CN115919365A - Real-time navigation device and imaging method for intracranial electrode implantation - Google Patents

Abstract

The application discloses a real-time navigation device and an imaging method for intracranial electrode implantation. The device includes: an ultrasonic probe for brain detection and a local ultrasonic probe; Acquiring the first ultrasonic image of the first range of the whole intracranial brain; the local detection ultrasonic probe is set on the head end of the trocar core, wherein the trocar core is used to pass through the cranial hole ring, and insert the electrode into the predetermined intracranial Position; the local detection ultrasonic probe is used to acquire a second ultrasonic image in a second range near the head end, wherein the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasonic image is higher than that of the first ultrasonic image . It solves the problem in the related art that when the intracranial electrode is implanted, it can only be navigated according to the static images before and after the implantation, and the real-time navigation cannot be performed during the implantation process.

Description

Real-time navigation device and imaging method for intracranial electrode implantation

technical field

The present application relates to the field of ultrasound imaging, in particular, to a real-time navigation device and an imaging method for intracranial electrode implantation.

Background technique

Medical ultrasound imaging is one of the four major medical imaging technologies. Its working principle is based on the transmission and reflection of ultrasound in different biological tissues. It is widely used in clinical diagnosis of obstetrics, ophthalmology, internal medicine, and cardiovascular medicine. It has unique advantages such as good real-time performance, no ionizing radiation, and low cost. At present, 1/6 of the world's population is troubled by neurological and mental diseases, and many diseases such as dysfunction, degeneration and mental illness still lack sufficient treatment methods. Deep brain stimulation (deep brain stimulation, DBS) neuromodulation therapy is currently known The technical means with the most potential and clinical prospects.

However, in clinical practice, the key intraoperative electrode implantation only relies on preoperative images and postoperative images to complete the operation. Because there is no intraoperative real-time image navigation, exceptions are made in blood vessels, and the electrode stimulation points are slightly deviated, which may cause bleeding and may induce depression. disease risk. Only 1.6%-4.5% of severe PD patients receive this treatment. Traditional deep brain electrical stimulation electrode implantation positioning relies on preoperative surgical planning, and cannot perform real-time intraoperative navigation, which is prone to bleeding and positional deviation during implantation.

Aiming at the problem of intracranial electrode implantation in related technologies, navigation can only be performed according to static images before and after implantation, and real-time navigation cannot be performed during the implantation process, and no effective solution has been proposed yet.

Contents of the invention

The main purpose of this application is to provide a real-time navigation device and imaging method for intracranial electrode implantation, so as to solve the problem of intracranial electrode implantation in the related art, which can only be performed according to static images before and after implantation. Navigation, the problem of not being able to navigate in real time during the implantation process.

In order to achieve the above object, according to one aspect of the present application, a real-time navigation device for intracranial electrode implantation is provided, including: a brain detection ultrasound probe, a local detection ultrasound probe; the brain detection ultrasound probe is installed on the brain On the set cranial hole ring, the brain detection ultrasound probe is directed towards the intracranium, wherein the brain detection ultrasound probe is used for real-time acquisition of the first ultrasound image of the first range of the whole intracranial brain; the local detection ultrasound The probe is arranged at the head end of the trocar core, wherein the trocar core is used to pass through the cranial hole ring and insert the electrode into a predetermined position in the cranium; the local detection ultrasonic probe is used to collect the head A second ultrasound image in a second range near the end, wherein the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasound image is higher than that of the first ultrasound image.

Optionally, the working frequency of the brain detection ultrasound probe is in the first frequency range, wherein the ultrasound detection wave in the first frequency range is used to collect the first ultrasound image in the first range; the local detection The working frequency of the ultrasonic probe is a second frequency range, wherein the ultrasonic probe wave in the second frequency range is used to collect a second ultrasonic image in the second range, and the second frequency range is higher than the first frequency scope.

Optionally, the brain detection ultrasound probe is a convex array ultrasound probe, and the local detection ultrasound probe is a phased array ultrasound probe.

Optionally, a sleeve is arranged on the shell of the convex array ultrasonic probe, and the sleeve is rotatably mounted on the shell in the radial direction, and the sleeve is used for slidingly installing the trocar core, so that The trocar stylet slides up and down and/or rotates.

Optionally, a caliper structure is also provided on the shell of the convex array ultrasonic probe, and the caliper structure is arranged on the shell of the convex array ultrasonic probe for clamping the convex array ultrasonic probe in the On the cranial hole ring, to fix the position of the convex array ultrasound probe.

Optionally, the device further includes: a movable host connected to both the brain detection ultrasound probe and the local detection ultrasound probe, for providing the brain detection ultrasound probe and the The partial detection ultrasonic probe supplies power, and receives the data collected by the brain detection ultrasonic probe and the local detection ultrasonic probe; the movable host includes: a display screen, a movable main body; the display screen is arranged on the movable On the main body, the movable main body includes a processing device and an operating device, and the processing device is connected to the convex-array ultrasonic probe through the connecting line.

In order to achieve the above purpose, according to another aspect of the present application, a real-time navigation imaging method for intracranial electrode implantation is provided, including: receiving in real time the first data of the first range of the whole brain in the brain collected by the brain detection ultrasound probe. Ultrasonic detection data, wherein, the brain detection ultrasonic probe is installed on the cranial hole ring provided on the brain, the brain detection ultrasonic probe faces the intracranial, and collects the first ultrasonic detection data in the first range of the intracranial in real time; according to The first ultrasonic detection data generates a first ultrasonic image; receiving in real time the second ultrasonic detection data of a second range near the head end of the trocar core collected by the local detection ultrasonic probe, wherein the local detection ultrasonic probe is set at the head end of a trocar core, the trocar core is used to pass through the cranial hole ring, and insert the electrode into a predetermined position in the cranium, and the size of the second range is smaller than the size of the first range; according to The second ultrasound probe data generates a second ultrasound image.

