CN110559564A - ultrasonic stimulation method and device - Google Patents

Abstract

This application is applicable to the field of medical technology, and provides an ultrasonic stimulation method and device, wherein the method includes: obtaining an ultrasonic stimulation target area of an organ; The fixed position of the device; based on the stimulation feedback results of ultrasonic stimulation at different fixed positions, the target stimulation target point is determined from the stimulation detection points; based on the target stimulation target point, the ultrasonic stimulation operation is performed to improve the search for the target point Convenience, and improve the accuracy of ultrasound stimulation operation.

Description

Ultrasonic stimulation method and device

technical field

The present application belongs to the field of medical technology, and in particular relates to an ultrasonic stimulation method and device.

Background technique

Physical neuromodulation technology is an important means for neuroscience research and neurological disease intervention. Combining the basic principles of electricity, magnetism, and light with neuroscience, neurostimulation and regulation technologies such as deep brain stimulation, transcranial magnetic stimulation, and optogenetic regulation have been produced.

Among them, medical ultrasound, as a non-invasive diagnosis and treatment technology, can form a focus in the human body, target specific regional tissues, and have the function of regulating peripheral nerves.

However, the current medical ultrasound device is usually used for brain nerve stimulation, and when it is applied to the human trunk to perform nerve stimulation, there are problems that it is not easy to find the target and the stimulation location is not accurate.

Contents of the invention

In view of this, the embodiment of the present application provides an ultrasonic stimulation method and device to solve the problem that it is difficult to find the target point and the stimulation location is not accurate when the medical ultrasonic device is applied to the trunk of the human body to perform nerve stimulation in the prior art. The problem.

The first aspect of the embodiments of the present application provides an ultrasonic stimulation method, including:

Obtain the ultrasonic stimulation target area of the organ;

adjusting the fixed position of the ultrasound transducer based on each stimulation probe point determined in the ultrasound stimulation target volume;

Determining target stimulation targets from the stimulation detection points based on different stimulation feedback results of ultrasonic stimulation at the fixed positions;

An ultrasound stimulation operation is performed based on the target stimulation target.

The second aspect of the embodiments of the present application provides an ultrasonic stimulation device, including:

An acquisition module, configured to acquire an ultrasonic stimulation target area of an organ;

A position adjustment module, configured to adjust the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area;

A target point determination module, configured to determine a target stimulation target point from the stimulation detection points based on different stimulation feedback results of ultrasonic stimulation at the fixed position;

The ultrasound stimulation module is configured to perform ultrasound stimulation operations based on the target stimulation target.

The third aspect of the embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the The steps of the method as described in the first aspect.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

A fifth aspect of the present application provides a computer program product, where the computer program product includes a computer program, and when the computer program is executed by one or more processors, the steps of the method described in the first aspect above are realized.

It can be seen from the above that in the embodiment of the present application, the ultrasonic stimulation target area of the organ is obtained, and the fixed position of the ultrasonic transducer is adjusted based on each stimulation detection point determined in the ultrasonic stimulation target area. According to the stimulation feedback results, the target stimulation target point is determined from the stimulation detection point, and the ultrasonic stimulation operation is performed. By adjusting the fixing device of the ultrasonic transducer, the stimulation detection point set in the ultrasonic stimulation target area is found to meet the requirements. The target stimulation target point is used to improve the convenience of finding the target point and improve the accuracy of the ultrasonic stimulation operation when the ultrasonic device is applied to the human trunk to perform nerve stimulation.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a flow chart 1 of an ultrasonic stimulation method provided by an embodiment of the present application;

Fig. 2 is a flow chart 2 of an ultrasonic stimulation method provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of setting geometrical position points in the three-dimensional detection area provided by the embodiment of the present application;

Fig. 4 is a structural diagram of a fixing device for an ultrasonic transducer provided in an embodiment of the present application;

Fig. 5 is a structural diagram of an ultrasonic stimulation device provided in an embodiment of the present application;

FIG. 6 is a structural diagram of a terminal provided by an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other features. , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

As used in this specification and the appended claims, the term "if" may be construed as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context . Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In a specific implementation, the terminals described in the embodiments of the present application include but are not limited to other portable devices such as mobile phones, laptop computers or tablet computers with touch-sensitive surfaces (eg, touch screen displays and/or touch pads). It should also be appreciated that in some embodiments, the device is not a portable communication device, but a desktop computer with a touch-sensitive surface (eg, a touchscreen display and/or a touchpad).

