A-type ultrasonic signal-based ultrasonic focusing navigation method and related device

Abstract

Disclosed in the present invention are an A-type ultrasonic signal-based ultrasonic focusing navigation method and a related device. The method comprises: acquiring a focusing electric signal and a sensing electric signal, separately performing amplification processing on the focusing electric signal and the sensing electric signal to obtain a focusing excitation electric signal and a sensing excitation electric signal, and separately performing conversion processing on the focusing excitation electric signal and the sensing excitation electric signal to obtain a focused ultrasonic wave and an A-type ultrasonic signal; when the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to a target human tissue, correspondingly obtaining a first echo signal and a second echo signal, which are separately preprocessed to obtain focusing position information and waveform curve information; obtaining morphological information according to the waveform curve information, and adjusting according to the morphological information and the focusing position information to obtain a target focus area. The present invention adopts the A-type ultrasonic signal to detect muscle morphologic information, so as to adjust the position of an ultrasonic probe and the phase of a phased array, such that optimization and adjustment of a focus point position are achieved, thereby achieving more accurate and effective focusing stimulation and adapting to more diversified use scenarios.

Description

Ultrasonic focused navigation method and related equipment based on A-type ultrasonic signal Technical Field

[0001] The present invention relates to the field of ultrasonic focusing navigation technology, and in particular to an ultrasonic focusing navigation method, system, terminal and storage medium based on type A ultrasonic signals. Background Art

[0002] Focused ultrasound (FUS) is a novel medical treatment option that concentrates the energy of an ultrasound beam within a small area, leveraging mechanisms such as thermal and cavitation effects to interact with deep biological tissues. As a novel neuromodulation technology, FUS offers advantages over traditional neuromodulation techniques such as electrical and magnetic stimulation, including non-invasiveness, strong penetration, high spatial resolution, precise stimulation targeting, and low acoustic field energy outside the target area, which reduces effects and damage to non-target areas.

[0003] Through simulation experiments on ultrasound focusing, it was found that there are some difficulties in applying ultrasound focusing to actual human experiments. First, during the experiment, the human body area where ultrasound focusing is applied needs to be adjusted according to different experimental objectives. Second, due to the differences in body tissue conditions between individuals, ultrasound waves will produce different degrees of attenuation and refraction during propagation, resulting in changes in the focusing effect. Third, due to the differences in body tissue thickness and structure between individuals, the focus position needs to be adjusted according to the tissue parameters of each individual to act on the specific muscle or tissue area. Currently, to achieve accurate positioning and stable focusing of ultrasound focused therapy, the existing technology mainly uses B-ultrasound or MRI (Magnetic Resonance Imaging) for positioning guidance of focused stimulation. In the navigation scheme using B-ultrasound, a hole needs to be opened in the center of the focusing transducer and a B-ultrasound probe needs to be installed. However, due to the limitations of the B-ultrasound generation principle, the B-ultrasound probe is relatively large, resulting in a larger hole in the center of the focusing transducer and a smaller array element area, which brings unnecessary difficulties to the material properties and processing of the focusing transducer. In the navigation scheme using MRI, the transducer is also required to be magnetically compatible, which increases the manufacturing difficulty of the transducer and the production cost of the probe.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The main purpose of the present invention is to provide an ultrasonic focusing navigation method and related equipment based on type A ultrasonic signals, aiming to solve the problems in the existing technology that the judgment of the position of the ultrasonic focus point is not accurate enough, the equipment used to provide navigation function is expensive, large in size, and difficult to move, which leads to limited usage scenarios and excessively high cost.

[0006] To achieve the above object, the present invention provides an ultrasound focusing navigation method based on A-type ultrasound signals, the ultrasound focusing navigation method based on A-type ultrasound signals comprising the following steps:

[0007] Acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic signal;

[0008] When the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, a corresponding first echo signal and a corresponding second echo signal are obtained, the first echo signal is preprocessed to obtain focus position information, and the second echo signal is preprocessed to obtain waveform curve information;

[0009] The morphological information of the target human tissue is obtained according to the waveform curve information, and the focus area is adjusted according to the morphological information and the focus position information to obtain a target focus area.