Optionally, the brain detection ultrasound probe is a convex array ultrasound probe, the local detection ultrasound probe is a phased array ultrasound probe, and receives the first ultrasound in the first range of the intracranial whole brain collected by the convex array ultrasound probe in real time. Detecting data, and generating a first ultrasonic image according to the first ultrasonic detection data includes: sending a first ultrasonic detection wave in a first frequency range through the convex array ultrasonic probe in a direction toward the intracranial; An array of ultrasonic probes, receiving a first echo of the first ultrasonic detection wave, converting the first echo into first ultrasonic detection data; receiving the first ultrasonic detection data sent by the convex array ultrasonic probe, And generate the corresponding first ultrasonic image according to the first ultrasonic detection data; receive the second ultrasonic detection data of the second range near the head end of the trocar core collected by the phased array ultrasonic probe in real time, and according to the first ultrasonic detection data Generating a second ultrasonic image from the second ultrasonic detection data includes: sending a second ultrasonic detection wave in a second frequency range through the phased array ultrasonic probe, wherein the detection direction of the phased array ultrasonic probe faces away from the casing One side of the needle core; receiving the second echo of the second ultrasonic detection wave through the phased array ultrasonic probe, converting the second echo into second ultrasonic detection data; receiving the phased array The second ultrasonic detection data sent by the ultrasonic probe, and a corresponding second ultrasonic image is generated according to the second ultrasonic detection data.

Optionally, the method further includes: displaying the first ultrasound image on a first area on the screen, synchronously displaying the second ultrasound image on a second area on the screen; Process the first ultrasonic detection data with a power Doppler algorithm to obtain a first blood vessel image with a first resolution; process the second ultrasonic detection data with a second blood flow power Doppler algorithm to obtain a first blood vessel image A second blood vessel image with two resolutions, wherein the second resolution is greater than the first resolution; the first blood vessel image is displayed in a third area on the screen, and the second blood vessel image is synchronously displayed on the screen The fourth area on the screen.

According to another aspect of the present application, a computer-readable storage medium is also provided, and the storage medium is used to store a program, wherein the program executes the real-time operation of the intracranial electrode implantation described in any one of the above. Navigating Imaging Methods.

According to another aspect of the present application, there is also provided an electronic device, including one or more processors and a memory, the memory is used to store one or more programs, wherein, when the one or more programs are executed When the one or more processors are executed, the one or more processors realize the real-time navigation imaging method for intracranial electrode implantation described in any one of the above.

The present application detects the first ultrasonic image of the first range of the whole intracranial brain through the brain detection ultrasonic probe, and collects the second range near the head end of the trocar core through the local detection ultrasonic probe during the electrode implantation process. The second ultrasound image, the position of the trocar core in the whole brain is obtained through the first ultrasound image, and the position of the head end of the trocar core for installing the electrode in the intracranial local area is obtained through the second ultrasound image, It also displays nearby blood vessels and other tissues in detail, achieving the purpose of real-time navigation from the brain dimension and the local dimension near the head during the electrode implantation process, and improving the efficiency of electrode implantation navigation , the technical effect of reducing the difficulty of electrode implantation, and then solving the problem of intracranial electrode implantation in related technologies, which can only be navigated according to static images before and after implantation, and cannot be navigated in real time during the implantation process. The problem.

Description of drawings

The drawings constituting a part of the application are used to provide further understanding of the application, and the schematic embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is a schematic diagram of a real-time navigation device for intracranial electrode implantation provided according to an embodiment of the present application;

2 is a flow chart of a real-time navigation imaging method for intracranial electrode implantation provided according to an embodiment of the present application;

Fig. 3 is a schematic diagram of an intracranial electrode implanted navigation device provided according to an embodiment of the present application;

Fig. 4-1-1 is a schematic diagram of B-ultrasound imaging of a convex array ultrasonic probe provided according to an embodiment of the present application;

Fig. 4-1-2 is a schematic diagram of microvascular imaging of a convex array ultrasonic probe provided according to an embodiment of the present application;

Fig. 4-2-1 is a schematic diagram of B-ultrasound imaging of a phased array ultrasonic probe provided according to an embodiment of the present application;

Fig. 4-2-2 is a schematic diagram of microvascular imaging provided by a phased array ultrasonic probe according to an embodiment of the present application;

Fig. 5 is a schematic diagram of the structure of a convex array ultrasonic probe provided according to an embodiment of the present application;

Fig. 6 is a schematic diagram of an installation structure of a phased array ultrasonic probe provided according to an embodiment of the present application;

7 is a schematic diagram of an assembly structure of a convex array ultrasonic probe and a phased array ultrasonic probe provided according to an embodiment of the present application;

Fig. 8 is a schematic diagram of an electronic device provided according to an embodiment of the present application.

The reference signs of the above-mentioned accompanying drawings are as follows:

11—ultrasound probe for brain detection, 12—ultrasound probe for local detection, 13—skull hole ring, 14—trocar needle core, 141—head end, 2—convex array ultrasound probe, 3—phased array ultrasound probe, 4— Display, 5—movable main body, 21—piezoelectric layer, 22—matching layer, 23—flexible circuit board, 24—sleeve, 80—electronic equipment.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Fig. 1 is a schematic diagram of a real-time navigation device for intracranial electrode implantation provided according to an embodiment of the present application. As shown in Fig. 1, according to one aspect of the present application, a real-time navigation device for intracranial electrode implantation is provided , including: brain detection ultrasound probe 11, local detection ultrasound probe 12;

The brain detection ultrasound probe 11 is installed on the cranial hole ring 13 provided on the brain, and the brain detection ultrasound probe 11 faces the intracranial, wherein the brain detection ultrasound probe 11 is used for real-time acquisition of the first range of the whole intracranial brain. An ultrasonic image; the local detection ultrasonic probe 12 is arranged on the head end of the trocar core 14, wherein the trocar core 14 is used to pass through the cranial hole ring 13, and insert the electrode into a predetermined position in the cranium; the partial detection ultrasonic probe 12 The method is used to acquire a second ultrasound image within a second range near the head end, wherein the size of the second range is smaller than the size of the first range, and the resolution of the second ultrasound image is higher than that of the first ultrasound image.

