CN111494816A - Ultrasonic precise self-adaptive focusing system and method - Google Patents
Ultrasonic precise self-adaptive focusing system and method Download PDFInfo
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Abstract
The invention discloses an ultrasonic precise self-adaptive focusing system and a method, wherein the system comprises: the device comprises a CT scanning device, a magnetic resonance imaging device, a first calculator, a second calculator, a phased array transducer, a controller and a microbubble injection device. The ultrasonic precise automatic focusing system and method based on the mode fusion of the MR image and the CT image can be used for realizing precise automatic focusing when the ultrasonic therapy is carried out on tissues with strong non-uniformity and irregular structures such as skull. Compared with the prior art, the method has the advantages that the potential danger caused by errors when the cavitation microbubble estimation signal parameters are directly generated by utilizing the ultrasound can be eliminated, and on one hand, the accuracy of the initial positioning of the target area can be further improved by utilizing modeling simulation; on the other hand, the parameter information of the reflection signal of the injected microbubble contrast agent can be used for automatically regulating and controlling the emission signal of each array element of the phased array, so that more accurate focusing is realized.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an ultrasonic precise self-adaptive focusing system and method based on mode fusion of an MR image and a CT image.
Background
Transcranial focused ultrasound (tsFUS) is a non-invasive ultrasound treatment technology for brain diseases which is being developed vigorously before the project. The ultrasonic wave with specific central frequency is emitted by external ultrasonic equipment (the ultrasonic wave with the central frequency between 0.2 MHz and 1.5MHz is most widely adopted at present), and the ultrasonic wave passes through the skull and is focused on a target focus target area in the skull, and generates a heat effect, a force effect, a cavitation effect and the like in the target focus target area, so that the direct or indirect regulation and treatment of the intracranial focus area are realized. Compared with the sound parameters of biological soft tissues such as brain parenchyma, muscles, fat and the like, which can be basically considered to be uniform, the sound parameters of the skull have strong non-uniformity, so that the ultrasound generates strong refraction and scattering in the skull and deflects a propagation path after passing through the skull, and further causes strong offset between an actual focus and a preset intracranial target area or defocusing of the actual focus area. The skull has become the biggest obstacle restricting the development and advancing clinical application of the transcranial focused ultrasound technology.
In order to overcome the deflection of a sound beam path caused by strong inhomogeneous media such as a human skull, one method is to use a time reversal method, place a sound source at a target area to emit ultrasonic waves, receive the ultrasonic waves by a phased array, and then use the received signal reversal as an emission signal to emit, so that phase difference caused by inhomogeneous media is eliminated; it is practically impossible to place the acoustic source at the target area in an invasive manner.
Alternatively, a completely non-invasive method, virtual point source time reversal in conjunction with X-ray Computed Tomography (CT), can be used to predict the wave distortion caused by inhomogeneous media. In fact, the acoustic model established from CT scan is mainly based on empirical formula, and it is difficult to calculate the accurate phase of array element enough to realize high quality focusing from the acoustic model.
In another method, the target area can be irradiated by low-frequency ultrasound to generate cavitation microbubbles, so that the microbubbles are used as reflectors to reflect the ultrasound emitted in the treatment process, and the signals emitted by the transducer are regulated and controlled according to the information of reflected waves. However, in practice, the parameter information of the low-frequency ultrasound generating the cavitation bubbles cannot be accurately estimated, large deviation may be generated, and meanwhile, the irradiation directly near the target area and the excitation of the microbubbles may cause additional damage to the surrounding normal tissues.
Disclosure of Invention
The purpose of the invention is realized by the following technical scheme.
The invention aims to provide a system and a method for registering and fusing an MR image and a CT scanning image by using a medical image fusion method to obtain the position and acoustic parameter information of a target area when a human body such as a skull has strong heterogeneity and irregular structure, and accurately and adaptively focusing ultrasonic waves on the target area by combining sound field modeling simulation software, numerical simulation programming software and the reflection effect of microbubbles on the ultrasonic waves.
The invention also aims to perform medical image registration and fusion by using the MR image and the CT scanning image before treatment to obtain the position and acoustic parameter information of a target area, and then perform modeling simulation on the target area by using Rayleigh-Sommerfeld integration and a virtual point source time reversal method based on a phased array to further reduce focusing deviation.
Still another object of the present invention is to provide an accurate ultrasonic adaptive focusing method.