In the ensuing discussion, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that a terminal may include one or more other physical user interface devices such as a physical keyboard, mouse and/or joystick.

The terminal supports various applications such as one or more of the following: drawing application, presentation application, word processing application, website creation application, disk burning application, spreadsheet application, gaming application, telephony application programs, video conferencing applications, email applications, instant messaging applications, exercise support applications, photo management applications, digital camera applications, digital video camera applications, web browsing applications, digital music player applications, and and/or digital video player applications.

Various applications that can be executed on the terminal can use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal may be adjusted and/or changed between applications and/or within the respective applications. In this way, the common physical architecture (eg, touch-sensitive surface) of the terminal can support various applications with a user interface that is intuitive and transparent to the user.

It should be understood that the sequence numbers of the steps in this embodiment do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

Referring to FIG. 1 , FIG. 1 is a flowchart 1 of an ultrasonic stimulation method provided in an embodiment of the present application. As shown in Figure 1, a kind of ultrasonic stimulation method, this method comprises the following steps:

Step 101 , acquiring an ultrasound stimulation target volume of an organ.

The ultrasonic stimulation method is a means of peripheral nerve stimulation, which can be applied to peripheral nerve stimulation of different organs, including: heart, spleen, liver, pancreas, gallbladder, etc., to intervene related diseases by stimulating different organ targets.

As an optional embodiment, wherein, the ultrasonic stimulation target area of the harvested organ includes:

A three-dimensional guide map is established according to the medical image of the organ; based on an operation of selecting an area in the three-dimensional guide map, an ultrasonic stimulation target area of the organ is obtained.

Specifically, the medical image may be, for example, an ultrasound image, a magnetic resonance image, or a computerized tomography image. The device creates a three-dimensional guide map based on the medical image. function information, etc.) to determine the stimulation area, and implement an area selection operation, which includes but is not limited to: click operation in the three-dimensional guide map, drag operation, touch gesture combination operation on the display screen, etc.

Step 102, based on each stimulation detection point determined in the ultrasound stimulation target area, adjust the fixed position of the ultrasound transducer.

The ultrasonic transducer can convert the input electric power into ultrasonic waves and transmit them, and convert the received ultrasonic waves into electrical signals.

After the ultrasound stimulation target area is obtained based on the selection operation, the stimulation detection point in the target area can be determined on the basis of the ultrasound stimulation target area, and the stimulation detection point is at least one. The stimulation detection point is used for ultrasonic stimulation detection based on the fixed position adjustment of the ultrasonic transducer. When performing ultrasonic stimulation detection on different stimulation detection points, it is necessary to adjust the fixed position of the ultrasonic transducer based on the position of each stimulation detection point, so as to change the ultrasonic emission position of the ultrasonic transducer, and finally obtain the ultrasonic stimulation from the ultrasonic stimulation target area. Determine an optimal ultrasound stimulation target.

Specifically, it can be implemented that since medical imaging can observe the shape of organs, the three-dimensional fixation device of the ultrasonic transducer can be guided to move the ultrasonic transducer to the target area of stimulation (larger range), and for some targets there are fewer In the case of intervention, it is necessary to further search for the optimal stimulation target.

As an optional implementation manner, wherein, before determining the target stimulation target point from the stimulation detection points based on the stimulation feedback results of different ultrasonic stimulation at the fixed position, it also includes:

Controlling the ultrasonic transducer to emit ultrasonic waves at different fixed positions; receiving ultrasonic echoes reflected or scattered by the nerve tissue in different stimulation detection points; based on the ultrasonic echoes and correspondingly collected patient physiological data, obtaining different The stimulation feedback results of ultrasonic stimulation at the fixed position.

