Transcranial magnetic stimulation navigation method, system and computer equipment

Abstract

The present application is applicable to the field of medical technology, and provides a transcranial magnetic stimulation navigation method, system, and computer equipment to reduce the complexity of the clinical treatment process using transcranial magnetic stimulation technology and alleviate the economic burden of clinical treatment on patients. The method of the present application mainly includes: selecting X virtual feature points on the scalp of a preset standard head model, and collecting X actual feature points on the scalp of the patient's head; mapping the X actual feature points to the corresponding virtual feature points in the standard head model to establish a preliminary mapping relationship; calculating the global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship; receiving a specified pick-up point on the standard head model to obtain a stimulation target; converting the coordinates of the stimulation target on the standard head model into navigation coordinates based on the global mapping relationship; and sending the navigation coordinates to a magnetic stimulation actuator so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates.

Description

Technical Field

[0001] The present application belongs to the field of medical technology, and in particular relates to a transcranial magnetic stimulation navigation method, system and computer equipment. Background Art

[0002] Transcranial magnetic stimulation (TMS) is a non-invasive neuromodulation technology with no significant side effects. Its basic principle is to use a pulsed magnetic field to act on the central nervous system (mainly the cerebral cortex). The induced current generated by the pulsed magnetic field will change the membrane potential of cortical nerve cells, thereby affecting metabolic activity and neural activity in the brain. Currently, the stimulation modes of transcranial magnetic stimulation technology mainly include single pulse, double pulse and repetitive pulse. Single pulse and double pulse stimulation modes are commonly used in routine electrophysiological examinations. Repetitive pulse mode can be used to treat movement disorders, mental illnesses, pathological pain, epilepsy, addiction, and functional recovery after damage to the nervous system.

[0003] Precisely locating stimulation targets in the central nervous system is a prerequisite for clinical treatment using transcranial magnetic stimulation. Currently, the two most commonly used methods for locating stimulation targets in clinical practice are manual positioning and optical navigation. Manual positioning relies heavily on the physician's anatomical knowledge, making it difficult to guarantee accurate positioning. While optical navigation offers high accuracy, its positioning equipment is primarily imported and expensive, currently only available in a few Class A hospitals in first-tier cities.

[0004] Currently, transcranial magnetic stimulation systems that implement optical navigation and positioning methods on the market must acquire a patient's magnetic resonance imaging (MRI) image and use it to create a precise three-dimensional model of the patient's head. This accurate 3D model is used to guide the positioning of the magnetic stimulation coil. To create a more accurate 3D model of the patient's head, the acquired MRI images require very high resolution, which is often not available in clinical diagnostics. Furthermore, acquiring MRI images is currently expensive, increasing the complexity and time of the treatment process and placing an additional financial burden on patients. Summary of the Invention

[0005] The present application provides a transcranial magnetic stimulation navigation method, system and computer equipment, which aim to reduce the complexity of the clinical treatment process of transcranial magnetic stimulation technology, save treatment time for doctors and patients, and at the same time reduce the economic burden of patients undergoing clinical treatment with transcranial magnetic stimulation technology.

[0006] In a first aspect, the present application provides a transcranial magnetic stimulation navigation method, comprising:

[0007] Selecting X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar;

[0008] Collecting X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points;

[0009] Mapping the X actual feature points to corresponding virtual feature points in the standard head model, and establishing a preliminary mapping relationship between the actual feature points and the virtual feature points;

[0010] Calculating a global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship;

[0011] receiving a designated picking point of the standard head model to obtain a stimulation target point;

[0012] Converting the coordinates of the stimulation target on the standard head model into navigation coordinates according to the global mapping relationship;

[0013] The navigation coordinates are sent to a magnetic stimulation actuator, so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates.

[0014] Optionally, before selecting X virtual feature points of the scalp in a preset standard head model, the method further includes:

[0015] Acquiring a standard template image, wherein the standard template image describes functional distribution information of cerebral cortical brain regions;

[0016] Creating the three-dimensional standard head model according to the standard template image;

[0017] The functional distribution information of the cerebral cortex brain regions is mapped onto the outer scalp surface of the standard head model using a balloon inflation method.

