Magneto-acoustic imaging and magneto-acoustic-electric nerve regulation and control integrated system

Abstract

The embodiment of the invention discloses a magneto-acoustic imaging and magneto-acoustic-electric nerve regulation and control integrated system. The system comprises an ultrasonic transducer array module, a coil module and a controller, the controller is used for controlling the array module to position and determine target pose information; controlling the coil module to generate a magnetic field to induce generation of a first ultrasonic signal, and controlling the array module to acquire the first ultrasonic signal to reconstruct a first image; controlling the array module to emit a second ultrasonic signal and collect an echo signal to reconstruct a second image; fusing the first image and the second image to obtain a target image and target area position information in the target image; according to the target pose information and the target area position information, determining signal emission time of each ultrasonic transducer in the array module; and controlling the ultrasonic transducer to transmit a third ultrasonic signal according to the signal transmission time, and controlling the coil module to generate a static magnetic field so as to induce to generate an ion current electric field to perform nerve electrical stimulation, thereby realizing function fusion and equipment miniaturization.

Description

Technical Field

[0001] The embodiments of the present invention relate to neuromodulation technology, and more particularly to an integrated system of magnetoacoustic imaging and magnetoacoustic-electroneuromodulation. Background Technology

[0002] Neuromodulation technology is an important tool in neuroscience research, neural engineering, and clinical applications. It utilizes physical or chemical means to stimulate and intervene in the central and peripheral nervous systems, thereby exerting a regulatory effect of activating or inhibiting excitation.

[0003] In existing technologies, imaging and neuromodulation are usually performed using two separate devices, imaging equipment and neuromodulation equipment, which cannot be integrated into one unit, resulting in more complex operation and increased equipment costs. Summary of the Invention

[0004] This invention provides an integrated system for magnetoacoustic imaging and magnetoacoustic-electroneuropathy, which uses the same set of equipment to perform magnetoacoustic imaging and magnetoacoustic-electroneuropathy, achieving functional integration and equipment miniaturization, and reducing the complexity and cost of the equipment.

[0005] In a first aspect, embodiments of the present invention provide an integrated system for magnetoacoustic imaging and magnetoacoustic electroneuromodulation, comprising: a ring-shaped, retractable ultrasonic transducer array module, a coil module for generating a magnetic field, and a controller; wherein the ultrasonic transducer array module and the coil module are coaxially placed and nested onto the target site requiring neuromodulation; the controller is used to control the magnetoacoustic imaging and magnetoacoustic electroneuromodulation by performing the following steps:

[0006] The ultrasonic transducer array module is controlled to perform telescopic positioning, and the target pose information of the ultrasonic transducer array module is determined based on the target positioning information after positioning is completed.

[0007] The coil module is controlled to generate a static magnetic field and an alternating magnetic field, so as to induce an induced current on the target part through the alternating magnetic field. The induced current generates a first ultrasonic signal in the static magnetic field through magnetoacoustic coupling. The ultrasonic transducer array module is controlled to collect the first ultrasonic signal. A first image of the target part is reconstructed based on the collected first ultrasonic signal and the target pose information.

[0008] The ultrasonic transducer array module is controlled to emit a second ultrasonic signal toward the target area, and the echo signal reflected back from the target area by the second ultrasonic signal is collected. A second image of the target area is reconstructed based on the collected echo signal and the target pose information.

[0009] The first image and the second image are fused to obtain a fused target image, and the location information of the target area marked in the target image is obtained.

[0010] Based on the target pose information and the target area location information, determine the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area;

[0011] Based on the signal emission time of each ultrasonic transducer, each ultrasonic transducer is controlled to emit a third ultrasonic signal, and when the third ultrasonic signal reaches the target area, the coil module is controlled to generate a static magnetic field, so as to induce the generation of an ion flow electric field on the target area through the coupling effect of the third ultrasonic signal and the static magnetic field to perform nerve electrical stimulation.

[0012] Optionally, the controller is further configured to:

[0013] The ultrasonic transducer array module is controlled to acquire the fourth ultrasonic signal generated by the ion current electric field and the nerve current in the static magnetic field, and a third image of the target part is reconstructed based on the acquired fourth ultrasonic signal and the target pose information.

[0014] The actual stimulation region is determined based on the third image. If there is a deviation between the actual stimulation region and the target region, the signal emission time is adjusted and the stimulation is repeated until there is no deviation between the actual stimulation region and the target region.

