CN110639134A - Ultrasonic probe adjusting device, ultrasonic probe adjusting method and transcranial nerve stimulator - Google Patents
Ultrasonic probe adjusting device, ultrasonic probe adjusting method and transcranial nerve stimulator Download PDFInfo
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- CN110639134A CN110639134A CN201910939647.3A CN201910939647A CN110639134A CN 110639134 A CN110639134 A CN 110639134A CN 201910939647 A CN201910939647 A CN 201910939647A CN 110639134 A CN110639134 A CN 110639134A
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- A—HUMAN NECESSITIES
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Abstract
The invention provides an ultrasonic probe adjusting device, an ultrasonic probe adjusting method and a transcranial nerve stimulator, wherein the ultrasonic probe adjusting device is arranged above an object stage of a nuclear magnetic resonance spectrometer and comprises an adjusting mechanism for mounting an ultrasonic probe, a linear driving mechanism for driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction and a control unit, the control unit is used for receiving an image of a sample to be detected sent by the nuclear magnetic resonance spectrometer, obtaining a position deviation between the ultrasonic probe and a target area of the sample to be detected according to the image of the sample to be detected, and driving the linear driving mechanism to move according to the position deviation so as to automatically adjust the position of the ultrasonic probe. The ultrasonic probe adjusting device, the ultrasonic probe adjusting method and the transcranial nerve stimulator provided by the invention can automatically adjust the position of the ultrasonic probe according to the position coordinate of the target area of the sample to be detected, and are convenient to operate and accurate in positioning.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an ultrasonic probe adjusting device, an ultrasonic probe adjusting method and a transcranial nerve stimulator.
Background
In the prior art, transcranial nerve stimulation is mainly based on a transcranial magnetic stimulation method or a transcranial direct current stimulation method. The basic principle of the transcranial magnetic stimulation method is that high-intensity pulse current is utilized to generate an instantaneous magnetic field through a coil, so that induced current is generated in brain tissues, and the functions of regulating and intervening the brain functions are achieved; in practical application, the coil is close to the scalp, high-frequency current is conducted in the coil to generate an alternating electromagnetic field, and electromagnetic waves are formed and enter nerve tissues to play a role in nerve modulation; the transcranial direct current stimulation method is similar to the transcranial magnetic stimulation method in direction, the electrode is attached to the scalp, and pulse current is input into brain tissue through the skin and bone tissue by using the electrode.
The transcranial magnetic stimulation method or the transcranial direct current stimulation method are noninvasive, but the stimulation range is large, the position of a coil or an electrode can only be placed according to experience, the position of the coil or the electrode cannot be automatically adjusted, and accurate stimulation cannot be realized facing a target area.
The method is characterized in that transcranial ultrasonic waves are used for modulating brain nerves, the method is an important application of the ultrasonic waves in the field of non-invasive medicine, the mechanism is to focus the ultrasonic waves emitted in vitro, and focus sound spots to act on nerve tissues so as to realize the efficient modulation of the brain nerves, and compared with the traditional transcranial magnetic stimulation method or transcranial direct current stimulation method, the transcranial ultrasonic stimulation method is small in focusing area and has wide application prospects; therefore, the development of an ultrasonic transcranial nerve stimulator with accurate positioning and adjustable position is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides an ultrasonic probe adjusting device, an ultrasonic probe adjusting method and a transcranial nerve stimulator, and aims to solve the technical problem that the stimulation position of the transcranial nerve stimulator in the prior art cannot be automatically adjusted.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides an ultrasonic probe adjustment apparatus for being disposed above a stage of a nuclear magnetic resonance apparatus, including:
the adjusting mechanism is used for installing the ultrasonic probe;
the linear driving mechanism is provided with the adjusting mechanism and is used for driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction; the X direction, the Y direction and the Z direction are mutually vertical in pairs;
the control unit is used for receiving the image of the sample to be detected sent by the nuclear magnetic resonance spectrometer, obtaining the position deviation between the ultrasonic probe and the target area of the sample to be detected according to the image of the sample to be detected, and driving the linear driving mechanism to move according to the position deviation so as to automatically adjust the position of the ultrasonic probe; wherein a sample to be tested is placed on the stage.
