Stimulating coil exchange device, method and transcranial magnetic therapy apparatus

Abstract

The application relates to the field of medical devices, and relates to a stimulating coil replacement device and method and a transcranial magnetic therapy instrument. The device comprises a coil fixing seat, the inside of the coil fixing seat is provided with a mounting portion and an interface assembly for connecting external pipelines, the surface of the coil fixing seat is provided with an operation window corresponding to the interface assembly; the coil carrier is provided with a connecting portion matched with the mounting portion and a connector assembly detachably connected to the interface assembly; a locking piece is detachably connected to the coil fixing seat to lock the connecting portion; a sealing cover plate is detachably connected to the operation window, when the sealing cover plate is in a connected state, the connector assembly is shielded by the sealing cover plate; when the sealing cover plate is detached, the connector assembly is exposed for plugging and unplugging operation. The scheme simplifies the coil replacement process, avoids the use of special tools, effectively protects the key high-voltage and fluid interface during non-operation period, and reduces the risk of interface damage and liquid leakage.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically a stimulation coil replacement device, method, and transcranial magnetic stimulation device. Background Technology

[0002] During transcranial magnetic stimulation (TMS) treatment, different shapes or power stimulation coils are often required depending on the condition or the head circumference of the patient.

[0003] Existing stimulation coil fixation and connection technologies typically employ dispersed bolts for direct fastening, or simple clips to work with exposed electrical and fluid interfaces. However, this approach has the following inherent drawbacks: First, the disassembly and installation process is cumbersome, usually requiring specialized tools to loosen or tighten multiple fasteners one by one, which is time-consuming and prone to fastener loss, making it difficult to meet the efficient throughput requirements of continuous treatment for multiple patients; second, high-voltage transmission connectors and coolant pipeline connectors are usually exposed or only covered by simple dust caps, making the interfaces susceptible to mechanical damage due to uneven stress during frequent plugging and unplugging operations, and even leading to coolant leakage and the risk of high-voltage short circuits; furthermore, due to the lack of a linkage mechanism between the mechanical locking state and the interface protection state, operators may forcibly pull out cables without fully releasing the mechanical fixation, or start the equipment without sealing the interface, posing significant safety hazards. Summary of the Invention

[0004] To address the technical problems mentioned in the background section, the present invention provides a stimulation coil replacement device for a transcranial magnetic stimulation (TMS) device, comprising: A coil holder has an opening, inside which is a mounting part and an interface assembly for connecting an external pipeline. The surface of the coil holder is provided with an operation window corresponding to the interface assembly. A coil carrier is provided with a stimulation coil and has a connecting part that mates with the mounting part, and a connector assembly that is detachably connected to the interface assembly. The coil carrier is detachably connected to the coil mounting base through the mating of the connecting part and the mounting part. A locking element is connected to the coil fixing base and can cooperate with the connecting part to lock the connecting part; A sealing cover is detachably connected to the operation window. When the sealing cover is in the connected state, the connector assembly is covered by the sealing cover. When the sealing cover is removed, the connector assembly is exposed to facilitate the detachable connection between the connector assembly and the interface assembly.

[0005] This technical solution establishes a standardized quick-release architecture by constructing an integrated coil holder and coil carrier, using locking components for rapid mechanical locking, and dynamically concealing or exposing interface components with a sealing cover. This simplifies the coil replacement process, eliminates the need for specialized tools, and effectively protects critical high-pressure and fluid interfaces during non-operational periods, reducing the risk of interface damage and liquid leakage.

[0006] Another aspect of the present invention provides a method for replacing a stimulation coil, implemented based on the above-described stimulation coil replacement device, comprising the following steps: By operating the locking mechanism, the first coil carrier connected to the coil fixing seat is in an unlocked state; Remove the sealing cover to open the operating window; Separate the interface assembly from the connector assembly of the first coil carrier within the operation window; Remove the first coil carrier from the mounting portion; Insert the second coil carrier into the mounting part; A connector assembly connecting the interface component and the second coil carrier is placed within the operation window; The sealing cover plate is used to seal the operating window; The second coil carrier is locked to the coil holder by operating the locking mechanism.

[0007] This method transforms the advantages of hardware structure into standardized operating procedures, effectively avoiding misoperation, reducing the learning cost and operational complexity for medical staff, and improving replacement efficiency and system security.

[0008] Another aspect of the present invention provides a transcranial magnetic stimulation (TMS) device, comprising: trolley; A robotic arm is mounted on the trolley; The stimulation coil replacement device for a transcranial magnetic stimulation device as described above, wherein the coil fixing base is detachably connected to the end of the robotic arm; The camera is configured to capture target image information; The control system is electrically connected to the robotic arm, the camera, and the stimulation coil, respectively. The control system is configured to control the movement of the robotic arm based on the image information acquired by the camera, so as to adjust the position of the stimulation coil.

[0009] This solution integrates the quick-release device into the automated treatment system and, combined with visual feedback closed-loop control, achieves precise positioning and automated adjustment of the stimulation coil, solving the problem of low accuracy in manual positioning and improving the overall intelligence level of the treatment.

[0010] Optionally, the operation window is connected to the opening, and when the coil carrier is connected to the coil fixing seat, the opening is closed and the sealing cover connected to the operation window is abutted.

[0011] This solution uses a coil carrier to abut against the sealing cover. The sealing cover can only be opened after the coil carrier is unlocked and moved in part. This clarifies the sequence of unlocking and moving the coil carrier first, and then opening the sealing cover to disassemble the connector. This effectively avoids misoperation and improves replacement efficiency and system safety.

[0012] Optionally, the mounting part includes guide slots located on both sides inside the opening, and the connecting part includes fixing arms disposed on both sides of the coil carrier. The two fixing arms are detachably inserted into the two guide slots to connect the coil carrier with the coil fixing seat and close the opening.

[0013] By setting up a guide slot and a fixed arm to cooperate, blind insertion and alignment of the coil carrier and the fixed base are achieved, improving installation accuracy. Furthermore, by using the carrier itself to close the opening, the integrity and sealing of the structure are enhanced.

[0014] Optionally, the guide slot is provided with a pre-tightening structure, and the fixing arm cooperates with the pre-tightening structure when inserted into the guide slot, so that the coil carrier and the coil fixing seat are relatively fixed.

[0015] The introduction of the pre-tightening structure provides immediate damping or holding force after insertion, preventing the coil from accidentally slipping out before final locking, improving the handling and safety of initial fixation.

