, an EEG signal processing end, and a stimulation parameter adjustment end;

[0026] The EEG signal acquisition end is used to acquire EEG signals during the combined acoustic and magnetic stimulation process and send them to the EEG signal processing end simultaneously;

[0027] The EEG signal processing end is used to process the EEG signals from the EEG signal acquisition end through time-frequency analysis;

[0028] The stimulation parameter adjustment end is used to perform multi-parameter coupling on the data processed by the EEG signal processing end, obtain characteristic parameters, and adjust the stimulation parameters.

[0029] The present invention also provides a closed-loop transcranial acoustic magnetic stimulation neural circuit regulation method, including:

[0030] S1. Perform simulation navigation of ultrasonic stimulation and magnetic stimulation on the brain region of the regulation object to obtain the stimulation site;

[0031] S2. According to the stimulation site, use the initial stimulation parameters to output ultrasonic stimulation and magnetic field stimulation to perform neural circuit regulation on the regulation object;

[0032] S3. Synchronously collect and analyze the EEG signals during the combined acoustic and magnetic stimulation process, analyze the EEG signals, optimize the stimulation parameters, and return to S2.

[0033] Optionally, performing simulation navigation of ultrasonic stimulation and magnetic stimulation on the brain region of the regulation object to obtain the stimulation site includes:

[0034] Obtain the nuclear magnetic resonance image data of the regulation object and construct a multi-layer cranial simulation model;

[0035] According to the acoustic characteristics and magnetic characteristics of each layer of the multi-layer cranial simulation model, obtain the ultrasonic stimulation site and the magnetic stimulation site.

[0036] Optionally, outputting ultrasonic stimulation and magnetic field stimulation using the initial stimulation parameters includes: according to the stimulation site, select the corresponding stimulation parameters in the acoustic magnetic stimulation library as the initial stimulation parameters to output ultrasonic stimulation and magnetic field stimulation.

[0037] The beneficial effects of the present invention are: The present invention discloses a closed-loop transcranial acoustic magnetic stimulation neural regulation system and method. The system constructs a multi-layer cranial simulation model based on individual brain nuclear magnetic resonance images, simultaneously performs transcranial ultrasound and magnetic simulation navigation, determines the individual neural circuit stimulation site according to the idea of deep ultrasonic stimulation and cortical magnetic stimulation, synchronously performs ultrasonic and magnetic stimulation, synchronously collects and analyzes EEG signals during the stimulation, and synchronously adjusts the stimulation parameters to achieve individual and precise acoustic magnetic neural circuit regulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 Schematic diagram of a closed-loop transcranial acousto-magnetic stimulation neural circuit regulation system according to an embodiment of the present invention;

[0040] Figure 2 Overall flowchart of the closed-loop transcranial acousto-magnetic stimulation neural circuit regulation system according to an embodiment of the present invention;

[0041] Figure 3 Flowchart of transcranial ultrasound and magnetic stimulation according to an embodiment of the present invention;

[0042] Figure 4 Flowchart of the electroencephalogram processing layer of the electroencephalogram processing module according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0044] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0045] By adopting a closed-loop regulation method, the defects of traditional regulation can be effectively solved. By using corresponding algorithms to analyze individual electroencephalogram-related features to optimize regulation parameters, the regulation effect can be improved. Transcranial ultrasound stimulation and transcranial magnetic stimulation perform neural regulation through two different physical quantities, ultrasound and magnetic field, respectively, and the two energies do not interfere with each other. Moreover, ultrasound stimulation can achieve deep brain stimulation, while magnetic stimulation can achieve precise cortical stimulation. By using combined ultrasound and magnetic stimulation, neural circuit stimulation from deep to cortex can be achieved, and at the same time, individual regulation parameters can be optimized through closed-loop, so as to achieve precise individual regulation.

[0046] Embodiment 1:

[0047] This embodiment provides a closed-loop transcranial acoustic magnetic stimulation neural circuit regulation system, including: an individualized simulation navigation module, a transcranial ultrasound stimulation module, a transcranial magnetic stimulation module, and an electroencephalogram acquisition, processing and feedback module;

[0048] The individualized simulation navigation module is used to perform simulation navigation of ultrasound stimulation and magnetic stimulation on the brain regions of the regulation object to obtain stimulation sites;

[0049] The transcranial ultrasound stimulation module is used to output ultrasonic stimulation according to the stimulation site by using the initial stimulation parameters to perform transcranial ultrasound stimulation on the regulation object;

[0050] The transcranial magnetic stimulation module is used to output magnetic stimulation according to the stimulation site by using the initial stimulation parameters to perform transcranial magnetic stimulation on the regulation object;

[0051] The electroencephalogram acquisition, processing and feedback module is used to synchronously collect electroencephalogram signals during the combined acoustic and magnetic stimulation process and perform analysis to optimize the stimulation parameters.