In the process of adjusting the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, each time the fixed position of the ultrasonic transducer is adjusted, the ultrasonic transducer will be controlled once. The device emits ultrasonic waves for ultrasonic stimulation, and realizes the emission of ultrasonic waves at different fixed positions for ultrasonic stimulation detection. At the same time, every time an ultrasonic wave is emitted at a fixed position, the corresponding ultrasonic echo and the corresponding physiological data of the patient will be collected, so as to realize the acquisition of the feedback information of the stimulation result of the ultrasonic stimulation at the current fixed position.

Among them, the ultrasonic echo can be used to realize the imaging display of the stimulated part after the stimulation, for the doctor or operator to observe, and to judge the stimulation result in combination with the corresponding collected physiological data of the patient.

Specifically, in the implementation process, when the ultrasonic transducer realizes ultrasonic stimulation, the ultrasonic stimulation parameters can be set through the electronic control system, including: ultrasonic frequency, pulse duration, fundamental wave frequency, fundamental wave number, pulse length, pulse number number, pulse repetition frequency, intensity, etc., the ultrasonic stimulation parameters can be based on the patient’s condition information (such as the type of patient’s disease, the severity of the condition, etc.), the pathological parameters of the organ where the stimulation detection point is located (such as the size of the organ, the depth of the etc.) to achieve certainty. When the ultrasound stimulation parameters are determined, ultrasound stimulation can be performed at different stimulation detection points.

Step 103, based on different stimulation feedback results of ultrasonic stimulation at the fixed positions, determine target stimulation targets from the stimulation detection points.

This process compares the stimulation feedback results of ultrasonic stimulation at different fixed positions, finds the stimulation feedback result with the best stimulation feedback result, and then obtains the best fixed position corresponding to the best stimulation feedback result, and the optimal fixed position The stimulus detection point corresponding to the position is determined as the target stimulus target point.

Specifically, the stimulation feedback results can be obtained through the monitoring of electrophysiological information, such as detecting physiological information such as EEG, ECG, EMG, heart rate, body temperature, blood oxygen, and blood oxygen saturation of patients after ultrasonic stimulation. Some information can be combined to realize the acquisition of stimulus feedback results.

Combined with stimulation feedback results, different fixed positions and modulation of stimulation detection points, closed-loop monitoring is realized, and the fixed position of the ultrasonic transducer is adjusted by using the fixing device, so as to search and determine the best precise stimulation target.

Step 104, based on the target stimulation target, perform an ultrasound stimulation operation.

When the target stimulation target is found, the target stimulation target can be used as the target for ultrasonic stimulation. The operation stimulation operation is specifically to control the ultrasound transducer to emit ultrasound toward the target stimulation target. Wherein, the target stimulation target corresponds to the optimal stimulation feedback effect. Or it corresponds to the stimulus feedback effect set by the operator and meets the set requirements.

Wherein, as an optional implementation manner, the ultrasonic stimulation operation based on the target stimulation target includes:

Acquire a target stimulation feedback result corresponding to the target stimulation target point; perform an ultrasonic stimulation operation at the target stimulation target point according to the ultrasonic stimulation parameters that achieve the target stimulation feedback result.

Ultrasonic stimulation is performed on the target stimulation target according to the ultrasonic stimulation parameters corresponding to the best stimulation feedback effect. It should be noted that this implementation manner can be set according to actual needs, and is not limited here.

The ultrasonic stimulation method in the embodiment of the present application obtains the ultrasonic stimulation target area of the organ, adjusts the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, and adjusts the fixed position of the ultrasonic transducer based on the ultrasonic stimulation at different fixed positions. According to the stimulation feedback results, the target stimulation target point is determined from the stimulation detection point, and the ultrasonic stimulation operation is performed. By adjusting the fixing device of the ultrasonic transducer, the stimulation detection point set in the ultrasonic stimulation target area is found to meet the requirements. The target stimulation target point is used to improve the convenience of finding the target point and improve the accuracy of the ultrasonic stimulation operation when the ultrasonic device is applied to the human trunk to perform nerve stimulation.

The embodiments of the present application also provide different implementations of the ultrasonic stimulation method.

Referring to FIG. 2 , FIG. 2 is a flowchart 2 of an ultrasonic stimulation method provided in an embodiment of the present application. As shown in Figure 2, a kind of ultrasonic stimulation method, this method comprises the following steps:

In step 201, the ultrasonic stimulation target area of an organ is obtained.