[0015] Optionally, the controller is further configured to:

[0016] The electromyographic signals of the target site are collected, and the transmission power of the third ultrasound signal and / or the magnetic field strength of the static magnetic field used for nerve electrical stimulation are increased according to the collected electromyographic signals until the collected electromyographic signals meet the preset stopping conditions.

[0017] Optionally, the ultrasonic transducer array module includes: a plurality of ultrasonic transducer modules uniformly distributed on a ring;

[0018] Each ultrasonic transducer module includes: a telescopic device, a rolling device, a pressure sensor, an ultrasonic transducer, a transducer extension device, and a coupling agent injection channel; wherein, ultrasonic coupling agent is injected into the transducer extension device.

[0019] Optionally, controlling the ultrasonic transducer array module to perform telescopic positioning, and determining the target pose information of the ultrasonic transducer array module based on the target positioning information after positioning, includes:

[0020] The telescopic and rolling devices in each ultrasonic transducer module are controlled to move, and the current pressure is measured by the pressure sensor. The movement stops when the current pressure reaches the target pressure and the positioning is determined to be completed.

[0021] Based on the telescopic distance information of the telescopic device and the rolling angle information of the rolling device after the positioning is completed, the three-dimensional position information and angle information of each ultrasonic transducer are determined, and the three-dimensional position information and angle information are used as the target pose information.

[0022] Optionally, each ultrasonic transducer module also includes a temperature sensor;

[0023] The controller is further configured to: if the current temperature measured by the temperature sensor is greater than a preset temperature, or the current pressure measured by the pressure sensor is greater than a preset pressure, then cut off the ultrasonic emission of the ultrasonic transducer array module and trigger the retraction operation of the ultrasonic transducer array module.

[0024] Optionally, determining the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area based on the target pose information and the target area location information includes:

[0025] Based on the target pose information and the target area location information, the propagation time required for the transmitted signal of each ultrasonic transducer in the ultrasonic transducer array module to reach the target area is determined.

[0026] Based on the propagation time and the preset stimulation start time, the signal transmission time of each ultrasonic transducer is determined, and the preset stimulation start time is determined as the static magnetic field generation time.

[0027] Optionally, the static magnetic field generated by the coil module is a static magnetic field that gradually increases from 0 to a preset magnetic field strength.

[0028] Optionally, the coil module includes: a static magnetic field coil and an alternating magnetic field coil;

[0029] The static magnetic field coil and the alternating magnetic field coil are placed coaxially, with the alternating magnetic field coil nested inside the static magnetic field coil; the outer layer of the static magnetic field coil is wrapped with a shielding layer to suppress interference from the alternating magnetic field.

[0030] Optionally, the coil module includes two identical coil modules placed coaxially, and the ultrasonic transducer array module is located between the two coil modules.

[0031] One embodiment of the above invention has the following advantages or beneficial effects:

[0032] By utilizing an integrated system comprising an ultrasonic transducer array module, a coil module, and a controller, magnetoacoustic imaging and magnetoacoustic neuromodulation functions can be simultaneously achieved, reducing the complexity and cost of the equipment. Specifically, the controller controls the extension and retraction positioning of the ultrasonic transducer array module, determining the target pose information of the ultrasonic transducer array module; it controls the coil module to generate a static magnetic field and an alternating magnetic field to generate a first ultrasonic signal through magnetoacoustic coupling, and controls the ultrasonic transducer array module to acquire the first ultrasonic signal. Based on the acquired first ultrasonic signal and the target pose information, a first image of the target area is reconstructed, thus achieving magnetoacoustic imaging. By controlling the ultrasonic transducer array module to emit a second ultrasonic signal towards the target area, and based on the acquired echo signal and the target pose information, a second image of the target area is reconstructed, thus achieving ultrasonic imaging. By fusing the first and second images, a more complete and clearer target image is obtained, thereby improving the accuracy of target area marking. Based on the target pose information and the target area location information, the signal transmission time of each ultrasonic transducer in the ultrasonic transducer array module is determined so that the transmission signals can reach the target area simultaneously. According to the signal transmission time of each ultrasonic transducer, each ultrasonic transducer is controlled to emit a third ultrasonic signal. When the third ultrasonic signal reaches the target area, the coil module is controlled to generate a static magnetic field. The coupling effect of the third ultrasonic signal and the static magnetic field induces the generation of an ion flow electric field on the target area to conduct nerve electrical stimulation, thereby realizing magnetoacoustic-electroneuropathy.

