Method, device and system for positioning a transcranial magnetic stimulation coil

Abstract

The application discloses a transcranial magnetic stimulation coil positioning method, device and system, and belongs to the field of medical auxiliary instruments. The positioning device can determine the fourth conversion relationship between the image coordinate system and the coil coordinate system based on the position of the first marker point in the photographed image, the position of the second marker point, the position of the first marker point in the first positioning coordinate system, the position of the second marker point in the second positioning coordinate, and the conversion relationship between the image coordinate system and the first positioning coordinate system. Furthermore, the positioning device can automatically determine the calibration position of the stimulation focus point of the transcranial magnetic stimulation coil in the coil coordinate system based on the fourth conversion relationship and the position of the stimulation point in the electronic scanning image. Since the staff does not need to determine the calibration position of the stimulation point, the determination efficiency of the calibration position is improved, so that the alignment efficiency of the stimulation focus point and the stimulation point can be improved, and the complexity of the alignment operation is reduced.

Description

Technical Field

[0001] This application relates to the field of medical assistive devices, and in particular to a method, device and system for positioning a transcranial magnetic stimulation coil. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a method of cortical stimulation that uses a magnetic field generated by a transcranial magnetic stimulation coil. During TMS, the stimulation focus of the TMS coil must first be aligned with the target area to be treated. The stimulation focus is the point where the magnetic field strength generated by the TMS coil is greatest.

[0003] In related technologies, staff can determine the target location of the treatment point within the coordinate system of the transcranial magnetic stimulation coil based on electronic scan images of the affected area. They can also manually adjust the position of the transcranial magnetic stimulation coil to ensure the stimulation focus is located at the target location, thus aligning the stimulation focus with the treatment point. However, this alignment method is relatively inefficient. Summary of the Invention

[0004] This application provides a method, apparatus, and system for positioning a transcranial magnetic stimulation coil, which can solve the problem of low alignment efficiency between the stimulation focus of the transcranial magnetic stimulation coil and the target point to be treated in related technologies. The technical solution is as follows:

[0005] According to one aspect of this application, a positioning system for a transcranial magnetic stimulation coil is provided, the positioning system comprising: a first positioning device, a transcranial magnetic stimulation coil, a second positioning device connected to the transcranial magnetic stimulation coil, a positioning device, and a camera;

[0006] The first positioning device has a plurality of first marker points on its surface and is used to be positioned on a target object, the target object including a point to be stimulated; the second positioning device has a plurality of second marker points on its surface; the positioning device is used for:

[0007] Acquire images captured by the camera from the first positioning device and the second positioning device;

[0008] Based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located, a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located is determined;

[0009] Based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located, a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located is determined;

[0010] Based on the third transformation relationship between the image coordinate system where the electronically scanned image is located and the first positioning coordinate system, the first transformation relationship and the second transformation relationship, a fourth transformation relationship between the image coordinate system and the coil coordinate system is determined, wherein the electronically scanned image is an image obtained by scanning the target object;

[0011] Based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship, the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system is determined.

[0012] According to another aspect of this application, a method for locating a transcranial magnetic stimulation coil is provided, the method comprising:

[0013] The camera in the positioning system of the transcranial magnetic stimulation coil captures images of the first positioning device and the second positioning device in the positioning system. The first positioning device has a plurality of first marker points on its surface and is used to be set on a target object, the target object including a point to be stimulated. The second positioning device has a plurality of second marker points on its surface.

[0014] Based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located, a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located is determined;

[0015] Based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located, a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located is determined;

[0016] Based on the third transformation relationship between the image coordinate system where the electronically scanned image is located and the first positioning coordinate system, the first transformation relationship and the second transformation relationship, a fourth transformation relationship between the image coordinate system and the coil coordinate system is determined, wherein the electronically scanned image is an image obtained by scanning the target object;

[0017] Based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship, the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system is determined.

[0018] According to another aspect of this application, a positioning device for a transcranial magnetic stimulation coil is provided, the device comprising:

[0019] The acquisition module is used to acquire images captured by a camera in the positioning system of the transcranial magnetic stimulation coil, which are obtained by the first positioning device and the second positioning device in the positioning system. The first positioning device has a plurality of first marker points on its surface and is used to be set on a target object, which includes a point to be stimulated. The second positioning device has a plurality of second marker points on its surface.

[0020] The first determining module is used to determine a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located, based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located.

[0021] The second determining module is used to determine a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located, based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located.

[0022] The third determining module is used to determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on a third transformation relationship between the image coordinate system where the electronically scanned image is located and the first positioning coordinate system, the first transformation relationship and the second transformation relationship, wherein the electronically scanned image is an image obtained by scanning the target object;

[0023] The fourth determining module is used to determine the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system based on the position of the stimulation point in the electronic scan image and the fourth transformation relationship.

[0024] In an optional design, the device further includes:

[0025] A driving module is used to drive the moving component in the positioning system to move based on the calibration position, so that the stimulation focus of the transcranial magnetic stimulation coil coincides with the calibration position.

[0026] According to another aspect of this application, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by the processor to implement the transcranial magnetic stimulation coil positioning method as described above.

[0027] According to another aspect of this application, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the transcranial magnetic stimulation coil positioning method as described above.

[0028] According to another aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the transcranial magnetic stimulation coil positioning method provided in various alternative implementations of the above aspects.

[0029] The beneficial effects of the technical solution provided in this application include at least the following:

[0030] This application provides a method, apparatus, and system for locating a transcranial magnetic stimulation (TMS) coil. The positioning device can determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on the positions of a first marker point, a second marker point, the first marker point in a first positioning coordinate system, the second marker point in a second positioning coordinate system, and the transformation relationship between the image coordinate system and the first positioning coordinate system. Furthermore, based on this fourth transformation relationship and the position of the point to be stimulated in the electronic scan image, the positioning device can automatically determine the calibration position of the stimulation focus of the TMS coil in the coil coordinate system. In this process, since no operator is required to determine the calibration position of the point to be stimulated in the coil coordinate system, the efficiency of determining the calibration position is improved, thereby increasing the alignment efficiency between the stimulation focus and the point to be stimulated and reducing the complexity of the alignment operation. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the positioning system of a transcranial magnetic stimulation coil provided in an exemplary embodiment of this application;

[0033] Figure 2 This is a schematic diagram of the various coordinate systems and transformation relationships provided in an exemplary embodiment of this application;

[0034] Figure 3 This is a schematic diagram of the positioning system for a transcranial magnetic stimulation coil provided in another exemplary embodiment of this application;

[0035] Figure 4 This is a schematic diagram of a first positioning device provided in an exemplary embodiment of this application;

[0036] Figure 5 This is a schematic diagram of a second chessboard image provided in an exemplary embodiment of this application;

[0037] Figure 6 This is a flowchart illustrating a method for locating a transcranial magnetic stimulation coil provided in another exemplary embodiment of this application;

[0038] Figure 7 This is a schematic diagram of the structure of a positioning device for a transcranial magnetic stimulation coil provided in an exemplary embodiment of this application;

[0039] Figure 8 This is a schematic diagram of the positioning device for a transcranial magnetic stimulation coil provided in another exemplary embodiment of this application;

[0040] Figure 9 This is a schematic diagram of the structure of a positioning device provided in an exemplary embodiment of this application.