[0018] Optionally, mapping the X actual feature points to corresponding virtual feature points in the standard head model includes:

[0019] Mapping the X actual feature points to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point;

[0020] Calculating the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship includes:

[0021] Based on the preliminary mapping relationship between the actual feature points and the virtual feature points, a rough mapping relationship between the patient's head and the standard head model is obtained.

[0022] Optionally, calculating the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship includes:

[0023] Selecting Y virtual feature points of the scalp in the standard head model, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed on the standard head model;

[0024] Collecting Y actual feature points on the scalp of the patient's head corresponding to the Y virtual feature points;

[0025] The mapping relationship between the Y virtual feature points and the Y actual feature points is optimized through affine transformation to obtain an optimized mapping relationship between the patient's head and the standard head model.

[0026] Optionally, after obtaining the optimized mapping relationship between the patient's head and the standard head model, the method further includes:

[0027] Selecting K virtual feature points of the scalp in the standard head model using a normal-based method, where K is a positive integer greater than 0;

[0028] Collecting K actual feature points of the patient's scalp, where the K actual feature points are evenly distributed on the patient's head;

[0029] The K actual feature points are non-rigidly registered with the K virtual feature points by using a coherent point drift method to obtain a global mapping relationship between the patient's head and the standard head model.

[0030] Optionally, before sending the navigation coordinates to the magnetic stimulation actuator, the method further includes:

[0031] Acquiring a real-time head image of the patient;

[0032] Analyzing the real-time head image to obtain the displacement coordinates of the patient's head;

[0033] The converting the coordinates of the stimulation target point on the standard head model into navigation coordinates according to the global mapping relationship comprises:

[0034] Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates;

[0035] The step of sending the navigation coordinates to the magnetic stimulation actuator is triggered.

[0036] Optionally, acquiring a real-time head image of the patient's head includes:

[0037] Acquire a real-time image of the patient's head at an infrared reflective point at a specific position on the patient's head through an infrared binocular camera;

[0038] The step of analyzing the real-time head image to obtain the displacement coordinates of the patient's head includes:

[0039] Calculating a coordinate system conversion relationship between a head tracking coordinate system where the infrared reflective point in the real-time head image is located and a preset initial position coordinate system;

[0040] Using the coordinate system transformation relationship as the displacement coordinates of the patient's head;

[0041] Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates includes:

[0042] The navigation coordinates are obtained by converting the coordinates of the stimulation target point on the standard head model through the coordinate system conversion relationship.

[0043] Optionally, the magnetic stimulation actuator is a multi-axis robotic arm, and the magnetic stimulation coil is fixed to the end of the multi-axis robotic arm.

[0044] In a second aspect, the present application provides a transcranial magnetic stimulation navigation system, comprising:

[0045] a selecting unit, configured to select X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar;

[0046] a collection unit, configured to collect X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points;

[0047] a mapping unit, configured to map the X actual feature points to corresponding virtual feature points in the standard head model, and establish a preliminary mapping relationship between the actual feature points and the virtual feature points;

[0048] a calculation unit, configured to calculate a global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship;

[0049] A receiving unit, configured to receive a designated pickup point of the standard head model to obtain a stimulation target point;

[0050] a conversion unit, configured to convert the coordinates of the stimulation target point on the standard head model into navigation coordinates according to the global mapping relationship;

[0051] The sending unit is configured to send the navigation coordinates to a magnetic stimulation execution mechanism, so that the magnetic stimulation execution mechanism performs magnetic stimulation on the patient's head according to the navigation coordinates.

[0052] Optionally, the system further includes:

[0053] an acquisition unit, configured to acquire a standard template image, wherein the standard template image describes functional distribution information of cerebral cortical brain regions;

[0054] a creating unit, configured to create the three-dimensional standard head model according to the standard template image;

[0055] The mapping unit is further configured to map the functional distribution information of the cerebral cortex brain regions onto the outer scalp surface of the standard head model using a balloon inflation method.

[0056] Optionally, when the mapping unit maps the X actual feature points to corresponding virtual feature points in the standard head model, it is specifically configured to:

[0057] Mapping the X actual feature points to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point;

[0058] When the calculation unit calculates the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship, it is specifically used to:

[0059] Based on the preliminary mapping relationship between the actual feature points and the virtual feature points, a rough mapping relationship between the patient's head and the standard head model is obtained.