[0033] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of an integrated system for magnetoacoustic imaging and magnetoacoustic-electroneuric modulation according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic flowchart of a magnetoacoustic imaging and magnetoacoustic electroneuro modulation and control process provided in one embodiment of the present invention;

[0037] Figure 3This is a schematic diagram of the structure of an ultrasonic transducer array module according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of another integrated magnetoacoustic imaging and magnetoacoustic-electroneuric modulation system provided in one embodiment of the present invention;

[0039] Figure 5 This is a schematic flowchart of another magnetoacoustic imaging and magnetoacoustic electroneuro modulation and control process provided in one embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Figure 1 This is a schematic diagram of an integrated system for magnetoacoustic imaging and magnetoacoustic-electroneuromodulation according to an embodiment of the present invention. This embodiment is applicable to situations where magnetoacoustic imaging and magnetoacoustic-electroneuromodulation are performed simultaneously on sites requiring neuromodulation. Figure 1 As shown, the system includes: a ring-shaped, retractable ultrasonic transducer array module 10, a coil module 20 for generating a magnetic field, and a controller 30. The ultrasonic transducer array module 10 and the coil module 20 are coaxially positioned and nested onto the target site 40 requiring neural modulation.

[0043] It should be noted that the system adopts a shared hardware architecture, and the ultrasonic transducer array module 10 and the coil module 20 can be arranged coaxially. The electromagnetic shielding cavity reduces signal crosstalk, thereby achieving functional integration and equipment miniaturization.

[0044] The target sites requiring neural modulation can be areas of varying diameters, such as the brain, spine, or limbs. For example, Figure 1 The target part 40 is the cranium, and the cranium is inserted into the interior of the annular retractable ultrasonic transducer array module 10 and coil module 20.

[0045] The controller 30 can be a programmable logic chip, such as a Field Programmable Gate Array (FPGA) chip, etc., which is programmed to implement the control logic for magnetoacoustic imaging and magnetoacoustic electroneuro modulation. Figure 2 The magnetoacoustic imaging and magnetoacoustic electroneuro modulation and control process are given. For example... Figure 2 The controller 30 is used to control magnetoacoustic imaging and magnetoacoustic neuromodulation by performing the following steps:

[0046] S210. Control the ultrasonic transducer array module to perform telescopic positioning, and determine the target pose information of the ultrasonic transducer array module based on the target positioning information after positioning is completed.

[0047] Specifically, because the system can adapt to parts with different diameters, before imaging and neural modulation, the controller 30 needs to control the ultrasonic transducer array module 10 to extend, retract, and roll at multiple angles to dynamically adjust the pose of the ultrasonic transducer array module 10 until the pose of the ultrasonic transducer array module 10 is adjusted to a suitable pose. At this point, the positioning ends, and the target pose information of the ultrasonic transducer array module 10 is determined based on the target positioning information after the positioning is completed. The target positioning information may include the extension distance and rolling angle information of the ultrasonic transducer array module. The target pose information may include the three-dimensional position and angle information of the ultrasonic transducer array module.

[0048] For example, the ultrasonic transducer array module 10 may include a plurality of ultrasonic transducer modules uniformly distributed in a ring. Each ultrasonic transducer module has the same structure. Figure 3 As shown, each ultrasonic transducer module includes: a telescopic device 101, a rolling device 102, a pressure sensor 103, an ultrasonic transducer 104, a transducer extension device 105, and a coupling agent injection channel 106.

[0049] An ultrasound coupling agent is injected into the transducer extension device 105. The ultrasound coupling agent is injected into the transducer extension device 105 through the coupling agent injection channel 106. The ultrasound coupling agent eliminates the air gap between the ultrasound transducer 104 and the skin, ensuring effective transmission of ultrasound signals into the body and improving imaging clarity.

[0050] For example, step S210 may include: controlling the telescopic device 101 and the rolling device 102 in each ultrasonic transducer module to move, and measuring the current pressure through the pressure sensor 103, stopping the movement when the current pressure reaches the target pressure and determining the end of positioning; determining the three-dimensional position information and angle information of each ultrasonic transducer 104 based on the telescopic distance information of the telescopic device 101 and the rolling angle information of the rolling device 102 after the positioning is completed, and using the three-dimensional position information and angle information as the target pose information.