The above-mentioned device detects the first ultrasonic image of the first range of the whole intracranial brain through the brain detection ultrasonic probe, and collects the second range near the head end of the trocar core through the local detection ultrasonic probe during the electrode implantation process. The second ultrasound image, the position of the trocar core in the whole brain is obtained through the first ultrasound image, and the position of the head end of the trocar core for installing the electrode in the intracranial local area is obtained through the second ultrasound image, It also displays nearby blood vessels and other tissues in detail, achieving the purpose of real-time navigation from the brain dimension and the local dimension near the head during the electrode implantation process, and improving the efficiency of electrode implantation navigation , the technical effect of reducing the difficulty of electrode implantation, and then solving the problem of intracranial electrode implantation in related technologies, which can only be navigated according to static images before and after implantation, and cannot be navigated in real time during the implantation process. The problem.

The above-mentioned brain detection ultrasonic probe 11 has a low operating frequency, and can detect deep tissue interiors. During the implantation of the intracranial electrodes in this embodiment, most of the brain can be detected by the brain detection ultrasonic probe. For tissue conditions, the generated first ultrasonic image in the first range can display the position of the trocar core on a larger scale.

Brain probing ultrasound probes can navigate the direction of the trocar core on a larger scale, especially when the trocar core has just penetrated into the skull, or the target position of the implanted electrode is deep, and it is necessary to There is a general direction of travel to guide the cannula stylet towards the target location. Therefore, the size of the ultrasound probe for brain detection can be slightly larger, the resolution can be lower, and the image quality can be slightly worse, mainly to ensure the scanning range to roughly determine the position of the trocar core in the whole brain.

The above-mentioned ultrasound probe for brain detection may be a convex array ultrasound probe or a phased array ultrasound probe. A convex array ultrasound probe is preferred.

When the cannula core is relatively close to the target position, or the cannula core is inevitably close to complex tissues, it is necessary to use a local detection ultrasonic probe to scan the second ultrasonic image in the second range near the tip end of the cannula core. The ultrasonic probe for partial detection can be arranged at the head end of the trocar core through wiring, and its physical size is smaller. Phased-array ultrasound probes are usually chosen to keep the physical size small.

It should be noted that the above-mentioned trocar core is a hollow structure, and the line-shaped electrodes are placed inside the trocar core. The trocar core sets the strip-shaped electrode at the above-mentioned target position.

The working frequency of the local detection ultrasonic probe 12 is higher, the detection depth is shallower, and the range is smaller, but its accuracy is higher, and the resolution of the generated second ultrasonic image is higher, and finer tissue details can be collected.

When the trocar stylet is relatively close to the target position, or the trocar stylet is inevitably close to the complex tissue, the insertion of the trocar stylet is first stopped. And the phased array ultrasonic probe is used to collect the second image at the current position, that is, the tissue image near the tip of the cannula needle core at the current position. Further, finer navigation is performed based on the more detailed and clearer second ultrasound image. In order to place the electrodes carried by the tip of the trocar to the target location, or to find the direction of the foreground in complex tissues.

Optionally, in this embodiment, the ultrasound probe for brain detection is a convex array ultrasound probe 2 , and the ultrasound probe for local detection is a phased array ultrasound probe 3 .

The above-mentioned convex array ultrasonic probe 2 is referred to as the convex array probe, and its working frequency is low, it can detect the inside of the tissue with a relatively deep depth, and can navigate the direction of the trocar core on a large scale, especially in the trocar core. When the core 14 has just penetrated into the cranium, or the target position of the implanted electrode is relatively deep, there needs to be a general advancing direction to guide the trocar needle core close to the target position.

When the trocar core 14 is relatively close to the target position, or the trocar core 14 is inevitably close to complex tissues, it is necessary to use a phased array ultrasonic probe to scan the second range near the head end 141 of the trocar core 14 Second ultrasound image. The phased array ultrasonic probe can be arranged at the head end of the cannula core through wiring, and its physical size is smaller.

The phased array ultrasonic probe can be referred to as the phased array probe. The operating frequency of the phased array ultrasonic probe is higher, and its detection depth is shallower and the range is smaller, but its accuracy is higher, and the resolution of the second ultrasonic image generated Higher, finer tissue details can be collected.

In some embodiments, an alternate use approach may be used to navigate the trocar core implantation electrode. Improve the accuracy of navigation and reduce the probability of injury to the implanted person.

Optionally, the working frequency of the brain detection ultrasound probe is the first frequency range, wherein the ultrasound detection wave in the first frequency range is used to collect the first ultrasound image in the first range; the working frequency of the local detection ultrasound probe is the second frequency range. A frequency range, wherein ultrasonic probe waves in a second frequency range are used to acquire a second ultrasonic image in a second range, and the second frequency range is higher than the first frequency range.