[0010] Optionally, the ultrasonic focusing navigation method based on type A ultrasonic signal, wherein the acquiring of the focusing electrical signal and the sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain the focusing excitation electrical signal and the sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain the focused ultrasonic wave and the type A ultrasonic signal, specifically includes:

[0011] Obtaining target ultrasound stimulation experiment requirements and an initial electrical signal, adjusting the signal amplitude, signal phase, and signal waveform of the initial electrical signal according to the target ultrasound stimulation experiment requirements to obtain a focused electrical signal, and obtaining a sensed electrical signal;

[0012] Obtaining a signal gain multiple, amplifying the focusing electrical signal according to the signal gain multiple to obtain a focusing excitation electrical signal, and amplifying the sensing electrical signal according to the signal gain multiple to obtain a sensing excitation electrical signal;

[0013] The focused excitation electrical signal is converted and processed by the piezoelectric effect to obtain a focused ultrasonic wave, and the sensing excitation electrical signal is converted and processed by the piezoelectric effect to obtain an A-type ultrasonic signal.

[0014] Optionally, the ultrasound focused navigation method based on A-type ultrasound signals, wherein when the focused ultrasound wave and the A-type ultrasound signal are transmitted to target human tissue, corresponding first echo signals and second echo signals are obtained, specifically comprising:

[0015] When the focused ultrasound wave is transmitted to the target human tissue, a first echo signal reflected by the target human tissue is received, wherein the first echo signal is obtained when the focused ultrasound wave passes through the target human tissue and is reflected at a corresponding tissue interface;

[0016] When the A-type ultrasonic signal is transmitted to the target human tissue, a second echo signal reflected by the target human tissue is received, wherein the second echo signal is obtained when the A-type ultrasonic signal passes through the target human tissue and is reflected at the corresponding tissue interface.

[0017] Optionally, the ultrasonic focusing navigation method based on type A ultrasonic signal, wherein the preprocessing of the first echo signal to obtain the focus position information specifically includes:

[0018] Converting the first echo signal through an inverse piezoelectric effect to obtain a first electrical signal, and amplifying the first electrical signal to obtain a first amplified signal;

[0019] The first amplified signal is sampled to obtain a first sampling signal, the first sampling signal is filtered to obtain a first target signal, and the first target signal is analyzed to obtain focus position information.

[0020] Optionally, in the ultrasonic focused navigation method based on type A ultrasonic signal, the step of preprocessing the second echo signal to obtain waveform curve information specifically includes:

[0021] converting the second echo signal through an inverse piezoelectric effect to obtain a second electrical signal, and amplifying the second electrical signal to obtain a second amplified signal;

[0022] The second amplified signal is sampled to obtain a second sampling signal, the second sampling signal is filtered to obtain a second target signal, and the second target signal is analyzed to obtain waveform curve information.

[0023] Optionally, the ultrasound focused navigation method based on type A ultrasound signals, wherein the second target signal is subjected to tissue analysis to obtain waveform curve information, further comprises:

[0024] Displaying the waveform curve information in real time to obtain a display result;

[0025] receiving a signal adjustment parameter input by a user, and adjusting the focus stimulation electrical signal according to the signal adjustment parameter;

[0026] The signal adjustment parameters are obtained by the user by analyzing signal characteristics according to the display results.

[0027] Optionally, the ultrasound focusing navigation method based on type A ultrasound signals, wherein obtaining morphological information of the target human tissue according to the waveform curve information, and adjusting the focus area according to the morphological information and the focus position information to obtain the target focus area, specifically includes:

[0028] Performing feature analysis on the waveform curve information to obtain echo features, and obtaining morphological information of the target human tissue based on the echo features, wherein the morphological information includes skin thickness information, muscle thickness information, and fat thickness information;

[0029] The ultrasound focus is navigated according to the morphological information and the focus position information to obtain a target adjustment parameter, and the focus area is adjusted according to the target adjustment parameter to obtain a target focus area.