[0051] Specifically, by controlling the movement of the telescopic device 101 and the rolling device 102 in each ultrasonic transducer module, the pose of each ultrasonic transducer is changed. A high-sensitivity pressure sensor 103 measures the current pressure of each ultrasonic transducer 104, i.e., the contact force between the ultrasonic transducer 104 and the body surface. Movement stops when the current pressure of each ultrasonic transducer equals the target pressure, at which point the positioning is considered complete. Thus, the contour of the ultrasonic transducer array module is determined using the pressure sensor. The controller 30 determines the target pose information of each ultrasonic transducer 104, i.e., three-dimensional position and angle information, based on the initial pose information of each ultrasonic transducer 104 and the telescopic distance and rolling angle information after positioning, thereby enabling adaptability to different control points.

[0052] S220: The control coil module generates a static magnetic field and an alternating magnetic field to induce an induced current at the target location through the alternating magnetic field. The induced current generates a first ultrasonic signal in the static magnetic field through magnetoacoustic coupling. The control ultrasonic transducer array module collects the first ultrasonic signal and reconstructs a first image of the target location based on the collected first ultrasonic signal and the target pose information.

[0053] After positioning is completed, the controller 30 performs magnetoacoustic imaging by executing step S220. Specifically, the controller 30 can control the coil module to generate a static magnetic field based on an energized control method, and then generate an alternating magnetic field based on the static magnetic field. Under the action of the applied alternating magnetic field, an induced current can be induced in the target area. The induced current generates sound wave vibration in the static magnetic field through magnetoacoustic coupling, and is transmitted in the form of ultrasound to form a first ultrasound signal. The controller 30 controls the ultrasound transducer array module 10 to acquire the generated first ultrasound signal, and performs filtering and amplification processing on the acquired first ultrasound signal. Based on the processed first ultrasound signal and target pose information, image reconstruction is performed to obtain a first image of the target area. The first image is the target area image reconstructed through the magnetoacoustic coupling effect. The first image is an electrical characteristic image of the target area. The first image combines the high contrast of electromagnetic imaging with the high resolution of ultrasound imaging, enabling imaging of the electrical characteristics of tissues.

[0054] To avoid excessive electromagnetic induction current caused by magnetic field pulses, the static magnetic field generated by the coil module gradually increases from level 0 to a preset magnetic field strength. This smooth gradient change suppresses eddy current effects within biological tissues. In other words, the rate of change of the static magnetic field strength is less than the preset rate of change, thus ensuring a sufficiently small electromagnetic gradient.

[0055] S230: Control the ultrasonic transducer array module to transmit a second ultrasonic signal to the target area, and collect the echo signal reflected back from the target area by the second ultrasonic signal. Reconstruct a second image of the target area based on the collected echo signal and the target pose information.

[0056] After positioning is completed, the controller 30 performs ultrasound imaging by executing step S230. Specifically, the controller 30 controls the ultrasound transducer array module 10 to emit a second ultrasound signal towards the target area. When the second ultrasound signal propagates within the target area, it is reflected due to differences in acoustic impedance, and the reflected echo signal is acquired by the ultrasound transducer array module 10. The controller 30 filters and amplifies the acquired echo signal, and performs image reconstruction based on the processed echo signal and target pose information to obtain a second image of the target area. The second image is an image of the target area reconstructed using ultrasound; it is a structural image of the target area. Because sound propagation in tissue differs from electrical propagation in tissue, the reconstructed second image and the first image contain different content, and their image information is complementary. That is, ultrasound imaging and magnetoacoustic imaging can present information from different locations within the target tissue.

[0057] It should be noted that the execution order of steps S220 and S230 can be either step S220 first and then step S230, or step S230 first and then step S220. This embodiment does not limit the execution order.

[0058] S240. Perform information fusion on the first image and the second image to obtain the fused target image, and obtain the location information of the target area marked in the target image.

[0059] Specifically, dual-mode imaging using magnetoacoustic and ultrasonic imaging can obtain a first image and a second image. These two images are then overlaid and fused to obtain the target image, i.e., a functional and structural dual-mode image, resulting in higher contrast and resolution. By displaying a clearer target image, the target region requiring control can be clearly marked within the target image based on the control requirements, thereby improving the accuracy of target region marking.

[0060] S250. Based on the target pose information and the target area location information, determine the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area.

[0061] Specifically, ultrasound modulation possesses focusing and penetration depth, allowing the controller 30 to control all ultrasonic transducers in the ultrasonic transducer array module 10 to simultaneously transmit ultrasonic signals toward the target area, thereby achieving ultrasound focusing. Since different ultrasonic transducers in the ultrasonic transducer array module 10 are at different distances from the target area, it is necessary to determine the signal transmission time for each ultrasonic transducer to simultaneously reach the target area based on the target pose information of each ultrasonic transducer and the position information of the target area.