As mentioned above, the second frequency range is higher than the first frequency range. Generally speaking, the first frequency range is an intermediate frequency range greater than or equal to 4 MHz and less than 20 MHz, preferably, it may be 6 MHz, 8 MHz, 10 MHz and so on. The above-mentioned second frequency range is a high frequency range greater than or equal to 20 MHz, preferably, it may be 30 MHz, 40 MHz, 50 MHz and so on. Ultrasonic detection signals in the mid-frequency range have better penetration and can detect deeper tissue interiors. Ultrasound detection signals in the high-frequency range have a higher degree of accuracy, can detect more tissue details, and improve the resolution of ultrasound images.

The above-mentioned first range may be the brain range, and the convex array ultrasonic probe of this embodiment can detect the brain epidermis as deep as the brainstem, hypothalamus, etc., and complete the ultrasonic detection of the entire brain. It should be noted that the first range is the range on the scale of the whole brain. In some cases, for example, the position of the cranial ring is too low or too high, which may affect the boundary of the first range.

The above-mentioned second range can be a local range of the brain, specifically a range of a certain distance near the tip of the trocar core, to conduct ultrasonic detection of the brain tissue near the tip of the trocar core, and obtain higher resolution, and more Detailed ultrasound images to guide further actions of the trocar core.

Optionally, the convex-array ultrasonic probe includes a casing and an ultrasonic transducer, and the ultrasonic transducer includes a plurality of array elements arranged along a curved surface to form a detection range with a preset angle.

The ultrasonic detection work of the convex array ultrasonic probe is mainly performed by the ultrasonic transducer. The circuit of the ultrasonic transducer is arranged inside the casing, and the casing is used to protect the internal circuit of the ultrasonic transducer.

As shown in Figure 5, the working frequency of the ultrasonic transducer of the convex array ultrasonic probe is 6MHz. The ultrasonic transducer includes 48 array elements, which can be bent by geometric structure to achieve detection in the range of 120° to 180°. It also includes a flexible circuit board 21 , a matching layer 22 , a backing layer 23 , and a piezoelectric layer that is the same size as the matching layer 22 and covered under the matching layer 22 . The backing layer is arranged under the piezoelectric layer, provides support for the flexible circuit board 21, the matching layer 22, and the piezoelectric layer, and blocks the influence of ultrasonic waves on the internal circuit components of the array probe.

Optionally, the casing of the convex array ultrasonic probe is provided with a sleeve, the sleeve is rotatably mounted on the casing in the radial direction, and the sleeve is used for slidingly installing the trocar needle core, so that the trocar needle core slides up and down and/or rotates .

As shown in FIG. 5 , the sleeve 24 is radially and rotatably installed on the shell, and as shown in FIG. 7 , the trocar core 14 is slidably installed in the sleeve. In this way, in the process of implanting the electrode with the cannula needle core, it can slide up and down and also rotate.

In some other embodiments, the shell caliper of the convex-array ultrasonic probe is clamped on the cranial ring, so that the convex-array ultrasonic probe can be rotated on the cranial ring, so that when the trocar core is implanted into the electrode, it can also be A certain degree of rotation is performed within the confines of the cranial ring. The cannula needle core operation is more flexible, and the electrode implantation is more convenient.

Optionally, the convex-array ultrasonic probe is provided with a caliper structure, and the caliper structure is arranged on the shell of the convex-array ultrasonic probe.

The above-mentioned caliper structure is used to clamp the convex-array ultrasonic probe on the cranial hole ring to fix the position of the convex-array ultrasonic probe during use.

Optionally, the device also includes: a movable host, which is connected to both the brain detection ultrasound probe and the local detection ultrasound probe, and is used to supply power to the brain detection ultrasound probe and the local detection ultrasound probe, and to receive brain detection ultrasound Probe and local probing ultrasound probe acquisition data.

The movable host can be respectively connected with the brain detection ultrasound probe and the partial detection ultrasound probe through two independent connection lines. It can also be connected with both the brain detection ultrasound probe and the local detection ultrasound probe through a connecting line divided into two.

The movable host is used as a control device that controls both the brain detection ultrasound probe and the local detection ultrasound probe. Due to its large size, it is more convenient to move according to the needs of use if it is movable.

In some other optional embodiments, the movable host is connected with the brain detection ultrasonic probe, and is used to supply power to the brain detection ultrasonic probe and receive the data collected by the brain detection ultrasonic probe; There is a sleeve, and the needle core of the sleeve is arranged in the sleeve, which is connected with the brain detection ultrasound probe through the sleeve, and is used to supply power to the phased array ultrasound probe through the connection line between the brain detection ultrasound probe and the movable host, and the The data collected by the phased array ultrasonic probe is sent to the mobile host.

In the above optional embodiment, the movable host adopts a connecting line to connect with the brain detection ultrasound probe and the local detection ultrasound probe successively. On the one hand, the structure is simpler and the use is more convenient. On the other hand, the failure rate of the equipment can also be reduced. , Increase the convenience of equipment replacement.

Specifically, the movable host is connected to the brain detection ultrasound probe, and a sleeve is also arranged on the brain detection ultrasound probe, and the sleeve needle core is arranged in the sleeve, and the local detection ultrasound probe and the brain detection ultrasound probe are connected through the sleeve. connected.

Optionally, the movable host includes: a display screen 4, a movable main body 5, the display screen 4 is arranged on the movable main body 5, the movable main body 5 includes a processing device, an operating device, and the processing device communicates with the brain to detect ultrasound through a connection line. Probes and/or local probing ultrasound probes are connected.

The mobile host is also provided with a display screen, which can display the generated first ultrasonic image and the second ultrasonic image, and can also display specific detection data for data analysis and the like.

The movable host also includes a movable main body, which drives the above-mentioned display screen, processing equipment, and operating equipment to move as a whole, so as to facilitate operation and use according to usage requirements.

