Optical and neural feedback multi-modal data analysis method for neural regulation target

Abstract

The invention discloses an optical and neural feedback multi-modal data analysis method for a nerve regulation target, and belongs to the technical field of cranial nerve treatment, and the method specifically comprises the steps: receiving a head movement instruction of a patient through an interactive interface, pausing transcranial magnetic stimulation after receiving the instruction, and switching to a head movement monitoring state; an infrared optical navigation device is combined with a magnetic resonance image to construct an individualized brain three-dimensional model, head position changes are tracked in real time, and autonomic nerve feedback signals are collected at the same time; synchronously aligning the head coordinates with the neural feedback signals to generate a multi-modal data set, and analyzing relevance to obtain real-time regulation and control parameters; the positioning and stimulation intensity of the transcranial magnetic stimulation coil are adaptively adjusted according to the parameters, and related information is displayed on a treatment interface; after the head of the patient finishes moving and is stable, a rapid re-calibration process is automatically triggered, high-precision monitoring is recovered, and magnetic stimulation output is reactivated; according to the invention, the treatment stability and adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of neurotherapy technology, specifically to a method for analyzing optical and neural feedback multimodal data of neural modulation targets. Background Technology

[0002] In the fields of neuroscience and clinical medicine, neuromodulation technology plays a crucial role in the treatment and research of various neurological diseases. Transcranial magnetic stimulation (TMS), as a non-invasive neuromodulation method, modulates the activity of neurons in the brain by applying a magnetic field to specific areas of the scalp. It is widely used in the treatment of diseases such as depression and Parkinson's disease, as well as in cognitive neuroscience research. With increasing demands for the effectiveness and experience of neuromodulation treatments, the need for precise and personalized treatments is becoming increasingly prominent, prompting the continuous development of related technologies to meet higher standards in clinical practice and research.

[0003] In current transcranial magnetic stimulation (TMS) treatments, the target position shifts when the patient moves their head during treatment, leading to "stimulus dropout." Therefore, to ensure accuracy and effectiveness, patients are typically required to keep their heads still during treatment. However, prolonged treatment can cause discomfort, and some patients, due to their condition or other reasons, find it difficult to maintain a fixed posture for extended periods. To address this, some studies have attempted to introduce assistive devices to restrict head movement. However, these devices can only passively restrict head movement and cannot actively adapt to the patient's needs, resulting in poor patient comfort and potential resistance to treatment, leading to emotional fluctuations and ultimately affecting the treatment's effectiveness.

[0004] Therefore, it is urgent to develop a multimodal data analysis method for neuromodulation targets that allows patients to move their heads freely during treatment while ensuring the therapeutic effect. Summary of the Invention

[0005] The purpose of this invention is to provide a method for optical and neural feedback multimodal data analysis of neural modulation targets, addressing the following technical problems: In current transcranial magnetic stimulation (TMS) treatments, patients are usually required to keep their heads still during treatment to ensure the accuracy and effectiveness of the stimulation. This results in poor patient comfort, which may lead to resistance to the treatment and fluctuations in the patient's emotions, thereby affecting the effectiveness of the treatment.

[0006] The objective of this invention can be achieved through the following technical solutions: A method for analyzing optical and neural feedback multimodal data of neural modulation targets, comprising the following steps: The system receives head movement commands from the patient via an interactive interface. Upon receiving the command, the transcranial magnetic stimulation is paused, and the system switches to head movement monitoring mode. The infrared optical navigation device captures the dynamic three-dimensional spatial coordinates of the patient's head in real time, and combines them with magnetic resonance imaging data to construct an individualized three-dimensional brain model, and continuously tracks changes in head position during treatment. The system simultaneously collects real-time autonomic nervous system feedback signals from patients, including heart rate variability, skin conductivity, and respiratory rhythm data, and achieves continuous monitoring through multi-channel biosensors. The dynamic three-dimensional spatial coordinates are synchronized with the autonomic neural feedback signal in time to generate a spatiotemporally correlated multimodal dataset. Based on the multimodal dataset, the correlation between the location of the stimulation target and the changes in the autonomic nerve feedback signal is dynamically analyzed to generate real-time control parameters. Based on the real-time control parameters, the spatial positioning and stimulation intensity of the transcranial magnetic stimulation coil are adaptively adjusted, and the target position offset and neural feedback trend are displayed in real time on the treatment interface. Once the patient's head movement ends and the position stabilizes, a rapid recalibration process is automatically triggered to restore high-precision monitoring and reactivate the magnetic stimulation output.