[0062] For example, step S250 may include: determining the propagation time required for the emitted signal of each ultrasonic transducer in the ultrasonic transducer array module to reach the target target area based on the target pose information and the target target area location information; determining the signal emission time of each ultrasonic transducer based on the propagation time and the preset stimulation start time, and determining the preset stimulation start time as the static magnetic field generation time.

[0063] Specifically, for each ultrasonic transducer, the distance between the ultrasonic transducer and the target area is determined based on the target pose information of the ultrasonic transducer and the position information of the target area. Then, based on this distance and a preset ultrasonic propagation speed, the propagation time required for the transmitted signal from the ultrasonic transducer to reach the target area is determined. This propagation time is subtracted from the preset stimulus start time, and the resulting time is taken as the signal transmission time of the ultrasonic transducer. In other words, the signal transmission time is the time taken before the preset stimulus start time, ensuring that the ultrasonic signal generated by the ultrasonic transducer reaches the target area at the preset stimulus start time. Since the ultrasonic signal generated by the ultrasonic transducer generates a static magnetic field upon reaching the target area, the preset stimulus start time can be determined as the static magnetic field generation time.

[0064] S260. Based on the signal transmission time of each ultrasonic transducer, control each ultrasonic transducer to emit a third ultrasonic signal, and control the coil module to generate a static magnetic field when the third ultrasonic signal reaches the target area, so as to induce the generation of an ion flow electric field for nerve electrical stimulation in the target area through the coupling effect of the third ultrasonic signal and the static magnetic field.

[0065] Specifically, the controller 30 controls each ultrasonic transducer to emit a third ultrasonic signal according to the signal emission time of each transducer, so that all third ultrasonic signals emitted by all ultrasonic transducers can reach the target area simultaneously. Only when all third ultrasonic signals reach the target area simultaneously is the coil module controlled to generate a static magnetic field to avoid causing physical discomfort. Through the coupling effect between the arriving third ultrasonic signals and the generated static magnetic field in the target area, an ion flow electric field can be induced to stimulate nerve electrical activity, achieving direct intervention on neuronal electrical activity, and thus modulating the nerves in the target area through magnetoacoustic electrical stimulation.

[0066] To avoid excessive electromagnetic induction current caused by magnetic field pulses, the static magnetic field generated by the coil module gradually increases from level 0 to a preset magnetic field strength. This smooth gradient change suppresses eddy current effects within biological tissues. In other words, the rate of change of the static magnetic field strength is less than the preset rate of change, thus ensuring a sufficiently small electromagnetic gradient.

[0067] The technical solution of this embodiment, by utilizing an integrated system including an ultrasonic transducer array module, a coil module, and a controller, can simultaneously realize the functions of magnetoacoustic imaging and magnetoacoustic electroneuromodulation, reducing the complexity and cost of the equipment. Specifically, the controller controls the ultrasonic transducer array module to perform telescopic positioning and determine the target pose information of the ultrasonic transducer array module; it controls the coil module to generate a static magnetic field and an alternating magnetic field to generate a first ultrasonic signal through magnetoacoustic coupling, and controls the ultrasonic transducer array module to acquire the first ultrasonic signal. Based on the acquired first ultrasonic signal and the target pose information, a first image of the target area is reconstructed, thereby realizing magnetoacoustic imaging. By controlling the ultrasonic transducer array module to emit a second ultrasonic signal to the target area, and reconstructing a second image of the target area based on the acquired echo signal and the target pose information, a second ultrasonic imaging is achieved. By fusing the first and second images, a more complete and clearer target image is obtained, thereby improving the accuracy of target area marking. Based on the target pose information and the target area location information, the signal transmission time of each ultrasonic transducer in the ultrasonic transducer array module is determined so that the transmission signals can reach the target area simultaneously. According to the signal transmission time of each ultrasonic transducer, each ultrasonic transducer is controlled to emit a third ultrasonic signal. When the third ultrasonic signal reaches the target area, the coil module is controlled to generate a static magnetic field. The coupling effect of the third ultrasonic signal and the static magnetic field induces the generation of an ion flow electric field on the target area to conduct nerve electrical stimulation, thereby realizing magnetoacoustic-electroneuropathy.

[0068] Based on the above technical solutions, please refer to [link / reference]. Figure 3 Each ultrasonic transducer module also includes a temperature sensor 107.

[0069] The controller 30 is also configured to: cut off the ultrasonic emission of the ultrasonic transducer array module 10 and trigger the retraction operation of the ultrasonic transducer array module 10 if the current temperature measured by the temperature sensor 107 is greater than the preset temperature, or the current pressure measured by the pressure sensor 103 is greater than the preset pressure.