[0016] Optionally, the pre-tightening structure includes two opposing clamping members that frictionally engage with the fixed arm when the fixed arm is inserted into the guide slot, and clamp the fixed arm.

[0017] It adopts a purely mechanical friction-fit clamping component, which has a simple and reliable structure. It can provide a stable clamping force by utilizing mechanical deformation without the need for additional energy, making it suitable for scenarios with high requirements for cost and reliability.

[0018] Optionally, the pre-tightening structure includes a first magnetic element, and the fixing arm has a second magnetic element. The first magnetic element magnetically engages with the second magnetic element when the fixing arm is inserted into the guide slot to attract the fixing arm.

[0019] The pre-tightening is achieved by using magnetic attraction, which avoids wear caused by mechanical contact, making the insertion and removal process smoother. It also has an automatic alignment assistance function, which extends the service life of the components.

[0020] Optionally, the locking element includes: A knob is located on the surface of the coil mounting base; The connecting shaft has one end fixedly connected to the knob, and the other end passes through the coil fixing seat to the guide slot and is inserted into the fixing arm.

[0021] The connection shaft is driven by a knob for insertion and locking, providing clear mechanical locking feedback. The structure is compact and can meet the locking requirements of high-reliability medical scenarios.

[0022] Optionally, a state detection component is provided inside the coil fixing base, and the state detection component cooperates with the locking member; the state detection component is configured to generate a locking signal when the locking member is in a locked state.

[0023] By integrating a status detection component and linking it with the locking mechanism, a safety interlock logic is implemented, ensuring that the system is only allowed to enter the working state after the mechanical locking is confirmed to be in place, which greatly improves the safety of patients and equipment.

[0024] Optionally, the status detection component includes a first conductive contact end and a second conductive contact end disposed within the mounting portion and corresponding to the locking member. The first conductive contact end and the second conductive contact end are spaced apart, and a contact bridge is provided at the end of the locking member. When the locking member is in a locked state, the first conductive contact end and the second conductive contact end are connected through the contact bridge to form a circuit loop, so that the status detection component generates a locking signal.

[0025] The locking status is detected by conductive bridging, which directly reflects the mechanical position using the simple principle of circuit continuity. The signal is clear and has strong anti-interference ability, making it a low-cost and highly reliable detection solution.

[0026] Optionally, the status detection component includes a Hall sensor and a magnet; the Hall sensor is embedded in the mounting portion; the magnet is embedded in the locking member; when the locking member is in the connected state, the magnet is magnetically coupled to the Hall sensor, so that the status detection component generates a locking signal.

[0027] The non-contact detection using Hall effect sensors and magnets avoids oxidation and wear problems caused by frequent operation of electrical contacts, significantly extending the service life of the detection components and making it suitable for high-frequency maintenance environments.

[0028] Optionally, the interface component includes a signal transmission interface and a fluid circulation interface, wherein the signal transmission interface and the fluid circulation interface are respectively connected to a composite pipeline disposed on the coil mounting base; The connector assembly includes a signal transmission connector and a fluid circulation connector. The signal transmission connector can be detachably connected to the signal transmission interface when the sealing cover is removed, and the fluid circulation connector can be detachably connected to the fluid circulation interface when the sealing cover is removed.

[0029] This solution achieves integrated connection between high-voltage electrical signals and cooling fluid, simplifies the complexity of external wiring, and reduces the risk of damage to various interfaces through unified protection by sealing cover plates.

[0030] Optionally, the signal transmission interface includes a first high-voltage interface and a second high-voltage interface, which are electrically connected to the high-voltage cables in the composite pipeline, respectively. The signal transmission connector includes a first high-voltage connector and a second high-voltage connector, which are electrically connected to the stimulation coil, respectively. The first high-voltage connector is plugged into and unplugged into the first high-voltage interface, and the second high-voltage connector is plugged into and unplugged into the second high-voltage interface.

[0031] The design clarifies the specific connection topology of the high-voltage circuit, supports the high-voltage transmission requirements of bipolar or multi-channel, and ensures stable power supply to the stimulation coil under high-power operation.

[0032] Optionally, the fluid circulation interface includes a liquid delivery interface and a liquid collection interface, which are respectively connected to the cold liquid pipeline in the composite pipeline; The fluid circulation connector includes an inlet connector and an outlet connector, which are respectively connected to the cooling channel inside the coil carrier. The inlet connector is plugged into the liquid delivery interface, and the outlet connector is plugged into the liquid collection interface.

[0033] This design creates a closed and efficient liquid circulation path, ensuring that the heat generated by the coil when operating at high power can be carried away in time, maintaining the stable operation of the equipment.

[0034] Optionally, the signal transmission connector and the fluid circulation connector are arranged parallel to each other and spaced apart along the insertion direction of the connection portion.

[0035] By optimizing the spatial layout of the connectors, spatial interference between different types of connectors during insertion and removal operations is avoided, the operating space is optimized, and the risk of misoperation is reduced.

[0036] Optionally, the coil holder includes a front cover and a rear cover, and the operation window is disposed on either the front cover or the rear cover. The operation window is configured to allow a hand or tool to be inserted into the operation window to perform plugging and unplugging operations on the connector assembly and the interface assembly.

[0037] This solution provides a specific ergonomic structural design that balances ease of maintenance with aesthetic integrity, allowing operators to easily plug and unplug interfaces through the control window.

[0038] Optionally, the transcranial magnetic stimulation device further includes: A composite pipeline having a first end and a second end, the composite pipeline comprising a signal transmission cable and a fluid conduit; The first end of the composite pipeline is connected to the control system, and the second end of the composite pipeline is connected to the interface assembly of the coil mounting base; the control system is configured to transmit control signals and coolant to the stimulation coil through the signal transmission cable and the fluid pipeline, respectively.

[0039] The composite pipeline enables unified transmission of control signals and cooling media at the system level, reducing the number of external cables and improving the flexibility of trolley movement and the neatness of the overall layout.