[0052] Furthermore, the individualized simulation navigation module includes: an ultrasound simulation navigation unit and a magnetic simulation navigation unit;

[0053] The ultrasound simulation navigation unit is used to obtain the nuclear magnetic imaging data of the regulation object, construct a multi-layer cranial simulation model, and determine the ultrasound stimulation site according to the acoustic characteristics of each layer of the multi-layer cranial simulation model;

[0054] The magnetic simulation navigation unit is used to determine the magnetic stimulation site according to the magnetic characteristics of each layer of the multi-layer cranial simulation model.

[0055] Specifically, in this embodiment, the COMSOL software is used to construct a multi-layer cranial model.

[0056] Furthermore, outputting ultrasonic stimulation and magnetic field stimulation by using the initial stimulation parameters includes: selecting the corresponding stimulation parameters in the acoustic magnetic stimulation library as the initial stimulation parameters according to the stimulation site to output ultrasonic stimulation and magnetic field stimulation.

[0057] Even further, the transcranial ultrasound stimulation module includes a first signal receiving end, a first signal generator, a first power amplifier, an ultrasonic transducer, and a collimator;

[0058] The first signal receiving end is used to receive ultrasonic stimulation parameters;

[0059] The first signal generator is used to generate a corresponding electrical signal according to the ultrasonic stimulation parameters;

[0060] The first power amplifier is used to amplify the electrical signal generated by the first signal generator;

[0061] An ultrasonic transducer is used to convert the electrical signal amplified by the first power amplifier into an ultrasonic signal, where the optimal fixed position of the ultrasonic transducer is determined according to the ultrasonic stimulation target point;

[0062] A collimator is used to adjust the ultrasonic stimulation target point and transmit the ultrasonic signal wave into the brain. The collimator is a 3D printed transparent conical tube containing a coupling agent inside.

[0063] Furthermore, the transcranial magnetic stimulation module includes: a second signal receiving end, a second signal generator, a second power amplifier, and a stimulation coil;

[0064] The second signal receiving end is used to receive magnetic stimulation parameters;

[0065] The second signal generator is used to generate corresponding electrical signals according to the magnetic stimulation parameters;

[0066] The second power amplifier is used to amplify the electrical signals generated by the second signal generator;

[0067] The stimulation coil is used to generate magnetic field pulses according to the electrical signals amplified by the second power amplifier, where the optimal fixed position of the stimulation coil is determined according to the magnetic stimulation target point, and the stimulation coil is a butterfly coil.

[0068] Further, the electroencephalogram acquisition and processing feedback module includes: an electroencephalogram signal acquisition end, an electroencephalogram signal processing end, and a stimulation parameter adjustment end;

[0069] The electroencephalogram signal acquisition end is used to acquire electroencephalogram signals during the combined acoustic and magnetic stimulation process and send them to the electroencephalogram signal processing end simultaneously;

[0070] The electroencephalogram signal processing end is used to process the electroencephalogram signals from the electroencephalogram signal acquisition end through time-frequency analysis;

[0071] The stimulation parameter adjustment end is used to obtain the ultrasonic stimulation parameters and magnetic stimulation parameters when the time-frequency characteristic energy is the largest and perform stimulation parameter adjustment.

[0072] The following further explains the present system with reference to the accompanying drawings:

[0073] As Figure 1 shown, the closed-loop transcranial acoustic magnetic stimulation nerve regulation system includes: an individualized simulation navigation module, a transcranial ultrasonic stimulation module, a transcranial magnetic stimulation module, and an electroencephalogram acquisition and processing module.