[0070] Specifically, when the controller 30 detects that the current temperature is greater than the preset temperature (e.g., 2°C) or the current contact pressure is greater than the preset pressure (e.g., 5N), it immediately cuts off the ultrasonic emission of the ultrasonic transducer array module 10 and triggers the retraction of the ultrasonic transducer array module 10, thereby avoiding the risk of thermal damage and mechanical compression and ensuring operational safety.

[0071] Based on the above technical solutions, the coil module 20 may include: a static magnetic field coil and an alternating magnetic field coil; wherein the static magnetic field coil and the alternating magnetic field coil are placed coaxially, and the alternating magnetic field coil is nested inside the static magnetic field coil; the outer layer of the static magnetic field coil is wrapped with a shielding layer to suppress interference from the alternating magnetic field.

[0072] Specifically, the static magnetic field coil provides a high-intensity static magnetic field for generating Lorentz force current in electrical characteristic imaging. The alternating magnetic field coil generates a low-frequency alternating magnetic field for nerve electrical stimulation or magnetoacoustic signal modulation. The alternating magnetic field coil is nested inside the static magnetic field coil, and the two are coaxially mounted. The outer layer of the static magnetic field coil is covered with a high-permeability shielding layer to suppress interference from the alternating magnetic field. Both the static magnetic field coil and the alternating magnetic field coil in coil module 20 can be superconducting coils. The superconducting coil uses a closed liquid helium circulation pipeline (e.g., flow rate 0.5L / min), and is maintained at a constant temperature (e.g., 4K) by a cryogenic pump. The pipeline is embedded inside the coil skeleton. The back of the alternating magnetic field coil integrates an aluminum heat sink and a serpentine water channel, circulating room-temperature deionized water without the need for a high-pressure pump, and the temperature rise is controlled within a certain range, such as ΔT < 2℃.

[0073] Based on the above technical solutions, see Figure 4 The system includes two identical coil modules 20, which are coaxially placed, with the ultrasonic transducer array module 10 located between them. The structure of each coil module can be referred to the description above, and will not be repeated here. By using two identical coil modules 20, a more uniform and stable magnetic field can be generated at the target site, thereby improving the magnetoacoustic imaging effect and the magnetoacoustic electroneuromodulation effect.

[0074] Figure 5This is a schematic flowchart illustrating another integrated control process for magnetoacoustic imaging and magnetoacoustic electroneuromodulation according to an embodiment of the present invention. Based on the above embodiments, after performing neuroelectric stimulation on the target area, the controller 30 is further configured to provide real-time feedback of the actual stimulation area via magnetoacoustic imaging, and to adjust the control parameters and re-stimulate based on the deviation between the actual stimulation area and the target area. This embodiment describes the real-time adjustment process of the control parameters in detail. Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0075] See Figure 5 The controller 30 controls the magnetoacoustic imaging and magnetoacoustic neuromodulation by performing the following steps:

[0076] S510: Control the ultrasonic transducer array module to perform telescopic positioning, and determine the target pose information of the ultrasonic transducer array module based on the target positioning information after positioning is completed.

[0077] S520: The control coil module generates a static magnetic field and an alternating magnetic field to induce an induced current at the target location through the alternating magnetic field. The induced current generates a first ultrasonic signal in the static magnetic field through magnetoacoustic coupling. The control ultrasonic transducer array module collects the first ultrasonic signal and reconstructs a first image of the target location based on the collected first ultrasonic signal and the target pose information.

[0078] S530: Control the ultrasonic transducer array module to transmit a second ultrasonic signal to the target area, and collect the echo signal reflected back from the target area by the second ultrasonic signal. Reconstruct a second image of the target area based on the collected echo signal and the target pose information.

[0079] S540. Perform information fusion on the first image and the second image to obtain the fused target image, and obtain the location information of the target area marked in the target image.

[0080] S550. Based on the target pose information and the target area location information, determine the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area.

[0081] S560. Based on the signal transmission time of each ultrasonic transducer, control each ultrasonic transducer to emit a third ultrasonic signal, and control the coil module to generate a static magnetic field when the third ultrasonic signal reaches the target area, so as to induce the generation of an ion flow electric field in the target area through the coupling effect of the third ultrasonic signal and the static magnetic field to perform nerve electrical stimulation.