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] In related technologies, to improve the alignment accuracy and efficiency between the stimulation focus of the transcranial magnetic stimulation coil and the target point to be treated, a coil positioning device can be used for alignment. This coil positioning device includes: a first tracking tool for placement on the affected area, a transcranial magnetic stimulation coil, a second tracking tool connected to the transcranial magnetic stimulation coil, a tracking device, and a personal computer (PC) connected to the tracking device. The first tracking tool has multiple first reflective spheres, and the second tracking tool has multiple second reflective spheres.

[0044] The tracking device emits infrared light and receives infrared light reflected from a first reflective sphere and a second reflective sphere. Based on the infrared light reflected from the first reflective sphere, it determines the position of a first tracking tool in the tracking coordinate system, and based on the infrared light reflected from the second reflective sphere, it determines the position of a second tracking tool in the tracking coordinate system. The positions of the first and second tracking tools in the tracking coordinate system are then sent to a PC. The PC displays the positions of the first and second tracking tools in the tracking coordinate system to guide the operator in locating the transcranial magnetic stimulation coil, thereby aligning the transcranial magnetic stimulation coil with the target point to be treated.

[0045] However, the cost of using the above-mentioned coil positioning device for alignment is relatively high.

[0046] This application provides a positioning system for a transcranial magnetic stimulation coil, see [link to relevant documentation]. Figure 1 The transcranial magnetic stimulation (TMS) positioning system includes: a first positioning device 01, a TMS coil 02, a second positioning device 03 connected to the TMS coil 02, a positioning device 04, and a camera 05. The second positioning device 03 can be connected to the handle of the TMS coil 02. The positioning device 04 and the camera 05 can establish a communication connection. For example, as... Figure 1 As shown, the positioning device 04 can establish a wireless connection with the camera 05.

[0047] like Figure 1 As shown, the surface of the first positioning device 01 has a plurality of first marker points 011, for example, Figure 1 Five first marker points 011 are shown. At least three of these first marker points 011 are not collinear. The surface of the second positioning device 03 has a plurality of second marker points 031, for example... Figure 1 Four second marker points 031 are shown. At least three of these second marker points 031 are not collinear.

[0048] The first positioning device 01 is used to be positioned on a target object A, which includes a point to be stimulated. For example, the target object A can be a human body model (e.g., Figure 1The head model shown or a human body (e.g., the head of a human) can be used as the stimulation point, which can be the target point for treatment. Furthermore, the first positioning device 01 can be fixed to the target object A by a strap.

[0049] The image captured by camera 05 is in a two-dimensional coordinate system, while the positioning coordinate systems (i.e., the first positioning coordinate system and the second positioning coordinate system mentioned below) where the marker points (i.e., the first marker point 011 and the second marker point 031 mentioned above) are located are both three-dimensional coordinate systems. This embodiment of the application uses the positions of at least three non-collinear marker points, thereby ensuring that the positioning device 04 can effectively determine the first transformation relationship between the first positioning coordinate system and the camera coordinate system, and the second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located, based on the positions of these at least three non-collinear marker points.

[0050] In this embodiment, both the first positioning device 01 and the second positioning device 03 are located within the field of view of the camera 05. The camera 05 is used to capture images of the first positioning device 01 and the second positioning device 03 to obtain captured images, and then send the captured images to the positioning device 04.

[0051] refer to Figure 2 The positioning device 04 is used to acquire images captured by the camera 05, and based on the positions of multiple first marker points 011 in the captured images and the positions of multiple first marker points 011 in the first positioning coordinate system where the first positioning device 01 is located, determine a first transformation relationship B2X between the first positioning coordinate system and the camera coordinate system where the camera 05 is located; based on the positions of multiple second marker points 031 in the captured images and the positions of multiple second marker points 031 in the second positioning coordinate system where the second positioning device 03 is located, determine a second transformation relationship X2C between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil 02 is located; based on a third transformation relationship T2B between the image coordinate system where the electronic scan image is located and the first positioning coordinate system, the first transformation relationship B2X and the second transformation relationship X2C, determine a fourth transformation relationship T2C between the image coordinate system and the coil coordinate system; based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship T2C, determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system.

[0052] The electronic scan image is an image obtained by scanning the target object A. This electronic scan image can be obtained by scanning the target object A using a computed tomography (CT) scanner, such as a computed tomography (CT) image or an magnetic resonance imaging (MRI) image. The stimulation focus of the transcranial magnetic stimulation coil 02 is the point with the greatest field strength in the magnetic field generated by the transcranial magnetic stimulation coil 02. The positions of each first marker point 011 in the first positioning coordinate system and the positions of each second marker point 031 in the second positioning coordinate system can be pre-stored by the positioning device 04.

[0053] In summary, this application provides a positioning system for a transcranial magnetic stimulation coil. The positioning device can determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on the positions of a first marker point, a second marker point, the first marker point in a first positioning coordinate system, the second marker point in a second positioning coordinate system, and the transformation relationship between the image coordinate system and the first positioning coordinate system. Furthermore, based on this fourth transformation relationship and the position of the point to be stimulated in the electronic scan image, the positioning device can automatically determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system. In this process, since no operator is required to determine the calibration position of the point to be stimulated in the coil coordinate system, the efficiency of determining the calibration position is improved, thereby increasing the alignment efficiency between the stimulation focus and the point to be stimulated and reducing the complexity of the alignment operation. In addition, since no infrared emitting and receiving equipment is required, alignment costs can be reduced.