[0007] As a further aspect of the present invention: the interactive interface includes, but is not limited to, a voice command module, a handheld physical button, or a foot switch, allowing the patient to trigger a movement command with a single action; upon receiving the movement command, the following operations are performed: Immediately pause the magnetic stimulation pulse output and display a "Movement Mode Activated" status prompt on the treatment interface; switch the operating mode of the infrared optical navigation device, reduce the sampling frequency to a set percentage of the initial value, and expand the target position tolerance range to a preset safety threshold; activate the inertial measurement unit to monitor the acceleration and angular velocity changes of the head in real time. If the rate of change of acceleration is lower than the threshold and the angular velocity returns to zero within a continuously set time, the head position is determined to be stable; after the head is stable, based on the local matching of the current surface feature point cloud and the magnetic resonance image, update the coordinate offset of the individualized brain model and restore the high-precision navigation mode and the original tolerance range.

[0008] As a further aspect of the present invention: during the treatment process, the time point triggered by each head movement command, the duration of movement, and the coordinate correction amount after recalibration are recorded. The frequency of head movement within a single treatment cycle is counted. If the frequency exceeds a preset threshold, the target tolerance range in subsequent movement modes is automatically expanded. Extract the coordinate correction direction caused by historical movement, and load the direction compensation matrix onto the individualized brain model during initial registration. The compensation amount of the matrix is ​​the average of the historical correction amount in the corresponding direction.

[0009] As a further aspect of the present invention: the coordinate range of the unstimulated region is marked in the individualized brain model; when the real-time target position enters the unstimulated region due to head movement, the magnetic stimulation output is immediately stopped and an alarm message is displayed on the treatment interface.

[0010] As a further aspect of the present invention: In the rapid recalibration process, if the matching degree between the surface feature point cloud and the magnetic resonance image is lower than the preset matching threshold, a backup infrared camera is called to collect point cloud data from an additional perspective; a regional block registration algorithm is adopted to independently calculate the coordinate offset of different partitions of the head, and the target position is updated with a weighted average value; when the difference in the block registration result exceeds the tolerance value, a prompt suggesting re-acquiring the magnetic resonance image is output.

[0011] As a further aspect of the present invention: the construction of the individualized three-dimensional brain model specifically includes: The active binocular camera of the infrared optical navigation device captures point cloud data of the surface features of the patient's head, spatially registers it with pre-stored magnetic resonance images, and uses a nonlinear deformation algorithm to adapt a standard brain template to the patient's actual brain structure. During treatment, the device detects micro-displacement of the head and dynamically updates the three-dimensional model by comparing real-time point cloud data with the initial model. The infrared optical navigation device uses a pulsed anti-interference infrared light source combined with a high-reflectivity marker ball for spatial positioning.

[0012] As a further aspect of the present invention: the acquisition and processing of the autonomic neural feedback signal specifically includes: Multi-channel biosensors are deployed on the patient's chest and fingers to collect electrocardiogram signals, skin conductivity, and respiratory waveforms, respectively. Motion artifacts and environmental noise are removed by a signal filtering module, and the spectral characteristics of heart rate variability, the slope of skin conductivity rise, and the periodicity index of respiratory rhythm are extracted. The biosensors are connected to the main control system via a wireless transmission protocol and the start and stop times of transcranial magnetic stimulation are marked in real time to establish a temporal correlation between stimulation events and neural feedback signals.

[0013] As a further aspect of the present invention: the specific implementation method of the adaptive adjustment transcranial magnetic stimulation coil is as follows: The theoretical coordinate range of the stimulation target point is preset in the three-dimensional navigation interface. When the real-time target point position exceeds the range due to head movement, the coil support is translated or rotated along the three-dimensional axis by the motor to re-align the coil center with the target area. At the same time, the output energy of the magnetic stimulation pulse is dynamically adjusted according to the real-time intensity of the neural feedback signal. If the autonomic nerve indicators reflect overactivation, the stimulation frequency is reduced.