According to a first aspect of the present invention, there is provided an ultrasound precise adaptive focusing system comprising:
the system comprises a magnetic resonance imaging device, a CT scanning device, a first calculator, a second calculator, a phased array transducer, a controller and a microbubble injection device.
Further, the CT scanning apparatus may be a CT apparatus and the magnetic resonance imaging device may be a magnetic resonance apparatus.
Further, the phased array transducer is a spherical phased array or a planar phased array, wherein the array elements are rings, circles, rectangles, sectors and/or snails, the array elements being both transmit and receive transducers.
Further, the controller is a signal generator, power amplifier, amplitude and phase modulation to provide ultrasonic signals to the array elements in the phased array transducer.
Further, the microbubble injecting device is used for injecting corresponding microbubbles to the target area.
Further, the CT device, the magnetic resonance imaging device and the first calculator are connected by a data transmission device to realize data transmission and later data processing; the controller is respectively connected with the phased array, the first calculator and the second calculator through a multi-channel control circuit so as to realize signal adjustment and data transmission of the phased array transducer; the microbubble injecting device is connected with the MRI device through the data transmission device to transmit the imaging information of the target area position to the microbubble injecting device.
Furthermore, the phased array transducer receives reflected waves reflected by the microbubbles, the second calculator calculates, analyzes and compares the reflected wave signals with the parameter information of the transmitted ultrasonic signals, and then transmits the result to the controller so as to regulate and control the parameters of the ultrasonic signals transmitted by the phased array transducer.
According to a second aspect of the present invention, there is provided an ultrasound precise adaptive focusing method, comprising:
imaging the lesion tissue by utilizing CT equipment and magnetic resonance imaging equipment, and fusing the lesion tissue and the MR image by utilizing a corresponding registration and fusion method of the CT image and the MR image so as to determine the position of a target area and acquire corresponding acoustic parameters of the non-uniform tissue;
injecting a microbubble contrast agent into the target area according to the position of the target area determined by the registration and fusion of the MR image and the CT image;
carrying out modeling simulation analysis on the target area according to the determined position of the target area and the acoustic parameters of the non-uniform tissues;
transmitting ultrasonic waves to a target area by using a phased array transducer according to a modeling simulation analysis result;
detecting and measuring reflected ultrasonic signals from the microbubbles using a phased array transducer;
comparing the measured reflected ultrasonic signal with the transmitted ultrasonic signal parameter information;
and judging whether the comparison result meets an iteration termination condition, if so, ending, and otherwise, regulating and controlling the ultrasonic signal parameters transmitted by each array element of the phased array transducer.
Further, the modeling simulation analysis is carried out on the ultrasonic field by utilizing Rayleigh-Sommerfeld integration and a virtual point source time reversal method based on the phased array.
Further, the result obtained by the modeling simulation analysis comprises parameter information of the ultrasonic signals transmitted by each array element of the phased array.
Further, the detected and measured ultrasonic signals reflected by the microbubbles include amplitude, phase, or frequency; the relevant parameter information can be obtained by processing the reflected ultrasonic wave signal and the transmitted ultrasonic wave signal by a signal processing method such as cross-correlation.
Furthermore, parameters of ultrasonic signals transmitted by each array element of the phased array transducer are regulated and controlled, wherein the parameters comprise amplitude and phase.
Further, the iteration termination condition includes:
the measured phase difference of the reflected ultrasonic signal and the transmitted ultrasonic signal is less than a threshold value;
or, the amplitude of the measured reflected ultrasonic signal reaches a maximum value;
or the number of iterations exceeds a predetermined limit.
Further, the method of CT and MR image registration is an image registration method based on external or internal features of the images; the method for fusing the CT image and the MR image is a two-dimensional fusion method or a three-dimensional fusion method based on a layer.
Further, the method for registering the CT image and the MR image is a mutual information method, and the method for fusing the CT image and the MR image is a feature selection fusion method or a proximity display method.
Further, amplitude, phase or frequency parameter information of the ultrasonic signal reflected by the microbubble is acquired by using a cross-correlation signal processing method.