[0054] As described above, in the positioning system provided in this application embodiment, the camera 05 can track the position of the marker points (i.e., the first marker point 011 and the second marker point 031 mentioned above) in the camera coordinate system. The positioning device 04 can determine the transformation relationship T2C between the image coordinate system and the coil coordinate system based on the position of the marker points tracked by the camera 05, the pre-stored position of the first marker point 011 in the first positioning coordinate system, the pre-stored position of the second marker point 031 in the second positioning coordinate system, and the transformation relationship T2B between the image coordinate system and the first positioning coordinate system. This allows it to determine the position of the point to be stimulated in the coil coordinate system (i.e., the calibration position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system).

[0055] In this embodiment, the camera 05 can also send its built-in parameters, such as focal length and projection center, to the positioning device 04. After acquiring the captured image and the built-in parameters of the camera 05, the positioning device 04 can use a perspective-n-point (PnP) algorithm to process the positions of multiple first marker points 011 in the first positioning coordinate system, the positions of the multiple first marker points 011 in the captured image, and the built-in parameters, thereby obtaining the first transformation relationship B2X between the first positioning coordinate system and the camera coordinate system.

[0056] In this embodiment, since the second positioning device 03 is fixedly connected to the transcranial magnetic stimulation coil 02, their relative positions are fixed. Therefore, the positioning device 04 can pre-store the fifth transformation relationship D2C between the second positioning coordinate system and the coil coordinate system where the second positioning device 03 is located. Based on this, as an optional implementation, the process of the positioning device 04 determining the second transformation relationship X2C between the camera coordinate system and the coil coordinate system includes: the positioning device 04 can first determine the position of each second marker point 031 in the coil coordinate system based on the pre-stored position of each second marker point 031 in the second positioning coordinate system and the transformation relationship D2C between the second positioning coordinate system and the coil coordinate system. Then, the positioning device 04 can determine the second transformation relationship X2C between the camera coordinate system and the coil coordinate system based on the positions of multiple second marker points 031 in the captured image and the positions of multiple second marker points 031 in the coil coordinate system.

[0057] In this implementation, the positioning device 04 can use the PnP algorithm to process the positions of multiple second marker points 031 in the captured image, the positions of the multiple second marker points 031 in the coil coordinate system, and the built-in parameters, thereby obtaining the second transformation relationship X2C between the camera coordinate system and the coil coordinate system.

[0058] As an alternative implementation, the process by which the positioning device 04 determines the second transformation relationship X2C between the camera coordinate system and the coil coordinate system includes: the positioning device 04 can determine a sixth transformation relationship X2D between the camera coordinate system and the second positioning coordinate system based on the positions of multiple second marker points 031 in the second positioning coordinate system and the positions of the multiple second marker points 031 in the captured image. Then, the positioning device 04 can determine the second transformation relationship X2C between the camera coordinate system and the coil coordinate system based on the sixth transformation relationship X2D and the fifth transformation relationship D2C between the second positioning coordinate system and the coil coordinate system.

[0059] In this implementation, the positioning device 04 can use the PnP algorithm to process the positions of multiple second marker points 031 in the second positioning coordinate system, the positions of the multiple second marker points 031 in the captured image, and the built-in parameters, thereby obtaining the sixth transformation relationship X2D between the camera coordinate system and the second positioning coordinate system.

[0060] In this application embodiment, the positioning device 04 can determine the third transformation relationship T2B between the image coordinate system where the electronically scanned image is located and the first positioning coordinate system in a variety of ways. This application embodiment takes the following two optional implementation methods as examples to illustrate the process of the positioning device 04 determining the third transformation relationship T2B.

[0061] In a first optional implementation, the electronically scanned image may include multiple first marker points 011, meaning the electronically scanned image can be an image obtained by scanning the target object A and the first positioning device 01. Correspondingly, the positioning device 04 can determine a third transformation relationship T2B between the image coordinate system and the first positioning coordinate system based on the positions of the multiple first marker points 011 in the first positioning coordinate system and the positions of the multiple first marker points 011 in the image coordinate system.

[0062] In a second alternative implementation, the positioning device 04 may include a display screen on which an electronically scanned image is displayed. The positioning device 04 can determine the position of each target marker in the electronically scanned image in response to a touch operation targeting multiple target markers (e.g., at least three non-collinear target markers) in the electronically scanned image. Each target marker may be a marker located on the surface of a target object A. For example, if the target object A is a head model, the target marker may be a point on the tip of the nose of the head model.

[0063] Then, the positioning device 04 can acquire a target image of the third positioning device and the target object A captured by the camera 05. The third positioning device is connected to the navigation stick and has multiple third marker points (e.g., at least three non-collinear third marker points). Then, the positioning device 04 can determine a seventh transformation relationship between the navigation coordinate system and the camera coordinate system based on the positions of the multiple third marker points in the third positioning coordinate system of the third positioning device and the positions of the multiple third marker points in the target image. Furthermore, the positioning device 04 can determine an eighth transformation relationship between the navigation coordinate system and the first positioning coordinate system based on the first transformation relationship B2X between the first positioning coordinate system and the camera coordinate system, and the seventh transformation relationship. Subsequently, based on the eighth transformation relationship and the positions of the target marker points in the navigation coordinate system, the position of each target marker point in the first positioning coordinate system can be determined. Afterwards, the positioning device 04 can determine a third transformation relationship between the image coordinate system and the first positioning coordinate system based on the positions of the multiple target marker points in the first positioning coordinate system and the positions of the multiple target marker points in the image coordinate system.

[0064] The position of each target marker in the navigation coordinate system, and the position of each third marker in the third positioning coordinate system, can be pre-stored by the positioning device 04. The navigation stick is a spatial coordinate digitization instrument used in surgical navigation systems; it is typically a needle-like structure. The third positioning device can be connected to the handle of the navigation stick (the end furthest from the needle tip), and this third positioning device can be plate-shaped or cubic.

[0065] In this embodiment, the process by which the positioning device 04 determines the aforementioned seventh transformation relationship includes: the positioning device 04 can determine the transformation relationship between the camera coordinate system and the third positioning coordinate system based on the positions of multiple third marker points in the third positioning coordinate system and the positions of the third marker points in the target image. Then, the positioning device 04 can determine the seventh transformation relationship between the navigation coordinate system and the camera coordinate system based on the transformation relationship between the camera coordinate system and the third positioning coordinate system, and the pre-stored transformation relationship between the navigation coordinate system and the third positioning coordinate system.