[0030] Optionally, the ultrasound focusing navigation method based on type A ultrasound signals, wherein the ultrasound focusing navigation system based on type A ultrasound signals includes:

[0031] a signal acquisition module for acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic wave signal;

[0032] a signal processing module, configured to obtain a corresponding first echo signal and a corresponding second echo signal when the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, pre-process the first echo signal to obtain focus position information, and pre-process the second echo signal to obtain waveform curve information;

[0033] The region adjustment module is configured to obtain the morphological information of the target human tissue according to the waveform curve information, and adjust the focus region according to the morphological information and the focus position information to obtain a target focus region.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a program stored on the memory and runnable on the processor, and when the program is executed by the processor, the steps of the ultrasonic focusing navigation method based on type A ultrasonic signal as described above are implemented.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an ultrasonic focusing navigation program based on type A ultrasonic signals, and when the ultrasonic focusing navigation program based on type A ultrasonic signals is executed by a processor, the steps of the ultrasonic focusing navigation method based on type A ultrasonic signals as described above are implemented.

[0036] In the present invention, a focused electrical signal and a sensed electrical signal are obtained, the focused electrical signal and the sensed electrical signal are amplified to obtain a focused excitation electrical signal and a sensed excitation electrical signal, and the focused excitation electrical signal and the sensed excitation electrical signal are converted to obtain a focused ultrasonic wave and an A-type ultrasonic signal. When the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to the target human tissue, a corresponding first echo signal and a second echo signal are obtained. The first echo signal is preprocessed to obtain focus position information, and the second echo signal is preprocessed to obtain waveform curve information. Morphological information of the target human tissue is obtained based on the waveform curve information, and the focus area is adjusted based on the morphological information and the focus position information to obtain a target focus area. The present invention uses A-type ultrasonic signals to detect muscle morphological information to adjust the position of the ultrasonic probe and the phase of the phased array, thereby optimizing the focus position, thereby achieving more accurate and effective focused stimulation, and the corresponding navigation device is more compact and adaptable to more diverse usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a flow chart of a preferred embodiment of an ultrasound focusing navigation method based on A-type ultrasound signals in the present invention;

[0038] FIG2 is a schematic diagram of the hardware principle corresponding to the ultrasound focusing navigation method based on type A ultrasound signals in a preferred embodiment of the present invention;

[0039] FIG3 is a schematic diagram of echo characteristics based on A-type ultrasonic signals according to a preferred embodiment of the present invention;

[0040] FIG4 is a schematic diagram showing the principle of a preferred embodiment of an ultrasound focusing navigation system based on type A ultrasound signals in the present invention;

[0041] FIG5 is a schematic diagram of an operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] The ultrasound focusing navigation method based on A-type ultrasound signals according to a preferred embodiment of the present invention is shown in FIG1 . The ultrasound focusing navigation method based on A-type ultrasound signals comprises the following steps:

[0046] Step S10: Acquire a focusing electrical signal and a sensing electrical signal, amplify the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and convert the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and a type A ultrasonic wave signal.

[0047] The step S10 includes:

[0048] Step S11: obtaining target ultrasound stimulation experiment requirements and an initial electrical signal, adjusting the signal amplitude, signal phase, and signal waveform of the initial electrical signal according to the target ultrasound stimulation experiment requirements to obtain a focused electrical signal, and obtaining a sensed electrical signal;

[0049] Step S12: obtaining a signal gain multiple, amplifying the focusing electrical signal according to the signal gain multiple to obtain a focusing excitation electrical signal, and amplifying the sensing electrical signal according to the signal gain multiple to obtain a sensing excitation electrical signal;

[0050] Step S13: converting the focused excitation electrical signal through the piezoelectric effect to obtain focused ultrasonic waves, and converting the sensing excitation electrical signal through the piezoelectric effect to obtain a type A ultrasonic signal.