The invention has the advantages that:
the ultrasonic precise automatic focusing system and method based on the mode fusion of the MR image and the CT image can be used for realizing precise automatic focusing when the ultrasonic therapy is carried out on tissues with strong non-uniformity and irregular structures such as skull. Compared with the prior art, the method has the advantages that the potential danger caused by errors when the cavitation microbubble estimation signal parameters are directly generated by utilizing the ultrasound can be eliminated, and on one hand, the accuracy of the initial positioning of the target area can be further improved by utilizing modeling simulation; on the other hand, the parameter information of the reflection signal of the injected microbubble contrast agent can be used for automatically regulating and controlling the emission signal of each array element of the phased array, so that more accurate focusing is realized.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of the principle of ultrasonic focusing;
FIG. 2 is a schematic diagram of an ultrasound precise adaptive focusing system based on mode fusion of an MR image and a CT image;
FIG. 3 is a flowchart of the implementation operation of the ultrasound precise adaptive focusing method based on the mode fusion of the MR image and the CT image.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention is based on the position information of the target area obtained by registration and fusion of MR image information and CT scanning images, and utilizes microbubbles to realize a system and a method for accurate self-adaptive focusing of ultrasound; obtaining the position of a target area and corresponding non-uniform tissue acoustic parameters by using the images after registration and fusion of the MR image and the CT scanning image; based on the obtained position of the target area, the microbubble is directly injected into the target area, so that the defect caused by exciting the microbubble by using ultrasonic is avoided; and then modeling and simulating a focused ultrasonic field by using Rayleigh-Sommerfeld integration and a virtual point source time reversal method based on the phased array, taking the microbubbles as reflectors, and continuously regulating and controlling the signals transmitted by the array elements of the phased array by using the information of ultrasonic wave reflected by the microbubbles so as to realize automatic focusing on a target area.
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic diagram of the principle of ultrasonic accurate adaptive focusing based on mode fusion of MR images and CT images, wherein a phased array transducer 201 comprises a plurality of array elements 211, and the array elements 211 can transmit ultrasonic waves and receive ultrasonic waves. Wherein, the MR image and the CT scanning image are fused by corresponding medical image registration and fusion method, thereby determining the position of a target area 401 and non-uniform tissue acoustic parameters, then a microbubble injection device injects microbubbles 402 into the target area determined above, then a computer and various sound field modeling software are used to perform corresponding numerical simulation to determine the transmitting signal parameters of each array element, then ultrasonic waves are transmitted to the position of the microbubble 402 according to the determined transmitting signal parameters, then the microbubbles are used as reflectors, reflected waves reflected by the microbubbles are received by the array elements 211, the reflected wave signals and the transmitted ultrasonic signals are processed by signal processing methods such as cross correlation and the like, whether the reflected wave parameter information meets the iteration termination condition is analyzed, if not, the ultrasonic wave signal parameters transmitted by the array elements 211 are regulated and controlled, and repeating the steps until the target area of the ultrasonic precise focusing is reached or the iteration termination condition is met. And 403 is a focal region.
Fig. 2 is a schematic diagram of an ultrasound precise adaptive focusing system based on mode fusion of an MR image and a CT image, which mainly includes: a CT scanning apparatus 101, a magnetic resonance imaging device 102, a first calculator 103, a second calculator 104, a phased array transducer 201, a controller 202, and a microbubble injection apparatus 301.
The CT scanning apparatus 101 may be a CT apparatus and the magnetic resonance imaging device 102 may be a magnetic resonance apparatus.
The first calculator 103 and the second calculator 104 comprise magnetic resonance image and CT scan image processing, registration and fusion software, ultrasound field modeling simulation software.
The microbubble injecting device 301 can inject corresponding microbubbles, such as an ultrasound contrast agent, into the target region.
Wherein, the CT scanning device 101, the magnetic resonance imaging device 102 and the first calculator 103 are connected by a data transmission device to realize data transmission and later data processing; the controller 202, the phased array transducer 201 and the second calculator 104 are connected by using a multi-channel control circuit to realize signal conditioning and data transmission of the phased array transducer 201; the microbubble injecting device 301 is connected with the magnetic resonance imaging apparatus 102 by using a data transmission device to transmit the target area position information determined by the magnetic resonance imaging apparatus 102 to the microbubble injecting device 301.
The phased array transducer 201 receives reflected waves reflected by the microbubbles, the second calculator 104 calculates parameters of the reflected waves, and the controller 202 analyzes whether the information of the parameters of the reflected waves meets the iteration termination condition, and if not, the parameters of ultrasonic signals transmitted by the phased array transducer 201 are regulated and controlled.
FIG. 3 is a flowchart of an implementation operation of an ultrasound precise adaptive focusing method based on mode fusion of an MR image and a CT image, and the method comprises the following steps:
firstly, in step S1, obtaining an MR image corresponding to the target region by imaging the lesion tissue and organ with the magnetic resonance apparatus; and scanning and imaging the target area through CT equipment to obtain corresponding acoustic parameters of non-uniform tissues, and then registering and fusing the CT image and the MR image by using a corresponding medical image registration and fusion method.