[0066] Alternatively, the positioning device 04 can first determine the position of multiple third marker points in the navigation coordinate system based on the positions of multiple third marker points in the third positioning coordinate system and the transformation relationship between the navigation coordinate system and the third positioning coordinate system. Then, based on the positions of the multiple third marker points in the navigation coordinate system and the positions of the multiple third marker points in the target image, it can determine the seventh transformation relationship between the navigation coordinate system and the camera coordinate system.

[0067] In this embodiment of the application, the positioning device 04 can transform the position of the point to be stimulated in the electronic scanning image to the coil coordinate system based on the fourth transformation relationship T2C, so as to obtain the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system.

[0068] Alternatively, the positioning device 04 can, based on the fourth transformation relationship T2C, transform the first position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system to the image coordinate system, obtaining the second position of the stimulation focus in the image coordinate system. Then, the positioning device can determine the offset between this second position and the position of the point to be stimulated in the image coordinate system. Finally, based on this offset and the fourth transformation relationship T2C, the positioning device can determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system.

[0069] It is understandable that, in order to ensure the integrity of the image of the first positioning device 01 and the image of the second positioning device 03 contained in the image captured by the camera 05, it should be ensured that the first positioning device 01 and the second positioning device 03 do not obstruct each other within the field of view of the camera 05.

[0070] Optional, see Figure 3 The positioning device 04 can be a mobile terminal (e.g., Figure 3 (As shown in the mobile phone), the camera 05 can be a camera in a mobile terminal. That is, the camera 05 can be integrated into the positioning device 04.

[0071] Since the positioning device 04 can be a mobile terminal, which is generally small in size, and since the camera 05 can be integrated into the mobile terminal, the integration of the positioning system is effectively improved, and the portability of the positioning system is also improved.

[0072] Optionally, the mobile terminal can be a mobile phone, tablet, or micro-display, such as augmented reality (AR) glasses.

[0073] In the embodiments of this application, the first positioning device 01 can be a plate-like structure or a polyhedron (e.g., a cube), and the second positioning device 03 can also be a plate-like structure or a polyhedron. For example, as Figure 1 As shown, both the first positioning device 01 and the second positioning device 03 can be rectangular plate structures (i.e., the plate surface of the plate structure is rectangular). Alternatively, as... Figure 2 As shown, the first positioning device 01 can be a cube, and the second positioning device 03 can be a rectangular plate structure.

[0074] In this embodiment, the first positioning device 01 is a cube, the second positioning device 03 is a rectangular plate structure, the positioning device 04 is a mobile phone, and the positioning device 04 is integrated with the camera 05, to illustrate the various coordinate systems mentioned above.

[0075] like Figure 2 As shown, the coil coordinate system can refer to a coordinate system established with the coil center as the origin O1, the first direction as the positive X1 axis, the second direction as the positive Y1 axis, and the third direction as the positive Z1 axis. The first direction and the third direction are mutually perpendicular, and the first direction can be any direction. The second positioning coordinate system can refer to a coordinate system established with a vertex (e.g., the lower left vertex) of the surface of the second positioning device 03 as the origin O2, the length extension direction of the second positioning device 03 as the positive X2 axis, the width extension direction as the positive Y2 axis, and the height extension direction as the positive Z2 axis.

[0076] The camera coordinate system can be defined as follows: the origin O3 is the optical center (i.e. the center of focus) of the camera, the positive X3 axis is the direction of the pixel row extension of the captured image (i.e. the direction of the pixel row extension of the display screen of the mobile phone 04), the positive Y3 axis is the direction of the pixel column extension of the captured image (i.e. the direction of the pixel column extension of the display screen of the mobile phone 04), and the positive Z3 axis is the optical axis of the camera.

[0077] The first positioning coordinate system can refer to a coordinate system established with the center point of cube 01 as the origin O4, the length extension direction of cube 01 as the positive X4 axis, the width extension direction as the positive Y4 axis, and the height extension direction as the positive Z4 axis.

[0078] The image coordinate system can be a three-dimensional image coordinate system. This three-dimensional image coordinate system can be a coordinate system established with the center point of the three-dimensional model as the origin O5, and with the fourth direction as the positive X5 axis, the fifth direction as the positive Y5 axis, and the sixth direction as the positive Z5 axis. The fourth to sixth directions are mutually perpendicular, and the fourth direction can be any direction. This three-dimensional model can be constructed by the positioning device 04 based on multiple scanned images obtained from scanning the target object A from different angles.

[0079] In this embodiment, for a scenario where the first positioning device 01 is a polyhedron, the polyhedron has at least two target faces, each target face having at least three non-collinear first marker points 011. Each target face does not contact the target object A. Therefore, even when the target object A rotates, the image captured by the camera 05 can be ensured to include the at least three non-collinear first marker points 011, thereby ensuring that the positioning device 04 can obtain the fourth transformation relationship T2C between the image coordinate system and the coil coordinate system.

[0080] In the scenario where the second positioning device 03 is a plate-shaped structure, one plate surface of the second positioning device 03 has at least three non-collinear second marking points 031.

[0081] Optional, such as Figure 3 As shown, the at least three non-collinear first marker points 011 can be arranged in an array, and the at least three non-collinear second marker points 031 can be arranged in an array. This ensures the accuracy of the fourth transformation relationship T2C between the image coordinate system and the coil coordinate system determined by the positioning device 04, and consequently ensures the accuracy of the determined calibration position of the stimulation point in the coil coordinate system.

[0082] Optionally, for scenarios where the first positioning device 01 is a polyhedron, see [reference needed]. Figure 2 Each target face of the polyhedron can have a first checkerboard image M1, and the first checkerboard images M1 of each target face are different. The first marker point 011 is a corner point in the first checkerboard image. For example, Figure 2 As shown, corner points are the intersections of adjacent squares of the same color in the chessboard image.

[0083] Since the first checkerboard image M1 of each target surface is different, the positioning device 04 can distinguish the first checkerboard image M1 of each target surface in the captured image. This ensures the accuracy of the position of each first marker point 011 matched by the positioning device 04 in the first positioning coordinate system and the position of the first marker point 011 in the captured image. Consequently, it ensures the accuracy of the calibration position of the transcranial magnetic stimulation coil 02 determined by the positioning device 04 in the coil coordinate system.

[0084] Optionally, each first checkerboard image M1 of the target face has at least one distinguishing point (e.g., one distinguishing point). The number, and / or, position, and / or shape of the distinguishing points in each first checkerboard image M1 are different. For example, see Figure 4 The positions of the distinguishing points a in M1 are different in each of the first chessboard grid images. This makes each first chessboard grid image M1 different.