[0014] As a further aspect of the present invention: the rapid recalibration process specifically includes: Based on the local area of ​​the head surface feature point cloud after the movement, it is quickly registered with the corresponding area of ​​the magnetic resonance image and the coordinate offset matrix is ​​calculated. The offset matrix is ​​applied to the individualized brain model to update the real-time spatial coordinates of the target point. The recalibration progress and coordinate correction amount are displayed in the treatment interface. After confirmation by medical personnel, the magnetic stimulation output is reactivated.

[0015] The beneficial effects of this invention are: This invention receives head movement commands via an interactive interface, pauses transcranial magnetic stimulation (TMS) and switches monitoring states. It utilizes an infrared optical navigation device combined with magnetic resonance imaging to construct an individualized three-dimensional brain model, continuously tracking head position changes. Simultaneously, multi-channel biosensors synchronously collect autonomic neural feedback signals, generating a multimodal dataset. Correlation analysis yields real-time control parameters, adaptively adjusting the TMS coil. A rapid recalibration process is also included. Its beneficial effects include: solving the problem of "stimulus detachment" caused by patient head movement during treatment; allowing patients to move their heads during treatment; ensuring treatment accuracy during head movement by real-time head position tracking, multimodal data collection and analysis, and dynamic adjustment of stimulation parameters; improving treatment safety, stability, and adaptability; and enhancing patient comfort and treatment compliance. Attached Figure Description

[0016] The invention will now be further described with reference to the accompanying drawings.

[0017] Figure 1 This is a flowchart illustrating the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 As shown, this invention provides a method for analyzing optical and neural feedback multimodal data of neural modulation targets, comprising the following steps: During treatment, if the patient needs to move their head due to discomfort or other reasons, they can issue a head movement command through the interactive interface. This interface is designed with user-friendliness in mind, incorporating multiple methods including voice command, handheld physical buttons, and foot switches. Patients can easily trigger the movement command with a simple, single action. Upon receiving the command, the system responds quickly, immediately pausing transcranial magnetic stimulation to prevent target displacement caused by head movement and ensure treatment safety. Simultaneously, the system automatically switches to head movement monitoring mode, preparing for accurate tracking of subsequent head position changes.

[0020] After switching to head movement monitoring mode, the infrared optical navigation device begins to play a crucial role. Leveraging advanced optical tracking technology, it can capture the dynamic three-dimensional spatial coordinates of the patient's head in real time with precision. Notably, this device employs a pulsed, anti-interference infrared light source, combined with a high-reflectivity marker ball for spatial positioning, effectively improving the accuracy and stability of the positioning. Simultaneously, the system deeply integrates this real-time data with pre-acquired magnetic resonance imaging data, using a nonlinear deformation algorithm to adapt a standard brain template to the patient's actual brain structure, constructing a highly personalized three-dimensional brain model. Throughout the treatment process, this model is not static but continuously tracks positional changes as the head moves. By comparing real-time point cloud data with the initial model, even extremely minute head displacements are detected and dynamically updated to ensure the model always maintains a high degree of consistency with the actual position of the patient's head.

[0021] While tracking head position, multi-channel biosensors work simultaneously. These sensors are carefully deployed on key areas such as the patient's chest and fingers, responsible for collecting real-time autonomic neural feedback signals, including electrocardiogram (ECG), skin conductivity, and respiratory waveforms. Motion artifacts and environmental noise inevitably get mixed into the collected signals. To address this, the system incorporates a dedicated signal filtering module that efficiently removes these interfering factors and accurately extracts key information such as heart rate variability spectral characteristics, skin conductivity rise slope, and respiratory rhythm periodicity indicators. The biosensors connect to the main control system wirelessly and mark the start and stop times of transcranial magnetic stimulation in real time, establishing a precise temporal correlation between stimulation events and neural feedback signals, providing a reliable data foundation for subsequent analysis.