[0051] Specifically, in order to achieve accurate positioning and stable focusing of ultrasound focused therapy, the existing method mainly adopts B-ultrasound or MRI for positioning guidance of focused stimulation. In the navigation scheme using B-ultrasound, it is necessary to make a hole in the center of the focusing transducer and install a B-ultrasound probe. However, due to the limitation of the B-ultrasound generation principle, the B-ultrasound probe is relatively large, resulting in an increase in the hole in the center of the focusing transducer and a reduction in its array element area, which brings unnecessary difficulties to the material properties and processing technology of the focusing transducer. In the navigation scheme using MRI, magnetic compatibility of the transducer is also required, which increases the difficulty of manufacturing the transducer and the production cost of the probe. However, in the present invention, muscle status detection is performed by using A-type ultrasonic signals. A-ultrasound is to send one-dimensional ultrasound, conduct it into human tissue, and reflect it at various human tissue interfaces such as muscle-muscle and muscle-bone to construct morphological information of human tissue along the depth direction, so as to be used for auxiliary ultrasound. Sound, thereby achieving better guidance of the adjustment of the focus position in ultrasonic focusing, and proposing a reliable and effective muscle state detection method for focused stimulation in the muscle depth direction, and having the advantage of low cost; due to the difference in principles, the size of the A-ultrasound probe is more miniaturized than that of the B-ultrasound probe, and is more compact than that of B-ultrasound and MRI equipment. It can be flexibly installed and transferred in complex environments (for example, emergency environments such as disaster relief and sports rehabilitation treatment for patients), and when installed on the focusing transducer, there is no need to make a large-area opening in the focusing transducer, thereby reducing the impact of the opening on the focusing transducer; specifically, the hardware device for implementing the method in the embodiment of the present invention is shown in Figure 2, including a signal generating device, an A-ultrasound signal receiving and processing device, a power amplification module and an ultrasonic probe device, wherein the ultrasonic probe device includes an ultrasonic focusing probe and an A-ultrasound probe.

[0052] The signal generating device can generate an electrical signal for ultrasonic focused stimulation, i.e., a focused electrical signal. First, the signal generating device generates an initial electrical signal. In order to meet different ultrasonic stimulation experiment requirements, the corresponding target ultrasonic stimulation experiment requirements are determined, and the signal amplitude, signal phase and signal waveform of the initial electrical signal are adjusted according to the target ultrasonic stimulation experiment requirements, thereby obtaining an electrical signal for ultrasonic focused stimulation, i.e., a focused electrical signal. Then, the signal generating device inputs the corresponding focused stimulation electrical signal into the power amplifying module, and the power amplifying module amplifies the electrical signal according to the corresponding signal gain multiple to obtain an amplified electrical signal, i.e., a focused excitation electrical signal. The power amplifying module requires that the gain multiple be digitally adjustable and can control the output power. frequency; the power amplification module inputs the focused excitation electrical signal into the ultrasonic probe device, and the ultrasonic focusing probe of the ultrasonic probe device converts the focused excitation electrical signal into high-frequency vibration of the array element through the piezoelectric effect, thereby obtaining focused ultrasonic waves, wherein the ultrasonic focusing probe is the excitation generating component in the ultrasonic probe device, and its main function is to convert the corresponding electrical signal into focused ultrasonic waves to produce precise ultrasonic effects in human tissue; the ultrasonic focusing probe is usually composed of a single concave spherical focusing transducer, which uses the self-focusing effect to converge ultrasonic waves at the focal position. In addition to a single concave spherical focusing transducer, two concave spherical focusing transducers or phased array transducers can also be used for confocusing to improve the focusing resolution and achieve precise control of the focal position, focal area shape and size.

[0053] Afterwards, in order to ensure the accuracy of focused stimulation, when an ultrasonic focusing probe is used in an ultrasonic probe device, a central hole can be opened to embed an A-ultrasound probe used for ultrasonic detection. The A-ultrasound probe is a key component for focusing feature detection; when the A-ultrasound signal receiving and processing device enters the ultrasonic generation mode, a corresponding electrical signal, i.e., a sensing electrical signal, is generated, and the sensing electrical signal is input into the A-ultrasound probe; after the A-ultrasound probe receives the sensing electrical signal, the A-ultrasound probe converts the sensing electrical signal into high-frequency vibration of the array element through the piezoelectric effect, thereby obtaining an A-type ultrasonic signal, and then the A-ultrasound signal receiving and processing device immediately switches to the echo receiving mode for subsequent reception of the corresponding echo signal. This detection method can realize real-time detection of the physiological state of human muscles.

[0054] Step S20: When the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to the target human tissue, a corresponding first echo signal and a second echo signal are obtained, the first echo signal is preprocessed to obtain focus position information, and the second echo signal is preprocessed to obtain waveform curve information.

