CN113456032A - Sector scanning magnetoacoustic-electric imaging device and method based on ultrasonic excitation - Google Patents
Sector scanning magnetoacoustic-electric imaging device and method based on ultrasonic excitation Download PDFInfo
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Abstract
本发明涉及一种基于超声激励的扇形扫描磁声电成像装置与方法，包括成像装置和图像重建模块，成像装置对待测生物组织进行激励，将采集到的磁声电信号直接传输给图像重建模块，经图像重建模块进行处理后得到待测物体的电导率图像；所述的成像装置包括声场激励模块、磁场激励模块和信号检测模块；所述图像重建模块根据信号采集电路采集到的经二级放大和滤波后的待测生物组织的磁声电电压信号，进行电导率分布的重建。本发明的方法和装置基于扫描参考点在待测目标外部和扫描角度小于180°的方法，能在保证成像质量的前提下，压缩扫描时间，简化操作流程。
The invention relates to a sector scanning magneto-acoustic-electric imaging device and method based on ultrasonic excitation, comprising an imaging device and an image reconstruction module. The imaging device excites the biological tissue to be tested, and directly transmits the collected magneto-acoustic and electric signals to the image reconstruction module , the conductivity image of the object to be measured is obtained after being processed by the image reconstruction module; the imaging device includes a sound field excitation module, a magnetic field excitation module and a signal detection module; the image reconstruction module is based on the secondary data collected by the signal acquisition circuit The amplified and filtered magneto-acoustic-electrical voltage signal of the biological tissue to be tested is used to reconstruct the conductivity distribution. Based on the method that the scanning reference point is outside the target to be measured and the scanning angle is less than 180°, the method and device of the present invention can compress the scanning time and simplify the operation process on the premise of ensuring the imaging quality.
Description
Technical Field
The invention relates to a magnetoacoustic-electric imaging device and a magnetoacoustic-electric imaging method, in particular to a sector scanning magnetoacoustic-electric imaging device and a sector scanning magnetoacoustic-electric imaging method based on ultrasonic excitation.
Background
The electrical impedance imaging has the technical advantages of imaging through the electrical characteristics of tissues, nondestructive imaging and functional imaging, is a new generation of medical imaging technology after morphological and structural imaging, has important value for life science research and early diagnosis of diseases, particularly cancers, and provides a brand new diagnosis method for clinical medicine. When the biological tissue is diseased, the morphological structure of the biological tissue is not changed too much in the early stage, but the charge quantity carried by various chemical substances in the biological tissue, namely the charge space distribution, is changed greatly, and macroscopically, the change is shown as the change of the electrical characteristics of the diseased tissue including electrical impedance, electrical conductivity and dielectric constant, so that the early diagnosis of diseases can be realized by imaging the electrical characteristics of the diseased tissue, and the effect of early treatment can be achieved. In 2008, according to the detection results before and after the treatment of one mouse subcutaneous lymphoma published by Nature review, the structure of a lesion tissue is not obviously changed, but the electrical property of the lesion tissue is obviously changed after the number of tumor cells is obviously reduced, which further proves that the electrical property of the tissue is obviously changed earlier than the shape and structure of the tissue in the process of generating and developing the tumor.
In 2008, a magnetoacoustic-electrical imaging method based on an electrical impedance imaging theory and an ultrasonic imaging theory is proposed for the first time, and with the increasing development of an imaging technology and the urgent need of a novel medical imaging technology, the imaging method receives more and more attention. As a new electrical impedance imaging technology, the magnetoacoustic-electrical imaging technology can quantitatively measure the electrical conductivity of tissues and has the characteristics of high contrast of electrical impedance imaging and high resolution of ultrasonic imaging. In 2008, L Kunyansky, C P Ingram and R S Witte experimentally and theoretically verify the feasibility of rotating magnetoacoustic tomography (MAET), in 2021, Tong Sun et al propose the amplification of fast rotating magnetoacoustic tomography based on a plane wave filtering back projection algorithm, and Shenzhen university Chengxi et al also propose a magnetoacoustic tomography image reconstruction method and system in patent CN 111505107A. It can be found that: the imaging of a similar imaging device is complex, the magnetoacoustic-electric imaging method can realize the imaging of the electrical parameters of the target to be detected only by scanning 360 degrees by taking the physical center of the target to be detected as a reference point, the required scanning detection time is long, the operation is complex, and the requirements of modern practical clinical medical application are difficult to meet.