[0040] In summary, this invention, through the combination of the aforementioned technical solutions, solves the problems of cumbersome stimulation coil replacement, easily damaged exposed interfaces, and lack of safety interlocking mechanisms in existing technologies. Through the synergistic effect of a mechanical quick-release structure, dynamic protective sealing, status detection interlocking, and standardized operating procedures, this invention improves the efficiency and convenience of coil replacement while ensuring treatment safety and equipment reliability, achieving an intelligent and modular upgrade of the transcranial magnetic stimulation (TMS) system. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0042] Figure 1 This is a schematic diagram of the stimulation coil replacement device of this application; Figure 2 This is a schematic diagram of the internal structure of the stimulation coil replacement device of this application; Figure 3 This is an exploded schematic diagram of the stimulation coil replacement device of this application; Figure 4 This is a front view schematic diagram of the internal structure of the stimulation coil replacement device of this application; Figure 5 This is an enlarged schematic diagram of the structure of the fixing arm and locking component in this application; Figure 6 This is a schematic diagram of the structure of one embodiment of the state detection component of this application; Figure 7 A schematic diagram of the structure for installing the first stimulation coil in the stimulation coil replacement device of this application; Figure 8 A schematic diagram of the structure for installing the second stimulation coil in the stimulation coil replacement device of this application; Figure 9 This is a schematic diagram of the transcranial magnetic stimulation therapy device of this application; Figure 10 This is a flowchart illustrating the steps of the stimulation coil replacement method in this application.

[0043] Explanation of reference numerals in the attached figures: 1. Coil holder; 11. Front cover; 12. Rear cover; 13. Operation window; 14. Interface assembly; 141. First high-voltage interface; 142. Second high-voltage interface; 143. Liquid delivery interface; 144. Liquid collection interface; 15. Locking hole; 16. Guide slot; 161. Pre-tightening structure; 162. Fixing hole; 2. Coil carrier; 201. First stimulation coil; 202. Second stimulation coil; 21. Fixing arm; 211. Limiting groove; 212. Positioning hole; 22. Connector assembly; 221. First high-pressure connector; 222. Second high-pressure connector; 223. Liquid inlet connector; 224. Liquid outlet connector; 3. Locking component; 31. Knob; 32. Connecting shaft; 33. Limiting protrusion; 34. Contact bridge; 4. Sealing cover; 5. Status detection component; 51. First conductive contact terminal; 52. Second conductive contact terminal; 6. Robotic arm; 7. Composite pipelines; 8. Trolley. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0045] In the field of transcranial magnetic stimulation (TMS) therapy, to adapt to the treatment needs of different conditions or the physiological characteristics of different patients, it is often necessary to frequently change stimulation coils with different shapes (such as circular or figure-eight shaped) or different power specifications. This application scenario requires that the connection device between the stimulation coil and the main body of the treatment device (or the end effector of the robotic arm) not only ensure electrical and mechanical stability under high-intensity electromagnetic fields and coolant circulation conditions, but also have extremely high ease of operation in order to shorten the treatment interval and improve the efficiency of diagnosis and treatment.

[0046] In a widely used existing technology, the stimulation coil is typically fixed directly to a mounting bracket using a series of distributed bolts, while the high-voltage transmission cable and liquid-cooling tubing connectors are exposed on the back or side of the coil. When replacing the coil, the operator must use external tools such as a screwdriver to loosen and remove multiple fixing bolts one by one, and then plug and unplug the exposed cable connectors within a confined space. After installing the new coil, the above steps are repeated to tighten and connect the coil.

[0047] However, this existing technical solution relies on multi-point discrete fastening and external tool assistance, which directly leads to a cumbersome and time-consuming replacement process. More importantly, because the high-pressure interface and fluid interface are often exposed or only covered by simple dust caps when not in operation, they are highly susceptible to non-axial stress during frequent insertion and removal. This uneven stress can easily lead to physical damage to precision electrical contacts or failure of coolant seals, and may also cause high-pressure short circuits due to coolant leakage.

[0048] A deeper analysis reveals that the aforementioned surface-level problems evolve into a more fundamental systemic bottleneck in actual clinical applications: the existing structure lacks an "operational sequence constraint mechanism." Specifically, because the mechanical locking components (bolts) and electrical / fluid connection components (connectors) are independent in spatial layout and operational logic, operators can forcibly pull cables to disconnect the connection without fully releasing the mechanical locking or confirming power off / pressure relief. This degree of freedom in operational logic makes the safety of the equipment highly dependent on the operator's personal experience and level of caution. Once a misoperation occurs, it often causes irreversible hardware damage and may even threaten the safety of patients and medical staff.

[0049] To address the aforementioned shortcomings, those skilled in the art might attempt to introduce quick-release snap-fit ​​structures to replace bolt connections, or add independent protective covers to exposed joints. However, simple snap-fit ​​replacements often fail to simultaneously meet the enormous contact pressure required for high-voltage, high-current transmission and the high sealing requirements of liquid-cooled piping. Furthermore, independently added protective covers, if not linked to the mechanical locking mechanism, are easily forgotten to be closed during hasty operations, thus failing to resolve the safety hazards posed by exposed interfaces. In addition, without a mandatory, standardized, and convenient operating sequence at the structural level, localized improvements cannot eliminate the risk of misoperation. Therefore, how to construct a standardized connection architecture integrating mechanical quick-release, interface protection, and interlocking operating logic has become a pressing technical challenge in this field.

[0050] In view of this, the embodiments of the present invention aim to provide a stimulation coil replacement device, method, and transcranial magnetic stimulation device, in order to solve or at least partially alleviate the above-mentioned technical problems.

[0051] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0052] Example 1 like Figure 1 As shown, this embodiment provides a stimulation coil replacement device for a transcranial magnetic stimulation (TMS) device. Its core lies in constructing a standardized architecture that integrates mechanical fixation, interface protection, and rapid operation. The device mainly includes a coil fixing base 1, a coil carrier 2, a locking component 3, and a sealing cover 4.

[0053] Please see Figure 2 and Figure 3 In one specific embodiment, the coil holder 1 can be configured to have a downward-facing opening, inside which a mounting portion is provided for accommodating and mounting the coil carrier 2. An interface assembly 14 for connecting external pipelines can be integrated inside the opening of the coil holder 1. For ease of user operation, an operation window 13 can be provided on the side surface of the coil holder 1 corresponding to the position of the interface assembly 14.

[0054] The coil carrier 2 of this embodiment is typically configured with a core stimulation coil (e.g., a figure-eight or circular coil), or the coil carrier 2 may be directly referred to as a "stimulation coil" in the art. The coil carrier 2 has a connecting part that mates with the mounting part described above, and also has a connector assembly 22, which is configured to be detachably connected to the interface assembly 14 to realize the transmission of electrical signals and cooling medium.

[0055] To achieve rapid mechanical locking, this embodiment introduces a locking member 3 detachably connected to the coil mounting base 1. When the locking member 3 is in the connected state, it can lock the connection part of the coil carrier 2, preventing it from accidentally falling off. The stimulation coil replacement device is also provided with a sealing cover 4 detachably connected to the aforementioned operation window 13. When the sealing cover 4 is in the connected state, it physically blocks the internal connector assembly 22, forming a protective barrier; when the sealing cover 4 is removed, the connector assembly 22 is exposed for the user to insert and remove.