[0082] S570 controls the ultrasonic transducer array module to acquire the fourth ultrasonic signal generated by the ion flow electric field and nerve current in the static magnetic field, and reconstructs the third image of the target area based on the acquired fourth ultrasonic signal and target pose information.

[0083] In this embodiment, the modulation effect can also be fed back in real time through magnetic field imaging during the magnetoacoustic-electroneuropathy modulation process. Specifically, the current generated on the target area (including the induced ion current electric field and the modulated nerve current) can generate sound wave vibrations in a static magnetic field through magnetoacoustic coupling, and is transmitted in the form of ultrasound to form a fourth ultrasound signal. The controller 30 controls the ultrasound transducer array module 10 to collect the generated fourth ultrasound signal, and performs filtering and amplification processing on the collected fourth ultrasound signal. Based on the processed fourth ultrasound signal and target pose information, image reconstruction is performed to obtain a third image of the target area. Since the fourth ultrasound signal contains the ultrasound signal generated by the nerve current, the reconstructed third image contains the electrical characteristic information of the nerve current, so the third image can reflect the modulation effect of magnetoacoustic-electroneuropathy.

[0084] S580. Determine the actual stimulation area based on the third image. If there is a deviation between the actual stimulation area and the target area, adjust the signal emission time and re-stimulate until there is no deviation between the actual stimulation area and the target area.

[0085] Specifically, the controller 30 obtains the actual stimulation area of ​​the target site based on the third image and detects whether there is a deviation between the actual stimulation area and the target area, such as the deviation between the center points of the areas and the deviation of the area diameter. If there is a deviation between the actual stimulation area and the target area, it indicates that the third ultrasound signal emitted by the ultrasound transducer is not focused on the target area, and there is an error. Therefore, it is necessary to adjust the signal emission time of the ultrasound transducer. For example, the target ultrasound transducer that needs to be adjusted is determined based on the deviation information, and the signal emission time of the target ultrasound transducer is increased or decreased based on a preset step size. The controller 30 re-executes the above steps S560-S580 based on the re-determined signal emission time until there is no deviation between the actual stimulation area and the target area, and then stops. Subsequently, the currently determined signal emission time is directly used for nerve electrical stimulation until the stimulation time is reached and then stops.

[0086] It should be noted that since the propagation speed of ultrasound signals varies in different parts of the body, the determined signal emission time may contain errors. Therefore, the functional electrical characteristic image obtained by magnetic field imaging is used as an evaluation index of the magnetoacoustic electrostimulation modulation effect to adjust the signal emission time in real time, forming a closed-loop feedback of "modulation-imaging", which further improves the neuromodulation effect.

[0087] Based on the above technical solutions, the controller 30 is also used to: acquire electromyographic signals from the target site, and increase the transmission power of the third ultrasound signal and / or the magnetic field strength of the static magnetic field used during nerve electrical stimulation according to the acquired electromyographic signals, until the acquired electromyographic signals meet the preset stop conditions.

[0088] Specifically, the controller 30 can determine whether there is a muscle response to magnetoacoustic electrostimulation (MEG) by collecting electromyographic (EMG) signals from the target area, and thus determine whether MEG has produced a stimulating effect. If the collected EMG signals do not meet the preset stop conditions, such as no EMG signals being collected or the intensity of the collected EMG signals being less than the preset intensity, it is determined that there is currently no muscle response and MEG has not produced a stimulating effect. At this time, the transmission power of the third ultrasound signal and / or the magnetic field strength of the static magnetic field used for nerve electrical stimulation can be increased until the collected EMG signals meet the preset stop conditions, thereby obtaining the stimulation threshold. Subsequently, the currently determined transmission power threshold of the third ultrasound signal and the magnetic field strength threshold of the static magnetic field used for nerve electrical stimulation are directly used for nerve electrical stimulation, thereby ensuring the effect of MEG.