Disclosure of Invention
The invention aims to overcome the defect that the existing magnetic acoustic electro-imaging method needs to take the physical center of a target to be detected as a reference point and carry out 360-degree scanning to obtain electrical parameters for imaging, compress scanning time and simplify operation flow on the premise of ensuring imaging quality, and provides a sector scanning magnetic acoustic electro-imaging device and method based on ultrasonic excitation based on a method that the scanning reference point is outside the target to be detected and the scanning angle is less than 180 degrees.
The invention relates to a sector scanning magneto-acoustic-electric imaging device based on ultrasonic excitation, which comprises an imaging device and an image reconstruction module. The imaging device excites the biological tissue to be detected, the collected magnetoacoustic electrical signals are directly transmitted to the image reconstruction module, and the conductivity image of the object to be detected is obtained after the acquired magnetoacoustic electrical signals are processed by the image reconstruction module.
The imaging device comprises a sound field excitation module, a magnetic field excitation module and a signal detection module. The sound field excitation module generates a sound field excitation source, namely ultrasonic waves. Because the ultrasonic wave can be quickly attenuated in the air, in order to reduce the attenuation and better couple with the biological tissue to be detected, the coupling water sac is added in the subsequent process, and the coupling water sac is completely contacted with the acoustic field excitation module, so that the aim of reducing the attenuation of the ultrasonic wave is fulfilled. The magnetic field excitation module generates a static magnetic field, and is suitable for both a uniform magnetic field and a non-uniform magnetic field. The biological tissue to be detected is excited by ultrasonic waves and can vibrate to cut the magnetic induction lines and generate the live source current, and the signal detection module collects the live source current and converts the live source current into a magnetoacoustic-electric voltage signal.
The sound field excitation module comprises an ultrasonic driving excitation source, an ultrasonic transducer and a coupling water sac. One end of the ultrasonic transducer is connected with an ultrasonic driving excitation source, and the other end of the ultrasonic transducer is directly contacted with the coupling water sac. The ultrasonic driving excitation source is a voltage source signal, is conducted to the ultrasonic transducer through the transmission line, and emits ultrasonic waves through the ultrasonic transducer. The coupling water bag is filled with medium water and filled in a space between the ultrasonic transducer and the biological tissue to be detected so as to reduce the attenuation of ultrasonic waves and enable the ultrasonic waves to act on the biological tissue to be detected.
Alternatively, the excitation signal that the ultrasonic drive excitation source may generate includes, but is not limited to, a pulsed excitation signal, a continuous wave frequency modulated signal, and a specially modulated excitation signal.
Alternatively, the ultrasonic transducer may be selected from an ultrasonic transducer array and a single ultrasonic transducer. The ultrasonic energy conversion arrays are arranged in a fan shape to realize excitation at different angles, and the spacing angles among different ultrasonic energy converters can be fixed or unfixed; the single ultrasonic transducer controls the emitting angle through rotation to realize excitation of a large angle.
The magnetic field excitation module adopts an open magnet structure and is placed around the biological tissue to be detected to generate a static magnetic field. Specifically, permanent magnets, electromagnets, and superconducting magnets are suitable, and uniform magnetic fields and non-uniform magnetic fields are suitable.
The signal detection module consists of a signal detection electrode, a preposed signal amplification circuit, a signal filter circuit, a postposed signal amplification circuit and a signal acquisition circuit. After being excited by a sound field and a magnetic field, a target tissue to be detected can generate weak motional current, a signal detection electrode is in direct contact with a biological tissue to be detected so as to detect the motional current, a detected signal is transmitted to a preposed signal amplification circuit for amplification, the amplified signal is transmitted to a signal filter circuit so as to filter out noise in the signal, the signal with the noise filtered out is transmitted to a postposition signal amplification circuit for secondary amplification, the signal acquisition circuit is convenient for acquisition, the signal after the secondary amplification is transmitted to a signal acquisition circuit for acquisition, and the signal acquisition circuit transmits the acquired signal to an image reconstruction module.