[0022] After acquiring dynamic three-dimensional spatial coordinates and autonomic nervous system feedback signals, the system synchronizes these two sets of data in time. Through complex and sophisticated algorithms, data from different time dimensions and of different types are integrated to generate a spatiotemporally correlated multimodal dataset. This dataset contains rich information, reflecting not only the dynamic changes in the patient's head position but also the real-time response of autonomic nervous function during transcranial magnetic stimulation.

[0023] Based on the generated multimodal dataset, the system employs advanced data analysis algorithms to deeply and dynamically analyze the correlation between the location of the stimulation target and changes in autonomic nerve feedback signals. By mining the potential patterns and features in the data, real-time control parameters are calculated. These parameters comprehensively consider factors such as head position, nerve feedback signals, and treatment needs, providing a scientific basis for subsequent adjustments to transcranial magnetic stimulation parameters.

[0024] Based on calculated real-time control parameters, the system can adaptively adjust the spatial positioning and stimulation intensity of the transcranial magnetic stimulation coil. The theoretical coordinate range of the stimulation target point is preset in the 3D navigation interface. If the real-time target point position deviates from this range due to head movement, the system reacts quickly, using a motor to drive the coil support to precisely translate or rotate along the three-dimensional axis, realigning the coil center with the target area. Simultaneously, the system dynamically adjusts the output energy of the magnetic stimulation pulses based on the real-time intensity of the neural feedback signal. If autonomic nerve indicators indicate that the nerves are in an overactivated state, the system automatically reduces the stimulation frequency to avoid overstimulating the nerves, ensuring the safety and effectiveness of the treatment process. The treatment interface displays the target point position offset and neural feedback trends in real time, allowing doctors to intuitively understand various changes during the treatment process and make timely adjustments.

[0025] Once the patient's head movement is complete and the position is stable, the system automatically triggers a rapid recalibration process. During this process, the system first performs rapid registration between the local area of ​​the head surface feature point cloud after movement and the corresponding area of ​​the magnetic resonance imaging (MRI) image, calculating a coordinate offset matrix. Then, the offset matrix is ​​applied to the individualized brain model to accurately update the real-time spatial coordinates of the target points. The recalibration progress and coordinate correction amount are clearly displayed on the treatment interface. After confirmation by medical personnel, the magnetic stimulation output is reactivated, restoring high-precision monitoring to ensure that subsequent treatments can continue accurately.

[0026] In a preferred embodiment of the present invention, the interactive interface, serving as a crucial bridge for communication between the patient and the system, offers diverse triggering methods. These include voice command modules, handheld physical buttons, and foot switches, fully considering the different needs and physical conditions of patients in actual treatment scenarios. This ensures that patients can easily trigger movement commands with a simple, single action. This design not only improves operational convenience but also significantly enhances the patient's autonomy and comfort during treatment.

[0027] Once the system successfully receives the patient's movement command, a series of orderly and efficient operations will immediately begin. First, to ensure treatment safety, the system will quickly pause the output of magnetic stimulation pulses to avoid potential risks to the patient due to target displacement during head movement. At the same time, the treatment interface will promptly display a "Movement Mode Activated" status prompt, informing the patient and medical staff that the system has entered the corresponding processing mode, making the entire treatment process more transparent and controllable.

[0028] Next, the system intelligently switches the operating mode of the infrared optical navigation device. In normal treatment mode, the infrared optical navigation device operates at a high sampling frequency to achieve high-precision head position tracking. However, in movement mode, to more efficiently handle the complexities caused by head movement, the system reduces the sampling frequency to a preset percentage of the initial value. This adjustment ensures effective capture of positional information even during rapid head movement while reducing the system's computational burden and ensuring stable operation. Simultaneously, the target position tolerance range is expanded to a preset safety threshold to accommodate fluctuations in target position during head movement, avoiding frequent unnecessary adjustments due to minor positional changes.

[0029] To accurately determine when the head stops moving and returns to a stable state, the system activates the inertial measurement unit (IMU). This unit can monitor changes in head acceleration and angular velocity in real time and with precision. When the rate of change of acceleration falls below a threshold and the angular velocity returns to zero within a set duration, it means that the head has stopped moving and its position has stabilized. This judgment mechanism is based on a deep understanding of the principles of physical motion and has been validated through extensive clinical practice, demonstrating high accuracy and reliability.