In one possible design, the linear drive structure includes:
the Z-axis linear module is used for mounting the adjusting mechanism and driving the adjusting mechanism to linearly move along the Z direction;
the Y-axis linear module is provided with the Z-axis linear module and is used for driving the Z-axis linear module to linearly move along the Y direction;
and the X-axis linear module is provided with the Y-axis linear module and is used for driving the Y-axis linear module to linearly move along the X direction.
In one possible design, the adjustment mechanism includes:
the outer connecting rod is arranged on the linear driving mechanism in parallel to the X direction;
the inner connecting rod is sleeved and connected with the outer connecting rod and used for sliding along the outer connecting rod;
the connecting assembly is used for fixing the outer connecting rod and the inner connecting rod;
and the mounting piece is arranged at one end, far away from the outer connecting rod, of the inner connecting rod and used for clamping the ultrasonic probe.
In one possible design, the connection assembly includes:
the fixed screw fastener is sleeved on the inner connecting rod in a sliding manner; the fixing screw buckle is provided with a hollow groove along the X direction;
the adjusting nut is hinged with the outer cylinder wall of the outer connecting rod and is used for being in threaded fit with the fixed screw thread to fix the outer connecting rod and the inner connecting rod; the inner wall of the adjusting nut is provided with a conical thread, and the diameter of the small end of the conical thread is smaller than that of the external thread of the fixed screw.
In one possible design, a switching unit is also included; the ultrasonic probe and the control unit are electrically connected through the switch unit.
In one possible design, the ultrasound probe is a low-intensity focused ultrasound probe.
A second aspect of embodiments of the present invention provides an ultrasonic probe adjustment method, which is applied to the ultrasonic probe adjustment apparatus according to any one of the first aspect;
the method comprises the following steps:
when the ultrasonic probe is closed, obtaining a first nuclear magnetic resonance image of a sample to be detected, and obtaining a first coordinate of a target area of the sample to be detected as a reference position according to the first nuclear magnetic resonance image;
when the ultrasonic probe is started, obtaining a second nuclear magnetic resonance image of a sample to be detected, and obtaining a second coordinate of a focused sound spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image;
and calculating a position deviation between the initial position and the reference position based on the first coordinate and the second coordinate so as to adjust the position of the ultrasonic probe according to the position deviation.
In a possible design, the obtaining first coordinates of the target region of the sample to be detected according to the first nuclear magnetic resonance image includes:
performing feature extraction on the first nuclear magnetic resonance image based on a wavelet analysis algorithm to obtain a plurality of feature points of a target area in the first nuclear magnetic resonance image;
and acquiring edge coordinate information of the plurality of characteristic points, and calculating to obtain a geometric center coordinate of the target area as a first coordinate according to the plurality of edge coordinate information.
In a possible design, the obtaining first coordinates of the target region of the sample to be detected according to the first nuclear magnetic resonance image includes:
inputting the first nuclear magnetic resonance image into a pre-established target area positioning and identifying model, and obtaining the position coordinate of the target area in the first nuclear magnetic resonance image as a first coordinate; the target area positioning and identifying model is obtained by adopting pre-training of a nuclear magnetic resonance image marked with target area position coordinates.
A third aspect of the embodiments of the present invention provides an ultrasonic transcranial nerve stimulation apparatus, which includes a nuclear magnetic resonance apparatus and the ultrasonic probe adjustment device according to any one of the first aspect.
The ultrasonic probe adjusting device is arranged above an object stage of a nuclear magnetic resonance apparatus and comprises an adjusting mechanism, a linear driving mechanism and a control unit, wherein the adjusting mechanism is used for installing an ultrasonic probe; the linear driving mechanism is used for driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction; in practical application, a sample to be detected is placed on an object stage of a nuclear magnetic resonance instrument, a control unit obtains a first nuclear magnetic resonance image of the sample to be detected when an ultrasonic probe is closed, and a first coordinate of a target area of the sample to be detected is obtained according to the first nuclear magnetic resonance image and is used as a reference position; when the ultrasonic probe is started, acquiring a second nuclear magnetic resonance image of the sample to be detected, and acquiring a second coordinate of a focused sound spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image; and then calculating to obtain the position deviation between the initial position and the reference position based on the first coordinate and the second coordinate, and driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction through the linear driving mechanism based on the position deviation so as to adjust the position of the ultrasonic probe, so that the automatic adjustment of the position of the ultrasonic probe is realized, namely the automatic adjustment of the stimulation position of the transcranial nerve stimulator is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ultrasonic probe adjustment device provided in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a linear drive mechanism provided in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an X-axis linear module according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an adjustment mechanism provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a connecting assembly provided in an embodiment of the present invention;
FIG. 6 is a schematic flow chart of an ultrasound probe adjustment method provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a transcranial nerve stimulator according to an embodiment of the present invention.