The movable host also includes a processing device, which can be used to control the work of the brain detection ultrasound probe and/or the local detection ultrasound probe, and simultaneously receive the ultrasound detection data collected by the brain detection ultrasound probe and/or the local detection ultrasound probe, perform data processing and Analyze and process the ultrasonic detection data through a preset processing algorithm to obtain corresponding ultrasonic images.

For example, the B-ultrasound image can be obtained by using the processing algorithm of the B-ultrasound working mode. Blood vessel images can be obtained by using the blood flow power Doppler algorithm. Using the divergent wave imaging algorithm, the phased array divergent wave image can be obtained.

Fig. 2 is a flowchart of a real-time navigation imaging method for intracranial electrode implantation according to an embodiment of the present application. As shown in Fig. 2, according to another aspect of the present application, a method for intracranial electrode implantation is provided. A real-time navigation imaging method, comprising the steps of:

Step S201, receiving in real time the first ultrasonic detection data of the first range of the whole intracranial brain collected by the brain detection ultrasonic probe, wherein the brain detection ultrasonic probe is installed on the cranial hole ring set on the brain, and the brain detection ultrasonic probe Towards the intracranial, real-time acquisition of the first ultrasound detection data in the first range of the intracranial;

Step S202, generating a first ultrasound image according to the first ultrasound detection data;

Step S203, receiving in real time the second ultrasonic detection data of the second range near the head end of the trocar core collected by the local detection ultrasonic probe, wherein the local detection ultrasonic probe is set at the head end of the trocar core, and the trocar core For inserting the electrode into a predetermined position in the skull through the cranial hole ring, the size of the second range is smaller than the size of the first range;

Step S204, generating a second ultrasound image according to the second ultrasound detection data.

In the above steps, the first ultrasonic image of the first range of the whole intracranial brain is detected by the brain detection ultrasonic probe, and the second range near the head end of the trocar core is collected by the local detection ultrasonic probe during the electrode implantation process The position of the trocar core in the whole brain is obtained through the first ultrasound image, and the position of the head end of the trocar core for installing electrodes in the intracranial local area is obtained through the second ultrasound image , and display nearby blood vessels and other tissues in detail, achieving the purpose of real-time navigation from the brain dimension and the local dimension near the head during the electrode implantation process, and improving the accuracy of electrode implantation navigation. Efficiency, the technical effect of reducing the difficulty of electrode implantation, and then solving the problem of intracranial electrode implantation in related technologies, which can only be navigated according to the static images before and after implantation, and cannot be real-time during the implantation process. Problems with navigation.

Optionally, the brain detection ultrasound probe is a convex array ultrasound probe, and the local detection ultrasound probe is a phased array ultrasound probe.

Receiving in real time the first ultrasonic detection data of the first range of the intracranial whole brain collected by the convex-array ultrasonic probe, and generating the first ultrasonic image according to the first ultrasonic detection data includes: using the convex-array ultrasonic probe according to the direction toward the intracranial, Send the first ultrasonic detection wave in the first frequency range; receive the first echo of the first ultrasonic detection wave through the convex array ultrasonic probe, and convert the first echo into the first ultrasonic detection data; receive the data sent by the convex array ultrasonic probe The first ultrasonic detection data, and generating a corresponding first ultrasonic image according to the first ultrasonic detection data.

The second frequency range is higher than the first frequency range. Generally speaking, the first frequency range is an intermediate frequency range greater than or equal to 6 MHz and less than 20 MHz, and the second frequency range is a high frequency range greater than or equal to 20 MHz. Ultrasonic detection signals in the mid-frequency range have better penetration and can detect deeper tissue interiors. Ultrasound detection signals in the high-frequency range have a higher degree of accuracy, can detect more tissue details, and improve the resolution of ultrasound images.

Receiving in real time the second ultrasonic detection data of the second range near the head end of the trocar core collected by the phased array ultrasonic probe, and generating the second ultrasonic image according to the second ultrasonic detection data includes: using the phased array ultrasonic probe, sending The second ultrasonic detection wave in the second frequency range, wherein the detection direction of the phased array ultrasonic probe is towards the side away from the cannula needle core; the second echo of the second ultrasonic detection wave is received by the phased array ultrasonic probe, converting the second echo into second ultrasonic detection data; receiving the second ultrasonic detection data sent by the phased array ultrasonic probe, and generating a corresponding second ultrasonic image according to the second ultrasonic detection data.

It should be noted that the generation of the corresponding first ultrasonic image based on the first ultrasonic detection data and the generation of the corresponding second ultrasonic image according to the second ultrasonic detection data above all use the imaging algorithm of the B-ultrasound working mode to generate the B-ultrasound image. In other embodiments, other processing algorithms for ultrasonic detection data may also be used.

Optionally, the method further includes: displaying the first ultrasound image on the first area on the screen, synchronously displaying the second ultrasound image on the second area on the screen; The ultrasonic detection data is processed to obtain a first blood vessel image with a first resolution; the second ultrasonic detection data is processed through a second blood flow power Doppler algorithm to obtain a second blood vessel image with a second resolution, wherein the first The second resolution is greater than the first resolution; the first blood vessel image is displayed on the third area on the screen, and the second blood vessel image is synchronously displayed on the fourth area on the screen.

Blood vessel images can be obtained by using the blood flow power Doppler algorithm. Using the divergent wave imaging algorithm, the phased array divergent wave image can be obtained.

The first area displayed on the first ultrasound image, the second area displayed on the second ultrasound image, the third area displayed on the first blood vessel image, and the fourth area displayed on the second blood vessel image may be display areas on different pages , that is, the above-mentioned first ultrasound image, second ultrasound image, first blood vessel image, and second blood vessel image can be displayed in different areas on the same page, or can be displayed in different areas of different pages, depending on the needs of users and instructions are displayed.