The ultrasonic stimulation method is a means of peripheral nerve stimulation, which can be applied to peripheral nerve stimulation of different organs, including: heart, spleen, liver, pancreas, gallbladder, etc., to intervene related diseases by stimulating different organ targets.

In addition, the specific implementation process of this step is the same as the implementation process of step 101 in the foregoing embodiments, and will not be repeated here to avoid content duplication.

Step 202, using the current coordinates in the ultrasonic stimulation target area as a reference point to establish a three-dimensional detection area with a specific shape.

In the process of adjusting the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, it is necessary to traverse the stimulation points in the ultrasonic stimulation target area. Specifically, a certain coordinate in the ultrasonic stimulation target area is used as a reference point, and a three-dimensional detection area corresponding to the coordinate is established, and an ergodic ultrasonic stimulation detection process of the detection points is performed in the three-dimensional detection area.

Wherein, the specific shape may be a cube, a cuboid, a sphere and the like.

Step 203, based on the three-dimensional detection area, control the fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area.

Wherein, the set geometric position point includes at least one of a vertex, a midpoint of a side, a midpoint of a plane, and a golden ratio point of a side in the three-dimensional detection area of a specific shape.

As shown in FIG. 3 , when the specific shape of the three-dimensional detection area is a regular cube, the set geometric position points are shown as black dots in the figure.

When performing traversal ultrasonic stimulation detection in the established three-dimensional detection area, it is necessary to control the fixing device of the ultrasonic transducer to move the ultrasonic transducer sequentially to realize the traversal operation process at the set geometric position point.

Specifically, as shown in FIG. 4 , the fixing device of the ultrasonic transducer includes: a first fixing rod X having the function of stretching along the first direction, a second fixing rod Y having the function of stretching along the second direction, and a second fixing rod Y having the function of stretching along the first direction The third fixed rod Z with telescopic function in three directions, wherein the first direction, the second direction and the third direction are perpendicular to each other, the first fixed rod X, the second fixed rod Y and the The third fixed rod Z is sequentially connected, and the ultrasonic transducer D is fixedly arranged on the first fixed rod X.

The first fixing rod X, the second fixing rod Y and the third fixing rod Z not only fix the ultrasonic transducer, but also realize the position adjustment of the ultrasonic transducer in three different directions.

The fixing device may also include a base C, and the third fixing rod Z is arranged on the base C to realize the overall structural stability of the fixing device.

Correspondingly, the fixing device for controlling the ultrasonic transducer sequentially moves the ultrasonic transducer to a set geometric position point in the three-dimensional detection area, including:

Based on the current coordinates in the ultrasonic stimulation target area, respectively determine the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area; map the three-dimensional position coordinates to the first fixed rod, the second fixed rod, The displacement distance of the second fixed rod and the third fixed rod; according to the displacement distance, adjust the first fixed rod, the second fixed rod and/or the third fixed rod to drive the ultrasonic transducer The detector moves to the set geometric position point in the three-dimensional detection area.

In this process, according to the relative position of the ultrasonic transducer and the ultrasonic stimulation target area, and in combination with the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area, the coordinates where the ultrasonic transducer should be placed are calculated.

Specifically, in this step, when the position of the ultrasonic transducer is adjusted through the fixing device of the ultrasonic transducer, after obtaining the position information of the stimulation target area according to the imaging, the ultrasonic transducer is designed to be fixed by the calculation of the positioning system. The effective distance between the position and the ultrasonic stimulation, obtain the fixed coordinates, realize the mapping of the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area to the displacement distance of the first fixed rod, the second fixed rod and the third fixed rod, and use the fixer Fix the ultrasound transducer.

In addition, it should be noted that, as shown in FIG. 4 , when adjusting the position of the ultrasonic transducer through the fixing device of the ultrasonic transducer, if there is a gap between the ultrasonic transducer and the surface of the human body, it is necessary to The connecting device B of corresponding size is matched between the ultrasonic transducer and the human body.