[0085] For scenarios where the second positioning device 03 has a plate-like structure, see [link / reference]. Figure 2 One surface of the second positioning device 03 may have a second checkerboard image M2. The second checkerboard image M2 is different from any first checkerboard image M1, and the second marker point 031 is a corner point in the second checkerboard image M2.

[0086] Because the positioning device 04 may identify vertices located in the border of the checkerboard image (i.e., the vertices of the grids in the checkerboard image) as corner points of the checkerboard image, this may result in lower accuracy of the calibration position of the stimulus focus determined by the positioning device 04.

[0087] Therefore, in the embodiments of this application, see Figure 4 and Figure 5 The outer perimeter of the checkerboard image (i.e., the first checkerboard image M1 and the second checkerboard image M2 mentioned above) can be provided with multiple reference marker graphics N at intervals, each reference marker graphic N being a non-rectangular shape. This avoids the phenomenon where the positioning device 04 identifies vertices located within the border of the checkerboard image as corner points of the checkerboard image, thus ensuring the accuracy of the stimulation position of the transcranial magnetic stimulation coil 02 in the coil coordinate system.

[0088] In this embodiment, after determining the calibrated position of the stimulation focus in the coil coordinate system, the positioning device 04 can also display the calibrated position on its display screen. The operator can view the calibrated position and move the transcranial magnetic stimulation coil 02 based on it, so that the stimulation focus of the transcranial magnetic stimulation coil 02 coincides with the point to be stimulated in the target object A, thus achieving alignment between the stimulation focus and the point to be stimulated.

[0089] Or, such as Figure 3 As shown, the positioning system may further include a moving component 06. The moving component 06 can be connected to both the positioning device 04 and the transcranial magnetic stimulation coil 02. The positioning device 04 can also be used to drive the moving component 06 to move based on the calibration position of the stimulation focus of the transcranial magnetic stimulation coil 02, so that the stimulation focus of the transcranial magnetic stimulation coil 02 coincides with the calibration position, thereby aligning the stimulation focus with the point to be stimulated.

[0090] In other words, the positioning system provided in this application embodiment can automatically align the stimulation focus of the transcranial magnetic stimulation coil 02 with the calibrated position without manual alignment, thereby further improving alignment efficiency. Furthermore, since manual alignment is not required during the alignment process, human error can be avoided, thus improving alignment accuracy.

[0091] In the embodiments of this application, see Figure 3The moving component 06 can be a robotic arm. Alternatively, the moving component can include a slide rail and a slider located on the slide rail, both of which can be connected to the positioning device 04, and the slider can be connected to the transcranial magnetic stimulation coil 02. The positioning device 041 can drive the slide rail to move and drive the slider to move on the slide rail based on the calibration position of the transcranial magnetic stimulation coil 02, thereby achieving the alignment of the stimulation focus of the transcranial magnetic stimulation coil 02 with the calibration position.

[0092] Optionally, the positioning device 04 and the camera 05 can both be integrated on the mobile component 06, thereby further improving the integration of the positioning system.

[0093] by Figure 3 Taking the positioning system shown as an example, the usage method of the positioning system will be explained by way of example. Before use, the first positioning device 01 is fixed to the head model A by a strap (e.g., a headband), the mobile phone 04 is placed on the mobile phone holder, and the first positioning device 01 and the second positioning device 03 are located in the field of view of the mobile phone camera 05, and the side of the first positioning device 01 and the second positioning device 03 with the marked point faces the camera 05.

[0094] When an operator touches the camera control on mobile phone 04, the phone 04 responds to the touch operation and captures an image of the first positioning device 01 and the second positioning device 03. Then, based on the positions of the first marker point 011 and the second marker point 031 in the captured image, the pre-stored position of the first marker point 011 in the first positioning coordinate system, the pre-stored position of the second marker point 031 in the coil coordinate system, and the transformation relationship between the first positioning coordinate system and the image coordinate system, the phone 04 determines the transformation relationship between the image coordinate system and the coil coordinate system, and subsequently determines the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system (i.e., the position of the point to be stimulated in the coil coordinate system).

[0095] Then, the mobile phone 04 can drive the robotic arm 06 based on the calibrated position, so that the robotic arm 06 moves the transcranial magnetic stimulation coil 02, thereby making the stimulation focus of the transcranial magnetic stimulation coil 02 coincide with the point to be stimulated in the head model A.

[0096] The above embodiment is an exemplary description using the example of the positioning device 04 determining the calibration position of the stimulation point in the coil coordinate system based on the fourth transformation relationship between the image coordinate system and the coil coordinate system. It can be understood that after determining the fourth transformation relationship, the positioning device 04 can also, based on this fourth transformation relationship, transform the initial position of the stimulation focus of the transcranial magnetic stimulation coil 02 in the coil coordinate system to the image coordinate system, and display the stimulation focus in the electronically scanned image based on the position of the stimulation focus in the image coordinate system. The initial position of the stimulation focus can refer to the position of the stimulation focus in the coil coordinate system when the camera 05 captures images of the first positioning device 01 and the second positioning device 03.

[0097] This allows staff to easily view the relative position of the current stimulation focus of the transcranial magnetic stimulation coil 02 and the point to be stimulated in the target object A in the electronic scan image.

[0098] In summary, this application provides a positioning system for a transcranial magnetic stimulation coil. The positioning device can determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on the positions of a first marker point, a second marker point, the first marker point in a first positioning coordinate system, the second marker point in a second positioning coordinate system, and the transformation relationship between the image coordinate system and the first positioning coordinate system. Furthermore, based on this fourth transformation relationship and the position of the point to be stimulated in the electronic scan image, the positioning device can automatically determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system. In this process, since no operator is required to determine the calibration position of the point to be stimulated in the coil coordinate system, the efficiency of determining the calibration position is improved, thereby increasing the alignment efficiency between the stimulation focus and the point to be stimulated and reducing the complexity of the alignment operation. In addition, since no infrared emitting and receiving equipment is required, alignment costs can be reduced.

[0099] Figure 6 This application provides a method for locating a transcranial magnetic stimulation coil, which can be applied to the positioning device provided in the above embodiment. See also... Figure 6 The method may include:

[0100] Step 101: Obtain images captured by the camera in the positioning system of the transcranial magnetic stimulation coil, obtained by the first and second positioning devices in the positioning system.