Alternatively, the detection electrode may be a metal electrode, such as a red copper or brass electrode, or a spent polarization electrode, such as an Ag-AgCl (silver-silver chloride) electrode.
Alternatively, the signal filtering circuit may use a filtering circuit including, but not limited to, a butterworth filter, an FIR filter, a wiener filter, and an adaptive filter.
And the image reconstruction module is used for reconstructing the conductivity distribution according to the magnetoacoustic-electric voltage signal of the biological tissue to be detected, which is acquired by the signal acquisition circuit and subjected to secondary amplification and filtering.
According to another aspect of the invention, the sector scanning magnetoacoustic-electric imaging method based on ultrasonic excitation specifically comprises the following steps:
step 1, an ultrasonic driving excitation source of a sound field excitation module generates an excitation signal to act on an ultrasonic transducer, and the ultrasonic transducer is coupled with a biological tissue to be detected through a coupling water sac;
step 2, the ultrasonic transducer emits ultrasonic waves to excite the biological tissue to be detected, so that the biological tissue to be detected generates vibration;
step 3, the magnetic field excitation module generates a static magnetic field in the biological tissue area to be detected, and the ions vibrating in the biological tissue to be detected are deflected under the action of Lorentz force under the action of the magnetic field, so that positive and negative charges or ions are separated and concentrated, a local electric field is formed in the biological tissue to be detected, and local bioelectric current is generated;
step 4, the signal detection electrode is directly contacted with the biological tissue to be detected, the bioelectric current is measured, is acquired by a signal acquisition circuit after being subjected to pre-amplification, filtering treatment and post-arrangement methods, and then is transmitted to an image reconstruction module;
and 5, processing by an image reconstruction module according to known static magnetic field distribution information generated by the magnetic field excitation module and the magneto-acoustic-electric voltage signal acquired by the signal acquisition circuit by adopting an image reconstruction algorithm to realize the reconstruction of the conductivity distribution of the biological tissue to be detected.
Further, the specific implementation process of the image reconstruction module is as follows:
step 5.1, constructing a voltage matrix according to the collected magneto-acoustic-electric voltage signals, wherein rows represent voltage values at different positions at the same time, and columns represent voltage values at different positions at different times;
step 5.2, according to the voltage matrix, deduction is carried out according to a reciprocity theorem, and the voltage matrix is degenerated into a matrix which only takes the position as a variable and is called a reciprocity current density matrix;
step 5.3, deducing a conductivity matrix according to the reciprocal current density matrix, namely, representing the numerical values of the conductivity at different positions, and performing reconstruction calculation by using various iterative algorithms including least square method iteration and Gaussian-Newton error method iteration;
and 5.4, reconstructing a conductivity distribution image according to the conductivity matrix.
According to the sound pressure-vibration velocity coupling equation, the vibration velocity of the vibration ions at each position in the biological tissue to be detected can be conveniently calculated, and a vibration velocity matrix is obtained; the static magnetic field generated by the magnetic field excitation module around the biological tissue to be detected is only a matrix with the position as a variable, which is called a magnetic field matrix; and then, by combining the voltage matrix obtained in step 1 and applying the reciprocity theorem to perform matrix operation, the average current density of the current density distribution at the biological tissue to be measured can be obtained more conveniently, namely, the current density is degenerated into a current density matrix which only takes the position as a variable, and the current density matrix is called a reciprocity current density matrix.
In case the reciprocal current density vector and the reciprocal electric field strength vector are known, the conductivity can be reconstructed by an iterative method. Specifically, the two-dimensional imaging area can be discretized into M rows and N columns of small rectangular units, the conductivity is considered to be uniform in each small rectangular area, then a target functional is established, and the problem of conductivity reconstruction is changed into the problem of finding the optimal conductivity combination, so that only a conductivity matrix which enables the established target functional to obtain the minimum value needs to be solved. Therefore, a target error is set according to the obtained reciprocal current density matrix and a reciprocal electric field intensity matrix obtained by solving the gradient of the voltage matrix, and iterative calculation is carried out by using various algorithms including least square method iteration and Gauss-Newton error method iteration, so that the conductivity matrix meeting the target precision is finally obtained.