[0074] The individualized simulation navigation module is used to perform simulation navigation of ultrasonic stimulation and magnetic stimulation on the brain area to be regulated and determine the stimulation sites;

[0075] The transcranial ultrasound stimulation module is used to perform ultrasound stimulation on the regulated brain, and at the same time, perform ultrasound transcranial simulation navigation based on individualized brain MRI images to achieve individualized ultrasound deep brain stimulation;

[0076] The transcranial magnetic stimulation module is used to perform magnetic stimulation on the regulated brain, and at the same time, perform transcranial magnetic simulation navigation based on individualized brain MRI images to achieve individualized transcranial magnetic stimulation;

[0077] The electroencephalogram acquisition and processing module is used to synchronously collect electroencephalogram signals during the combined acoustic and magnetic stimulation process, analyze them, judge the rationality of the stimulation parameters, and adjust the acoustic and magnetic stimulation parameters to achieve individualized neural circuit regulation.

[0078] The further individualized simulation navigation module includes: an ultrasound simulation navigation module and a magnetic simulation navigation module;

[0079] The ultrasound simulation navigation module constructs a multi-layer cranial model using COMSOL software based on the MRI image data of the regulation object, and determines the optimal fixation site of the ultrasound transducer according to the ultrasound stimulation target;

[0080] The magnetic simulation navigation module constructs a multi-layer cranial model using COMSOL software based on the MRI image data of the regulation object, and determines the optimal fixation site of the magnetic coil according to the magnetic stimulation target;

[0081] The further transcranial ultrasound stimulation module includes: a first signal receiver, a first signal generator, a first power amplifier, an ultrasound transducer, and a collimator;

[0082] The first signal receiver is used to receive updated ultrasound stimulation parameters;

[0083] The first signal generator is used to generate an electrical signal with the parameters required for ultrasound regulation

[0084] The first power amplifier is used to amplify the electrical signal generated by the signal generator to the corresponding power;

[0085] The ultrasound transducer is used to convert the electrical signal amplified by the first power amplifier into an ultrasound signal;

[0086] The collimator is a transparent conical tube made by 3D printing, filled with a coupling agent inside, and is used to adjust the ultrasound stimulation target and transmit ultrasonic waves into the brain.

[0087] The further transcranial magnetic stimulation module includes: a second signal receiver, a second signal generator, a second power amplifier, and a stimulation coil;

[0088] The second signal receiver is used to receive updated transcranial magnetic stimulation (TMS) stimulation parameters;

[0089] The second signal generator is used to generate and adjust the stimulation signals of TMS, such as pulse width, frequency, intensity, etc.;

[0090] The second power amplifier is used to amplify the electrical signals of the signal generator to ensure that the system can provide sufficient current and stable power output;

[0091] The stimulation coil is a butterfly coil, which is used to convert the electrical signals of the second power amplifier into magnetic stimulation;

[0092] The further EEG acquisition and processing module includes: an EEG signal acquisition terminal, an EEG signal processing terminal, and a stimulation parameter adjustment terminal;

[0093] The EEG signal acquisition terminal is used to acquire real-time EEG signals during the stimulation process and send them to the EEG processing terminal at the same time;

[0094] The EEG signal processing terminal uses time-frequency analysis to extract the time-domain and frequency-domain characteristics of the EEG signals from the EEG signal acquisition terminal;

[0095] The stimulation parameter adjustment terminal is used to monitor the EEG characteristic data in real time and regulate the stimulation parameters. During the stimulation process, the ultrasonic stimulation parameter changes (stimulation frequency: 500KHz, duty cycle adjustment: increasing from 35% at intervals of 1% until 55%, sound pressure adjustment: increasing from 0.5MPa at intervals of 0.05MPa until 0.8MPa) and the TMS stimulation parameter changes (Resting Motor Threshold (RMT) increasing from 50% at intervals of 2% to 80%; duty cycle increasing from 5% at intervals of 1% to 10%). Finally, the characteristic parameters at different stimulation parameters are compared, and the ultrasonic and TMS stimulation parameters when the EEG characteristics are the largest are output and determined as the optimal stimulation parameters.

[0096] As Figure 2 shown, it is the working flow chart of this system. First, based on the acoustic and magnetic characteristics of the brain MRI image and the skull of the regulation object, a multi-layer cranial simulation model is constructed, and according to the determined nerve loop stimulation target point (the stimulation target point is the target stimulation area), the simulation navigation path is planned, and the placement positions of the ultrasonic transducer and the magnetic coil are determined to achieve individualized brain stimulation.