[0055] The step S20 includes:

[0056] Step S21: When the focused ultrasound wave is transmitted to the target human tissue, a first echo signal reflected by the target human tissue is received, wherein the first echo signal is obtained when the focused ultrasound wave passes through the target human tissue and is reflected at a corresponding tissue interface;

[0057] Step S22: When the A-type ultrasonic signal is transmitted to the target human tissue, a second echo signal reflected by the target human tissue is received, wherein the second echo signal is obtained when the A-type ultrasonic signal passes through the target human tissue and is reflected at a corresponding tissue interface;

[0058] Step S23: converting the first echo signal through the inverse piezoelectric effect to obtain a first electrical signal, and amplifying the first electrical signal to obtain a first amplified signal;

[0059] Step S24: sampling the first amplified signal to obtain a first sampling signal, filtering the first sampling signal to obtain a first target signal, and analyzing the first target signal to obtain focus position information;

[0060] Step S25: converting the second echo signal through the inverse piezoelectric effect to obtain a second electrical signal, and amplifying the second electrical signal to obtain a second amplified signal;

[0061] Step S26: sampling the second amplified signal to obtain a second sampling signal, filtering the second sampling signal to obtain a second target signal, and analyzing the second target signal to obtain waveform curve information.

[0062] Specifically, after obtaining the focused ultrasonic wave and the A-type ultrasonic signal, the focused ultrasonic wave and the A-type ultrasonic signal need to pass through human tissue. Specifically, when the ultrasonic focusing probe transmits the focused ultrasonic wave to the target human tissue, the focused ultrasonic wave passes through the human tissue and is reflected at different tissue interfaces, such as skin, muscle, and fat, thereby forming a corresponding echo signal, i.e., a first echo signal; when the A-ultrasound probe transmits the A-type ultrasonic signal to the target human tissue, the A-type ultrasonic signal passes through the human tissue and is reflected at different tissue interfaces, thereby forming a corresponding echo signal, i.e., a second echo signal; thereafter, the A-ultrasound probe detects and receives the first echo signal and the second echo signal, and converts and processes the first echo signal and the second echo signal respectively through the inverse piezoelectric effect to obtain corresponding first electrical signals and second electrical signals, and inputs the first electrical signals and the second electrical signals into the A-ultrasound signal receiving and processing device.

[0063] After receiving the first electrical signal and the second electrical signal, the A ultrasound signal receiving and processing device needs to perform corresponding processing on the first electrical signal and the second electrical signal. The processing process of the first electrical signal is as follows: amplifying the first electrical signal to obtain a first amplified signal; sampling the first amplified signal to obtain a first sampling signal; filtering the first sampling signal to obtain a first target signal; and analyzing the first target signal to obtain focus position information; the processing process of the second electrical signal is as follows: amplifying the second electrical signal to obtain a second amplified signal; sampling the second amplified signal to obtain a second sampling signal; filtering the second sampling signal to obtain a second target signal; and organizing and analyzing the second target signal to obtain waveform curve information. Thereby, the processing of the corresponding echo signal is realized; after completing the processing, the A-ultrasound signal receiving and processing device needs to display the waveform curve information in real time, and send it to the user's host computer by using multiple transmission methods such as Ethernet, so as to display the corresponding echo signal in real time for the user to view, as shown in Figure 3. Figure 3 reflects the echo signal characteristics of the A-type ultrasound signal. The A-type ultrasound signal will produce specific echoes at the interface of different tissues. In addition, the ultrasound wave generated by the ultrasonic focusing probe acts as a mechanical wave, and the muscle vibration and other effects caused will affect the echo of the A-type ultrasound signal and be reflected in the echo signal of the A-type ultrasound signal, for example, obvious peak position, etc. Afterwards, the user analyzes the signal characteristics according to the display results to obtain signal adjustment parameters, and the signal adjustment parameters can be used to subsequently adjust the focused electrical signal to meet the corresponding needs.

[0064] Step S30: Obtaining morphological information of the target human tissue according to the waveform curve information, and adjusting the focus area according to the morphological information and the focus position information to obtain a target focus area.