Has the advantages that:
the method and the device of the invention are based on the method that the scanning reference point is outside the target to be measured and the scanning angle is less than 180 degrees, and can compress the scanning time and simplify the operation flow under the premise of ensuring the imaging quality.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the method and the specific apparatus involved are briefly described in the following figures, which are needed for the embodiments, and it is obvious that the following figures are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain some other figures according to the figures without inventive work.
FIG. 1 is a schematic diagram of the components of a sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation;
FIG. 2 is a schematic diagram of a work flow of an image reconstruction module of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention;
FIG. 3 is a schematic diagram of a specific implementation of P1 in the workflow of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention;
FIG. 4 is a schematic diagram of a specific implementation of P2 in the workflow of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention;
FIG. 5 is a schematic diagram of an embodiment of an ultrasonic transducer array employed by a sector scanning magnetoacoustic-electronic imaging device based on ultrasonic excitation according to the present invention;
FIG. 6 is a schematic diagram of an embodiment of a sector scanning magnetoacoustic-electroimaging apparatus based on ultrasonic excitation according to the present invention using a single ultrasonic transducer;
in the figure, an A1 ultrasonic driving excitation source, an A2 ultrasonic transducer, an A2a ultrasonic transducer array, an A2b single ultrasonic transducer, an A3 coupling water sac, an A4 magnetic field excitation module, an A5 biological tissue to be detected, an A6 signal detection electrode, an A7 front signal amplification circuit, an A8 signal filter circuit, an A9 rear signal amplification circuit, an A10 signal acquisition circuit, an A11 image reconstruction module, a 0 scanning reference point, a process from a P1 voltage matrix to a reciprocity current density matrix, and a process from a P2 reciprocity current density matrix to a conductivity matrix.
Detailed Description
The technical solutions related to the present invention will be clearly, specifically and completely described below with reference to the accompanying drawings and the detailed description of the embodiments of the present invention. It should be apparent that the embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by the person skilled in the art from the embodiments described below without inventive step are within the scope of protection of the present invention.
The invention aims to provide a sector scanning magnetoacoustic-electric imaging device and method based on ultrasonic excitation, which can overcome the defect that the conventional magnetoacoustic-electric imaging method needs to take the physical center of a target to be detected as a reference point and carry out 360-degree scanning to obtain electric parameters for imaging, and compress scanning time and simplify the operation flow on the premise of ensuring the imaging quality according to the conventional magnetoacoustic-electric imaging theory, and the scanning reference point is arranged outside the target body to be detected, and the scanning angle is less than 180 degrees.
The invention discloses a sector scanning magneto-acoustic-electric imaging system based on ultrasonic excitation. The imaging device excites the biological tissue to be detected, the collected magnetoacoustic electrical signals are directly transmitted to an image reconstruction module A11, and the conductivity image of the object to be detected is obtained after the acquired magnetoacoustic electrical signals are processed by the image reconstruction module.
FIG. 1 is a schematic diagram of the components of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention:
the imaging device comprises a sound field excitation module, a magnetic field excitation module and a signal detection module. The sound field excitation module generates a sound field excitation source, namely ultrasonic waves. The magnetic field excitation module a4 generates a static magnetic field. The biological tissue A5 to be tested is excited by ultrasonic waves and generates a live source current under the action of a static magnetic field. The signal detection module actively collects the live source current, the live source current is transmitted to the image reconstruction module after being processed, and the reconstruction of the conductivity distribution of the biological tissue to be detected is realized according to the voltage signal.
The sound field excitation module comprises an ultrasonic drive excitation source A1, an ultrasonic transducer A2 and a coupling water sac A3; one end of the ultrasonic transducer A2 is connected with the ultrasonic driving excitation source A1, and the other end is in direct contact with the coupling water sac A3. The ultrasonic driving excitation source is a voltage source and is conducted to the ultrasonic transducer A2 through a transmission line, so that the ultrasonic transducer A2 is excited to emit ultrasonic waves. The coupling water sac A3 is filled with medium water and filled in the space between the ultrasonic transducer A2 and the biological tissue A5 to be measured, so as to reduce the attenuation of ultrasonic waves, and the ultrasonic waves can act on the biological tissue to be measured.