[0056] In this embodiment, the user can replace the coil simply by operating the locking part 3 and the sealing cover plate 4 without the need for external tools, which improves the safety and convenience of the operation.

[0057] When specifically implementing the connection between the coil carrier 2 and the coil fixing base 1, a guide insertion method can be used. For example, as... Figure 2 Japanese painting Figure 3 As shown, the mounting portion may include guide slots 16 located on both sides inside the opening. Correspondingly, the connecting portion of the coil carrier 2 may include fixing arms 21 disposed on both sides thereon. The two fixing arms 21 may be configured to be detachably inserted into the two guide slots 16 respectively.

[0058] Preferably, this plug-in connection not only achieves a mechanical connection but also simultaneously seals the opening. When the fixing arm 21 is fully inserted into the guide slot 16, the coil carrier 2 itself can act as a sealing plate, closing the opening of the coil fixing seat 1, thereby enhancing the rigidity and aesthetics of the overall structure. Utilizing the guiding effect of the slot, users can achieve blind insertion and alignment, ensuring accurate positioning of the coil carrier 2 even without directly observing the root of the interface.

[0059] In one embodiment, the operating window 13 is connected to the opening. When the coil carrier 2 is connected to the coil fixing seat 1, the opening is closed, and the sealing cover 4 connected to the operating window 13 is abutted. That is to say, by the coil carrier 2 abutting against the sealing cover 4, it not only serves to fasten the sealing cover 4, but also makes it easy to open the sealing cover 4 only after the coil carrier 2 is unlocked and moved to a certain position.

[0060] Specifically, after unlocking the locking element 3, the coil carrier 2 can be pulled down a certain distance, thus freeing up the bottom of the sealing cover 4. The sealing cover 4 can then be easily removed from the operating window 13, allowing for the insertion and removal of the connector assembly 22 and the interface assembly 14. This design clearly defines the sequence of unlocking and moving the coil carrier 2 first, followed by opening the sealing cover 4 to disassemble the connector. This effectively avoids misoperation and improves replacement efficiency and system safety.

[0061] Of course, in some embodiments, the operating window 13 and the opening may not be connected. The sealing cover 4 is installed in the operating window 13 by screws or buckles. When the coil carrier 2 does not move, the sealing cover 4 can be removed for insertion and removal operations, or for internal maintenance of the device.

[0062] It is worth mentioning that in this embodiment, after unlocking, the coil carrier 2 can move downward a certain distance relative to the coil fixing seat 1 to facilitate the removal of the sealing cover 4. The key to this design is that after the locking member 3 is unlocked, the connector assembly 22 of the coil carrier 2 is connected to the interface assembly 14 inside the coil fixing seat 1. The interface assembly 14 is connected to the composite pipeline 7 inside the device. The composite pipeline 7 has a certain degree of flexibility or elasticity, and can pull the coil carrier 2 to move a certain distance without falling completely. Alternatively, the design that the coil carrier 2 can move downward a certain distance relative to the coil fixing seat 1 without falling completely after unlocking can be achieved by the pre-tightening structure 161 mentioned below.

[0063] Please see Figure 4 To address the potential loosening or slippage of the coil carrier 2 after insertion but before locking, this embodiment further integrates a pre-tightening structure 161 within the guide slot 16. When the fixing arm 21 is inserted into the guide slot 16, it automatically engages with the pre-tightening structure 161, generating resistance or retaining force to achieve a relatively fixed state between the coil carrier 2 and the coil fixing seat 1. This pre-tightening effect provides a stable foundation for subsequent locking operations, preventing accidental displacement of components during processing.

[0064] In a specific example, the preload structure 161 can be a purely mechanical friction clamping mechanism. For example, the preload structure 161 may include two opposing elastic clamping elements (such as spring steel sheets or clamping blocks with rubber pads). When the fixing arm 21 is inserted, the clamping elements elastically deform and clamp the fixing arm 21, providing preload force through friction. This method is simple in structure, requires no additional energy, and provides a continuous damping feel.

[0065] In another optional embodiment, the pre-tightening structure 161 can employ a non-contact magnetic attraction method. For example, the pre-tightening structure 161 may include a first magnetic attraction element (such as a permanent magnet) embedded in the guide slot 16, while a second magnetic attraction element (such as a ferromagnetic material or a magnet with opposite polarity) is provided at the corresponding position of the fixing arm 21. When the fixing arm 21 is inserted into place, the two engage magnetically, generating an attraction force to fix the coil carrier 2. The advantage of this method is that there is no mechanical wear, the insertion and removal process is smoother, and it has an automatic alignment assistance effect, extending the service life of the components.

[0066] After initial guidance and pre-tightening, final rigid locking is achieved using locking element 3. This embodiment provides various implementations of locking element 3 to accommodate different operational preferences and scenario requirements.

[0067] like Figure 5 As shown, in one specific embodiment, the locking member 3 may include a combination of a knob 31 and a connecting shaft 32. For example, the knob 31 may be disposed on the surface of the coil fixing base 1, as detailed in the following reference. Figure 3 The knob 31 can be located within the locking hole 15 on the surface of the coil holder 1, allowing for easy application of force by the user's fingers. One end of the connecting shaft 32 is fixedly connected to the knob 31, while the other end extends through the housing of the coil holder 1, extending through the locking hole 15 into the guide slot 16. When the user rotates the knob 31, the connecting shaft 32 rotates or moves axially, thereby engaging with the mating hole or groove on the fixing arm 21, restricting the axial or radial movement of the fixing arm 21, and achieving locking. This structure provides clear locking feedback and is suitable for medical scenarios with extremely high reliability requirements.

[0068] Specifically, such as Figure 5 As shown, a limiting groove 211 is provided on the fixed arm 21, and a positioning hole 212 is provided inside the limiting groove 211. A limiting protrusion 33 is provided on the connecting shaft 32, and a fixing hole 162 corresponding to the locking hole 15 is also provided on the inner surface of the guide slot 16.

[0069] The positioning hole 212 is connected and fixed to the fixing hole 162, and the limiting protrusion 33 is locked in the limiting groove 211 to prevent the locking member 3 from loosening. The surface of the connecting shaft 32 may be provided with external threads, and one of the locking hole 15 and the positioning hole 212 may be provided with internal threads. The connecting shaft 32 is connected and engaged with the locking hole 15 or the positioning hole 212 through the external threads, thereby firmly and stably fixing the fixing arm 21 inside the guide slot 16.