Wherein, each reference numeral:
1. a nuclear magnetic resonance apparatus; 11. an object stage; 2. an adjustment mechanism; 21. an outer connecting rod; 22. an inner connecting rod; 23. a connecting assembly; 231. fixing the screw buckle; 232. adjusting the nut; 233. hollowing out the grooves; 24. a mounting member; 3. a linear drive mechanism; 31. a Z-axis linear module; 32. a Y-axis linear module; 33. an X-axis linear module; 331. a first servo motor; 332. a sliding guide rail; 333. a sliding table; 334. a connecting seat; 34. a work table; 35. a fixed seat; 4. a control unit; 5. an ultrasonic probe; 6. a shield.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more unless specifically defined otherwise.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an ultrasonic probe adjustment apparatus provided in an embodiment of the present invention, the ultrasonic probe adjustment apparatus is disposed above a stage 11 of a nuclear magnetic resonance apparatus 1, as shown in fig. 1, the apparatus includes an adjustment mechanism 2, a linear driving mechanism 3, and a control unit 4, the adjustment mechanism 2 is used for mounting an ultrasonic probe 5; the linear driving mechanism 3 is provided with an adjusting mechanism 2 for driving an adjusting mechanism 4 to move along the X direction, the Y direction and the Z direction; wherein the X direction, the Y direction and the Z direction are mutually vertical in pairs; the control unit 4 is used for receiving the image of the sample to be detected sent by the nuclear magnetic resonance spectrometer 1, obtaining the position deviation between the ultrasonic probe 5 and the target area of the sample to be detected according to the image of the sample to be detected, and driving the linear driving mechanism 3 to move according to the position deviation so as to automatically adjust the position of the ultrasonic probe 5; wherein a sample to be examined is placed on the stage 11.
The linear driving mechanism 3 drives the adjusting mechanism to move along the X direction, the Y direction and the Z direction, the automatic and convenient adjustment is carried out to set the position of the ultrasonic probe 5 on the adjusting mechanism 2, in practical application, the adjusting mechanism 2 is arranged above the objective table 11 of the nuclear magnetic resonance instrument 1, the nuclear magnetic resonance instrument is not required to be modified, the use is convenient, the cost is low, and the accurate positioning of the ultrasonic probe focusing sound spot is realized in a limited space. Optionally, the linear drive mechanism 3 is covered by a shield 6.
Optionally, the control unit 4 may be an industrial computer, a programmable logic controller or a single chip microcomputer, and the requirements can be met by adopting a general numerical control system for control. Optionally, the control unit 4 is electrically connected to the linear driving mechanism 3 through a relay, and automatically controls the linear driving mechanism 3 to move according to the control logic.
Optionally, the adjustment device further comprises a switching unit; the ultrasonic probe 5 and the control unit 4 are electrically connected by a switch unit. The control unit 4 can control the start and stop of the ultrasonic probe 5 by controlling the on-off of the path where the switch unit is located.
The ultrasonic probe is used for emitting and focusing ultrasonic energy, and a driving signal line of the ultrasonic probe is wrapped by a nonmagnetic shielding layer, so that electromagnetic interference is prevented from being introduced in imaging of a nuclear magnetic resonance instrument. Optionally, the ultrasound probe 5 is a low intensity focused ultrasound probe. Low-intensity focused ultrasound (LIFUP) utilizes the ultrasonic mechanical effect to stimulate and regulate neurons and neural circuits, and can avoid exciting or inhibiting specific brain regions by ultrasonic of different parameters of the neurons.