[0065] The step S30 includes:

[0066] Step S31: performing feature analysis on the waveform curve information to obtain echo features, and obtaining morphological information of the target human tissue based on the echo features, wherein the morphological information includes skin thickness information, muscle thickness information, and fat thickness information;

[0067] Step S32: Navigate the ultrasound focus according to the morphological information and the focus position information to obtain target adjustment parameters, and adjust the focus area according to the target adjustment parameters to obtain a target focus area.

[0068] Specifically, after obtaining the focus position information and the waveform curve information, it is necessary to use the focus position information and the waveform curve information to accurately adjust the focus position area. Specifically, the A-ultrasound signal receiving and processing device performs feature analysis on the waveform curve information to obtain echo features, and according to the echo features, the morphological information of the target human tissue at the position at the current moment can be obtained, wherein the morphological information includes skin thickness information, muscle thickness information and fat thickness information; the ultrasound focusing is navigated according to the morphological information and the focus position information to obtain target adjustment parameters; and then the parameters of the ultrasound focusing probe, such as physical position, phase and amplitude, are adjusted according to the target adjustment parameters to adjust the focus area, thereby adjusting it to a precise focus position area, that is, a target focus area. In ultrasound focusing, the focus position is mainly adjusted in the depth direction so that it is focused on human tissues at different depths, thereby achieving more accurate and effective focused stimulation.

[0069] Furthermore, as shown in FIG4 , based on the above-mentioned ultrasound focusing navigation method based on type A ultrasound signals, the present invention also provides an ultrasound focusing navigation system based on type A ultrasound signals. The ultrasound focusing navigation system based on type A ultrasound signals includes:

[0070] a signal acquisition module 51 for acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic wave signal;

[0071] a signal processing module 52 for obtaining corresponding first and second echo signals when the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, preprocessing the first echo signal to obtain focus position information, and preprocessing the second echo signal to obtain waveform curve information;

[0072] The region adjustment module 53 is configured to obtain the morphological information of the target human tissue according to the waveform curve information, and adjust the focus region according to the morphological information and the focus position information to obtain a target focus region.

[0073] Furthermore, as shown in FIG5 , based on the above-mentioned ultrasound focused navigation method based on type A ultrasound signals, the present invention also provides a terminal, which includes a processor 10, a memory 20, and a display 30. FIG5 shows only some components of the terminal, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0074] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Furthermore, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, an ultrasonic focusing navigation program 40 based on type A ultrasonic signals is stored on the memory 20, and the ultrasonic focusing navigation program 40 based on type A ultrasonic signals can be executed by the processor 10, thereby realizing the ultrasonic focusing navigation method based on type A ultrasonic signals in the present application.

[0075] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 20, such as executing the ultrasound focusing navigation method based on type A ultrasound signals.

[0076] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.

[0077] In one embodiment, when the processor 10 executes the program 40 for ultrasound focused navigation based on A-type ultrasound signals in the memory 20, the following steps are implemented:

[0078] Acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic signal;

[0079] When the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, a corresponding first echo signal and a corresponding second echo signal are obtained, the first echo signal is preprocessed to obtain focus position information, and the second echo signal is preprocessed to obtain waveform curve information;

[0080] The morphological information of the target human tissue is obtained according to the waveform curve information, and the focus area is adjusted according to the morphological information and the focus position information to obtain a target focus area.

[0081] The acquiring of the focusing electrical signal and the sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain the focusing excitation electrical signal and the sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain the focused ultrasonic wave and the A-type ultrasonic signal, specifically includes:

[0082] Obtaining target ultrasound stimulation experiment requirements and an initial electrical signal, adjusting the signal amplitude, signal phase, and signal waveform of the initial electrical signal according to the target ultrasound stimulation experiment requirements to obtain a focused electrical signal, and obtaining a sensed electrical signal;

[0083] Obtaining a signal gain multiple, amplifying the focusing electrical signal according to the signal gain multiple to obtain a focusing excitation electrical signal, and amplifying the sensing electrical signal according to the signal gain multiple to obtain a sensing excitation electrical signal;

[0084] The focused excitation electrical signal is converted and processed by the piezoelectric effect to obtain a focused ultrasonic wave, and the sensing excitation electrical signal is converted and processed by the piezoelectric effect to obtain an A-type ultrasonic signal.