This situation may occur when the patient is lying on the bed A, after the height of the ultrasonic transducer is adjusted, there is a gap between the surface of the human body and the ultrasonic transducer, and the ultrasonic wave cannot penetrate the air. Device B, to achieve a fit with the surface of the human body. Specifically, the connecting device B can be embedded outside the ultrasonic transducer, and the connecting device is filled with a conventional sound-transparent coupling agent to ensure that the ultrasonic transmitting end of the ultrasonic transducer can be attached to the surface of the human body at any time.

In step 204, ultrasonic stimulation is performed at the set geometric position points respectively, and corresponding stimulation feedback results are obtained.

Specifically, the stimulation feedback results can be obtained through the monitoring of electrophysiological information, such as detecting physiological information such as EEG, ECG, EMG, heart rate, body temperature, blood oxygen, and blood oxygen saturation of patients after ultrasonic stimulation. Some information can be combined to realize the acquisition of stimulus feedback results.

Step 205, determining the target geometric position point corresponding to the target stimulus feedback result meeting the set condition in the stimulus feedback result as the current target stimulus target point.

The setting conditions are formulated in advance by doctors based on experience and actual conditions of patients. This step realizes the determination of the current target stimulation target point in the specific-shaped three-dimensional detection area established with the current coordinates as the reference point in the ultrasonic stimulation target area based on the stimulation feedback result.

Step 206, reset the current coordinates to the coordinates of the next point in the ultrasonic stimulation target area.

After the execution of this step is completed, it is necessary to return to step 202, and use the current coordinates in the ultrasonic stimulation target area as a reference point to establish a three-dimensional detection area of a specific shape until all the current target stimulation target points are generated. Identify a target stimulus of interest that meets the set conditions.

Wherein, the next position point involved in step 206 is one of the planned multiple position points in the ultrasonic stimulation target area, and the planned multiple position points in the ultrasonic stimulation target area can be continuous or discrete. can be set according to actual needs.

The above-mentioned processing process realizes that based on the ultrasound stimulation target area, the current target stimulation target points are respectively found from the three-dimensional detection areas established with different reference points, and then among all the generated current target stimulation target points, one that meets the set conditions is determined. The target stimulation target can be used to determine the final optimal stimulation target.

Step 207: Perform an ultrasound stimulation operation based on the target stimulation target.

In the process of implementing ultrasound stimulation, non-invasive ultrasound is used to accurately stimulate peripheral nerve targets in organs and other locations, and to achieve intervention in patients' diseases by regulating peripheral nerves. In the process of peripheral nerve regulation, feedback from monitoring can be used to quickly adjust Treatment options to better improve the disease.

The specific implementation process of this step is the same as the implementation process of step 104 in the foregoing embodiments, and will not be repeated here to avoid content duplication.

The ultrasonic stimulation method in the embodiment of the present application obtains the ultrasonic stimulation target area of the organ, adjusts the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, and adjusts the fixed position of the ultrasonic transducer based on the ultrasonic stimulation at different fixed positions. According to the stimulation feedback results, the target stimulation target point is determined from the stimulation detection point, and the ultrasonic stimulation operation is performed. By adjusting the fixing device of the ultrasonic transducer, the stimulation detection point set in the ultrasonic stimulation target area is found to meet the requirements. The target stimulation target point is used to improve the convenience of finding the target point and improve the accuracy of the ultrasonic stimulation operation when the ultrasonic device is applied to the human trunk to perform nerve stimulation.

Referring to FIG. 5, FIG. 5 is a structural diagram of an ultrasonic stimulation device provided in an embodiment of the present application. For convenience of description, only parts related to the embodiment of the present application are shown.

The ultrasonic stimulation device 300 includes: a target area acquisition module 301 , a position adjustment module 302 , a target point determination module 303 and an ultrasonic stimulation module 304 .

A target area acquisition module 301, configured to acquire an ultrasonic stimulation target area of an organ;

A position adjustment module 302, configured to adjust the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area;

A target point determination module 303, configured to determine the target stimulation target point from the stimulation detection points based on different stimulation feedback results of ultrasonic stimulation at the fixed position;

The ultrasonic stimulation module 304 is configured to perform an ultrasonic stimulation operation based on the target stimulation target.