[0101] The first positioning device has multiple first marker points on its surface and is used to be positioned on the target object to be stimulated. The second positioning device has multiple second marker points on its surface.

[0102] The camera in the transcranial magnetic stimulation coil positioning system can capture images of the first and second positioning devices in the system, and then send these images to the positioning device within the system. The positioning device can then acquire the captured images.

[0103] Step 102: Based on the positions of multiple first marker points in the captured image and the positions of multiple first marker points in the first positioning coordinate system where the first positioning device is located, determine the first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located.

[0104] In this embodiment, the camera can also send its built-in parameters to the positioning device. After receiving the captured image and the built-in parameters, the positioning device can use the PnP algorithm to process the positions of multiple first marker points in the captured image, the positions of multiple first marker points in the first positioning coordinate system where the first positioning device is located, and the built-in parameters, thereby obtaining a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located.

[0105] Step 103: Based on the positions of multiple second marker points in the captured image and the positions of multiple second marker points in the second positioning coordinate system where the second positioning device is located, determine the second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located.

[0106] Optionally, the positioning device can determine the position of each second marker point 031 in the coil coordinate system based on a pre-stored transformation relationship between the second positioning coordinate system and the coil coordinate system, and a pre-stored position of each second marker point in the second positioning coordinate system. Then, the positioning device can determine a second transformation relationship between the camera coordinate system and the coil coordinate system based on the positions of multiple second marker points in the captured image and the positions of multiple second marker points in the coil coordinate system.

[0107] Alternatively, the positioning device can first determine the transformation relationship between the camera coordinate system and the second positioning coordinate system based on the positions of multiple second marker points in the second positioning coordinate system and the positions of the multiple second marker points in the captured image. Then, the positioning device can determine the transformation relationship between the camera coordinate system and the coil coordinate system based on the transformation relationship between the camera coordinate system and the second positioning coordinate system, as well as the pre-stored transformation relationship between the second positioning coordinate system and the coil coordinate system.

[0108] Step 104: Based on the third transformation relationship, the first transformation relationship, and the second transformation relationship between the image coordinate system and the first positioning coordinate system where the electronically scanned image is located, determine the fourth transformation relationship between the image coordinate system and the coil coordinate system.

[0109] Among them, the electronically scanned image is the image obtained by scanning the target object.

[0110] Step 105: Based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship, determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system.

[0111] For example, the positioning device can transform the position of the point to be stimulated in the electronic scan image to the coil coordinate system based on the fourth transformation relationship, thereby obtaining the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system.

[0112] In this embodiment, the positioning system may further include a moving component, which may be connected to the positioning device and the transcranial magnetic stimulation coil, respectively. Based on this, after determining the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system, the positioning device may further perform step 106.

[0113] Step 106: Drive the moving component based on the calibration position so that the stimulation focus of the transcranial magnetic stimulation coil coincides with the calibration position.

[0114] After determining the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil, the positioning device can drive the moving component based on the calibrated position. The moving component can then move the transcranial magnetic stimulation coil, thereby aligning the stimulation focus of the transcranial magnetic stimulation coil with the calibrated position, thus achieving alignment of the stimulation focus with the point to be stimulated in the target object.

[0115] It should be noted that the order of steps in the transcranial magnetic stimulation coil positioning method provided in this application embodiment can be appropriately adjusted, and steps can be added or removed as needed. For example, step 106 can be deleted as needed, that is, the operator can move the transcranial magnetic stimulation coil according to the calibrated position so that the stimulation focus of the transcranial magnetic stimulation coil coincides with the point to be stimulated in the target object. Any variations that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0116] In summary, this application provides a method for locating a transcranial magnetic stimulation (TMS) coil. The positioning device can determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on the positions of a first marker point, a second marker point, the first marker point in a first positioning coordinate system, the second marker point in a second positioning coordinate system, and the transformation relationship between the image coordinate system and the first positioning coordinate system. Furthermore, based on this fourth transformation relationship and the position of the point to be stimulated in the electronic scan image, the positioning device can automatically determine the calibration position of the stimulation focus of the TMS coil in the coil coordinate system. In this process, since no operator is required to determine the calibration position of the point to be stimulated in the coil coordinate system, the efficiency of determining the calibration position is improved, thereby increasing the alignment efficiency between the stimulation focus and the point to be stimulated and reducing the complexity of the alignment operation. In addition, since no infrared emitting and receiving equipment is required, alignment costs are reduced.

[0117] Figure 7 This is a schematic diagram of the positioning device for a transcranial magnetic stimulation coil provided in an embodiment of this application. See also... Figure 7 The device 200 includes:

[0118] The acquisition module 201 is used to acquire images captured by the camera in the positioning system of the transcranial magnetic stimulation coil, which are obtained by the first positioning device and the second positioning device in the positioning system. The first positioning device has a plurality of first marker points on its surface and is used to be set on a target object, which includes a point to be stimulated. The second positioning device has a plurality of second marker points on its surface.

[0119] The first determining module 202 is used to determine a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located, based on the positions of multiple first marker points in the captured image and the positions of multiple first marker points in the first positioning coordinate system where the first positioning device is located.

[0120] The second determining module 203 is used to determine a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located, based on the positions of multiple second marker points in the captured image and the positions of multiple second marker points in the second positioning coordinate system where the second positioning device is located.

[0121] The third determining module 204 is used to determine the fourth transformation relationship between the image coordinate system and the coil coordinate system based on the third transformation relationship, the first transformation relationship and the second transformation relationship between the image coordinate system where the electronically scanned image is located and the first positioning coordinate system, wherein the electronically scanned image is an image obtained by scanning the target object.

[0122] The fourth determination module 205 is used to determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship.

[0123] Optional, see Figure 8 The device 200 may further include:

[0124] The drive module 206 is used to drive the movement of the moving component in the positioning system based on the calibration position so that the stimulation focus of the transcranial magnetic stimulation coil coincides with the calibration position.

[0125] In summary, this application provides a positioning device for a transcranial magnetic stimulation coil. This device can determine a fourth transformation relationship between the image coordinate system and the coil coordinate system based on the positions of a first marker point, a second marker point, the first marker point in a first positioning coordinate system, the second marker point in a second positioning coordinate system, and the transformation relationship between the image coordinate system and the first positioning coordinate system. Furthermore, based on this fourth transformation relationship and the position of the point to be stimulated in the electronic scan image, the positioning device can automatically determine the calibration position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system. In this process, since no operator is required to determine the calibration position of the point to be stimulated in the coil coordinate system, the efficiency of determining the calibration position is improved, thereby increasing the alignment efficiency between the stimulation focus and the point to be stimulated and reducing the complexity of the alignment operation. Moreover, since no infrared emitting and receiving equipment is required, alignment costs are reduced.