[0089] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0090] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An integrated system for magnetoacoustic imaging and magnetoacoustic electroneuromodulation, characterized in that, include: The system comprises a ring-shaped, retractable ultrasonic transducer array module, a coil module for generating a magnetic field, and a controller; wherein the ultrasonic transducer array module and the coil module are coaxially positioned and nested onto the target site requiring neuromodulation; the controller is used to control magnetoacoustic imaging and magnetoacoustic electroneuromodulation by performing the following steps: The ultrasonic transducer array module is controlled to perform telescopic positioning, and the target pose information of the ultrasonic transducer array module is determined based on the target positioning information after positioning is completed. The coil module is controlled to generate a static magnetic field and an alternating magnetic field, so as to induce an induced current on the target part through the alternating magnetic field. The induced current generates a first ultrasonic signal in the static magnetic field through magnetoacoustic coupling. The ultrasonic transducer array module is controlled to collect the first ultrasonic signal. A first image of the target part is reconstructed based on the collected first ultrasonic signal and the target pose information. The ultrasonic transducer array module is controlled to emit a second ultrasonic signal toward the target area, and the echo signal reflected back from the target area by the second ultrasonic signal is collected. A second image of the target area is reconstructed based on the collected echo signal and the target pose information. The first image and the second image are fused to obtain a fused target image, and the location information of the target area marked in the target image is obtained. Based on the target pose information and the target area location information, determine the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area; Based on the signal emission time of each ultrasonic transducer, each ultrasonic transducer is controlled to emit a third ultrasonic signal, and when the third ultrasonic signal reaches the target area, the coil module is controlled to generate a static magnetic field, so as to induce the generation of an ion flow electric field on the target area through the coupling effect of the third ultrasonic signal and the static magnetic field to perform nerve electrical stimulation.

2. The system according to claim 1, characterized in that, The controller is also used for: The ultrasonic transducer array module is controlled to acquire the fourth ultrasonic signal generated by the ion current electric field and the nerve current in the static magnetic field, and a third image of the target part is reconstructed based on the acquired fourth ultrasonic signal and the target pose information. The actual stimulation region is determined based on the third image. If there is a deviation between the actual stimulation region and the target region, the signal emission time is adjusted and the stimulation is repeated until there is no deviation between the actual stimulation region and the target region.

3. The system according to claim 1, characterized in that, The controller is also used for: The electromyographic signals of the target site are collected, and the transmission power of the third ultrasound signal and / or the magnetic field strength of the static magnetic field used for nerve electrical stimulation are increased according to the collected electromyographic signals until the collected electromyographic signals meet the preset stopping conditions.

4. The system according to claim 1, characterized in that, The ultrasonic transducer array module includes: a plurality of ultrasonic transducer modules uniformly distributed on a ring. Each ultrasonic transducer module includes: a telescopic device, a rolling device, a pressure sensor, an ultrasonic transducer, a transducer extension device, and a coupling agent injection channel; wherein, ultrasonic coupling agent is injected into the transducer extension device.

5. The system according to claim 4, characterized in that, The process of controlling the ultrasonic transducer array module to perform telescopic positioning and determining the target pose information of the ultrasonic transducer array module based on the target positioning information after positioning is completed includes: The telescopic and rolling devices in each ultrasonic transducer module are controlled to move, and the current pressure is measured by the pressure sensor. The movement stops when the current pressure reaches the target pressure and the positioning is determined to be completed. Based on the telescopic distance information of the telescopic device and the rolling angle information of the rolling device after the positioning is completed, the three-dimensional position information and angle information of each ultrasonic transducer are determined, and the three-dimensional position information and angle information are used as the target pose information.

6. The system according to claim 4, characterized in that, Each ultrasonic transducer module also includes: a temperature sensor; The controller is further configured to: if the current temperature measured by the temperature sensor is greater than a preset temperature, or the current pressure measured by the pressure sensor is greater than a preset pressure, then cut off the ultrasonic emission of the ultrasonic transducer array module and trigger the retraction operation of the ultrasonic transducer array module.

7. The system according to claim 1, characterized in that, The step of determining the signal transmission time when the transmission signals of each ultrasonic transducer in the ultrasonic transducer array module can simultaneously reach the target area based on the target pose information and the target area location information includes: Based on the target pose information and the target area location information, the propagation time required for the transmitted signal of each ultrasonic transducer in the ultrasonic transducer array module to reach the target area is determined. Based on the propagation time and the preset stimulation start time, the signal transmission time of each ultrasonic transducer is determined, and the preset stimulation start time is determined as the static magnetic field generation time.

8. The system according to claim 1, characterized in that, The static magnetic field generated by the coil module is a static magnetic field that gradually increases from level 0 to a preset magnetic field strength.

9. The system according to claim 1, characterized in that, The coil module includes: a static magnetic field coil and an alternating magnetic field coil; The static magnetic field coil and the alternating magnetic field coil are placed coaxially, with the alternating magnetic field coil nested inside the static magnetic field coil; the outer layer of the static magnetic field coil is wrapped with a shielding layer to suppress interference from the alternating magnetic field.

10. The system according to any one of claims 1-9, characterized in that, The system includes two identical coil modules, which are placed coaxially, and the ultrasonic transducer array module is located between the two coil modules.

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