[0097] As Figure 3 shown, it is the working flow chart of the acoustic and magnetic stimulation module. Among them, the acoustic and magnetic stimulation module will first output conventional ultrasonic and magnetic stimulation parameters, and then update the stimulation parameters and output them after receiving the optimized stimulation parameters.

[0098] As Figure 4As shown in the figure, it is the specific process of EEG acquisition and processing. An EEG cap is used to collect EEG signals during the stimulation process, and then EEG preprocessing is carried out using filtering, downsampling, artifact removal, and rereferencing methods. The preprocessed EEG signals are used for time-frequency analysis to extract EEG features. Finally, the ultrasound and TMS stimulation parameters when the time-frequency feature energy is the largest are obtained at the stimulation parameter adjustment end, and the corresponding individualized optimal stimulation parameters are obtained.

[0099] Example 2:

[0100] A closed-loop transcranial sono-magnetic stimulation neural circuit regulation method, characterized by comprising:

[0101] S1: Construct a multi-layer cranial model through individualized brain MRI images, and at the same time perform individualized ultrasound and magnetic simulation navigation to construct individualized ultrasound and magnetic stimulation targets;

[0102] S2: According to the stimulation targets, adopt the strategy of stimulating deeply with ultrasound and stimulating the cortex with magnetism, and synchronously output ultrasonic stimulation and magnetic field stimulation for neural circuit regulation;

[0103] S3: Synchronously collect EEG signals during transcranial ultrasound stimulation and magnetic stimulation, and analyze the EEG signals in real time to extract features and optimize the stimulation parameters;

[0104] S4: Send the optimized parameters to S2 for sono-magnetic combined stimulation, update the stimulation parameters and loop S3 to achieve individualized sono-magnetic combined regulation;

[0105] Among them, in step S1, using the brain MRI images of the object to be regulated, a multi-layer cranial model is constructed. In the ultrasound simulation navigation using COMSOL software, according to the acoustic properties (sound velocity, acoustic impedance, attenuation coefficient) of each layer, using the COMSOL acoustic simulation navigation module, the transcranial simulation navigation path is planned to determine the ultrasound stimulation site; at the same time, in the magnetic simulation navigation, according to the magnetic properties (magnetic permeability, magnetic induction intensity, magnetic anisotropy) of each layer, using the COMSOL magnetic simulation module, the transcranial magnetic navigation path is planned to determine the magnetic stimulation site; thus, the individualized loop stimulation site is planned.

[0106] In step S2, based on the stimulation sites obtained in S1, select the corresponding stimulation parameters from the sono-magnetic stimulation library, send the parameters to the corresponding ultrasound stimulation module and magnetic stimulation module, and synchronously output the corresponding ultrasound and magnetic stimulation.

[0107] In step S3, for the ultrasound and magnetic stimulations output in step S2, synchronously collect the EEG for a period of time for analysis.

[0108] In step S4, based on the optimized stimulation parameters of step S3, the stimulation parameters of the object are sent to the corresponding ultrasonic stimulation module and magnetic stimulation module, and S3 and S4 are cycled according to this process to update the stimulation parameters, so as to realize individualized closed-loop transcranial acoustic magnetic stimulation neuromodulation.

[0109] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A closed-loop transcranial acoustic magnetic stimulation neural circuit regulation system, characterized in that: include: Individualized simulation navigation module, transcranial ultrasound stimulation module, transcranial magnetic stimulation module, and EEG acquisition, processing, and feedback module; The individualized simulation navigation module is used to perform simulation navigation of ultrasound stimulation and magnetic stimulation on the brain area of ​​the regulated object to obtain the stimulation site; The transcranial ultrasound stimulation module is used to output ultrasound stimulation according to the stimulation site and adopt the initialization stimulation parameters to perform transcranial ultrasound stimulation on the regulated object; The transcranial magnetic stimulation module is used to output magnetic stimulation according to the stimulation site and adopt the initialization stimulation parameters to perform transcranial magnetic stimulation on the regulated object; The EEG acquisition, processing and feedback module is used to synchronously acquire and analyze EEG signals during the acoustic and magnetic combined stimulation process, and optimize the stimulation parameters.

2. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 1, characterized in that: The individualized simulation navigation module includes: an ultrasound simulation navigation unit and a magnetic simulation navigation unit; The ultrasound simulation navigation unit is used to obtain the nuclear magnetic resonance imaging data of the controlled object, construct a multi-layer brain simulation model, and determine the ultrasound stimulation site according to the acoustic characteristics of each layer of the multi-layer brain simulation model; The magnetic simulation navigation unit is used to determine the magnetic stimulation site according to the magnetic characteristics of each layer of the multi-layer brain simulation model.

3. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 1, characterized in that: The method of outputting ultrasonic stimulation and magnetic field stimulation by using the initialization stimulation parameters includes: selecting corresponding stimulation parameters in an acoustic magnetic stimulation library according to the stimulation site as the initialization stimulation parameters to output ultrasonic stimulation and magnetic field stimulation.

4. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 2, characterized in that: The transcranial ultrasound stimulation module includes a first signal receiving end, a first signal generator, a first power amplifier, an ultrasound transducer, and a collimator; The first signal receiving end is used to receive ultrasound stimulation parameters; The first signal generator is used to generate a corresponding electrical signal according to the ultrasonic stimulation parameter; The first power amplifier is used to amplify the electrical signal generated by the first signal generator; The ultrasonic transducer is used to convert the electrical signal amplified by the first power amplifier into an ultrasonic signal, wherein the optimal fixing point of the ultrasonic transducer is determined according to the ultrasonic stimulation target point; The collimator is used to adjust the ultrasound stimulation target and transmit the ultrasound signal to the brain.

5. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 4, characterized in that: The collimator is a 3D printed transparent conical tube containing a coupling agent.

6. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 2, characterized in that: The transcranial magnetic stimulation module includes: a second signal receiving end, a second signal generator, a second power amplifier, and a stimulation coil; The second signal receiving end is used to receive magnetic stimulation parameters; The second signal generator is used to generate a corresponding electrical signal according to the magnetic stimulation parameter; The second power amplifier is used to amplify the electrical signal generated by the second signal generator; The stimulation coil is used to generate a magnetic field pulse according to the electrical signal amplified by the second power amplifier, wherein the optimal fixing point of the stimulation coil is determined according to the magnetic stimulation target, and the stimulation coil is a butterfly coil.

7. The closed-loop transcranial acoustic magnetic stimulation neural circuit control system according to claim 1, characterized in that: The EEG acquisition and processing feedback module includes: an EEG signal acquisition terminal, an EEG signal processing terminal, and a stimulation parameter adjustment terminal; The EEG signal acquisition terminal is used to collect EEG signals during the acoustic and magnetic combined stimulation process and send them to the EEG signal processing terminal at the same time; The EEG signal processing end is used to process the EEG signal of the EEG signal acquisition end through time-frequency analysis to obtain time-frequency characteristics; The stimulation parameter adjustment terminal is used to obtain the ultrasound stimulation parameters and magnetic stimulation parameters when the time-frequency characteristic energy is maximum and to adjust the stimulation parameters.

8. A closed-loop transcranial acoustic magnetic stimulation neural circuit control method for implementing any one of claims 1 to 7, characterized in that: include: S1. Performing simulated navigation of ultrasound stimulation and magnetic stimulation on the brain area of ​​the regulated object to obtain the stimulation site; S2. According to the stimulation site, outputting ultrasonic stimulation and magnetic field stimulation by initializing stimulation parameters to regulate the neural circuit of the regulated object; S3. Synchronously collect and analyze the EEG signals during the combined acoustic and magnetic stimulation process, analyze the EEG signals, optimize the stimulation parameters, and return to S2.

9. The closed-loop transcranial acoustic magnetic stimulation neural circuit regulation method according to claim 8, characterized in that: Perform ultrasonic stimulation and magnetic stimulation simulation navigation on the brain area of ​​the regulated object, and obtain the stimulation sites including: Obtain the MRI data of the controlled object and build a multi-layer brain simulation model; According to the acoustic characteristics and magnetic characteristics of each layer of the multi-layer brain simulation model, ultrasonic stimulation points and magnetic stimulation points are obtained.

10. The closed-loop transcranial acoustic magnetic stimulation neural circuit regulation method according to claim 8, characterized in that: The method of outputting ultrasonic stimulation and magnetic field stimulation by using the initialization stimulation parameters includes: selecting corresponding stimulation parameters in an acoustic magnetic stimulation library according to the stimulation site as the initialization stimulation parameters to output ultrasonic stimulation and magnetic field stimulation.

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