The magnetic field excitation module A4 adopts an open magnet structure and is placed around the biological tissue A5 to be detected to generate a static magnetic field. Specifically, permanent magnets, electromagnets, and superconducting magnets are suitable, and uniform magnetic fields and non-uniform magnetic fields are suitable.
The signal detection module comprises a signal detection electrode A6, a preposed signal amplifying circuit A7, a signal filtering circuit A8, a postposition signal amplifying circuit A9 and a signal acquisition circuit A10; the signal detection electrode A6 directly contacts with a biological tissue A5 to be detected, the other end of the signal detection electrode A6 is connected with the input end of a preposed signal amplifying circuit A7, the output end of the preposed signal amplifying circuit A7 is connected with the input end of a signal filtering circuit A8, the output end of the signal filtering circuit A8 is connected with the input end of a post signal amplifying circuit A9, the output end of the post signal amplifying circuit A9 is connected with the input end of a signal acquisition circuit A10, and the output end of the signal acquisition circuit A10 is connected with an image reconstruction module A11. Specifically, the signal detection electrode a6 directly contacts with the biological tissue a5 to be detected, so as to detect a voltage signal on the surface of the biological tissue a5 to be detected, the detected signal is transmitted to the preposed signal amplification circuit a7 to be amplified, the amplified signal is transmitted to the signal filter circuit A8 to filter out noise in the signal, the signal with the noise removed is transmitted to the post-signal amplification circuit a9 to be secondarily amplified, so that the signal acquisition circuit a10 can conveniently acquire the signal, the secondarily amplified signal is transmitted to the signal acquisition circuit a10 to be acquired, and the signal acquisition circuit a10 transmits the acquired signal to the image reconstruction module a 11.
The image reconstruction module A11 reconstructs the conductivity distribution of the biological tissue A5 according to the magnetoacoustic-electric voltage signals of the biological tissue to be detected, which are acquired by the signal acquisition circuit A10 and amplified by the prepositive signal amplification circuit A7, the signal filter circuit A8 and the postpositive signal amplification circuit A9.
The invention relates to a sector scanning magneto-acoustic-electric imaging device and method based on ultrasonic excitation, which comprises the following specific working processes:
the ultrasonic driving excitation source A1 of the sound field excitation module generates an excitation signal to act on the ultrasonic transducer A2, and the ultrasonic transducer A2 is coupled with the biological tissue A5 to be detected through the coupling water sac A3. The ultrasonic transducer A2 emits ultrasonic waves to excite the biological tissue A5 to be detected, so that the biological tissue A5 to be detected generates vibration. The magnetic field excitation module A4 generates a static magnetic field in the biological tissue A5 area to be detected, ions vibrating in the biological tissue A5 to be detected can deflect under the action of Lorentz force under the action of the magnetic field, and then positive and negative charges or ions are separated and concentrated, so that a local electric field is formed in the biological tissue A5 to be detected, and local biological current is generated. The signal detection electrode A6 directly contacts with a biological tissue A5 to be detected, the biological current is measured, the biological current is amplified by the preposed signal amplifying circuit A7, filtered by the signal filtering circuit A8 and amplified by the postposition signal amplifying circuit A9, and then is acquired by the signal acquisition circuit A10 and then is transmitted to the image reconstruction module A11. The image reconstruction module A11 adopts an image reconstruction algorithm to process according to known static magnetic field distribution information generated by the magnetic field excitation module A4 and magneto-acoustic-electric voltage signals acquired by the signal acquisition circuit A10, so as to realize the reconstruction of the conductivity distribution of the biological tissue A5 to be detected.
As shown in fig. 2, a schematic working flow diagram of an image reconstruction module of a sector scanning magnetoacoustic-electrical imaging apparatus based on ultrasonic excitation according to the present invention is shown, where the specific implementation flow of the image reconstruction module a11 is as follows:
1. constructing a voltage matrix according to the acquired magneto-acoustic-electric voltage signals, wherein rows represent voltage values at different positions at the same time, and columns represent voltage values at different positions at different times;
2. according to the voltage matrix obtained in step 1, deduction is carried out according to a reciprocity theorem, and the matrix is degenerated into a matrix which only takes the position as a variable and is called a reciprocity current density matrix;
3. deriving a conductivity matrix according to the reciprocal current density matrix obtained in step 2, namely, deriving numerical values of conductivity at different positions, specifically, performing reconstruction calculation by using an algorithm including a least square method and a Gaussian-Newton error method;
4. and (4) reconstructing a conductivity distribution image according to the conductivity matrix obtained in the step (3).