[0126] Embodiments of this application also provide a computer device (i.e., the positioning device described above), the computer device including: a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the jump point search method provided in the above method embodiments.

[0127] Alternatively, the computer device is a terminal. For example, Figure 9 This is a schematic diagram of the structure of a terminal provided in an exemplary embodiment of this application.

[0128] Typically, terminal 300 includes a processor 301 and a memory 302.

[0129] Processor 301 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0130] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 302 are used to store at least one instruction, which is executed by the processor 301 to implement the jump point search method provided in the method embodiments of this application.

[0131] In some embodiments, the terminal 300 may also optionally include a peripheral device interface 303 and at least one peripheral device. The processor 301, memory 302, and peripheral device interface 303 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 304, a display screen 305, a camera assembly 306, an audio circuit 307, and a power supply 309.

[0132] The peripheral device interface 303 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 301 and the memory 302. In some embodiments, the processor 301, memory 302, and peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, memory 302, and peripheral device interface 303 can be implemented on separate chips or circuit boards, and this application embodiment does not limit this.

[0133] The radio frequency (RF) circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 304 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0134] Display screen 305 is used to display a UI (User Interface, horizontal level interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 305 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 301 for processing. In this case, display screen 305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 305, serving as the front panel of terminal 300; in other embodiments, there may be at least two display screens 305, respectively disposed on different surfaces of terminal 300 or in a folded design; in still other embodiments, display screen 305 may be a flexible display screen, disposed on a curved or folded surface of terminal 300. Furthermore, display screen 305 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 305 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0135] The camera assembly 306 is used to acquire images or videos. Optionally, the camera assembly 306 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal 300, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 306 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0136] The audio circuit 307 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 301 for processing, or input to the radio frequency circuit 304 to achieve voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the terminal 300. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 301 or the radio frequency circuit 304 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 307 may also include a headphone jack.

[0137] The power supply 309 is used to power the various components in the terminal 300. The power supply 309 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When the power supply 309 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired connection, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0138] In some embodiments, the terminal 300 further includes one or more sensors 310. The one or more sensors 310 include, but are not limited to, an acceleration sensor 311, a gyroscope sensor 312, a pressure sensor 313, an optical sensor 315, and a proximity sensor 316.

[0139] Accelerometer 311 can detect the magnitude of acceleration on the three coordinate axes of a coordinate system established by terminal 300. For example, accelerometer 311 can be used to detect the components of gravitational acceleration on the three coordinate axes. Processor 301 can control touch screen 305 to display a horizontal or vertical view of the level interface based on the gravitational acceleration signal collected by accelerometer 311. Accelerometer 311 can also be used for collecting game or user motion data.

[0140] The gyroscope sensor 312 can detect the orientation and rotation angle of the terminal 300. The gyroscope sensor 312, in conjunction with the accelerometer sensor 311, can collect the user's 3D movements on the terminal 300. Based on the data collected by the gyroscope sensor 312, the processor 301 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0141] The pressure sensor 313 can be disposed on the side bezel of the terminal 300 and / or on the lower layer of the touch display screen 305. When the pressure sensor 313 is disposed on the side bezel of the terminal 300, it can detect the user's grip signal on the terminal 300, and the processor 301 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 313. When the pressure sensor 313 is disposed on the lower layer of the touch display screen 305, the processor 301 can control the operable controls on the UI interface based on the user's pressure operation on the touch display screen 305. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0142] An optical sensor 315 is used to collect ambient light intensity. In one embodiment, the processor 301 can control the display brightness of the touch screen 305 based on the ambient light intensity collected by the optical sensor 315. Specifically, when the ambient light intensity is high, the display brightness of the touch screen 305 is increased; when the ambient light intensity is low, the display brightness of the touch screen 305 is decreased. In another embodiment, the processor 301 can also dynamically adjust the shooting parameters of the camera assembly 306 based on the ambient light intensity collected by the optical sensor 315.

[0143] The proximity sensor 316, also known as a distance sensor, is typically located on the front panel of the terminal 300. The proximity sensor 316 is used to detect the distance between the user and the front of the terminal 300. In one embodiment, when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually decreasing, the processor 301 controls the touchscreen display 305 to switch from a screen-on state to a screen-off state; when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually increasing, the processor 301 controls the touchscreen display 305 to switch from a screen-off state to a screen-on state.

[0144] Those skilled in the art will understand that Figure 9 The structure shown does not constitute a limitation on terminal 300, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0145] This application also provides a computer-readable storage medium storing at least one piece of program code. When the program code is loaded and executed by the processor of a computer device, it implements the transcranial magnetic stimulation coil positioning method provided in the above-described method embodiments.

[0146] This application also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the transcranial magnetic stimulation coil positioning method provided in the above-described method embodiments.

[0147] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0148] It should be understood that the "and / or" mentioned in this article indicates that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0149] Furthermore, the terms "first," "second," etc., used in this application are used to distinguish identical or similar items with substantially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor is there any limitation on the quantity or execution order. For example, without departing from the scope of the various examples described, a first marker point can be referred to as a second marker point, and similarly, a second marker point can be referred to as a first marker point.

[0150] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent switching, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A positioning system for a transcranial magnetic stimulation coil, characterized in that, The positioning system includes: a first positioning device, a transcranial magnetic stimulation coil, a second positioning device connected to the transcranial magnetic stimulation coil, a positioning device, and a camera; The first positioning device has a plurality of first marker points on its surface and is used to be positioned on a target object, the target object including a point to be stimulated; the second positioning device has a plurality of second marker points on its surface; the positioning device is used for: Acquire images captured by the camera from the first positioning device and the second positioning device; Based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located, a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located is determined; Based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located, a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located is determined; The system acquires a target image obtained by the camera capturing a third positioning device and the target object. The third positioning device is connected to a navigation stick and has multiple third marker points. The navigation stick is a spatial coordinate digitization instrument in the navigation system. Based on the positions of the plurality of third marker points in the third positioning coordinate system where the third positioning device is located and the positions of the plurality of third marker points in the target image, a seventh transformation relationship between the navigation coordinate system where the navigation stick is located and the camera coordinate system is determined; Based on the first transformation relationship and the seventh transformation relationship, an eighth transformation relationship between the navigation coordinate system and the first positioning coordinate system is determined; Based on the eighth transformation relationship and the positions of multiple target markers in the navigation coordinate system, the position of each target marker in the first positioning coordinate system is determined, and the target marker is located in the electronically scanned image; Based on the positions of the multiple target markers in the first positioning coordinate system and the positions of the multiple target markers in the image coordinate system where the electronically scanned image is located, a third transformation relationship between the image coordinate system and the first positioning coordinate system is determined; Based on the third transformation relationship, the first transformation relationship, and the second transformation relationship, a fourth transformation relationship between the image coordinate system and the coil coordinate system is determined, wherein the electronically scanned image is an image obtained by scanning the target object; Based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship, the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system is determined.