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is shown in the flowcharts, in some cases, The steps shown or described may be performed in an order different than here.

It should be noted that the present application also provides an optional implementation manner, which will be described in detail below.

This embodiment provides a miniature dual-frequency ultrasonic probe and its imaging method for real-time navigation. This embodiment uses the characteristics of dual-frequency transducers and related algorithms to realize image navigation with implanted electrodes. In this embodiment, under the premise of not changing the clinical DBS treatment process, a medium-frequency small convex array probe is used to detect the cerebral blood vessels in the surface layer of the brain and the deep part of the craniotomy area. On the existing trocar, an integrated, miniature high-frequency phased array, Real-time navigation of the electrode implantation process, identification of finer blood vessels, real-time navigation for existing electrode surgery.

Fig. 3 is a schematic diagram of the intracranial electrode implantation navigation device provided according to the embodiment of the present application. As shown in Fig. 3, aiming at the current situation that there is no real-time image navigation in DBS electrode implantation, the micro intermediate frequency convex array and high frequency phased array are integrated The ultrasonic imaging probe is integrated, and it uses the intermediate frequency convex array probe imaging to reflect the position of brain tissue for the needs of Parkinson's brain pacemaker electrode implantation positioning and path navigation. Figure 4-1-1 is a schematic diagram of the B-ultrasound imaging of the convex array ultrasonic probe provided according to the embodiment of the present application. image. Specifically, plane wave imaging. Figure 4-1-2 is a schematic diagram of the microvascular imaging of the convex array ultrasonic probe provided according to the embodiment of the present application. The obtained microvascular image is also the above-mentioned first blood vessel image. The aforementioned microvessels are blood vessels that can be displayed at the resolution of the first ultrasonic image.

Figure 4-2-1 is a schematic diagram of the B-ultrasound imaging of the phased array ultrasonic probe provided according to the implementation mode of the present application. Two ultrasound images. Fig. 4-2-2 is a schematic diagram of micro-vessel imaging provided by the phased array ultrasonic probe according to the embodiment of the present application. As shown in Fig. 4-2-2, it is a micro-vessel Doppler imaging algorithm for the above-mentioned B-ultrasound image After the processing, the micro-vessel image is obtained, that is, the above-mentioned second blood vessel image. The tiny blood vessels described above are blood vessels that can be displayed at the resolution of the second ultrasonic image.

Combined with the vascular Doppler algorithm to obtain the distribution of blood vessels on the entire depth path, and further use the high-frequency phased array ultrasound integrated with the trocar to conduct real-time high-resolution path navigation to ensure accurate electrode placement and effectively avoid small blood vessels. Clinical Parkinson's deep brain stimulation surgery has a lot of secondary damage and a low cure rate.

1. The imaging transducer of the intermediate-frequency convex array probe of the cerebral cortex (that is, the above-mentioned convex array ultrasound probe): center frequency ≥ 4MHz, size ≤ 10mm, longitudinal resolution ≤ 0.5mm, number of array elements ≥ 32 array elements.

2. The imaging transducer integrated in the trocar medium-frequency phased array probe (that is, the above-mentioned phased array ultrasonic probe): center frequency ≥ 20MHz, size ≤ 2mm, longitudinal resolution ≤ 0.15mm, integrated micro transducer The trocar length of the device is ≥12cm, and the number of elements is ≥16 elements.

Traditional DBS electrode implantation positioning relies on preoperative planning, without intraoperative real-time image navigation and is limited by the magnetic resonance resolution > 400 μm, bleeding, brain tissue damage, and electrode position deviation cause side effects of treatment. This study can Realize 100μm-400μm blood vessel imaging on the electrode implantation path, target target area detection and preoperative planning calibration; post-implantation target point and bleeding detection around the electrode path. The imaging resolution of the combination of medium and high frequency is higher than that of preoperative magnetic resonance imaging, realizing intraoperative high-resolution real-time imaging navigation, reducing bleeding and brain tissue damage, and performing precise implantation of target nuclei, so that more patients with indications can rest assured treat.

(1) Ultrasonic probe miniaturization design;

In order to meet the needs of the size of the electrode implanted into the skull opening, the miniaturization design and realization of the brain surface intermediate frequency convex array probe used in the cranial ring; the design and implementation of the interventional miniature high frequency phased array probe used in the trocar Realization; this kind of miniaturization, medium and high frequency combination design is very practical.

(2) Medium and high frequency fusion ultrasonic imaging technology based on B-ultrasound working mode, micro blood flow and phase-controlled divergent wave;

The device adopts intermediate frequency convex array B-ultrasound working mode imaging, real-time imaging monitors the implantation of the interventional trocar, real-time display and avoids important blood vessels through the micro-flow Doppler algorithm, combined with the divergence of the phased array in the interventional trocar High-resolution imaging of the front-end real-time puncture process, identification of nuclei, and precise implant navigation through medium-high frequency fusion technology.

The key technology of this implementation mode is:

1. Miniaturization of the miniature intermediate frequency convex array ultrasonic probe placed in the cranial hole ring.

Fig. 5 is a schematic diagram of the structure of the convex array ultrasonic probe provided according to the embodiment of the present application. As shown in Fig. 5, preferably, the convex array ultrasonic probe is designed as 6MHz, 48 array elements, and the convex array ultrasonic probe includes a shell and an ultrasonic transducer Part, the ultrasonic transducer includes 48 array elements, through geometric structure bending, to achieve detection in the range of 120° to 180°, the ultrasonic transducer also includes a piezoelectric layer 21, a matching layer 22, a flexible circuit board 23, and a backing layer. The backing layer is arranged on the lower layer of the flexible circuit board 23, provides support for the piezoelectric layer 21, the matching layer 22, and the flexible circuit board 23, and blocks the influence of ultrasonic waves on the internal circuit components of the array probe. The backing layer is not shown in the figure.

