In the book of Analysis on Manifolds by Munkres, at page 65, it is given that
The author mentions the Brouwer theorem of invariance of domain in the next chapter, but I cannot understand how the injectivity of $f$ implies that $b$ is not in the image of the boundary of $Q$.

If $f(\partial Q)$ is not disjoint from $b$ then $f(c)=b$ for some $c\in\partial Q$.
But we also have $f(a)=b$ so the injectivity of $f$ then leads to $a=c\in\partial Q$ contradicting that $a$ is an element of the interior of $Q$.