The ultrasound is used as a mechanical wave, and can be positioned and detected with high and low precision by using a nuclear magnetic resonance spectrometer. In use, the ultrasonic probe 5 is disposed above the stage 11 of the nuclear magnetic resonance apparatus 1, and a sample to be tested is placed on the stage 11. In the initial state, the ultrasonic probe 5 is in a closed state and is located at an initial position, and at this time, a first nuclear magnetic resonance image of the sample to be detected is obtained through the nuclear magnetic resonance instrument 1 and sent to the control unit 4; keeping the position of the ultrasonic probe 5 unchanged, starting the ultrasonic probe 5, acquiring a second nuclear magnetic resonance image of the sample to be detected at the moment through the nuclear magnetic resonance instrument 1, and sending the second nuclear magnetic resonance image to the control unit 4; the control unit 4 obtains a first coordinate of the target area of the sample to be detected as a reference position according to the first nuclear magnetic resonance image; and according to the second nuclear magnetic resonance image, a second coordinate of the focused sound spot is obtained when the ultrasonic probe is positioned at the initial position, then the position deviation between the ultrasonic probe and the reference position is calculated and obtained based on the first coordinate and the second coordinate, and the linear driving mechanism 3 drives the adjusting mechanism 2 to move along the X direction, the Y direction and the Z direction based on the position deviation so as to adjust the position of the ultrasonic probe and realize the automatic adjustment of the position of the ultrasonic probe.
The ultrasonic probe adjusting device provided by the embodiment of the invention is arranged above an object stage of a nuclear magnetic resonance apparatus, and comprises an adjusting mechanism, a linear driving mechanism and a control unit, wherein the adjusting mechanism is used for installing an ultrasonic probe; the linear driving mechanism is used for driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction; in practical application, a sample to be detected is placed on an object stage of a nuclear magnetic resonance instrument, a control unit obtains a first nuclear magnetic resonance image of the sample to be detected when an ultrasonic probe is closed, and a first coordinate of a target area of the sample to be detected is obtained according to the first nuclear magnetic resonance image and is used as a reference position; when the ultrasonic probe is started, acquiring a second nuclear magnetic resonance image of the sample to be detected, and acquiring a second coordinate of a focused sound spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image; and then calculating to obtain the position deviation between the initial position and the reference position based on the first coordinate and the second coordinate, and driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction through the linear driving mechanism based on the position deviation so as to adjust the position of the ultrasonic probe, so that the automatic adjustment of the position of the ultrasonic probe is realized, namely the automatic adjustment of the stimulation position of the transcranial nerve stimulator is realized.
Alternatively, in order to make the focused acoustic spot of the ultrasonic probe coincide with the center of the target region, the ultrasonic probe needs to be subjected to position adjustment in three directions of spatial position XYZ, and therefore, the linear driving mechanism includes adjustment in three dimensions of XYZ, which will be described in detail with an embodiment shown in fig. 2.
Fig. 2 is a schematic structural diagram of a linear driving mechanism according to an embodiment of the present invention, and as shown in fig. 2, the linear driving mechanism 3 includes a Z-axis linear module 31, a Y-axis linear module 32, and an X-axis linear module 33; the Z-axis linear module 31 is used for installing the adjusting mechanism 2 and driving the adjusting mechanism 2 to linearly move along the Z direction; the Y-axis linear module 32 is provided with the Z-axis linear module 31 and is used for driving the Z-axis linear module 31 to linearly move along the Y direction; and an X-axis linear module 33 on which the Y-axis linear module 32 is mounted for driving the Y-axis linear module 32 to move linearly in the X direction.
The automatic adjustment of the adjusting mechanism 2 in X, Y, Z three directions within a limited range can be realized through the independent control of the three linear modules. Optionally, the Z axis is a vertical direction, a fixing seat 35 for installing an adjusting mechanism is arranged on the Z axis linear module 31, and the X axis linear module 33 is arranged on the worktable 34.
Alternatively, the linear module may be any one of the following: electric cylinder, ball screw pair.
Optionally, the Z-axis linear module 31, the Y-axis linear module 32, and the X-axis linear module 33 have the same structure, as shown in fig. 3, the X-axis linear module 33 includes a first servo motor 331, a sliding guide 332, a sliding table 333, and a connecting seat 334. The Y-axis linear module 32 is mounted on the slide table 333 via the connection seat 334.