2. The positioning system according to claim 1, characterized in that, The first positioning device is a polyhedron, which has at least two target faces, and each target face has at least three non-collinear first marker points; The second positioning device is a plate-shaped structure, and one plate surface of the second positioner has at least three non-collinear second marking points.

3. The positioning system according to claim 2, characterized in that, The target faces of the polyhedron all have a first checkerboard image, and the first checkerboard images of each target face are different from each other. The first marker point is a corner point in the first checkerboard image. One surface of the second positioning device has a second checkerboard image, which is different from any of the first checkerboard images, and the second marker point is a corner point in the second checkerboard image.

4. The positioning system according to claim 1, characterized in that, The system also includes: a mobile component; The mobile component is connected to the transcranial magnetic stimulation coil and the positioning device, respectively. The positioning device is also used to drive the moving component to move based on the calibrated position, so that the stimulation focus of the transcranial magnetic stimulation coil coincides with the calibrated position.

5. The positioning system according to any one of claims 1 to 4, characterized in that, The positioning device is a mobile terminal, and the camera is the camera in the mobile terminal.

6. A method for locating a transcranial magnetic stimulation coil, characterized in that, The method includes: The camera in the positioning system of the transcranial magnetic stimulation coil captures images of the first positioning device and the second positioning device in the positioning system. The first positioning device has a plurality of first marker points on its surface and is used to be set on a target object, the target object including a point to be stimulated. The second positioning device has a plurality of second marker points on its surface. Based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located, a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located is determined; Based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located, a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located is determined; The system acquires a target image obtained by the camera capturing a third positioning device and the target object. The third positioning device is connected to a navigation stick and has multiple third marker points. The navigation stick is a spatial coordinate digitization instrument in the navigation system. Based on the positions of the plurality of third marker points in the third positioning coordinate system where the third positioning device is located and the positions of the plurality of third marker points in the target image, a seventh transformation relationship between the navigation coordinate system where the navigation stick is located and the camera coordinate system is determined; Based on the first transformation relationship and the seventh transformation relationship, an eighth transformation relationship between the navigation coordinate system and the first positioning coordinate system is determined; Based on the eighth transformation relationship and the positions of multiple target markers in the navigation coordinate system, the position of each target marker in the first positioning coordinate system is determined, and the target marker is located in the electronically scanned image; Based on the positions of the multiple target markers in the first positioning coordinate system and the positions of the multiple target markers in the image coordinate system where the electronically scanned image is located, a third transformation relationship between the image coordinate system and the first positioning coordinate system is determined; Based on the third transformation relationship, the first transformation relationship, and the second transformation relationship, a fourth transformation relationship between the image coordinate system and the coil coordinate system is determined, wherein the electronically scanned image is an image obtained by scanning the target object; Based on the position of the point to be stimulated in the electronic scan image and the fourth transformation relationship, the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system is determined.

7. A positioning device for a transcranial magnetic stimulation coil, characterized in that, The device includes: The acquisition module is used to acquire images captured by a camera in the positioning system of the transcranial magnetic stimulation coil, which are obtained by the first positioning device and the second positioning device in the positioning system. The first positioning device has a plurality of first marker points on its surface and is used to be set on a target object, which includes a point to be stimulated. The second positioning device has a plurality of second marker points on its surface. The first determining module is used to determine a first transformation relationship between the first positioning coordinate system and the camera coordinate system where the camera is located, based on the positions of the plurality of first marker points in the captured image and the positions of the plurality of first marker points in the first positioning coordinate system where the first positioning device is located. The second determining module is used to determine a second transformation relationship between the camera coordinate system and the coil coordinate system where the transcranial magnetic stimulation coil is located, based on the positions of the plurality of second marker points in the captured image and the positions of the plurality of second marker points in the second positioning coordinate system where the second positioning device is located. The third determining module is used to acquire a target image obtained by the camera capturing a third positioning device and the target object. The third positioning device is connected to a navigation stick and has multiple third marker points. The navigation stick is a spatial coordinate digitization instrument in the navigation system. Based on the positions of the multiple third marker points in the third positioning coordinate system where the third positioning device is located and the positions of the multiple third marker points in the target image, a seventh transformation relationship is determined between the navigation coordinate system where the navigation stick is located and the camera coordinate system. Based on the first transformation relationship and the seventh transformation relationship, an eighth transformation relationship is determined between the navigation coordinate system and the first positioning coordinate system. Based on the eighth transformation relationship... The positions of multiple target markers in the navigation coordinate system are determined, and the position of each target marker in the first positioning coordinate system is determined, wherein the target markers are located in the electronically scanned image; based on the positions of the multiple target markers in the first positioning coordinate system and the positions of the multiple target markers in the image coordinate system where the electronically scanned image is located, a third transformation relationship between the image coordinate system and the first positioning coordinate system is determined; based on the third transformation relationship, the first transformation relationship, and the second transformation relationship, a fourth transformation relationship between the image coordinate system and the coil coordinate system is determined, wherein the electronically scanned image is an image obtained by scanning the target object; The fourth determining module is used to determine the calibrated position of the stimulation focus of the transcranial magnetic stimulation coil in the coil coordinate system based on the position of the stimulation point in the electronic scan image and the fourth transformation relationship.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, a code set, or an instruction set, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by the processor to implement the transcranial magnetic stimulation coil positioning method as described in claim 6.

9. A computer-readable storage medium, characterized in that, The readable storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the transcranial magnetic stimulation coil positioning method as described in claim 6.

10. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the transcranial magnetic stimulation coil positioning method of claim 6.

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