In step S2, the fusion result is registered based on the CT image and the MR image, and a microbubble (e.g., an ultrasound contrast agent) is injected into the target region obtained based on the fusion image result by using a microbubble injection device.
In the invention, the MR image and the CT scanning image are processed, registered and fused by using corresponding MR image and CT scanning image processing software to obtain the position of a corresponding target area and the acoustic parameters of the non-uniform tissue, and meanwhile, the sound field modeling simulation software and numerical simulation programming software are used for carrying out the modeling simulation of a focused ultrasonic field according to the determined target area and the acoustic parameters of the non-uniform tissue, so as to obtain the parameter values of the ultrasonic signals required to be transmitted by each array element in the phased array, wherein the parameter values can be the frequency, the phase or the amplitude of the ultrasonic signals. The software is the software commonly used in the prior art, and the specific content and the using mode of the software are known to those skilled in the art and are not the point of the invention, so that the details are not described herein.
Then, in step S3, a modeling simulation analysis is performed on the target region according to the determined target region position and the acoustic parameters of the non-uniform tissue. Specifically, the modeling simulation analysis is carried out on the ultrasonic field by utilizing Rayleigh-Sommerfeld integral and a virtual point source time reversal method based on a phased array. The result obtained by modeling simulation analysis comprises parameter information such as amplitude and phase of the ultrasonic signal transmitted by each array element of the phased array.
In step S4, the electronic driving signals of the array elements in the phased array transducer are controlled to transmit ultrasonic waves to the microbubbles according to the ultrasonic signal parameter values obtained by the ultrasonic field modeling simulation and numerical simulation in step S3.
In step S5, the ultrasonic waves reflected by the microbubbles are detected by using a detecting device, which may be a receiving transducer or a partial array transducer used in a phased array transducer that can both transmit and receive ultrasonic signals. Wherein the respective parameters of the detected and measured ultrasonic signals reflected by the microbubbles include amplitude, phase or frequency.
In step S6, the ultrasonic signals reflected by the microbubbles received in step S5 and the transmitted ultrasonic signals are processed and analyzed by a signal processing method such as cross-correlation.
In step S7, determining whether the result of the analysis satisfies an iteration termination condition, if yes, ending, otherwise, proceeding to step S8;
in step S8, parameters of the ultrasonic signals emitted by the array elements of the phased array transducer are adjusted. The parameter regulation and control of the ultrasonic signals transmitted by each array element of the phased array mainly comprises information such as amplitude and phase. If the phase difference between the measured reflected wave signal and the transmitted wave signal does not satisfy the condition, the phase difference between the two signals can be used as the phase correction value of the next transmitted signal.
Specifically, it is determined whether the analysis result in step S7 satisfies the iteration end condition: wherein the iteration termination condition may include: the measured phase difference of the reflected ultrasonic signal and the transmitted ultrasonic signal is less than a threshold value; or, the amplitude of the measured reflected ultrasonic signal reaches a maximum value; or the number of iterations exceeds a predetermined limit.
For example, if the measured phase of the reflected wave signal and the transmitted wave signal is measured, it is required that the phase difference between the two signals is less than a certain threshold, such as 10 °; if the measured amplitude is the amplitude of the reflected wave signal, the amplitude is required to reach the maximum value; if the set iteration termination condition is the iteration number, the set iteration termination condition is required to be not more than a certain iteration number, such as 20; if so, it indicates that the optimal beam focusing effect appears, that is, the ultrasonic signals emitted by each array element of the phased array can accurately focus the ultrasound on the target area, otherwise, the parameters of the emitted ultrasonic signals need to be regulated, such as: when the phase difference between the reflected wave signal and the transmitted wave signal does not satisfy the condition, the controller 202 needs to adjust the phase of the next signal transmitted by the transmitting phased array transducer 201, the phase difference of the current signal can be used as the phase shift of the next signal, and the steps S4, S5, S6, S7 and S8 are repeated until the iteration termination condition is satisfied, and the method is ended.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (16)
1. An ultrasonic precision adaptive focusing system, comprising:
the device comprises a CT scanning device, a magnetic resonance imaging device, a first calculator, a second calculator, a phased array transducer, a controller and a microbubble injection device.