[0060] Optionally, when the calculation unit calculates the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship, it is specifically configured to:

[0061] Selecting Y virtual feature points of the scalp in the standard head model, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed on the standard head model;

[0062] Collecting Y actual feature points on the scalp of the patient's head corresponding to the Y virtual feature points;

[0063] The mapping relationship between the Y virtual feature points and the Y actual feature points is optimized through affine transformation to obtain an optimized mapping relationship between the patient's head and the standard head model.

[0064] Optionally, the system further includes:

[0065] The selection unit is further configured to select K virtual feature points of the scalp in the standard head model using a normal-based method, where K is a positive integer greater than 0;

[0066] The collecting unit is further used to collect K actual feature points of the scalp of the patient's head, wherein the K actual feature points are evenly distributed on the patient's head;

[0067] The mapping unit is further configured to perform non-rigid registration on the K actual feature points and the K virtual feature points by using a coherent point drift method to obtain a global mapping relationship between the patient's head and the standard head model.

[0068] Optionally, the system further includes:

[0069] The acquisition unit is further used to acquire a real-time image of the patient's head;

[0070] An analysis unit, configured to analyze the real-time head image to obtain displacement coordinates of the patient's head;

[0071] When the conversion unit converts the coordinates of the stimulation target point into navigation coordinates according to the global mapping relationship, the conversion unit is specifically used to:

[0072] Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates;

[0073] The step of sending the navigation coordinates to the magnetic stimulation actuator is triggered.

[0074] Optionally, when the acquisition unit acquires the real-time head image of the patient's head, it is specifically used to:

[0075] Acquire a real-time image of the patient's head at an infrared reflective point at a specific position on the patient's head through an infrared binocular camera;

[0076] When the analysis unit analyzes the real-time head image to obtain the displacement coordinates of the patient's head, it is specifically used to:

[0077] Calculating a coordinate system conversion relationship between a head tracking coordinate system where the infrared reflective point in the real-time head image is located and a preset initial position coordinate system;

[0078] Using the coordinate system transformation relationship as the displacement coordinates of the patient's head;

[0079] The conversion unit adds the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates, specifically for:

[0080] The navigation coordinates are obtained by converting the coordinates of the stimulation target point on the standard head model through the coordinate system conversion relationship.

[0081] Optionally, the magnetic stimulation actuator is a multi-axis robotic arm, and the magnetic stimulation coil is fixed to the end of the multi-axis robotic arm.

[0082] In a third aspect, the present application provides a computer device, comprising:

[0083] Processor, memory, bus, input and output interface, wireless network interface;

[0084] The processor is connected to the memory, the input and output interface, and the wireless network interface via a bus;

[0085] The memory stores a program;

[0086] When the processor executes the program stored in the memory, the transcranial magnetic stimulation navigation method described in the first aspect is implemented.

[0087] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the transcranial magnetic stimulation navigation method as described in the first aspect above.

[0088] In a fifth aspect, the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the transcranial magnetic stimulation navigation method as described in the first aspect above.

[0089] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0090] The transcranial magnetic stimulation navigation method of the present application first selects X virtual feature points on the scalp of a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar; then, X actual feature points are collected on the scalp of the patient's head corresponding to the X virtual feature points, and then the X actual feature points are registered with the virtual feature points corresponding to the standard head model, and a preliminary mapping relationship between the actual feature points and the virtual feature points is established. A global mapping relationship between the patient's head and the standard head model is calculated based on the preliminary mapping relationship; then, a specified picking point of the standard head model is received to obtain a stimulation target point, and then, according to the global mapping relationship, the coordinates of the stimulation target point on the standard head model are converted into navigation coordinates, and the navigation coordinates are sent to the magnetic stimulation actuator, so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates. It can be seen that the embodiments of the present application do not require the acquisition of high-resolution magnetic resonance images of the patient, and can also achieve transcranial magnetic stimulation navigation of the patient, reduce the complexity of the clinical treatment process of transcranial magnetic stimulation technology, save treatment time for doctors and patients, and at the same time reduce the economic burden of patients undergoing clinical treatment with transcranial magnetic stimulation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is a flow chart of an embodiment of the transcranial magnetic stimulation navigation method of the present application;

[0092] Figure 2 This is a flow chart of another embodiment of the transcranial magnetic stimulation navigation method of the present application;