[0030] Once the head position is stabilized, the system updates the coordinate offset of the individualized brain model based on a local match between the current surface feature point cloud and the magnetic resonance imaging (MRI) image. This process involves complex algorithms and precise calculations. By comparing and matching the real-time acquired head surface feature point cloud data with pre-stored MRI images, the system can accurately calculate the coordinate offset caused by changes in head position. After updating the coordinate offset, the system restores the high-precision navigation mode and the original tolerance range, ensuring that subsequent treatments can continue to be performed in a high-precision environment.

[0031] In a further optimized preferred embodiment, the system plays a crucial role in data recording and analysis throughout the treatment process. It meticulously records the time of each head movement command, the duration of the movement, and the coordinate correction amount after recalibration. This data not only reflects the patient's actual condition during treatment but also provides valuable information for subsequent data analysis and treatment plan optimization.

[0032] By statistically analyzing the frequency of head movements within a single treatment cycle, the system can achieve more intelligent treatment adjustments. If the frequency of head movements exceeds a preset threshold, it indicates that the patient may be frequently moving their head during treatment for various reasons. To ensure the continuity and effectiveness of treatment, the system will automatically expand the target tolerance range in subsequent movement modes. This dynamic adjustment mechanism can adapt to the patient's movement habits to a certain extent, reducing the impact of frequent adjustments on the treatment progress.

[0033] In addition, the system extracts coordinate correction directions caused by historical movements. By analyzing and processing this historical data, the system can load a direction compensation matrix onto the individualized brain model during initial registration. The compensation amount of this matrix is ​​the average of the historical correction amounts for the corresponding directions. In this way, the system can predict and compensate for possible head movements to a certain extent before treatment begins, further improving the accuracy of treatment.

[0034] It is particularly important to emphasize that in the personalized brain model, the system clearly marks the coordinate range of non-stimulated areas. These non-stimulated areas are typically regions of the brain that are highly sensitive to stimulation or may trigger adverse reactions. When the real-time target location enters these non-stimulated areas due to head movement, the system immediately stops the magnetic stimulation output to ensure patient safety. Simultaneously, the treatment interface displays a prominent alarm message to alert medical staff to handle the situation promptly, ensuring the entire treatment process remains safe and controllable. This comprehensive, multi-layered safety mechanism fully demonstrates the rigor in the design of this invention and the high level of emphasis placed on patient safety. In another preferred embodiment of the invention, upon entering the rapid recalibration process, the matching degree between the surface feature point cloud and the magnetic resonance image is evaluated in real time. If the matching degree is lower than a preset matching threshold, it indicates that the difference between the currently acquired point cloud data and the magnetic resonance image is significant, which may affect the accurate determination of the target location. At this time, the system will respond quickly and call a backup infrared camera. This backup camera has unique optical performance and shooting angle, and can collect point cloud data from additional perspectives, providing richer information for subsequent accurate registration.

[0035] After acquiring additional point cloud data, the system employs a region-based registration algorithm. This algorithm divides the head into different partitions and calculates the coordinate offset independently for each partition. This block-based calculation method is used because different regions of the head have different structural and motion characteristics; block processing can capture these differences more precisely, thereby improving the accuracy of coordinate offset calculation. After calculating the coordinate offset of each partition, the system assigns appropriate weights to each partition based on its importance and reliability, and then updates the target position using a weighted average. This processing method comprehensively considers the contributions of different partitions, making the target position update more scientific and accurate.

[0036] However, in practice, significant discrepancies may occur in the block registration results. When these discrepancies exceed the tolerance limit, it means that the current MRI images may no longer accurately reflect the actual structure of the patient's head, and continued use may lead to increased treatment errors. To ensure the accuracy and safety of the treatment, the system will output a prompt suggesting that MRI images be reacquired. This prompt can promptly remind medical staff to acquire more accurate image data, thereby ensuring the precision of the entire treatment process.

[0037] In another preferred embodiment of the present invention, the construction of the individualized three-dimensional brain model specifically includes: The construction process begins with the active binocular camera of the infrared optical navigation device, which, with its advanced optical imaging technology and high-speed data processing capabilities, can accurately capture point cloud data of the surface features of the patient's head. This point cloud data contains rich information about the patient's head surface and is an important foundation for building a personalized model.