[0070] As an alternative implementation, the locking element 3 can employ a quick-release toggle mechanism, including a rotary handle and an eccentric cam. For example, the rotary handle is rotatably connected to the surface of the coil holder 1, and the eccentric cam is connected to the handle and extends through the housing into the guide slot 16. When the user turns the rotary handle, the eccentric cam rotates accordingly, using the displacement generated by its eccentricity to forcefully clamp or limit the engagement fixing arm 21. This mechanism enables rapid clamping and release, improving the efficiency of coil replacement operations.

[0071] To optimize the human-computer interaction experience and clarify the specific structure of the operation window, this embodiment has refined the design of the coil fixing base 1 and the sealing cover plate 4. For example, as Figure 1 and Figure 3As shown, the coil holder 1 can be a split design, including a front cover 11 and a rear cover 12. The operating window 13 can be located in either the front cover 11 or the rear cover 12, and its size is configured to allow the operator's fingers or special tools to reach in in order to grasp and insert the internal connector assembly 22.

[0072] Accordingly, the sealing cover 4 can be detachably connected to the operating window 13 via bolts, snap-fit ​​connections, or magnetic connections. When the sealing cover 4 is installed in place, it completely seals the operating window 13, preventing dust from entering and, more importantly, physically isolating the internal high-pressure and fluid interfaces, thus avoiding the risk of accidental contact. The user only needs to remove this cover when the coil needs to be replaced, thereby creating a safety barrier in the operation process.

[0073] In summary, this embodiment provides a complete mechanical locking and protection solution through the combination of guide slot 16, pre-tightening structure 161, locking element 3, and sealing cover. This solution ensures both high rigidity and high reliability of the connection, while also enabling tool-free quick assembly and disassembly, making it suitable for clinical treatment environments where different specifications of stimulation coils need to be replaced.

[0074] Example 2 This embodiment, building upon the basic mechanical architecture (including coil holder 1, coil carrier 2 with fixing arm 21, guide slot 16, and locking component 3) constructed in Embodiment 1, further introduces a state detection and safety interlocking mechanism. The core improvement of this embodiment lies in the fact that, through the integrated state detection component 5, the physical state of mechanical locking is converted into an electrical signal that can be recognized by the control system, thereby ensuring that the treatment system operates only when the connection is secure.

[0075] In one specific embodiment, a state detection component 5 may be provided inside the coil fixing base 1. This state detection component 5 is configured to cooperate with the aforementioned locking member 3. Its operating logic is as follows: the state detection component 5 is triggered and generates a locking signal only when the locking member 3 is in a fully connected or locked state; conversely, if the locking member 3 is not in place or is in a loose state, no signal is generated or an unlocking signal is generated. The control system of the transcranial magnetic stimulation device can be configured to receive this signal and use it as a necessary condition to allow the initiation of high-voltage pulse output or the activation of coolant circulation. This design logically avoids the safety hazards of performing treatment or replacement when the coil is not locked.

[0076] To achieve the aforementioned state detection function, this embodiment provides two specific technical approaches.

[0077] like Figure 6As shown, in one specific implementation, the status detection component 5 can employ a contact-type conductive bridging scheme. For example, the status detection component 5 may include a first conductive contact end 51 and a second conductive contact end 52 disposed within the mounting portion (e.g., the bottom or side wall of the guide slot 16). In one embodiment, the first conductive contact end 51 and the second conductive contact end 52 may be disposed within the aforementioned fixing hole 162. These two conductive contact ends are physically spaced apart and insulated from each other.

[0078] Correspondingly, a contact bridge 34 made of conductive material can be provided at the end of the locking member 3 (e.g., the end of the connecting shaft 32).

[0079] When the user operates the locking member 3 to lock it into the locked state, the end of the locking member 3 moves to a predetermined position, causing the contact bridge 34 on it to simultaneously contact the first conductive contact end 51 and the second conductive contact end 52, thereby electrically connecting them to form a circuit. At this time, the detection circuit connected in series in this circuit can detect the circuit closure and generate the aforementioned locking signal. Preferably, this conductive bridge circuit can be inspected using a low-voltage weak current signal to avoid interference with the high-voltage treatment circuit. The advantages of this scheme are its intuitive structure, direct signal feedback, strong anti-electromagnetic interference capability, and ability to accurately reflect the physical positioning of mechanical components.

[0080] As an alternative embodiment, the status detection component 5 can employ a non-contact magnetic induction scheme to address the oxidation or wear problems that mechanical contacts may face during long-term use. For example, the status detection component 5 may include a Hall sensor and a magnet. The Hall sensor may be embedded in a specific location within the mounting portion (e.g., deep within a guide slot or within the fixing hole 162); while the magnet is embedded inside the locking member 3 (e.g., at the end of the connecting shaft 32).

[0081] When the locking element 3 rotates or moves to the locked position, the magnet embedded therein moves to a position opposite the Hall sensor, and the two become magnetically coupled. The Hall sensor detects the change in magnetic field strength (e.g., reaching a preset threshold) and then outputs a switching signal or analog signal as a locking signal indicating that the locking is complete. Preferably, the polarity arrangement of the magnet and the sensitivity of the Hall sensor can be adjusted so that the signal is triggered only when the locking element 3 is fully in place, remaining silent in intermediate transition positions. This non-contact detection method has high durability and is particularly suitable for medical environments requiring frequent coil replacements, effectively avoiding false alarms or missed alarms caused by contact corrosion.

[0082] This implementation not only enables rapid assembly and disassembly at the mechanical level, but also adds a safety barrier at the electrical control level. Whether using conductive bridging or magnetic induction, the core objective is to ensure that the main control system of the therapeutic device is only allowed to enter the working state after the locking component 3 has precisely completed its locking action on the coil carrier. This mechanism effectively compensates for the inability of mechanical structures to provide digital status feedback, thus improving the overall safety and reliability of the transcranial magnetic stimulation (TMS) system.

[0083] Example 3 This embodiment, based on the mechanical connection and status detection architecture established in the previous embodiments, further focuses on the media transmission management within the device, specifically illustrating an interface integration scheme that integrates high-voltage electrical signal transmission and cooling fluid circulation. The core of this embodiment lies in achieving high integration and high reliability of multi-media connections through standardized interface component 14 and connector component 22.