[0093] Figure 3 This is a flow chart of another embodiment of the transcranial magnetic stimulation navigation method of the present application;

[0094] Figure 4 This is a schematic structural diagram of an embodiment of the transcranial magnetic stimulation navigation system of the present application;

[0095] Figure 5 This is a schematic diagram of the structure of an embodiment of the computer device of the present application;

[0096] Figure 6 This is a schematic diagram showing the effect of an embodiment in which a support frame for infrared reflective balls is fixed on a patient's head. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0098] As we all know, there is a close relationship between human mental illness and abnormal cerebral cortical function. For example, studies have shown that depression is related to abnormal function of the prefrontal lobe of the brain. Therefore, accurately providing information on the functional zoning of the cerebral cortex is crucial for transcranial magnetic stimulation treatment. At present, most medical-related systems only collect patient magnetic resonance images (Magnetic Resonance Imaging, MRI) and do not provide functional distribution information of the cerebral cortex brain areas; some medical-related systems need to collect patient magnetic resonance images and functional magnetic resonance imaging (functional Magnetic Resonance Imaging, fMRI) at the same time. Although this method can provide functional distribution information of the cerebral cortex, this method will cause patients to bear a higher economic burden. In view of this, the present application provides a method for achieving transcranial magnetic stimulation navigation without the need for personalized magnetic resonance imaging of the patient's head.

[0099] The so-called transcranial magnetic stimulation navigation means that the transcranial magnetic stimulation navigation system converts the coordinates of the virtual feature points selected on the specified head model into the navigation coordinates of the magnetic stimulation actuator, so as to realize the process of magnetic stimulation of specific parts of the patient by the magnetic stimulation actuator according to the navigation coordinates.

[0100] See also Figure 1 , an embodiment of the transcranial magnetic stimulation navigation method of the present application includes:

[0101] 101. Select X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar.

[0102] The standard head model preset in this step is the specified head model in the above-mentioned transcranial magnetic stimulation navigation. It can be understood that since the functional divisions of the cerebral cortex of the human head are similar, in view of this, this step can use the standard head model as a virtual three-dimensional model corresponding to the patient's head, so as to omit the process of collecting magnetic resonance images and functional magnetic resonance imaging of the patient's head to create a personalized virtual three-dimensional model corresponding to the patient's head, thereby reducing the patient's economic burden and simplifying the medical procedures.

[0103] This step selects X virtual feature points on the scalp of a preset standard head model, where X is a positive integer greater than or equal to 3. At least three of the X virtual feature points are non-collinear and non-coplanar. At least three non-collinear and non-coplanar virtual feature points can more clearly reflect the exact position of a standard head model with a three-dimensional spatial structure. The preset standard head model has specific spatial coordinates in the transcranial magnetic stimulation navigation system, specifically a set of spatial coordinate points. For example, this step selects three virtual feature points on the scalp of the standard head model, and these three virtual feature points are non-collinear and non-coplanar.

[0104] 102. Collect X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points.

[0105] Corresponding to the X virtual feature points selected in step 101, X actual feature points are also collected on the patient's scalp to determine the corresponding points between the patient's scalp and the scalp of the standard head model. In theory, the greater the number of corresponding points X, the more accurate the mapping relationship established in subsequent steps between the patient's head and the standard head model. For example, corresponding to step 101, three virtual feature points are selected on the scalp of the standard head model. In this step, corresponding actual feature points are collected on the patient's scalp for each of these three virtual feature points. For example, an optical probe can be used to locate and collect the actual feature points on the patient's head in this step.

[0106] 103. Map the X actual feature points to corresponding virtual feature points in the standard head model, and establish a preliminary mapping relationship between the actual feature points and the virtual feature points.

[0107] The X actual feature points collected in step 102 are mapped to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point, thereby obtaining a preliminary mapping relationship between the actual feature points and the virtual feature points. Rigid registration means that the coordinates of the two corresponding points are aligned. For example, the coordinates of the X virtual feature points selected in step 101 are aligned with the corresponding actual feature points collected in step 102 to establish a preliminary mapping relationship between the actual feature points and the virtual feature points.

[0108] 104. Calculate the global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship.