[0085] When the focused ultrasound wave and the A-type ultrasound signal are transmitted to the target human tissue, a corresponding first echo signal and a second echo signal are obtained, which specifically includes:

[0086] When the focused ultrasound wave is transmitted to the target human tissue, a first echo signal reflected by the target human tissue is received, wherein the first echo signal is obtained when the focused ultrasound wave passes through the target human tissue and is reflected at a corresponding tissue interface;

[0087] When the A-type ultrasonic signal is transmitted to the target human tissue, a second echo signal reflected by the target human tissue is received, wherein the second echo signal is obtained when the A-type ultrasonic signal passes through the target human tissue and is reflected at the corresponding tissue interface.

[0088] The preprocessing of the first echo signal to obtain focus position information specifically includes:

[0089] Converting the first echo signal through an inverse piezoelectric effect to obtain a first electrical signal, and amplifying the first electrical signal to obtain a first amplified signal;

[0090] The first amplified signal is sampled to obtain a first sampling signal, the first sampling signal is filtered to obtain a first target signal, and the first target signal is analyzed to obtain focus position information.

[0091] The preprocessing of the second echo signal to obtain waveform curve information specifically includes:

[0092] converting the second echo signal through an inverse piezoelectric effect to obtain a second electrical signal, and amplifying the second electrical signal to obtain a second amplified signal;

[0093] The second amplified signal is sampled to obtain a second sampling signal, the second sampling signal is filtered to obtain a second target signal, and the second target signal is analyzed to obtain waveform curve information.

[0094] The step of organizing and analyzing the second target signal to obtain waveform curve information further includes:

[0095] Displaying the waveform curve information in real time to obtain a display result;

[0096] receiving a signal adjustment parameter input by a user, and adjusting the focus stimulation electrical signal according to the signal adjustment parameter;

[0097] The signal adjustment parameters are obtained by the user by analyzing signal characteristics according to the display results.

[0098] The step of obtaining the morphological information of the target human tissue according to the waveform curve information and adjusting the focus area according to the morphological information and the focus position information to obtain the target focus area specifically includes:

[0099] Performing feature analysis on the waveform curve information to obtain echo features, and obtaining morphological information of the target human tissue based on the echo features, wherein the morphological information includes skin thickness information, muscle thickness information, and fat thickness information;

[0100] The ultrasound focus is navigated according to the morphological information and the focus position information to obtain a target adjustment parameter, and the focus area is adjusted according to the target adjustment parameter to obtain a target focus area.

[0101] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an ultrasonic focusing navigation program based on type A ultrasonic signals, and when the ultrasonic focusing navigation program based on type A ultrasonic signals is executed by a processor, the steps of the ultrasonic focusing navigation method based on type A ultrasonic signals as described above are implemented.

[0102] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0103] Of course, those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium that can be read by a computer. When the program is executed, it can include the processes in the above-described method embodiments. The computer-readable storage medium can be a memory, a magnetic disk, an optical disk, etc.

[0104] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. An ultrasonic focusing navigation method based on A-type ultrasonic signals, characterized in that: The ultrasound focusing navigation method based on type A ultrasound signals includes: Acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic signal; When the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, a corresponding first echo signal and a corresponding second echo signal are obtained, the first echo signal is preprocessed to obtain focus position information, and the second echo signal is preprocessed to obtain waveform curve information; The morphological information of the target human tissue is obtained according to the waveform curve information, and the focus area is adjusted according to the morphological information and the focus position information to obtain a target focus area.

2. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 1, characterized in that: The acquiring of the focusing electrical signal and the sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic signal specifically include: Obtaining target ultrasound stimulation experiment requirements and an initial electrical signal, adjusting the signal amplitude, signal phase, and signal waveform of the initial electrical signal according to the target ultrasound stimulation experiment requirements to obtain a focused electrical signal, and obtaining a sensed electrical signal; Obtaining a signal gain multiple, amplifying the focusing electrical signal according to the signal gain multiple to obtain a focusing excitation electrical signal, and amplifying the sensing electrical signal according to the signal gain multiple to obtain a sensing excitation electrical signal; The focused excitation electrical signal is converted and processed by the piezoelectric effect to obtain a focused ultrasonic wave, and the sensing excitation electrical signal is converted and processed by the piezoelectric effect to obtain an A-type ultrasonic signal.

3. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 1, characterized in that: When the focused ultrasonic wave and the A-type ultrasonic wave signal are transmitted to the target human tissue, corresponding first echo signals and second echo signals are obtained, specifically including: When the focused ultrasound wave is transmitted to the target human tissue, a first echo signal reflected by the target human tissue is received, wherein the first echo signal is obtained when the focused ultrasound wave passes through the target human tissue and is reflected at a corresponding tissue interface; When the A-type ultrasonic signal is transmitted to the target human tissue, a second echo signal reflected by the target human tissue is received, wherein the second echo signal is obtained when the A-type ultrasonic signal passes through the target human tissue and is reflected at the corresponding tissue interface.

4. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 1, characterized in that: The preprocessing of the first echo signal to obtain focus position information specifically includes: Converting the first echo signal through an inverse piezoelectric effect to obtain a first electrical signal, and amplifying the first electrical signal to obtain a first amplified signal; The first amplified signal is sampled to obtain a first sampling signal, the first sampling signal is filtered to obtain a first target signal, and the first target signal is analyzed to obtain focus position information.

5. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 1, characterized in that: The preprocessing of the second echo signal to obtain waveform curve information specifically includes: converting the second echo signal through an inverse piezoelectric effect to obtain a second electrical signal, and amplifying the second electrical signal to obtain a second amplified signal; The second amplified signal is sampled to obtain a second sampling signal, the second sampling signal is filtered to obtain a second target signal, and the second target signal is analyzed to obtain waveform curve information.

6. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 5, characterized in that: The second target signal is subjected to an organizational analysis to obtain waveform curve information, and then the method further includes: Displaying the waveform curve information in real time to obtain a display result; receiving a signal adjustment parameter input by a user, and adjusting the focus stimulation electrical signal according to the signal adjustment parameter; The signal adjustment parameters are obtained by the user by analyzing signal characteristics according to the display results.

7. The ultrasound focusing navigation method based on A-type ultrasound signal according to claim 1, characterized in that: The step of obtaining the morphological information of the target human tissue according to the waveform curve information, and adjusting the focus area according to the morphological information and the focus position information to obtain the target focus area specifically includes: Performing feature analysis on the waveform curve information to obtain echo features, and obtaining morphological information of the target human tissue based on the echo features, wherein the morphological information includes skin thickness information, muscle thickness information, and fat thickness information; The ultrasound focus is navigated according to the morphological information and the focus position information to obtain a target adjustment parameter, and the focus area is adjusted according to the target adjustment parameter to obtain a target focus area.

8. An ultrasonic focusing navigation system based on type A ultrasonic signal, characterized in that: The ultrasound focused navigation system based on type A ultrasound signals includes: a signal acquisition module for acquiring a focusing electrical signal and a sensing electrical signal, amplifying the focusing electrical signal and the sensing electrical signal to obtain a focusing excitation electrical signal and a sensing excitation electrical signal, and converting the focusing excitation electrical signal and the sensing excitation electrical signal to obtain a focused ultrasonic wave and an A-type ultrasonic wave signal; a signal processing module, configured to obtain a corresponding first echo signal and a corresponding second echo signal when the focused ultrasonic wave and the A-type ultrasonic signal are transmitted to target human tissue, pre-process the first echo signal to obtain focus position information, and pre-process the second echo signal to obtain waveform curve information; The region adjustment module is configured to obtain the morphological information of the target human tissue according to the waveform curve information, and adjust the focus region according to the morphological information and the focus position information to obtain a target focus region.

9. A terminal, characterized in that: The terminal includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the steps of the ultrasound focusing navigation method based on type A ultrasound signals as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer-readable storage medium stores an ultrasonic focusing navigation program based on type A ultrasonic signals. When the ultrasonic focusing navigation program based on type A ultrasonic signals is executed by a processor, the steps of the ultrasonic focusing navigation method based on type A ultrasonic signals as described in any one of claims 1 to 7 are implemented.

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