[0084] In one specific embodiment, the interface assembly 14 can be configured to include both a signal transmission interface and a fluid circulation interface. These two interfaces can be connected to the composite pipeline 7 disposed on the coil mounting base 1, respectively. Correspondingly, the connector assembly 22 can also include a signal transmission connector and a fluid circulation connector, which are disposed on the coil carrier 2. When the coil carrier 2 is inserted into the mounting portion, the signal transmission connector mates with the signal transmission interface, and the fluid circulation connector mates with the fluid circulation interface. Preferably, this mating operation is configured to be operable only when the sealing cover 4 is removed, thereby ensuring that the interface is under closed protection in a non-maintenance state.

[0085] like Figure 3 As shown, to meet the transmission requirements of high-voltage electrical signals, the signal transmission interface can adopt a multi-contact discrete design. For example, the signal transmission interface may include a first high-voltage interface 141 and a second high-voltage interface 142. These two interfaces can be electrically connected to the high-voltage cables in the composite pipeline 7 to form a complete therapeutic pulse circuit. Correspondingly, the signal transmission connector may include a first high-voltage connector 221 and a second high-voltage connector 222, which are electrically connected to the excitation winding inside the stimulation coil, respectively.

[0086] In a specific example, the first high-voltage connector 221 and the first high-voltage interface 141, and the second high-voltage connector 222 and the second high-voltage interface 142 can be configured for plug-in connection. To withstand the large current and high voltage generated during treatment, these high-voltage connectors can employ a coaxial shielding structure or a flexible contact finger structure internally to ensure minimal contact resistance and prevent electromagnetic leakage. Preferably, the high-voltage connectors can also be equipped with self-locking latches, providing audible or tactile feedback when properly inserted to prevent accidental loosening due to vibration.

[0087] Please continue reading Figure 3 To address the circulation requirements of the cooling medium, the fluid circulation interface can be designed as a bidirectional flow channel structure. For example, the fluid circulation interface may include a liquid delivery interface 143 and a liquid collection interface 144. These two interfaces can be connected to the coolant pipeline in the composite pipeline 7, where the liquid delivery interface 143 is used to input coolant, and the liquid collection interface 144 is used to recover the heated coolant. Correspondingly, the fluid circulation connector may include a liquid inlet connector 223 and a liquid outlet connector 224, which are respectively connected to a pre-set cooling channel inside the coil carrier 2.

[0088] In an optional embodiment, the inlet connector 223 and the delivery port 143, and the outlet connector 224 and the receiving port 144 can be configured for plug-in connections. To prevent coolant leakage during disassembly, which could contaminate equipment or scald personnel, a one-way shut-off valve can be integrated inside the fluid circulation connector. When the connector is disassembled, the valve automatically closes both ends of the pipeline; when the connector is plugged in, a push-pin mechanism opens the valve to create a passage. This design ensures a clean and safe working environment, even when maintenance is performed under pressure.

[0089] Please see Figures 2 to 4 To optimize the user's insertion and removal experience after removing the sealing cover 4, this embodiment features a specific spatial layout for the connectors. For example, the signal transmission connector and the fluid circulation connector can be arranged parallel to each other and spaced apart along the insertion direction of the connection. This arrangement avoids spatial interference between different types of connectors during insertion and removal. For example, the user can insert the high-pressure connector first, then the fluid connector, or insert them simultaneously without worrying about cables and pipes getting tangled. Preferably, connectors with different functions can also use different outlines or color markings (e.g., red for high-pressure connectors and blue for fluid connectors) to provide visual guidance against mistaken operation and reduce the risk of misoperation.

[0090] This embodiment deeply integrates the aforementioned interface layout with the aforementioned sealing structure. For example, by combining the separate structure of the front cover 11 and the rear cover 12, the operation window 13 can be specifically positioned for easy observation of the interface. The size and shape of the sealing cover 4 can be configured to precisely cover the exposed signal transmission connector and fluid circulation connector.

[0091] When the coil needs to be replaced, the user removes the sealing cover 4, opening the operating window 13. Hands or tools can then be inserted into the window to directly grasp and plug in the parallel-arranged high-pressure and fluid connectors. This design conceals the complex internal wiring within the coil holder 1 cavity, leaving only a clean operating interface on the outside. This enhances the overall aesthetics of the equipment and reduces the exposure time of the interfaces through physical isolation, thereby lowering the risk of interface damage due to dust accumulation or accidental impact.

[0092] In summary, this implementation method, by defining a dual interface architecture for signals and fluids, combined with a parallel spacing layout strategy and the linkage protection of the sealing cover, not only meets the stringent requirements of transcranial magnetic stimulation therapy devices for high-voltage, high-power transmission and efficient heat dissipation, but also reduces the complexity of maintenance operations and safety risks through a user-friendly layout and protective design.

[0093] Example 4 This embodiment, based on the stimulation coil replacement device described in the foregoing embodiments, further provides a stimulation coil replacement method. This method aims to standardize the replacement process of the coil carrier 2 on the coil mounting base 1, ensure the safety of electrical and fluid connections during maintenance, and utilize the device's mechanical and detection structures to guarantee the reliability of the system after replacement. The key steps of this replacement method are described in detail below.

[0094] First, the transcranial magnetic stimulation (TMS) device can enter a standby state. The TMS control system can be configured to stop the output of high-voltage pulses and shut down the coolant circulation pump. Preferably, the system can also execute a pipeline depressurization procedure to reduce the residual pressure in the fluid circulation interface below a safe threshold to prevent coolant splashing during subsequent disconnection.

[0095] Please see Figure 10 In the first step S1, the locking element 3 can be operated to the unlocked state. For example, the user can rotate the knob 31 to drive the locking element 3 from the locked state to the unlocked state. At this time, the clamping force applied by the locking element 3 to the fixing arm 21 of the coil carrier 2 (i.e., the first stimulation coil 201) can be released, allowing the first stimulation coil 201 to regain its degree of freedom of movement within the guide slot 16. The state detection component 5 can detect the change in the locking state at this stage and send an unlocking signal to the control system to ensure that the system remains in a safe state where output is prohibited.

[0096] In step S2, the sealing cover 4 can be removed from the operating window 13. For example, the sealing cover 4 can be removed from the outer surface of the coil holder 1 by releasing it with a snap or loosening it with a screw. Alternatively, after unlocking, the first stimulation coil 201 can be lowered relative to the coil holder 1 by a certain distance, so that the bottom of the locked sealing cover 4 is freed up, making it easier to remove the sealing cover 4. With the removal of the sealing cover 4, the previously obstructed operating window 13 is opened, exposing the internal signal transmission connector and fluid circulation connector. This step ensures that the interface is only exposed to the external environment when maintenance is required, reducing the risk of dust accumulation.