[0109] Based on the preliminary mapping relationship between the actual feature points and the virtual feature points established in step 103, the standard head model can be directly regarded as a three-dimensional virtual model corresponding to the patient's head, wherein the X virtual feature points and the X actual feature points in step 103 between the standard head model and the patient's head are absolutely one-to-one corresponding, and the coordinates of the remaining points of the standard head model are roughly corresponding to the actual points on the patient's head. It can be seen that in this way, a rough mapping relationship (rough global mapping relationship) between the patient's head and the standard head model can also be established.

[0110] Furthermore, based on the above-mentioned rough mapping relationship between the patient's head and the standard head model, Y virtual feature points of the scalp in the standard head model can be selected, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed in the standard head model. Corresponding to the Y virtual feature points, Y actual feature points are collected on the scalp of the patient's head. The mapping relationship between the Y virtual feature points and the Y actual feature points is optimized through affine transformation, so that there are more corresponding points between the patient's head and the standard head model, and an optimized mapping relationship (optimized global mapping relationship) between the patient's head and the standard head model is obtained.

[0111] Furthermore, based on the above-mentioned optimized mapping relationship between the patient's head and the standard head model, a normal-based method can be used to select K virtual feature points of the scalp of the standard head model, where K is a positive integer greater than 0, and the larger K is, the better; K actual feature points of the patient's scalp are collected, and the K actual feature points are evenly distributed on the patient's head; the K virtual feature points of the patient's head are non-rigidly aligned with the K virtual feature points of the standard head model through the coherent point drift method, so that the standard head model is closer to the contour of the patient's head, and the global mapping relationship between the patient's head and the standard head model (the final global mapping relationship) is obtained.

[0112] 105. Receive a designated pick-up point on the standard head model and obtain a stimulation target point.

[0113] After obtaining the global mapping relationship between the patient's head and the standard head model in step 104, this step can receive a designated pickup point on the standard head model from the operator. This pickup point is the target point for magnetic stimulation of the patient's head, thereby obtaining a stimulation target. In another embodiment, the number of designated pickup points is preferably determined based on the number of magnetic stimulations that the magnetic stimulation actuator can perform at one time.

[0114] 106. According to the global mapping relationship, the coordinates of the stimulation target on the standard head model are converted into navigation coordinates.

[0115] Since step 104 has established a global mapping relationship between the patient's head and the standard head model, the magnetic stimulation actuator can know the spatial position of the patient's head. There are corresponding actual feature points on the stimulation target and the patient's head. When the stimulation actuator performs magnetic stimulation on the actual feature points corresponding to the patient's head, the magnetic coil of the magnetic stimulation actuator usually forms a specific angle with the stimulation target and has a specific spatial distance from the stimulation target. This step converts the coordinates of the stimulation target in the standard head model into navigation coordinates, which are used to guide the stimulation actuator to perform magnetic stimulation on the actual feature points corresponding to the patient's head.

[0116] 107. Send the navigation coordinates to the magnetic stimulation actuator, so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates.

[0117] The magnetic stimulation actuator in this step is preferably a multi-axis robotic arm, and the magnetic stimulation coil is fixed to the end of the multi-axis robotic arm. The multi-axis robotic arm can be specifically a six-axis flexible robotic arm. The magnetic stimulation coil is part of the transcranial magnetic stimulation device, which is fixed to the end of the multi-axis robotic arm.

[0118] It can be seen that the embodiments of the present application do not require the acquisition of high-resolution magnetic resonance images of the patient, and can also achieve transcranial magnetic stimulation navigation of the patient, reduce the complexity of the clinical treatment process of transcranial magnetic stimulation technology, save treatment time for doctors and patients, and at the same time reduce the economic burden of patients undergoing clinical treatment with transcranial magnetic stimulation technology.

[0119] See also Figure 2 , in the above Figure 1 Before step 101, the embodiment of the present application needs to establish a preset standard head model in advance and back it up so that each patient has a basic standard head model when performing transcranial magnetic stimulation navigation. Figure 2 The embodiment describes the process of establishing a standard head model. Another embodiment of the transcranial magnetic stimulation navigation method of the present application also includes:

[0120] 201. Obtain a standard template image, wherein the standard template image describes functional distribution information of cerebral cortical brain regions.