Wherein, the position adjustment module 302 includes:

The region creation submodule is used to establish a three-dimensional detection region of a specific shape by taking the current coordinates in the ultrasonic stimulation target region as a reference point;

The control submodule is configured to control the fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area.

Wherein, the target determination module 303 is specifically used for:

performing ultrasonic stimulation at the set geometric position points respectively, and obtaining corresponding stimulation feedback results;

Determining the target geometric position point corresponding to the target stimulus feedback result meeting the set conditions in the stimulus feedback result as the current target stimulus target point;

Resetting the current coordinates to the coordinates of the next position point in the ultrasonic stimulation target area, and returning to the execution of the step of using the current coordinates in the ultrasonic stimulation target area as a reference point to establish a three-dimensional detection area of a specific shape Step until one of the target stimulation targets meeting the set conditions is determined among all the generated current target stimulation targets.

Wherein, the fixing device of the ultrasonic transducer includes: a first fixing rod with a function of stretching in a first direction, a second fixing rod with a function of stretching in a second direction, and a third fixing rod with a function of stretching in a third direction Rod, wherein the first direction, the second direction and the third direction are perpendicular to each other, the first fixed rod, the second fixed rod and the third fixed rod are connected in sequence, and the ultrasonic The transducer is fixedly arranged on the first fixing rod.

Wherein, the control submodule is specifically used for:

Based on the current coordinates in the ultrasonic stimulation target area, respectively determine the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area;

mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod, and the third fixed rod;

According to the displacement distance, adjust the first fixed rod, the second fixed rod and/or the third fixed rod to drive the ultrasonic transducer to move to the setting in the three-dimensional detection area point at the geometric location.

Wherein, the set geometric position point includes at least one of a vertex, a midpoint of a side, a midpoint of a plane, and a golden ratio point of a side in the three-dimensional detection area of a specific shape.

Wherein, the ultrasonic stimulation module is specifically used to: obtain the target stimulation feedback result corresponding to the target stimulation target; perform ultrasonic stimulation at the target stimulation target according to the ultrasonic stimulation parameters that achieve the target stimulation feedback result. stimulus operation.

Wherein, the target area acquisition module 301 is specifically configured to: establish a three-dimensional guidance map according to the medical image of the organ; and obtain an ultrasonic stimulation target area of the organ based on an operation of selecting an area in the three-dimensional guidance map.

The device also includes: a control module, a receiving module and a result obtaining module.

The control module is used to control the ultrasonic transducer to emit ultrasonic waves at different fixed positions;

A receiving module, configured to receive ultrasonic echoes reflected or scattered by nerve tissues in different stimulation detection points;

The result obtaining module is configured to obtain stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and correspondingly collected physiological data of the patient.

The ultrasonic stimulation device in the embodiment of the present application obtains the ultrasonic stimulation target area of the organ, adjusts the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area, and adjusts the fixed position of the ultrasonic transducer based on the ultrasonic stimulation at different fixed positions. According to the stimulation feedback results, the target stimulation target point is determined from the stimulation detection point, and the ultrasonic stimulation operation is performed. By adjusting the fixing device of the ultrasonic transducer, the stimulation detection point set in the ultrasonic stimulation target area is found to meet the requirements. The target stimulation target point is used to improve the convenience of finding the target point and improve the accuracy of the ultrasonic stimulation operation when the ultrasonic device is applied to the human trunk to perform nerve stimulation.

The ultrasonic stimulation device provided in the embodiment of the present application can realize the various processes of the above-mentioned ultrasonic stimulation method embodiment, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

FIG. 6 is a structural diagram of a terminal provided by an embodiment of the present application. As shown in the figure, the terminal 4 of this embodiment includes: a processor 40 , a memory 41 and a computer program 42 stored in the memory 41 and executable on the processor 40 .

Exemplarily, the computer program 42 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete this application. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the terminal 4 . For example, the computer program 42 can be divided into a target area acquisition module, a position adjustment module, a target point determination module, an ultrasound stimulation module, a control module, a receiving module and a result acquisition module. The specific functions of each module are as follows:

The target area acquisition module is used to acquire the ultrasonic stimulation target area of the organ;

A position adjustment module, configured to adjust the fixed position of the ultrasonic transducer based on each stimulation detection point determined in the ultrasonic stimulation target area;

A target point determination module, configured to determine a target stimulation target point from the stimulation detection points based on different stimulation feedback results of ultrasonic stimulation at the fixed position;

The ultrasound stimulation module is configured to perform ultrasound stimulation operations based on the target stimulation target.