Fig. 4 is a schematic structural diagram of an adjusting mechanism according to an embodiment of the present invention, and as shown in fig. 4, the adjusting mechanism 2 includes an outer connecting rod 21, an inner connecting rod 22, a connecting assembly 23, and a mounting member 24. The outer connecting rod 21 is arranged on the linear driving mechanism 3 in parallel to the X direction; the inner connecting rod 22 is connected with the outer connecting rod 21 in a sleeved mode and used for sliding along the outer connecting rod 21; the connecting assembly 23 is used for fixing the outer connecting rod 21 and the inner connecting rod 22; the mounting member 24 is provided at an end of the inner connecting rod 22 remote from the outer connecting rod 21 for holding the ultrasonic probe 5.
Alternatively, the ultrasonic probe 5 is screwed to the mounting member 24. The transmission direction of the ultrasonic probe 5 is parallel to the Z axis.
Realized outer connecting rod 21 and inner connecting rod 22's fixed and position adjustment through coupling assembling 23 in this embodiment, in practical application, can adjust outer connecting rod 21 and inner connecting rod 22's relative position as required, then fix through coupling assembling 23, realized adjustment mechanism's adjustable length. For example, when the positioning device needs to be transported, the inner connecting rod is slid to the inside of the outer connecting rod, and then the inner connecting rod is fixed through the connecting component so as to be convenient to transport.
Fig. 5 is a schematic structural diagram of a connection assembly according to an embodiment of the present invention, and fig. 5 is a detailed description of the connection assembly based on the embodiment shown in fig. 4. As shown in fig. 5, the connection assembly 23 includes a fixing screw 231 and an adjusting nut 232; the fixed screw thread 231 is slidably sleeved on the inner connecting rod 22; the fixing screw thread 231 is provided with a hollow groove 233 along the X direction; the adjusting nut 232 is hinged with the outer cylinder wall of the outer connecting rod 21 and is used for being in threaded fit with the fixing screw thread 232 to fix the outer connecting rod 21 and the inner connecting rod 22; the inner wall of the adjusting nut 232 is provided with a taper thread, and the diameter of the small end of the taper thread is smaller than that of the external thread of the fixed screw thread 231.
Taper thread diameter on the inner wall of adjusting nut 232 reduces from outside to inside gradually, and the diameter of taper thread bottom is less than the external screw thread diameter of fixed turnbuckle 231, the fretwork groove 232 along fixed turnbuckle axial arrangement is seted up to the external screw thread department of fixed turnbuckle 231, along X to the fretwork groove 232 of arranging promptly, consequently when fixed turnbuckle 231 revolves adjusting nut 232 in, adjusting nut 232 can produce the squeezing action to fixed turnbuckle 231, until will fix the turnbuckle 231 compress tightly on inner connecting rod 22, thereby with outer connecting rod 21 and inner connecting rod 22 fixed connection together, and locking position can adjust according to the demand.
Based on the adjusting device provided by the above embodiment, the embodiment of the present invention further provides a method embodiment for implementing the above method embodiment.
Fig. 6 is an ultrasonic probe adjustment method according to an embodiment of the present invention, which is applied to the ultrasonic probe adjustment device according to any one of the embodiments, and an execution main body of the ultrasonic probe adjustment method is the control unit according to any one of the embodiments, as shown in fig. 6, the ultrasonic probe adjustment method includes:
s601, when the ultrasonic probe is closed, obtaining a first nuclear magnetic resonance image of a sample to be detected, and obtaining a first coordinate of a target area of the sample to be detected as a reference position according to the first nuclear magnetic resonance image.
The ultrasound is used as a mechanical wave, and can be positioned and detected with high and low precision by using a nuclear magnetic resonance spectrometer. In use, the ultrasonic probe 5 is disposed above the stage 11 of the nuclear magnetic resonance apparatus 1, and a sample to be tested is placed on the stage 11. In the initial state, the ultrasonic probe 5 is in the closed state and located at the initial position, and at this time, the first nuclear magnetic resonance image of the sample to be detected is acquired by the nuclear magnetic resonance apparatus 1 and sent to the control unit 4.
In a possible embodiment, obtaining first coordinates of the target region of the sample to be detected from the first nmr image includes:
and performing feature extraction on the first nuclear magnetic resonance image based on a wavelet analysis algorithm to obtain a plurality of feature points of the target area in the first nuclear magnetic resonance image.
