CN118079257A - Variable-frequency ultrasonic regulation and control device - Google Patents
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Abstract
The application is applicable to the technical field of ultrasonic regulation and control, and provides a variable-frequency ultrasonic regulation and control device which is based on an electrophysiological signal and ultrasonic intensity function fitting model, can realize that ultrasonic stimulation parameters are regulated according to the amplitude of the electrophysiological signal of a patient to change the stimulation intensity, and the regulation of the ultrasonic is carried out within a safety threshold range, so that safe and effective brain ultrasonic stimulation is realized.
Description
Technical Field
The application belongs to the technical field of ultrasonic regulation and control, and particularly relates to a variable-frequency ultrasonic regulation and control device.
Background
In the existing ultrasonic control technology, a medical instrument generally emits a stimulation pulse with a specific frequency to perform long-term stimulation on a specific target point, so that symptoms of a patient are improved, and the stimulation mode is called constant-frequency stimulation mode. In constant frequency stimulation mode, the stimulation time of a target by a single frequency typically lasts for several days, months or even years. Therefore, in clinic, aiming at different brain disease patients and stimulation demands, the optimal stimulation effect can be achieved by frequently changing different pulse repetition frequencies and accurately positioning the stimulation targets. The existing stimulation mode cannot meet the individual variability and specific treatment of patients, and the constant frequency stimulation mode effect needs to be improved and can generate stimulation resistance, so that the treatment efficiency is reduced, the cost is increased, and the uncontrollable risk is caused by errors due to frequent manual operation, which is a great obstacle to realizing clinical accurate medical treatment. In addition, according to the ultrasonic stimulation treatment experience of epileptic patients, the patients are easy to adapt to the stimulation under the stimulation of constant frequency, so that the treatment effect is poor.
Meanwhile, a plurality of curved surfaces are integrated into one ultrasonic transducer to realize variable frequency zooming, namely, the variable frequency is realized by changing the basic frequency and the focal spot size of the ultrasonic ring energy device, and the thought of the ultrasonic ring energy device is to apply the ultrasonic fluctuation effect to solve the problem of the ultrasonic imaging that the ultrasonic imaging faces the different medium imaging requirement diversity. However, when such a frequency conversion method is applied to a human body, long-term stimulation and energy delivery are performed on a specific target, so that there is a possibility that stimulation resistance is generated and there is a risk of thermal damage. The prior art has the defects.
Disclosure of Invention
The application aims to provide a variable-frequency ultrasonic regulation and control device, which aims to solve one of the technical problems of generating stimulus resistance and realizing safe and effective ultrasonic regulation and control by adopting ultrasonic constant-frequency stimulus.
The application provides a variable frequency ultrasonic regulation and control device, which comprises a real-time signal monitoring module, a nonlinear function fitting model and a programmable ultrasonic variable frequency control system which are electrically connected;
The real-time signal monitoring module is used for collecting, processing and monitoring the brain electric physiological signals of the patient, sending the real-time brain electric physiological signals according to the monitoring result to trigger the programmable ultrasonic variable frequency control system, and interfering with the stimulation of the patient according to the requirement;
the nonlinear function fitting model is used for calculating corresponding ultrasonic intensity according to a fitted functional relation when a real-time brain electrophysiological signal is input, and outputting the ultrasonic intensity to the programmable ultrasonic variable frequency control system;
and the programmable ultrasonic variable frequency control system generates corresponding variable frequency stimulation pulse signals to intervene and stimulate a patient according to the ultrasonic intensity sent by the nonlinear function fitting model.
The variable-frequency ultrasonic regulation device is based on an electrophysiological signal and ultrasonic intensity function fitting model, and realizes the frequency conversion of an ultrasonic transducer of a curved surface. The frequency conversion is realized by changing the pulse repetition frequency through the nonlinear fitting relation between the electrophysiological signal and the ultrasonic regulation, the mechanical effect of the ultrasonic is utilized, the stimulation intensity can be changed by adjusting the ultrasonic stimulation parameters according to the amplitude of the electrophysiological signal of the patient, the adjustment of the ultrasonic is performed within the range of the safety threshold, and the safe and effective brain ultrasonic stimulation is realized. The variable frequency ultrasonic control device adopting the device has the same technical effect.