2. The system of claim 1,
the CT scanning device is a CT device and the magnetic resonance imaging apparatus is a nuclear magnetic resonance apparatus.
3. The system of claim 1,
the phased array transducer is a spherical phased array or a planar phased array, wherein the array elements are annular, circular, rectangular, sector-shaped and/or sector-shaped snails, and the array elements are both transmitting transducers and receiving transducers.
4. The system of claim 1,
the controller includes a signal generator, a power amplifier, amplitude and phase modulation to provide ultrasonic signals to the array elements in the phased array transducer.
5. The system of claim 1,
the microbubble injecting device is used for injecting corresponding microbubbles to the target area.
6. The system of any one of claims 1 to 5,
the CT scanning device, the magnetic resonance imaging equipment and the first calculator are connected by a data transmission device to realize data transmission and later data processing; the controller is respectively connected with the phased array transducer, the first calculator and the second calculator through a multi-channel control circuit so as to realize signal adjustment and data transmission of the phased array transducer; the microbubble injecting device is connected with the magnetic resonance imaging equipment through the data transmission device to transmit the imaging information of the target area position to the microbubble injecting device.
7. The system of claim 6,
the phased array transducer receives reflected waves reflected by the microbubbles, the second calculator calculates, analyzes and compares the reflected wave signals with the parameter information of the transmitted ultrasonic signals, and then transmits the result to the controller to regulate and control the parameters of the ultrasonic signals transmitted by the phased array transducer.
8. An ultrasonic precise adaptive focusing method is characterized by comprising the following steps:
imaging the lesion tissue by utilizing a CT scanning device and magnetic resonance imaging equipment, and fusing the lesion tissue and the MR image by utilizing a corresponding registration and fusion method of the CT image and the MR image so as to determine the position of a target area and acquire corresponding acoustic parameters of the non-uniform tissue;
injecting microbubbles into the target area according to the position of the target area determined by the registration and fusion of the MR image and the CT image;
carrying out modeling simulation analysis on the target area according to the determined position of the target area and the acoustic parameters of the non-uniform tissues;
transmitting ultrasonic waves to a target area by using a phased array transducer according to a modeling simulation analysis result;
detecting and measuring reflected ultrasonic signals from the microbubbles using a phased array transducer;
comparing the measured reflected ultrasonic signal with the transmitted ultrasonic signal parameter information;
and judging whether the comparison result meets an iteration termination condition, if so, ending, and otherwise, regulating and controlling the ultrasonic signal parameters transmitted by each array element of the phased array transducer.
9. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
the modeling simulation analysis is carried out on the ultrasonic field by utilizing Rayleigh-Sommerfeld integration and a virtual point source time reversal method based on a phased array.
10. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
and the result obtained by modeling simulation analysis comprises parameter information of the ultrasonic signals transmitted by each array element of the phased array.
11. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
the ultrasonic signals reflected by the detected and measured microbubbles include amplitude, phase, or frequency.
12. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
and the parameters of ultrasonic signals transmitted by each array element of the phased array transducer are regulated and controlled, including amplitude and phase.
13. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
the iteration termination condition includes:
the measured phase difference of the reflected ultrasonic signal and the transmitted ultrasonic signal is less than a threshold value;
or, the amplitude of the measured reflected ultrasonic signal reaches a maximum value;
or the number of iterations exceeds a predetermined limit.
14. The method of claim 8, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
the CT image and MR image registration method is based on an external feature or internal feature image registration method of the image; the method for fusing the CT image and the MR image is a two-dimensional fusion method or a three-dimensional fusion method based on a layer.
15. The method of claim 14, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
the method for registering the CT image and the MR image is a mutual information method, and the method for fusing the CT image and the MR image is a feature selection fusion method or a proximity display method.
16. The method of claim 11, wherein the step of focusing the ultrasound signal includes the step of focusing the ultrasound signal,
amplitude, phase or frequency parameter information of the ultrasonic signal reflected by the microbubble is acquired by using a cross-correlation signal processing method.
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| CN114146890B (en) * | 2021-12-03 | 2022-09-13 | 深圳先进技术研究院 | Ultrasonic sound control method and sound tweezers device |
| CN114768126A (en) * | 2022-04-29 | 2022-07-22 | 重庆大学 | Ultrasonic frequency determination method, ultrasonic output method and device and electronic equipment |
| CN114768126B (en) * | 2022-04-29 | 2024-05-03 | 重庆大学 | Ultrasonic frequency determining method, ultrasonic output method and device and electronic equipment |
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