Among them, the position adjustment module includes:

The region creation submodule is used to establish a three-dimensional detection region of a specific shape by taking the current coordinates in the ultrasonic stimulation target region as a reference point;

The control submodule is configured to control the fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection area based on the three-dimensional detection area.

Wherein, the target determination module is specifically used for:

performing ultrasonic stimulation at the set geometric position points respectively, and obtaining corresponding stimulation feedback results;

Determining the target geometric position point corresponding to the target stimulus feedback result meeting the set conditions in the stimulus feedback result as the current target stimulus target point;

Resetting the current coordinates to the coordinates of the next position point in the ultrasonic stimulation target area, and returning to the execution of the step of using the current coordinates in the ultrasonic stimulation target area as a reference point to establish a three-dimensional detection area of a specific shape Step until one of the target stimulation targets meeting the set conditions is determined among all the generated current target stimulation targets.

Wherein, the fixing device of the ultrasonic transducer includes: a first fixing rod with a function of stretching in a first direction, a second fixing rod with a function of stretching in a second direction, and a third fixing rod with a function of stretching in a third direction Rod, wherein the first direction, the second direction and the third direction are perpendicular to each other, the first fixed rod, the second fixed rod and the third fixed rod are connected in sequence, and the ultrasonic The transducer is fixedly arranged on the first fixing rod.

Wherein, the control submodule is specifically used for:

Based on the current coordinates in the ultrasonic stimulation target area, respectively determine the three-dimensional position coordinates of the set geometric position points in the three-dimensional detection area;

mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod, and the third fixed rod;

According to the displacement distance, adjust the first fixed rod, the second fixed rod and/or the third fixed rod to drive the ultrasonic transducer to move to the setting in the three-dimensional detection area point at the geometric location.

Wherein, the set geometric position point includes at least one of a vertex, a midpoint of a side, a midpoint of a plane, and a golden ratio point of a side in the three-dimensional detection area of a specific shape.

Wherein, the ultrasonic stimulation module is specifically used to: obtain the target stimulation feedback result corresponding to the target stimulation target; perform ultrasonic stimulation at the target stimulation target according to the ultrasonic stimulation parameters that achieve the target stimulation feedback result. stimulus operation.

Wherein, the target region acquisition module is specifically configured to: establish a three-dimensional guidance map according to the medical image of the organ; and obtain an ultrasonic stimulation target region of the organ based on an operation of selecting an area in the three-dimensional guidance map.

The device also includes: a control module, a receiving module and a result obtaining module.

The control module is used to control the ultrasonic transducer to emit ultrasonic waves at different fixed positions;

A receiving module, configured to receive ultrasonic echoes reflected or scattered by nerve tissues in different stimulation detection points;

The result obtaining module is configured to obtain stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and correspondingly collected physiological data of the patient.

The terminal 4 may include, but not limited to, a processor 40 and a memory 41 . Those skilled in the art can understand that FIG. 6 is only an example of the terminal 4 and does not constitute a limitation on the terminal 4. It may include more or less components than shown in the figure, or combine some components, or different components, such as The terminal may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 40 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The memory 41 may be an internal storage unit of the terminal 4 , such as a hard disk or memory of the terminal 4 . The memory 41 can also be an external storage device of the terminal 4, such as a plug-in hard disk equipped on the terminal 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card (Flash Card), etc. Wherein, the memory 41 may also include both an internal storage unit of the terminal 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the terminal. The memory 41 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments in the present application can also be completed by instructing related hardware through computer programs. The computer programs can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable Excludes electrical carrier signals and telecommunication signals.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (12)

1. An ultrasound stimulation method, comprising:

Acquiring an ultrasonic stimulation target area of an organ;

adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;

Determining a target stimulation target point from the stimulation probe points based on stimulation feedback results of the ultrasonic stimulation at different fixed positions;

And executing ultrasonic stimulation operation based on the target stimulation target point.