2. Develop a miniature high-frequency phased array ultrasonic probe that can be integrated on the cannula core.

Fig. 6 is a schematic diagram of the installation structure of the phased array ultrasonic probe provided according to the embodiment of the present application. As shown in Fig. 6, preferably, the phased array ultrasonic probe 3 is designed to be 30 MHz, with 16 array elements, to achieve a penetration of about 10 mm Depth, with a resolution of approximately 100 microns, the transducer of a phased-array ultrasound probe is placed within the trocar core.

Fig. 7 is a schematic diagram of the assembly structure of the convex array ultrasonic probe and the phased array ultrasonic probe provided according to the embodiment of the present application. As shown in Fig. 7, the phased array ultrasonic probe 3 and the trocar core 14 are mechanically combined, A medium-high frequency ultrasonic probe is formed and placed in the cranial hole ring 13. It is used in conjunction with the convex array ultrasound probe 2.

3. Microvascular functional imaging algorithm, phase-controlled divergent wave, and medium-high frequency fusion imaging algorithm.

This real-time method uses micro-medium and high-frequency probe technology, combined with B-ultrasound working mode, micro-blood flow power Doppler algorithm and phased array divergent wave imaging algorithm, to realize the distribution of small and medium blood vessels and imaging of nuclei after craniotomy, and achieve accurate electrode implantation. Real-time navigation targets.

The embodiment of the present application also provides a real-time navigation device for intracranial electrode implantation. It should be noted that the real-time navigation device for intracranial electrode implantation in the embodiment of the present application can be used to implement the Real-time navigation imaging method for intracranial electrode implantation. The real-time navigation device for intracranial electrode implantation provided by the embodiment of the present application is introduced below. The device includes: a first receiving module, a first imaging module, a second receiving module, and a second imaging module. The device will be described in detail below.

The first receiving module is used to receive in real time the first ultrasonic detection data of the first range of the whole brain in the brain collected by the ultrasonic probe for brain detection, wherein the ultrasonic probe for brain detection is installed on the cranial hole ring set on the brain, and the The ultrasonic probe headed toward the cranium, collecting the first ultrasonic detection data in the first range of the intracranial in real time; the first imaging module, connected to the first receiving module, is used to generate the first ultrasonic image according to the first ultrasonic detection data; The second receiving module is connected with the above-mentioned first imaging module, and is used for receiving in real time the second ultrasonic detection data of the second range near the head end of the trocar needle core collected by the local detection ultrasonic probe, wherein the local detection ultrasonic probe is set on the sleeve The head end of the tube needle core, the trocar needle core is used to pass through the cranial hole ring, insert the electrode into the predetermined position in the cranium, the size of the second range is smaller than the size of the first range; the second imaging module, and the above-mentioned second receiving The modules are connected to generate a second ultrasound image according to the second ultrasound detection data.

The above-mentioned real-time navigation device for intracranial electrode implantation provided by the embodiment of the present application detects the first ultrasonic image of the first range of the whole intracranial brain through the brain detection ultrasonic probe, and detects the first ultrasonic image of the first range of the whole brain through the local detection ultrasonic probe during the electrode implantation process. Acquiring a second ultrasound image in a second range near the head end of the trocar core, obtaining the position of the trocar core in the whole brain through the first ultrasound image, and obtaining the sleeve for installing the electrode through the second ultrasound image. The position of the head end of the tube needle core in the local area of the brain, and the nearby blood vessels and other tissues are displayed in detail, achieving the purpose of real-time navigation from the whole brain and near the head end during the electrode implantation process, and realizing The technical effect of improving the efficiency of electrode implantation navigation and reducing the difficulty of electrode implantation, and then solving the problem of intracranial electrode implantation in related technologies, can only be navigated according to static images before and after implantation, and cannot Problems with real-time navigation during implantation.

The real-time navigation device for intracranial electrode implantation includes a processor and a memory, and the first receiving module, the first imaging module, the second receiving module, the second imaging module, etc. are all stored in the memory as program units, and are programmed by the processor The above program units stored in the memory are executed to realize corresponding functions.

The processor includes a kernel, and the kernel fetches corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters to solve the problem of intracranial electrode implantation in related technologies, navigation can only be performed according to static images before and after implantation, and real-time navigation cannot be performed during the implantation process. The problem.

Memory may include non-permanent memory in computer-readable media, in the form of random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory including at least one memory chip.

An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the real-time navigation imaging method for intracranial electrode implantation is realized.

An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the real-time navigation imaging method for intracranial electrode implantation is executed when the program is running.

Fig. 8 is a schematic diagram of an electronic device provided according to an embodiment of the present application. As shown in Fig. 8, the embodiment of the present application provides an electronic device 80, which includes a processor, a memory, and storage on the memory and can process The program running on the processor implements the steps of any one of the above methods when the processor executes the program.