Drawings
FIG. 1 is a block diagram of a frequency conversion ultrasonic control device provided by the application;
FIG. 2 is a schematic representation of the effect of ultrasound parameters on ultrasound waveforms in accordance with the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The following describes in detail the implementation of the present application in connection with specific embodiments:
Examples:
FIG. 1 shows that the application actually provides a variable frequency ultrasonic regulation and control device, which comprises an electrically connected real-time signal monitoring module, a nonlinear function fitting model and a programmable ultrasonic variable frequency control system;
The real-time signal monitoring module is used for collecting, processing and monitoring the brain electric physiological signals of the patient, sending the real-time brain electric physiological signals according to the monitoring result to trigger the programmable ultrasonic variable frequency control system, and interfering with the stimulation of the patient as required;
The nonlinear function fitting model is used for calculating corresponding ultrasonic intensity according to a fitted functional relation when the real-time brain electrophysiological signal is input, and outputting the ultrasonic intensity to the programmable ultrasonic variable frequency control system;
And the programmable ultrasonic variable frequency control system generates corresponding variable frequency stimulation pulse signals to intervene and stimulate a patient according to the ultrasonic intensity sent by the nonlinear function fitting model.
Specifically, the variable-frequency ultrasonic control device dynamically adjusts and outputs an ultrasonic parameter sequence to trigger an ultrasonic signal generator according to the real-time electrophysiological signal characteristics (such as frequency, high frequency or low frequency) of a patient, so as to realize personalized ultrasonic control stimulation. The technical effect of dynamically adjusting ultrasonic parameters in real time according to electrophysiological signals is achieved. The application collects myoelectricity, electroencephalogram and other data, and makes a great number of experiments to stimulate the viewing effect by using different ultrasonic parameters, and verifies the relationship among the myoelectricity, electroencephalogram and ultrasonic parameters. The stimulation of the frequency conversion process to the cranial nerves can be ensured to be always in the range of the safety threshold value, and a certain treatment effect can be realized.
Further, the programmable ultrasonic variable frequency control system comprises: the device comprises a variable frequency modulation unit, a focusing control unit, an ultrasonic transducer and a starting control unit which is respectively and electrically connected with the variable frequency modulation unit, the focusing control unit and the ultrasonic energy circulator;
the variable frequency modulation unit is used for controlling the ultrasonic transducer to generate a corresponding stimulation pulse signal according to the ultrasonic intensity in real time, and changing a stimulation parameter sequence to realize ultrasonic frequency conversion;
the ultrasonic transducer is used for controlling the multi-array element probe to send out corresponding ultrasonic to form a variable-frequency stimulation pulse signal according to the input ultrasonic parameters.
In the specific implementation, the programmable variable frequency ultrasonic control system transmits the parameter sequence to the transducer and the focusing position to the transducer control arm through the starting control unit, and realizes the dynamic focusing regulation and control of variable frequency ultrasonic by the cooperative control of hardware and software.
Different brain regions are stimulated by ultrasound through dynamic change of focus and ultrasound parameters, and meanwhile, the influence of regulation and control of the ultrasound focus region on physiological signals of a patient is monitored and fed back to correction of ultrasound stimulation functions. The research shows that the variable-frequency transcranial pulse stimulation can effectively improve Alzheimer disease, different pulse numbers are used for changing the stimulation period, the risk of thermal injury is reduced, the ultrasonic curative effect is improved, and the cognitive function of a patient is improved.
According to the application, the ultrasonic regulation and control device is based on the fitting model of the electrophysiological signal and the ultrasonic intensity function, so that the ultrasonic stimulation parameter can be adjusted according to the amplitude of the electrophysiological signal of the patient to change the stimulation intensity, and safe and effective intervention can be realized. The ultrasonic has a rear-end programmable variable frequency control module and a focusing control module, can change parameter sequences such as ultrasonic basic frequency, pulse repetition frequency, duty cycle, stimulation period and the like, can adjust an ultrasonic transducer to focus a focal spot by adjusting and controlling a hardware mechanical arm, realizes multi-target ultrasonic nerve adjustment and control, provides a novel non-invasive, variable frequency, multi-target focusing and safe nerve stimulation scheme, and can be applied to intervention treatment of neuropsychiatric diseases. Meanwhile, the system is compatible with an independent signal acquisition and processing real-time detection module, a nonlinear function fitting model and a treatment effect evaluation module, and can perform real-time and personalized stimulation adjustment according to the condition of a patient.