And acquiring edge coordinate information of the plurality of characteristic points, and calculating to obtain a geometric center coordinate of the target area as a first coordinate according to the plurality of edge coordinate information.
In another embodiment, the obtaining first coordinates of the target region of the sample to be detected according to the first nmr image includes:
inputting the first nuclear magnetic resonance image into a pre-established target area positioning and identifying model, and obtaining the position coordinate of the target area in the first nuclear magnetic resonance image as a first coordinate; the target area positioning and identifying model is obtained by adopting pre-training of a nuclear magnetic resonance image marked with target area position coordinates.
S602, when the ultrasonic probe is started, obtaining a second nuclear magnetic resonance image of the sample to be detected, and obtaining a second coordinate of the focused acoustic spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image.
When the ultrasonic probe is started, ultrasonic waves are emitted to stimulate transcranial nerves at the time, and nuclear magnetic imaging is performed on brain tissues to obtain a second nuclear magnetic resonance image of the sample to be detected.
And obtaining the second coordinate of the focused acoustic spot of the ultrasonic probe according to the second nuclear magnetic resonance image in the same way as the first coordinate, which is not described herein again.
And S603, calculating to obtain the position deviation between the initial position and the reference position based on the first coordinate and the second coordinate, and adjusting the position of the ultrasonic probe according to the position deviation.
Optionally, the first coordinate and the second coordinate are both plane coordinates based on an image coordinate system of the nuclear magnetic resonance apparatus, the first coordinate and the second coordinate are converted into space coordinate values based on a world coordinate system based on an affine transformation matrix between the image coordinate system of the nuclear magnetic resonance apparatus and the world coordinate system, position deviations of the reference phase in three directions, namely an X direction, a Y direction and a Z direction, with respect to the initial position are obtained through calculation according to the space coordinate values corresponding to the first coordinate and the space coordinate values corresponding to the second coordinate, and the linear driving mechanism is controlled to adjust the position of the ultrasonic probe in the X direction, the Y direction and the Z direction in sequence according to the position deviations in the three directions, so that the focused acoustic spot of the ultrasonic probe coincides with the geometric center coordinates of the target area. The X, Y, Z axes of the world coordinate system are the same as the X, Y, and Z axes of the linear drive mechanism.
The ultrasonic probe adjusting method is suitable for an ultrasonic probe adjusting device, and the ultrasonic probe adjusting device comprises an adjusting mechanism, a linear driving mechanism and a control unit, wherein the adjusting mechanism is used for installing an ultrasonic probe; the linear driving mechanism is used for driving the adjusting mechanism to move; in practical application, a sample to be detected is placed on an object stage of a nuclear magnetic resonance instrument, a control unit obtains a first nuclear magnetic resonance image of the sample to be detected when an ultrasonic probe is closed, and a first coordinate of a target area of the sample to be detected is obtained according to the first nuclear magnetic resonance image and is used as a reference position; when the ultrasonic probe is started, acquiring a second nuclear magnetic resonance image of the sample to be detected, and acquiring a second coordinate of a focused sound spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image; and then calculating to obtain the position deviation between the initial position and the reference position based on the first coordinate and the second coordinate, and driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction through the linear driving mechanism based on the position deviation so as to adjust the position of the ultrasonic probe, so that the automatic adjustment of the position of the ultrasonic probe is realized, namely the automatic adjustment of the stimulation position of the transcranial nerve stimulator is realized.
Fig. 7 is a schematic diagram illustrating the components of a transcranial nerve stimulator according to an embodiment of the present invention, and as shown in fig. 7, the transcranial nerve stimulator includes an nmr 720 and an ultrasound probe adjustment apparatus 710 according to the embodiment of fig. 1.