[0097] In step S3, the fluid circulation connector is disconnected from the fluid circulation interface. For example, the user can insert a tool or finger through the operating window 13, grasp the inlet connector 223 and the outlet connector 224, and pull them out of the delivery interface 143 and the receiving interface 144. During this process, the one-way shut-off valve integrated inside the connector can automatically close the pipe port to prevent residual coolant from flowing out.

[0098] In this step, the signal transmission connector is disconnected from the signal transmission interface. For example, the first high-voltage connector 221 and the second high-voltage connector 222 can be separated from the first high-voltage interface 141 and the second high-voltage interface 142, respectively. Preferably, this step can be performed after the fluid connection is disconnected to avoid liquid residue contaminating the electrical contacts. In some embodiments, the self-locking latch on the high-voltage connector can be pressed to release the lock, thereby allowing the connector to be easily pulled out.

[0099] In step S4, the first stimulation coil 201 is removed along the guide slot 16. After all external connections are disconnected, the user can hold the first stimulation coil 201 and smoothly pull it out along the extension direction of the guide slot 16. The sidewalls of the guide slot 16 guide the movement of the first stimulation coil 201, preventing tilting or collisions during extraction and protecting internal precision components.

[0100] In step S5, the new coil carrier 2 (second stimulation coil 202) is inserted along the guide slot 16. The second stimulation coil 202 can be aligned with the entrance of the guide slot 16 and pushed in the same direction until it reaches the preset mounting part. During this process, the fixing arm 21 of the second stimulation coil 202 can be engaged with the pre-tightening structure 161 in the guide slot 16 to ensure the accuracy of the position of the second stimulation coil 202 and achieve initial stability, providing a foundation for subsequent interface docking.

[0101] In step S6, the electrical and fluid connections are re-established. The user inserts the signal transmission connector of the second stimulation coil 202 into the signal transmission interface until a locking sound is heard; subsequently, the fluid circulation connector is inserted into the fluid circulation interface until a damping sensation is felt. Preferably, the parallel spacing of the connectors allows for simultaneous operation with both hands or operation in any order without spatial interference.

[0102] In step S7, reinstall the sealing cover 4, cover the operating window 13 with the sealing cover 4 and fix it in place.

[0103] In step S8, the second coil carrier 202 is locked onto the coil fixing seat 1 by operating the locking member 3. After the sealing cover plate 4 is installed, the locking member 3 can be operated to the locked position, and then the system can perform status verification. At this time, the status detection component 5 can detect the position signal of the locking member 3 and send a locking signal to the control system. After receiving the signal, the control system allows the system to enter the normal operation mode.

[0104] Through the eight steps described above, this embodiment provides a logically sound and safe coil replacement process. This method fully utilizes the device's mechanical guidance, interface protection, and electrical interlocking features, not only lowering the technical threshold for maintenance operations but also reducing equipment damage or safety hazards caused by operational errors through its streamlined step design, ensuring the consistent performance of the transcranial magnetic stimulation (TMS) system after multiple coil replacements.

[0105] Example 5 like Figures 7-9 As shown, this embodiment provides a transcranial magnetic stimulation (TMS) device based on a robotic arm. The TMS device includes a trolley 8, a robotic arm 6, a 3D camera, a composite pipeline 7, and the stimulation coil replacement device for the TMS device mentioned in the above embodiment.

[0106] The trolley 8 serves as the carrier for equipment installation and movement, supporting components such as the robotic arm 6 and the control system. Casters can be installed at the bottom of the trolley 8 to facilitate the overall movement of the equipment. The robotic arm 6 is fixedly mounted on the trolley 8, and its end is detachably connected to the coil mounting base 1. The robotic arm 6 can achieve multi-degree-of-freedom movement to adjust the spatial position and posture of the stimulation coil.

[0107] A 3D camera is installed at the end of the robotic arm 6 or at the corresponding position on the trolley 8 and is electrically connected to the control system. It is used to collect three-dimensional image information of the patient's head, provide data support for the positioning of the robotic arm 6, and achieve precise positioning of the stimulation coil.

[0108] The composite pipeline 7 is used to transmit high voltage electricity, coolant and control signals. One end of the composite pipeline 7 is connected to the control system, and the other end is connected to the stimulation coil through corresponding connectors, that is, connected to the interface component 14 mentioned in the above embodiment.

[0109] like Figure 7 and Figure 8 As shown, the stimulation coils include various models (such as the first stimulation coil 201 and the second stimulation coil 202), and different models of stimulation coils can be selected according to treatment needs. The stimulation coil mentioned here refers to the coil carrier 2 in the above embodiment. Regarding the configuration of the stimulation coils, this embodiment supports rapid adaptation of multiple coil models, for example... Figure 7 The first stimulation coil 201, as shown, has a planar shape or is as follows: Figure 8The V-shaped second stimulation coil 202 shown can be flexibly selected according to the head shape characteristics of different patients and the specific treatment site requirements. Combined with the stimulation coil replacement device in the aforementioned embodiment, operators can quickly replace stimulation coils of different specifications without cumbersome tools by rotating the knob 31, removing the sealing cover plate 4, and plugging and unplugging the quick-connect connector. This modular design not only meets diverse clinical treatment needs but also reduces the risk of cable connector damage due to frequent disassembly and assembly, ensuring the safety and stability of high-voltage electrical transmission and liquid cooling circulation.

[0110] The transcranial magnetic stimulation (TMS) device based on a robotic arm provided in this embodiment achieves millimeter-level precise positioning of the stimulation coil on the target treatment area of ​​the brain through the linkage control of a 3D camera and a robotic arm 6. This overcomes the problem of insufficient positioning accuracy in traditional manual operation, thereby improving the consistency and reliability of treatment effects. The highly integrated trolley structure 8 and composite pipeline design 7 make the device compact, space-saving, and easy to move, solving the shortcomings of existing devices that are scattered and inconvenient to operate. The standardized rapid coil changing mechanism greatly shortens the treatment preparation time and improves the efficiency of diagnosis and treatment. At the same time, the strong compatibility of various coil models makes it widely applicable to transcranial magnetic stimulation treatment scenarios for different diseases and different populations, and has extremely high clinical application value.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stimulation coil replacement device, characterized in that, include: A coil holder has an opening, inside which is a mounting part and an interface assembly for connecting an external pipeline. The surface of the coil holder is provided with an operation window corresponding to the interface assembly. A coil carrier is provided with a stimulation coil and has a connecting part that mates with the mounting part, and a connector assembly that is detachably connected to the interface assembly. The coil carrier is detachably connected to the coil mounting base through the mating of the connecting part and the mounting part. A locking element is connected to the coil fixing base and can cooperate with the connecting part to lock the connecting part; A sealing cover plate is detachably connected to the operation window. When the sealing cover plate is in the connected state, the connector assembly is blocked by the sealing cover plate. When the sealing cover is removed, the connector assembly is exposed to facilitate a detachable connection between the connector assembly and the interface assembly.