[0038] After acquiring point cloud data, the system spatially registers it with pre-stored magnetic resonance images. This registration process requires precise algorithms and a large amount of computation. By aligning the point cloud data and magnetic resonance images in three-dimensional space, the coordinate systems of the two are unified, providing a unified spatial framework for subsequent model construction.

[0039] Next, a nonlinear deformation algorithm is used to adapt the standard brain template to the patient's actual brain structure. The standard brain template is a general model derived from a large amount of medical research and data statistics, but each patient's brain structure has certain differences. The nonlinear deformation algorithm can flexibly adjust the standard brain template according to the patient's point cloud data and magnetic resonance imaging, so as to accurately match the patient's actual brain structure, thereby constructing a highly personalized three-dimensional brain model.

[0040] Throughout the treatment process, the system continuously monitors the patient's head position. By comparing real-time point cloud data with the initial model, the system can sensitively detect even the slightest head movement. Even the smallest head movement is captured and dynamically updated in the 3D model. This dynamic update mechanism ensures that the model remains consistent with the actual position and structure of the patient's head, providing a reliable basis for precise transcranial magnetic stimulation. Notably, the infrared optical navigation device employs a pulsed, anti-interference infrared light source combined with a high-reflectivity marker ball for spatial positioning. The pulsed, anti-interference infrared light source effectively resists ambient light interference, ensuring stable and accurate acquisition of light signals even in various complex treatment environments. The high-reflectivity marker ball further enhances the accuracy of spatial positioning; through precise tracking of the marker ball, the system can more accurately determine the head's position and posture, thereby improving the precision of the entire model construction and update process.

[0041] In another preferred embodiment of the present invention, the acquisition and processing of the autonomic neural feedback signal specifically includes: In practice, multi-channel biosensors are deployed on the patient's chest and fingers. These sensors are carefully designed and placed to collect various key data reflecting autonomic nervous function, such as electrocardiogram signals, skin conductivity, and respiratory waveforms.

[0042] The acquired signals inevitably contain motion artifacts and environmental noise, which can affect the accuracy and reliability of the data. To address this issue, the system incorporates a powerful signal filtering module. This module employs advanced filtering algorithms to efficiently remove various interfering signals, retaining only the true and valid autonomic nervous system feedback signals. After filtering, the system further extracts key information such as heart rate variability spectral characteristics, skin conductivity rise slope, and respiratory rhythm periodicity indicators. These indicators accurately reflect the functional state of the autonomic nervous system, providing crucial information for doctors to assess treatment effectiveness and adjust treatment plans.

[0043] The biosensor connects to the main control system via a wireless transmission protocol, which greatly improves the convenience and real-time performance of data transmission. While collecting data, the sensor also marks the start and stop times of transcranial magnetic stimulation (TMS) in real time. In this way, the system can establish a precise temporal correlation between stimulation events and neural feedback signals. Doctors can analyze this correlation data to gain a deeper understanding of the immediate effects of TMS on the autonomic nervous system, thereby adjusting treatment parameters in a timely manner for more precise and effective treatment.

[0044] In another preferred embodiment of the present invention, the adaptive adjustment of the transcranial magnetic stimulation coil is specifically implemented as follows: The 3D navigation interface pre-sets the theoretical coordinate range of the stimulation target. This range is determined based on extensive clinical research and precise neurological analysis, aiming to ensure that transcranial magnetic stimulation can accurately target the nerve region and achieve the best therapeutic effect. This theoretical coordinate range acts like a precise "target map," providing a crucial reference standard for the entire treatment process.

[0045] In actual treatment, patient head movement is unavoidable. Once the real-time target position deviates from the preset theoretical coordinate range due to head movement, the system responds quickly and intelligently. At this point, the coil support, driven by a high-precision motor, comes into play, capable of precise translation or rotation along three-dimensional axes. These motors are meticulously calibrated, possessing extremely high sensitivity and positioning accuracy, enabling rapid and accurate adjustment of the coil's position and angle, ensuring the coil center is precisely aligned with the target area again. This process relies not only on advanced hardware but also on the system's precise internal control algorithm, which calculates the required coil adjustment in real time based on the target's offset, ensuring accuracy and timeliness.