Further, the stimulation parameter sequence includes a base frequency, a pulse amplitude, a pulse repetition frequency, and a pulse length.
Further, the variable frequency stimulation pulse signals in the stimulation parameter sequence comprise at least two ultrasonic stimulation pulse trains with different frequencies which are stimulated alternately to form a plurality of pulse train periods.
Specifically, as shown in fig. 2, the variable frequency modulation unit dynamically controls the ultrasonic pulse generation module to generate variable frequency stimulation pulse signals in real time according to the signal monitoring module, and changes ultrasonic parameters including basic frequency, pulse amplitude, pulse repetition frequency and pulse length.
The stimulation frequency of the variable-frequency stimulation pulse signal is determined through the following steps:
Firstly, recording the normal use ultrasonic intensity A of the patient stimulated by constant frequency; according to a nonlinear function fitting model, inputting an electrophysiological signal amplitude to obtain the ultrasonic intensity B=a 1x(i)+a2x(i)+a3x(i)+a4 to be used; the ultrasonic intensity A and the ultrasonic intensity B are the stimulation intensity of the variable-frequency stimulation pulse signal.
Specifically, a is a parameter sequence after the last stimulation period is ended, and B is a parameter sequence to be stimulated currently. Different stimulation periods use different stimulation parameter sequences, namely frequency conversion. The frequency conversion of the present application is the pulse repetition frequency PRF, not the fundamental frequency FF.
In an ultrasound system, the relationship between the ultrasound intensity and the ultrasound parameter sequence (PRF: pulse repetition frequency, u L: voltage, M L: sensitivity, DC: duty cycle, SD: stimulus time, ISI: stimulus interval, P: medium density, c: sound velocity, T1: pulse time, T2: pulse period, T3: stimulus time, T4: stimulus interval, ispta: ultrasound intensity) is as follows:
T3＝SD，t4＝SD+ISI,T3＝，/>
The constraint is T1< = T2/2< = T3/2< = T4/2. The voltage is determined by the performance of the ultrasonic transducer, for example, the transducer with the common basic frequency of 1MHz, the voltage is not more than 900mV, the common fixed parameter in the ultrasonic regulation process is 500mV, the sensitivity is determined by the ultrasonic system, and the ultrasonic regulation process is not regulated. Pulse repetition frequency, duty cycle, stimulation time, stimulation interval can be set.
Firstly, the repetition frequency of ultrasonic stimulation pulses is 1 Hz-100 Hz;
preferably, the ultrasonic stimulation pulse repetition frequency is 1 KHz-5 KHz;
more preferably, the ultrasonic stimulation pulse repetition frequency is 1 Hz-5 KHz.
The number of the ultrasonic stimulation pulse trains with different frequencies is N, and N is more than or equal to 2 and less than or equal to 10, and the time ratio of the ultrasonic stimulation pulse trains with different frequencies in each pulse train period is more than 5 percent.
Then, the ultrasonic stimulation pulse trains with different frequencies are separated by a certain time, and the time interval between two adjacent ultrasonic stimulation pulse trains with different frequencies is 0.01 seconds to 60 minutes; or a certain time interval is formed between a plurality of pulse train periods, and the time interval between two adjacent pulse train periods is 0.01 seconds-60 minutes. The sequence of occurrence of the stimulation bursts in each cycle is from small to small or random in frequency.
Further, the device also comprises a treatment effect evaluation module and a feedback regulation unit electrically connected with the treatment effect evaluation module; the feedback adjusting unit is electrically connected with the programmable ultrasonic variable frequency control system;
the treatment effect evaluation module judges the effectiveness and safety of the real-time ultrasonic emphasis based on the real-time brain function imaging and treatment effect evaluation of the patient, and a feedback adjusting unit is used for transmitting the real-time ultrasonic emphasis back to the programmable ultrasonic variable frequency control system.
Further, the focusing control unit is used for determining and correcting the ultrasonic focusing target point position according to the feedback of the feedback unit. So as to realize real-time intervention of the focusing brain area of the precise multi-array element ultrasonic transducer.