In the using process, the ultrasonic probe adjusting device 710 is arranged above the object stage of the nuclear magnetic resonance apparatus 720, and the accurate positioning of the ultrasonic probe focusing sound spot is realized in a limited space by automatically adjusting the position of the ultrasonic probe, so that the accurate stimulation of the transcranial nerve target position is performed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An ultrasonic probe adjusting device, which is used for being arranged above an object stage of a nuclear magnetic resonance apparatus, is characterized by comprising:
the adjusting mechanism is used for installing the ultrasonic probe;
the linear driving mechanism is provided with the adjusting mechanism and is used for driving the adjusting mechanism to move along the X direction, the Y direction and the Z direction; the X direction, the Y direction and the Z direction are mutually vertical in pairs;
the control unit is used for receiving the image of the sample to be detected sent by the nuclear magnetic resonance spectrometer, obtaining the position deviation between the ultrasonic probe and the target area of the sample to be detected according to the image of the sample to be detected, and driving the linear driving mechanism to move according to the position deviation so as to automatically adjust the position of the ultrasonic probe; wherein a sample to be tested is placed on the stage.
2. The adjustment device of claim 1, wherein the linear drive structure comprises:
the Z-axis linear module is used for mounting the adjusting mechanism and driving the adjusting mechanism to linearly move along the Z direction;
the Y-axis linear module is provided with the Z-axis linear module and is used for driving the Z-axis linear module to linearly move along the Y direction;
and the X-axis linear module is provided with the Y-axis linear module and is used for driving the Y-axis linear module to linearly move along the X direction.
3. The adjustment device of claim 1, wherein the adjustment mechanism comprises:
the outer connecting rod is arranged on the linear driving mechanism in parallel to the X direction;
the inner connecting rod is sleeved and connected with the outer connecting rod and used for sliding along the outer connecting rod;
the connecting assembly is used for fixing the outer connecting rod and the inner connecting rod;
and the mounting piece is arranged at one end, far away from the outer connecting rod, of the inner connecting rod and used for clamping the ultrasonic probe.
4. The adjustment device of claim 3, wherein the connection assembly comprises:
the fixed screw fastener is sleeved on the inner connecting rod in a sliding manner; the fixing screw buckle is provided with a hollow groove along the X direction;
the adjusting nut is hinged with the outer cylinder wall of the outer connecting rod and is used for being in threaded fit with the fixed screw thread to fix the outer connecting rod and the inner connecting rod; the inner wall of the adjusting nut is provided with a conical thread, and the diameter of the small end of the conical thread is smaller than that of the external thread of the fixed screw.
5. The adjustment device of claim 1, further comprising a switch unit; the ultrasonic probe and the control unit are electrically connected through the switch unit.
6. The adjustment device of claim 1, wherein the ultrasound probe is a low intensity focused ultrasound probe.
7. An ultrasonic probe adjustment method, characterized in that the method is applied to an ultrasonic probe adjustment apparatus according to any one of claims 1 to 6;
the method comprises the following steps:
when the ultrasonic probe is closed, obtaining a first nuclear magnetic resonance image of a sample to be detected, and obtaining a first coordinate of a target area of the sample to be detected as a reference position according to the first nuclear magnetic resonance image;
when the ultrasonic probe is started, obtaining a second nuclear magnetic resonance image of a sample to be detected, and obtaining a second coordinate of a focused sound spot of the ultrasonic probe as an initial position according to the second nuclear magnetic resonance image;
and calculating a position deviation between the initial position and the reference position based on the first coordinate and the second coordinate so as to adjust the position of the ultrasonic probe according to the position deviation.
8. The adjustment method according to claim 7, wherein obtaining the first coordinates of the target region of the sample to be detected from the first nuclear magnetic resonance image comprises:
performing feature extraction on the first nuclear magnetic resonance image based on a wavelet analysis algorithm to obtain a plurality of feature points of a target area in the first nuclear magnetic resonance image;
and acquiring edge coordinate information of the plurality of characteristic points, and calculating to obtain a geometric center coordinate of the target area as a first coordinate according to the plurality of edge coordinate information.
9. The adjustment method according to claim 7, wherein obtaining the first coordinates of the target region of the sample to be detected from the first nuclear magnetic resonance image comprises:
inputting the first nuclear magnetic resonance image into a pre-established target area positioning and identifying model, and obtaining the position coordinate of the target area in the first nuclear magnetic resonance image as a first coordinate; the target area positioning and identifying model is obtained by adopting pre-training of a nuclear magnetic resonance image marked with target area position coordinates.
10. An ultrasonic transcranial nerve stimulation apparatus, comprising a nuclear magnetic resonance apparatus and an ultrasonic probe adjustment device according to any one of claims 1-6.
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