The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present application also provides a computer program product, which, when executed on a real-time navigation device implanted with intracranial electrodes, is suitable for executing a program initialized with any of the above method steps.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general purpose computer, special purpose computer, embedded processor, or other device for real-time navigation of programmable intracranial electrode implants to produce a machine that enables The instructions executed by the processor of the real-time navigation device generate means for realizing the functions specified in one or more procedures of the flow chart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable intracranial electrode implanted real-time navigation device to operate in a specific manner, such that the instructions stored in the computer readable memory generate instructions comprising the instruction means Manufactures, the instruction device implements the functions specified in one or more steps of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be loaded into a computer or other programmable intracranial electrode implanted real-time navigation device, so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions executed on the programmable device provide steps for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. The memory is an example of a computer readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (10)

1. A real-time navigation device for intracranial electrode implantation, comprising: a brain detection ultrasound probe, a local detection ultrasound probe; The ultrasonic probe for brain detection is installed on the cranial hole ring set on the brain, and the ultrasonic probe for brain detection faces the intracranial, wherein the ultrasonic probe for brain detection is used for real-time acquisition of the first range of the whole brain in the brain The first ultrasound image of The local detection ultrasonic probe is arranged at the head end of the trocar core, wherein the trocar core is used to pass through the cranial hole ring and insert the electrode into a predetermined position in the cranium; The local detection ultrasonic probe is used to acquire a second ultrasonic image in a second range near the head end, wherein the size of the second range is smaller than the size of the first range, and the size of the second ultrasonic image is The resolution is higher than the first ultrasound image. 2. The navigation device according to claim 1, characterized in that, The working frequency of the brain detection ultrasound probe is in a first frequency range, wherein the ultrasound detection wave in the first frequency range is used to collect a first ultrasound image in the first range; The operating frequency of the partial detection ultrasonic probe is a second frequency range, wherein the ultrasonic probe waves in the second frequency range are used to acquire a second ultrasonic image in the second range, and the second frequency range is higher than the the first frequency range. 3 . The navigation device according to claim 1 , wherein the brain detection ultrasound probe is a convex array ultrasound probe, and the local detection ultrasound probe is a phased array ultrasound probe. 4 . 4. The navigation device according to claim 3, wherein the convex array ultrasonic probe comprises a shell and an ultrasonic transducer, The ultrasonic transducer includes a plurality of array elements arranged along the curved surface to form a detection range of a preset angle. 5. The navigation device according to claim 4, wherein a sleeve is arranged on the shell of the convex array ultrasonic probe, The sleeve is radially rotatably mounted on the housing, and the sleeve is used for slidingly installing the trocar core so that the trocar core slides up and down and/or rotates. 6. The navigation device according to claim 5, wherein a caliper structure is also provided on the housing of the convex array ultrasonic probe, The caliper structure is arranged on the shell of the convex array ultrasonic probe, and is used for clamping the convex array ultrasonic probe on the cranial hole ring to fix the position of the convex array ultrasonic probe during use. 7. The navigation device according to claim 1, further comprising: a mobile host, The movable host is connected to both the brain detection ultrasound probe and the partial detection ultrasound probe, and is used to supply power to the brain detection ultrasound probe and the local detection ultrasound probe, and to receive the brain detection ultrasound probe data collected by the probe and the local detection ultrasound probe; The movable host includes: a display screen and a movable main body; The display screen is arranged on the movable main body, and the movable main body includes a processing device and an operating device, and the processing device is connected with the convex-array ultrasonic probe through the connecting line. 8. A real-time navigation imaging method for intracranial electrode implantation, characterized in that, comprising: Receive in real time the first ultrasonic detection data of the first range of the whole intracranial brain collected by the brain detection ultrasonic probe, wherein the brain detection ultrasonic probe is installed on the cranial hole ring set on the brain, and the brain detection ultrasonic The probe faces into the cranium, and collects the first ultrasonic detection data in the first range of the cranium in real time; generating a first ultrasound image based on the first ultrasound detection data; receiving in real time the second ultrasonic detection data in the second range near the head end of the trocar core collected by the local detection ultrasonic probe, wherein the local detection ultrasonic probe is set at the head end of the trocar core, and the trocar The core is used to pass through the cranial hole ring to insert the electrode into a predetermined position in the cranium, and the size of the second range is smaller than the size of the first range; A second ultrasound image is generated based on the second ultrasound detection data. 9. The navigation imaging method according to claim 8, wherein the brain detection ultrasound probe is a convex array ultrasound probe, the local detection ultrasound probe is a phased array ultrasound probe, and receives the convex array ultrasound probe in real time. The first ultrasonic detection data of the first range of the whole intracranial brain, and generating the first ultrasonic image according to the first ultrasonic detection data includes: sending a first ultrasonic detection wave in a first frequency range through the convex array ultrasonic probe in a direction toward the intracranial; receiving a first echo of the first ultrasonic detection wave through the convex array ultrasonic probe, and converting the first echo into first ultrasonic detection data; receiving the first ultrasonic detection data sent by the convex array ultrasonic probe, and generating a corresponding first ultrasonic image according to the first ultrasonic detection data; Receiving in real time the second ultrasonic detection data of the second range near the head end of the trocar core collected by the phased array ultrasonic probe, and generating the second ultrasonic image according to the second ultrasonic detection data includes: Sending a second ultrasonic detection wave in a second frequency range through the phased array ultrasonic probe, wherein the detection direction of the phased array ultrasonic probe is toward a side away from the trocar core; receiving a second echo of the second ultrasonic detection wave through the phased array ultrasonic probe, and converting the second echo into second ultrasonic detection data; receiving the second ultrasonic detection data sent by the phased array ultrasonic probe, and generating a corresponding second ultrasonic image according to the second ultrasonic detection data. 10. The navigation imaging method according to claim 9, wherein the method further comprises: displaying the first ultrasound image in a first area on the screen, and synchronously displaying the second ultrasound image in a second area on the screen; Processing the first ultrasonic detection data by using a first blood flow power Doppler algorithm to obtain a first blood vessel image with a first resolution; Processing the second ultrasonic detection data by using a second blood flow power Doppler algorithm to obtain a second blood vessel image with a second resolution, wherein the second resolution is greater than the first resolution; The first blood vessel image is displayed in a third area on the screen, and the second blood vessel image is synchronously displayed in a fourth area on the screen.

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