As shown in fig. 3, a specific implementation diagram of P1 in the workflow of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention is shown:
the specific implementation method of the process P1 of calculating the reciprocal current density matrix from the voltage matrix is as follows: according to a sound pressure-vibration velocity coupling equation, the vibration velocity of vibration ions at each position in the biological tissue to be detected can be conveniently calculated, and a vibration velocity matrix is obtained; the static magnetic field generated by the magnetic field excitation module around the biological tissue to be detected is only a matrix with the position as a variable, which is called a magnetic field matrix; and then, by combining the voltage matrix obtained in step 1 and applying the reciprocity theorem to perform matrix operation, the average current density of the current density distribution at the biological tissue to be measured can be obtained more conveniently, namely, the current density is degenerated into a current density matrix which only takes the position as a variable, and the current density matrix is called a reciprocity current density matrix.
As shown in fig. 4, a specific implementation diagram of P2 in the workflow of the sector scanning magnetoacoustic-electric imaging device based on ultrasonic excitation according to the present invention is as follows:
the specific implementation method of the process P2 for calculating the conductivity matrix from the reciprocal current density matrix is as follows: in case the reciprocal current density vector and the reciprocal electric field strength are known, the conductivity can be reconstructed by an iterative method. Specifically, the two-dimensional imaging area can be discretized into M rows and N columns of small rectangular units, the conductivity is considered to be uniform in each small rectangular area, then a target functional is established, and the problem of conductivity reconstruction is changed into the problem of finding the optimal conductivity combination, so that only a conductivity matrix which enables the established target functional to obtain the minimum value needs to be solved. Therefore, a target error is set according to the reciprocal current density matrix from P1 and the reciprocal electric field intensity matrix obtained by solving the gradient of the voltage matrix, and a plurality of algorithms including least square method iteration and Gauss-Newton error method iteration are used for iterative calculation, so that the conductivity matrix meeting the target precision is finally obtained.
As shown in fig. 5, a schematic diagram of an embodiment of the invention based on an ultrasonic excitation sector scanning magnetic acoustic electric imaging device adopting an ultrasonic transducer array is shown:
specifically, our ultrasonic transducer array A2a is different from the conventional linear transversely-arranged ultrasonic transducer array, but adopts a novel fan-shaped arranged ultrasonic transducer array with the scanning reference point 0 as the center of a circle, and the interval angle between different ultrasonic transducers may be fixed or may not be fixed. Therefore, the circle center position is known, the interval angle between the ultrasonic transducers is also known, all position information can be obtained only by the serial number of the ultrasonic transducers, the number of parameters for representing the position information required by people is greatly reduced, meanwhile, the ultrasonic transducer array A2a is arranged in a sector mode, the method is different from the traditional linear transverse arrangement array arrangement mode, the ultrasonic transducer array A2a does not need to be moved in a 360-degree omnibearing mode, the biological tissue A5 to be detected is completely covered only by the ultrasonic transducer array A2a smaller than 180 degrees, all the ultrasonic transducers are excited once, all the information of the biological tissue A5 required by people can be obtained through the signal detection electrode A6, and the specific operation flow is greatly simplified.
FIG. 6 is a schematic diagram of an embodiment of the invention based on a sector scanning magneto-acoustic-electric imaging device with a single ultrasonic transducer:
specifically, a single ultrasonic transducer A2b is selected for excitation, the excitation angle of the ultrasonic transducer is slightly adjusted, generally, the biological tissue a5 to be detected can be fully covered only by small angle regulation of less than 180 degrees, and finally all information of the biological tissue a5 required by us is acquired through the signal detection electrode a 6. Similarly, this method also has the same advantage as the embodiment of fig. 5 that the number of parameters for representing the position information that we need can be greatly reduced.
The principle and the implementation mode of the invention are explained in the text, and the method and the core idea of the invention are understood by the concrete examples; meanwhile, for those skilled in the art, the specific embodiments and the application range may be changed according to the idea of the present invention. In view of the above, it is not intended that the present invention be limited thereto.
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