Further, the focusing control unit controls the hardware mechanical arm, dynamically adjusts the direction and the height of the ultrasonic transducer, and changes the size of the focal spot so as to finish the correction of the ultrasonic focusing target point.
The ultrasonic transducer of the application is mainly designed into a spherical structure. Each square represents an individual element, each element being controlled by an individual electronic channel. And calculating the reference delay of the array element according to the pre-acquired target area relative position information, the array element relative position information and the area acoustic parameter.
The acoustic parameters of the target region include density, speed of sound, attenuation coefficient. Through the vibration element control in each vibration element and the combination of the reference delay, the electronic system controls the transducer to form an independent focused ultrasonic field so as to realize the accurate stimulation of the target nucleus, and the multi-focus and dynamically adjustable ultrasonic stimulation is realized through the different focal point modulation of different ultrasonic transducers. Meanwhile, accurate multi-target ultrasonic stimulation is achieved according to the variable frequency modulation unit module and the focusing control module.
Further, the nonlinear function fitting model utilizes the trained artificial neural network model to obtain corresponding discrete data comprising the electroencephalogram physiological signal and the ultrasonic intensity, and performs least square fitting on the discrete data to obtain an equation of the ultrasonic intensity corresponding to the characteristic signal of the electrophysiological signal and corresponding parameters of the equation; when the real-time brain electrophysiological signals of the real-time signal monitoring module are transmitted into the model, expected ultrasonic intensity can be obtained through calculation according to the fitting function relation in the equation, and the ultrasonic emphasized corresponding ultrasonic parameter sequence is output to the programmable ultrasonic variable frequency control system.
Specifically, the application simulates the process that high-frequency ultrasound excites neurons, increases the discharge frequency of the neurons, and low-frequency ultrasound suppresses the neurons and reduces the discharge frequency of the neurons based on a nonlinear function fitting model. And (3) carrying out iterative optimization on a large amount of experimental data by utilizing an artificial neural network model to obtain discrete data corresponding to the electrophysiological signals and the ultrasonic intensity.
Further performing least square fitting on the discrete data to obtain an equation for exciting and suppressing the characteristic value of the electrophysiological signal by the ultrasonic intensity change in the safety threshold range and corresponding parameters of a neural network model: f=a 1x(i)+a2x(i)+a3x(i)+a4;
Wherein F is ultrasonic intensity, x (i) is electrophysiological time sequence signal, and a is coefficient parameter;
When the electrophysiological signal is EEG, the acquisition site is in the sea horse, the sampling rate of the sampling equipment is 500, the gain is 8, after FIR filtering is adopted, when |x (i) |epsilon [0,1000] mV, the linear fitting result is a 1＝9.68*10-7,a2＝2.90*10-3,a3＝2.39,a4 = -354.7; when |x (i) |e [5000,20000] mv, the linear fit results in a 1＝0.68*103,a2＝-1.7*10-3,a3＝0.48,a4 =0.
When the physiological signal is in an abnormal excited state and presents high-frequency waves, x (i) is taken as input, F intensity is correspondingly output, when the physiological signal presents higher-frequency waves after ultrasonic stimulation for one period, a negative feedback is used for adjusting the F intensity, otherwise a positive feedback is used for adjusting F until the physiological signal returns to a normal state.
Meanwhile, the system sets the range [ min, max ] of the F value according to the experimental test, when the negative feedback of a is adjusted down to F, the minimum critical value min may be reached, and when the positive feedback of a is adjusted up to F, the maximum critical value max may be reached.
The safety of the device is that after a large number of ultrasonic stimulation experiments, living body imaging is carried out after each sequence stimulation, for example, MRI (magnetic resonance imaging) is carried out to see whether intracranial injury exists or edema is carried out, ultrasonic imaging is carried out to see whether skin tissue is injured, a threshold range is set, ultrasonic stimulation is realized through ultrasonic mechanical effect radiation force, and vibration of focal spot positions is quoted, so that neuron activity is influenced.
Effectiveness is as follows: ultrasound stimulation is taken as an example for assisting in epileptic suppression. The application judges the ultrasonic stimulation parameter sequence needed to be adopted in the next step according to the electrophysiological signal. For example, the brain electrical changes very significantly during seizures, typically with a duration averaging 60s, but the present application reduces the seizure duration to 23s after ultrasound stimulation of the hippocampus. Meanwhile, the application also has the advantages of performing ultrasonic regulation and control on AD diseases, and having obvious difference between a behavioural experimental group and a control group after continuous 7-day stimulation treatment. The effectiveness is established when evaluating according to an electrophysiological signal or an index of behavior or the like.