2. The ultrasound stimulation method according to claim 1, wherein said adjusting the fixed position of the ultrasound transducer based on each stimulation probe determined in said ultrasound stimulation target area comprises:

establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point;

And controlling a fixing device of the ultrasonic transducer to sequentially move the ultrasonic transducer to a set geometric position point in the three-dimensional detection region based on the three-dimensional detection region.

3. The ultrasonic stimulation method of claim 2,

The determining a target stimulation target point from the stimulation probe points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions comprises:

respectively carrying out ultrasonic stimulation on the set geometric position points, and acquiring corresponding stimulation feedback results;

determining a target geometric position point corresponding to a target stimulation feedback result meeting set conditions in the stimulation feedback result as a current target stimulation target point;

resetting the current coordinate to the coordinate of the next position point in the ultrasonic stimulation target area, and returning to execute the step of establishing a three-dimensional detection area with a specific shape by taking the current coordinate in the ultrasonic stimulation target area as a reference point until one target stimulation target point meeting set conditions is determined in all the generated current target stimulation target points.

4. The ultrasound stimulation method of claim 2, wherein the ultrasound transducer securing means comprises: the ultrasonic transducer comprises a first fixing rod with a function of stretching along a first direction, a second fixing rod with a function of stretching along a second direction and a third fixing rod with a function of stretching along a third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, the first fixing rod, the second fixing rod and the third fixing rod are sequentially connected, and the ultrasonic transducer is fixedly arranged on the first fixing rod.

5. the ultrasonic stimulation method of claim 4,

The fixing device for controlling the ultrasonic transducer sequentially moves the ultrasonic transducer to a set geometric position point in the three-dimensional detection region, and the method comprises the following steps:

Respectively determining three-dimensional position coordinates of the set geometric position points in the three-dimensional detection region based on current coordinates in the ultrasonic stimulation target region;

mapping the three-dimensional position coordinates to displacement distances of the first fixed rod, the second fixed rod and the third fixed rod;

and adjusting the first fixing rod, the second fixing rod and/or the third fixing rod according to the displacement distance to drive the ultrasonic transducer to move to the set geometric position point in the three-dimensional detection region.

6. The ultrasonic stimulation method according to claim 2, wherein the set geometrical position points include at least one of a vertex, a midpoint of an edge, a midpoint of a plane, and a golden ratio division point of an edge in the three-dimensional detection region of a specific shape.

7. The ultrasound stimulation method according to claim 1, wherein the performing an ultrasound stimulation operation based on the target stimulation target comprises:

Obtaining a target stimulation feedback result corresponding to the target stimulation target point;

Performing an ultrasound stimulation operation at the target stimulation target point in accordance with the ultrasound stimulation parameters that achieve the target stimulation feedback result.

8. The ultrasound stimulation method according to claim 1, wherein acquiring the ultrasound stimulation target area of the organ comprises:

Establishing a three-dimensional guide map according to the medical image of the organ;

and acquiring an ultrasonic stimulation target area of the organ based on the selection operation of the area in the three-dimensional guide map.

9. The ultrasonic stimulation method of claim 1,

Before the stimulation feedback result based on the ultrasonic stimulation at different fixed positions is used for determining the target stimulation target point from the stimulation detection points, the method further comprises the following steps:

controlling an ultrasonic transducer to emit ultrasonic waves at different fixed positions;

Receiving ultrasonic echoes reflected or scattered by neural tissue in different ones of the stimulation probe points;

And acquiring stimulation feedback results of ultrasonic stimulation at different fixed positions based on the ultrasonic echoes and the correspondingly acquired physiological data of the patient.

10. An ultrasonic stimulation device, comprising:

An acquisition module for acquiring an ultrasound stimulation target area of an organ;

A position adjustment module for adjusting a fixed position of an ultrasound transducer based on each stimulation probe determined from the ultrasound stimulation target area;

the target point determining module is used for determining a target stimulation target point from the stimulation detection points based on the stimulation feedback results of the ultrasonic stimulation at different fixed positions;

and the ultrasonic stimulation module is used for executing ultrasonic stimulation operation based on the target stimulation target point.

11. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 9.