[0046] Simultaneously, the system closely monitors the real-time intensity of neural feedback signals. Through multi-channel biosensors deployed on the patient's body, the system can collect autonomic neural feedback signals in real time, such as heart rate variability, skin conductivity, and respiratory rhythm. These signals act like internal "signal lights," reflecting the nervous system's real-time response to transcranial magnetic stimulation. The system performs in-depth analysis of these signals, extracting key autonomic neural indicators. If the analysis shows that the autonomic neural indicators reflect an overactivated state, such as an excessively fast heart rate or abnormally high skin conductivity, the system automatically reduces the output energy and stimulation frequency of the magnetic stimulation pulses. This dynamic adjustment mechanism is designed based on a deep understanding of neurophysiological mechanisms, aiming to avoid adverse effects on the patient's nervous system due to overstimulation.

[0047] In another preferred embodiment of the present invention, the rapid recalibration process specifically includes: Once the patient's head movement is complete, the system immediately initiates a rapid recalibration process. This process first performs rapid registration between the local area of ​​the head surface feature point cloud after movement and the corresponding area of ​​the pre-stored magnetic resonance imaging (MRI) image. This registration process employs an advanced image matching algorithm, which can accurately find the correspondence between the point cloud data and the MRI image in a short time. By analyzing these correspondences, the system calculates a coordinate offset matrix, which records in detail the offset of the target point coordinates in three-dimensional space caused by the head movement.

[0048] After obtaining the coordinate offset matrix, the system applies it to the personalized brain model. This personalized brain model is constructed based on the patient's own MRI images and head features, and is highly individualized. By applying the coordinate offset matrix to this model, the system can accurately update the real-time spatial coordinates of the target points, ensuring a precise match between the target point location and the actual position of the patient's head.

[0049] Throughout the recalibration process, the treatment interface displays the recalibration progress and coordinate correction amounts in real time. This visual presentation allows medical personnel to intuitively understand the recalibration progress and promptly monitor changes in the target position. Once recalibration is complete and the coordinate correction amounts are confirmed to be correct, medical personnel can issue a confirmation command through the interface. Upon receiving the confirmation signal, the system reactivates the magnetic stimulation output, allowing the treatment to continue. This human-machine collaborative approach ensures the accuracy and reliability of the recalibration process while granting medical personnel effective control over the treatment, further improving the overall quality of treatment.

[0050] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A method for analyzing optical and neural feedback multimodal data of neural modulation targets, characterized in that, Includes the following steps: The system receives head movement commands from the patient via an interactive interface. Upon receiving the command, the transcranial magnetic stimulation is paused, and the system switches to head movement monitoring mode. The infrared optical navigation device captures the dynamic three-dimensional spatial coordinates of the patient's head in real time, and combines them with magnetic resonance imaging data to construct an individualized three-dimensional brain model, and continuously tracks changes in head position during treatment. The system simultaneously collects real-time autonomic nervous system feedback signals from patients, including heart rate variability, skin conductivity, and respiratory rhythm data, and achieves continuous monitoring through multi-channel biosensors. The dynamic three-dimensional spatial coordinates are synchronized with the autonomic neural feedback signal in time to generate a spatiotemporally correlated multimodal dataset. Based on the multimodal dataset, the correlation between the location of the stimulation target and the changes in the autonomic nerve feedback signal is dynamically analyzed to generate real-time control parameters. Based on the real-time control parameters, the spatial positioning and stimulation intensity of the transcranial magnetic stimulation coil are adaptively adjusted, and the target position offset and neural feedback trend are displayed in real time on the treatment interface. Once the patient's head movement ends and the position stabilizes, a rapid recalibration process is automatically triggered to restore high-precision monitoring and reactivate the magnetic stimulation output.

2. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, The interactive interface includes, but is not limited to, a voice command module, a handheld physical button, or a foot switch, allowing the patient to trigger a movement command with a single action; upon receiving a movement command, the following operations are performed: Immediately pause the magnetic stimulation pulse output and display a "Movement Mode Activated" status prompt on the treatment interface; switch the operating mode of the infrared optical navigation device, reduce the sampling frequency to a set percentage of the initial value, and expand the target position tolerance range to a preset safety threshold. The inertial measurement unit is activated to monitor the changes in head acceleration and angular velocity in real time. If the rate of change of acceleration is lower than the threshold and the angular velocity returns to zero within a set time period, the head position is determined to be stable. After the head is stable, the coordinate offset of the individualized brain model is updated based on the local matching of the current surface feature point cloud and magnetic resonance image, and the high-precision navigation mode and the original tolerance range are restored.

3. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 2, characterized in that, During the treatment, the time point triggered by each head movement command, the duration of the movement, and the coordinate correction amount after recalibration were recorded. The frequency of head movement within a single treatment cycle is counted. If the frequency exceeds a preset threshold, the target tolerance range in subsequent movement modes is automatically expanded. Extract the coordinate correction direction caused by historical movement, and load the direction compensation matrix onto the individualized brain model during initial registration. The compensation amount of the matrix is ​​the average of the historical correction amount in the corresponding direction.

4. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 3, characterized in that, In the individualized brain model, the coordinate range of the unstimulated area is marked. When the real-time target position enters the unstimulated area due to head movement, the magnetic stimulation output is immediately stopped and an alarm message is displayed on the treatment interface.

5. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, In the rapid recalibration process, if the matching degree between the surface feature point cloud and the magnetic resonance image is lower than the preset matching threshold, a backup infrared camera is called to collect point cloud data from an additional perspective; a regional block registration algorithm is used to independently calculate the coordinate offset of different partitions of the head, and the target position is updated with a weighted average value; when the difference in the block registration results exceeds the tolerance value, a prompt is output suggesting that the magnetic resonance image be reacquired.

6. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, The construction of the individualized three-dimensional brain model specifically includes: The active binocular camera of the infrared optical navigation device captures point cloud data of the surface features of the patient's head, spatially registers it with pre-stored magnetic resonance images, and uses a nonlinear deformation algorithm to adapt a standard brain template to the patient's actual brain structure. During treatment, the device detects micro-displacement of the head and dynamically updates the three-dimensional model by comparing real-time point cloud data with the initial model. The infrared optical navigation device uses a pulsed anti-interference infrared light source combined with a high-reflectivity marker ball for spatial positioning.

7. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, The acquisition and processing of the autonomic neural feedback signals specifically include: Multi-channel biosensors are deployed on the patient's chest and fingers to collect electrocardiogram signals, skin conductivity, and respiratory waveforms, respectively. Motion artifacts and environmental noise are removed by a signal filtering module, and the spectral characteristics of heart rate variability, the slope of skin conductivity rise, and the periodicity index of respiratory rhythm are extracted. The biosensors are connected to the main control system via a wireless transmission protocol and the start and stop times of transcranial magnetic stimulation are marked in real time to establish a temporal correlation between stimulation events and neural feedback signals.

8. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, The specific implementation method of the adaptive adjustment of the transcranial magnetic stimulation coil is as follows: The theoretical coordinate range of the stimulation target point is preset in the three-dimensional navigation interface. When the real-time target point position exceeds the range due to head movement, the coil support is translated or rotated along the three-dimensional axis by the motor to re-align the coil center with the target area. At the same time, the output energy of the magnetic stimulation pulse is dynamically adjusted according to the real-time intensity of the neural feedback signal. If the autonomic nerve indicators reflect overactivation, the stimulation frequency is reduced.

9. The method for analyzing optical and neural feedback multimodal data of neural modulation targets according to claim 1, characterized in that, The rapid recalibration process specifically includes: Based on the local area of ​​the head surface feature point cloud after the movement, it is quickly registered with the corresponding area of ​​the magnetic resonance image and the coordinate offset matrix is ​​calculated. The offset matrix is ​​applied to the individualized brain model to update the real-time spatial coordinates of the target point. The recalibration progress and coordinate correction amount are displayed in the treatment interface. After confirmation by medical personnel, the magnetic stimulation output is reactivated.

Images