For example, in epileptic diseases, synchronous abnormal discharge of brain areas is an important sign of epileptic seizures, the application collects brain electrical signals as input, when the brain electrical signals are in high-frequency multi-spike waves, the epileptic seizures are detected by a real-time signal monitoring module through a threshold algorithm, if the detection result is yes, ultrasound is triggered, and corresponding low-frequency ultrasonic parameters are transmitted to an ultrasonic signal generator according to formula calculation for stimulation; after one period is finished, stopping stimulation if the electroencephalogram signal is recovered to be normal, and performing negative feedback regulation F if the electroencephalogram signal is more high-frequency spike waves, otherwise performing positive feedback regulation until the electroencephalogram signal is recovered to be normal.
In order to further illustrate the device, the application also provides a variable frequency ultrasonic regulation and control method, which comprises the following steps:
s1, exciting neurons based on high-frequency ultrasound, increasing discharge frequency, inhibiting neurons by low-frequency ultrasound, and inputting a real ultrasonic stimulation experimental result into an artificial neural network model on the premise of reducing the discharge frequency; constructing discrete data according to the brain electrophysiological signals with output results in a safety threshold range and the corresponding output ultrasonic intensities;
s2, performing least square fitting on the discrete data to obtain an equation of ultrasonic intensity corresponding to the characteristic value of the electrophysiological signal and corresponding parameters of the equation;
and s3, inputting the acquired real-time brain electrophysiological signals into an equation, and obtaining the ultrasonic intensity to be used through nonlinear fitting function operation of the equation.
Further, the equation outputs different ultrasonic intensities through different stimulation parameter sequences; the stimulation parameter sequence includes: fundamental frequency, pulse amplitude, pulse repetition frequency, pulse length.
The application solves the need of specific stimulation in ultrasonic nerve regulation to treat brain diseases. Based on the fact that some parameter sequences exist for ultrasonic control, which are effective for some patients and have no effect for other patients, automatic adjustment of the stimulation sequences according to electrophysiological signals of patient parameters is very necessary for finding the optimal stimulation sequences of the patients. Compared with the traditional physical nerve regulation and control technology, the technology applies the programmable variable frequency ultrasonic nerve regulation and control technology to stimulate the related nucleus and neurons of the brain diseases, and the regulation and control technology has the unique advantages of noninvasive frequency conversion, high resolution, dynamic focusing, easy operation and the like, can effectively improve the cognitive function of patients and intervene in the nerve diseases, and has wide clinical application prospect. At present, experimental research of ultrasonic nerve regulation mainly applies constant frequency single focus stimulation, which is easy to generate stimulation resistance and has poor effect. The realization of the variable frequency ultrasonic dynamic focusing regulation and control technology not only can improve constant frequency stimulation, but also can accurately cover more brain areas, thereby providing a new intervention technology for various brain nerve diseases.
Compared with the traditional physical nerve regulation technology, the ultrasonic regulation real-time frequency conversion device provided by the application is used for stimulating brain disease related nucleuses and neurons, has the unique advantages of noninvasive frequency conversion, high resolution, dynamic focusing, easiness in operation and the like, can effectively improve the cognitive function of patients and intervene in nerve diseases, and has wide clinical application prospect. At present, experimental research of ultrasonic nerve regulation mainly applies constant frequency single focus stimulation, which is easy to generate stimulation resistance and has poor effect. The realization of the variable frequency ultrasonic dynamic focusing regulation and control technology not only can improve constant frequency stimulation, but also can accurately cover more brain areas, thereby providing a new intervention technology for various brain nerve diseases.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (8)
1. The variable-frequency ultrasonic regulation and control device is characterized by comprising a real-time signal monitoring module, a nonlinear function fitting model and a programmable ultrasonic variable-frequency control system which are electrically connected;
The real-time signal monitoring module is used for collecting, processing and monitoring the brain electric physiological signals of the patient, sending the real-time brain electric physiological signals according to the monitoring result to trigger the programmable ultrasonic variable frequency control system, and interfering with the stimulation of the patient according to the requirement;
the nonlinear function fitting model is used for calculating corresponding ultrasonic intensity according to a fitted functional relation when a real-time brain electrophysiological signal is input, and outputting the ultrasonic intensity to the programmable ultrasonic variable frequency control system;
and the programmable ultrasonic variable frequency control system generates corresponding variable frequency stimulation pulse signals to intervene and stimulate a patient according to the ultrasonic intensity sent by the nonlinear function fitting model.