2. The stimulation coil replacement device according to claim 1, characterized in that, The operation window is connected to the opening. When the coil carrier is connected to the coil fixing seat, the opening is closed and the sealing cover connected to the operation window is abutted.

3. The stimulation coil replacement device according to claim 1, characterized in that, The mounting part includes guide slots located on both sides inside the opening, and the connecting part includes fixing arms disposed on both sides of the coil carrier. The two fixing arms are detachably inserted into the two guide slots to connect the coil carrier with the coil fixing seat and close the opening.

4. The stimulation coil replacement device according to claim 3, characterized in that, The guide slot is provided with a pre-tightening structure. When the fixing arm is inserted into the guide slot, it cooperates with the pre-tightening structure to fix the coil carrier and the coil fixing seat relative to each other.

5. The stimulation coil replacement device according to claim 4, characterized in that, The pre-tightening structure includes two opposing clamping members that engage with the fixed arm in frictional contact when the fixed arm is inserted into the guide slot, thereby clamping the fixed arm.

6. The stimulation coil replacement device according to claim 4, characterized in that, The pre-tightening structure includes a first magnetic suction member, and the fixing arm has a second magnetic suction member. When the fixing arm is inserted into the guide slot, the first magnetic suction member magnetically engages with the second magnetic suction member to attract the fixing arm.

7. The stimulation coil replacement device according to claim 3, characterized in that, The locking element includes: A knob is located on the surface of the coil mounting base; The connecting shaft has one end fixedly connected to the knob, and the other end passes through the coil fixing seat to the guide slot and is inserted into the fixing arm.

8. The stimulation coil replacement device according to any one of claims 1 to 7, characterized in that, The coil holder is equipped with a state detection component, which cooperates with the locking member; the state detection component is configured to generate a locking signal when the locking member is in a locked state.

9. The stimulation coil replacement device according to claim 8, characterized in that, The status detection component includes a first conductive contact end and a second conductive contact end disposed within the mounting portion and corresponding to the locking member. The first conductive contact end and the second conductive contact end are spaced apart. A contact bridge is provided at the end of the locking member. When the locking member is in a locked state, the first conductive contact end and the second conductive contact end are connected through the contact bridge to form a circuit loop, so that the status detection component generates a locking signal.

10. The stimulation coil replacement device according to claim 8, characterized in that, The status detection component includes a Hall sensor and a magnet; the Hall sensor is embedded in the mounting portion; the magnet is embedded in the locking member; when the locking member is in the connected state, the magnet is magnetically coupled to the Hall sensor, so that the status detection component generates a locking signal.

11. The stimulation coil replacement device according to any one of claims 1 to 7, characterized in that, The interface component includes a signal transmission interface and a fluid circulation interface, and the signal transmission interface and the fluid circulation interface are respectively connected to a composite pipeline disposed on the coil fixing base; The connector assembly includes a signal transmission connector and a fluid circulation connector. The signal transmission connector can be detachably connected to the signal transmission interface when the sealing cover is removed, and the fluid circulation connector can be detachably connected to the fluid circulation interface when the sealing cover is removed.

12. The stimulation coil replacement device according to claim 11, characterized in that, The signal transmission interface includes a first high-voltage interface and a second high-voltage interface, which are respectively electrically connected to the high-voltage cable in the composite pipeline. The signal transmission connector includes a first high-voltage connector and a second high-voltage connector, which are electrically connected to the stimulation coil, respectively. The first high-voltage connector is plugged into and unplugged into the first high-voltage interface, and the second high-voltage connector is plugged into and unplugged into the second high-voltage interface.

13. The stimulation coil replacement device according to claim 11, characterized in that, The fluid circulation interface includes a liquid delivery interface and a liquid collection interface, which are respectively connected to the cold liquid pipeline in the composite pipeline. The fluid circulation connector includes an inlet connector and an outlet connector, which are respectively connected to the cooling channel inside the coil carrier. The inlet connector is plugged into the liquid delivery interface, and the outlet connector is plugged into the liquid collection interface.

14. The stimulation coil replacement device according to claim 11, characterized in that, The signal transmission connector and the fluid circulation connector are arranged parallel to each other and spaced apart along the insertion direction of the connection.

15. The stimulation coil replacement device according to any one of claims 1 to 7, characterized in that, The coil holder includes a front cover and a rear cover, and the operation window is disposed on either the front cover or the rear cover. The operation window is configured to allow a hand or tool to be inserted into the operation window to perform plugging and unplugging operations on the connector assembly and the interface assembly.

16. A method for replacing a stimulation coil, implemented based on the stimulation coil replacement device as described in any one of claims 1 to 15, characterized in that, Includes the following steps: By operating the locking mechanism, the first coil carrier connected to the coil fixing seat is in an unlocked state; Remove the sealing cover to open the operating window; Separate the interface assembly from the connector assembly of the first coil carrier within the operation window; Remove the first coil carrier from the mounting portion; Insert the second coil carrier into the mounting part; A connector assembly connecting the interface component and the second coil carrier is placed within the operation window; The sealing cover plate is used to seal the operating window; The second coil carrier is locked to the coil holder by operating the locking mechanism.

17. A transcranial magnetic stimulation (TMS) device, characterized in that, include: trolley; A robotic arm is mounted on the trolley; The stimulation coil replacement device according to any one of claims 1 to 15, wherein the coil fixing base is detachably connected to the end of the robotic arm; The camera is configured to capture target image information; The control system is electrically connected to the robotic arm, the camera, and the stimulation coil, respectively. The control system is configured to control the movement of the robotic arm based on the image information acquired by the camera, so as to adjust the position of the stimulation coil.

18. The transcranial magnetic stimulation device according to claim 17, characterized in that, Also includes: A composite pipeline having a first end and a second end, the composite pipeline comprising a signal transmission cable and a fluid conduit; The first end of the composite pipeline is connected to the control system, and the second end of the composite pipeline is connected to the interface assembly of the coil mounting base; the control system is configured to transmit control signals and coolant to the stimulation coil through the signal transmission cable and the fluid pipeline, respectively.

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