2. The ultrasound control device of claim 1, wherein the programmable ultrasound variable frequency control system comprises: the device comprises a variable frequency modulation unit, a focusing control unit, an ultrasonic transducer and a starting control unit which is respectively and electrically connected with the variable frequency modulation unit, the focusing control unit and the ultrasonic transducer;
the variable frequency modulation unit is used for controlling the ultrasonic transducer to generate a corresponding stimulation pulse signal according to the ultrasonic intensity in real time, and changing a stimulation parameter sequence to realize ultrasonic frequency conversion;
The ultrasonic transducer is used for controlling the multi-array element probe to send out corresponding ultrasonic to form a variable frequency stimulation pulse signal according to the input ultrasonic parameters.
3. The ultrasound modulation device according to claim 2, wherein the stimulation parameter sequence comprises a base frequency, a pulse amplitude, a pulse repetition frequency, a pulse length.
4. The ultrasound modulation device according to claim 3, wherein the variable frequency stimulation pulse signals in the stimulation parameter sequence comprise at least two ultrasound stimulation pulse trains of different frequencies alternately stimulated to form a plurality of pulse train periods.
5. The ultrasound control device of claim 4, further comprising a treatment effect evaluation module and a feedback adjustment unit electrically connected thereto; the feedback regulating unit is electrically connected with the programmable ultrasonic variable frequency control system;
The treatment effect evaluation module judges the effectiveness and safety of the real-time ultrasonic emphasis based on the real-time brain function imaging and treatment effect evaluation of the patient, and the feedback regulation unit is transmitted back to the programmable ultrasonic variable frequency control system.
6. The ultrasonic control device of claim 5, wherein the focus control unit is configured to determine and correct an ultrasonic focus target position based on feedback from the feedback unit.
7. The ultrasound control device of claim 6, wherein the focus control unit controls the hardware robotic arm to dynamically adjust the ultrasound transducer direction and height, and to change the stimulus target coverage area to accomplish the modification of the ultrasound focus target.
8. The ultrasonic regulation and control device according to claim 7, wherein the nonlinear function fitting model obtains corresponding discrete data comprising an electroencephalogram physiological signal and ultrasonic intensity by using a trained artificial neural network model, and performs least square fitting on the discrete data to obtain an equation of ultrasonic intensity corresponding to an electrophysiological signal characteristic signal and corresponding parameters of the equation; when the real-time brain electrophysiological signals of the real-time signal monitoring module are transmitted into the model, expected ultrasonic intensity can be obtained through calculation according to the fitting function relation in the equation, and the ultrasonic emphasized corresponding ultrasonic parameter sequence is output to the programmable ultrasonic variable frequency control system.
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| WO2014127091A1 (en) * | 2013-02-14 | 2014-08-21 | Thync, Inc. | Transcranial ultrasound systems |
| CN104548390B (en) * | 2014-12-26 | 2018-03-23 | 中国科学院深圳先进技术研究院 | It is a kind of to obtain the method and system that the ultrasound emission sequence that cranium focuses on ultrasound is worn for launching |
| CN113181569B (en) * | 2021-04-27 | 2023-03-14 | 燕山大学 | Closed-loop transcranial brain stimulation system and method |
| CN114904172A (en) * | 2022-04-27 | 2022-08-16 | 南京备力医疗科技有限公司 | Portable nerve regulation and control device and regulation and control method based on low-intensity focused ultrasound |
| CN115317815A (en) * | 2022-09-19 | 2022-11-11 | 河北医科大学第二医院 | Real-time control closed-loop ultrasonic stimulation method, system and device |
| CN115475746A (en) * | 2022-09-27 | 2022-12-16 | 南京海克医疗设备有限公司 | Frequency conversion stacking annular self-gathering ultrasonic transducer |
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