[0121] For example, standard template images for obtaining brain maps include the Anatomical Automatic Labeling (AAL) template or the Brodmann template. The AAL template divides the cerebral cortex into 90 regions based on magnetic resonance imaging, each with a distinct color and name. This standard template image depicts the functional distribution of cerebral cortical regions. Public databases of standard template images are available for direct download from relevant websites, and there are no restrictions on the type of standard template image used.

[0122] 202. Create a three-dimensional standard head model based on the standard template image.

[0123] Since the standard template image contains the information required to create a three-dimensional standard head model, this step can create a three-dimensional standard head model based on the standard template image. The created standard head model mainly includes five parts: gray matter, white matter, cerebrospinal fluid, skull and scalp. The created standard head model can be saved and can be reused by simply reconstructing it once.

[0124] For example, the standard template image is segmented by the medical image analysis software MRIcron and saved as a bmp image sequence. The so-called bmp image sequence refers to a bitmap image. The bitmap image is then imported into the Simpleware software to construct a three-dimensional virtual head model of the patient's head, and the three-dimensional virtual head model is exported and saved in STL format.

[0125] 203. The balloon inflation method was used to map the distribution information of the cerebral cortex onto the outer scalp surface of the standard head model.

[0126] In this step, the balloon-inflation method can be used to map the distribution information of the cerebral cortex brain areas in the standard template image to the external scalp surface of the standard head model, so that the operator can use the cerebral cortical functional information as a reference when selecting the magnetic stimulation target, making the selected magnetic stimulation target more accurate.

[0127] It is understandable that the patient's head may shift, rotate, or change its spatial position during TMS treatment, causing the magnetic stimulation actuator to miss the target, thus affecting the therapeutic effect of TMS. To address the above issues, please refer to Figure 3 , in the above Figure 1 Before step 106, another embodiment of the transcranial magnetic stimulation navigation method of the present application further includes:

[0128] 301. Acquire a real-time image of the patient's head.

[0129] For example, see Figure 6 , Figure 6 For the purpose of this application, a schematic diagram of an embodiment is shown in which a support frame for infrared reflective balls is fixed on the patient's head. In this step, three or more infrared reflective balls can be fixed on the patient's head. The spatial position relationship between at least three of these infrared reflective balls is non-collinear and non-coplanar. Since the infrared reflective balls are fixed on the patient's head (for example, three infrared reflective balls are fixed on the patient's head through a support frame), the marking point images of the three infrared reflective balls on the support frame fixed on the patient's head can be collected in real time by an infrared binocular vision camera.

[0130] 302. Analyze the real-time head image to obtain the displacement coordinates of the patient's head.

[0131] Specifically, a coordinate conversion relationship is calculated between the head tracking coordinate system where the infrared reflective point in the real-time head image is located and a preset initial position coordinate system. The preset initial position coordinates here can be preset origin coordinates, the coordinates of the infrared reflective point at a specific moment (e.g., a previous moment), or the camera coordinate system of an infrared binocular vision camera. The difference coordinates here can be positive or negative.

[0132] For example, the head tracking coordinate system represented by the marking points of the infrared reflective balls on the patient's head is identified by an infrared binocular vision camera. Since these marking points can be fixed on the patient's head through a standard support frame, the marking points on the support frame can be accurately identified by the binocular vision system of the infrared binocular vision camera, and the motion compensation coordinates of the head tracking coordinate system are obtained by analyzing the running trajectory of the head tracking coordinate system reflected in the marking point images between the previous and next moments. At this time, the infrared binocular vision camera does not need to know the actual spatial position of the patient's head in the head tracking coordinate system, but only needs to know the motion compensation coordinates of the head tracking coordinate system, which are the motion compensation coordinates of the patient's head, because the patient's head is in an absolute position relationship in the head tracking coordinate system.

[0133] 303. According to the global mapping relationship, the coordinates of the stimulation target on the standard head model are added with the displacement coordinates to obtain the navigation coordinates.

[0134] Since the global mapping relationship is the correspondence between the standard head model and the initial position of the patient's head, when the spatial position of the patient's head changes during the transcranial magnetic stimulation treatment, this step needs to add the displacement coordinates to the coordinates of the stimulation target on the standard head model to obtain the navigation coordinates. The navigation coordinates are the compensated navigation coordinates obtained after the coordinates of the stimulation target on the standard head model are converted through the coordinate system transformation relationship, so that the magnetic stimulation coil in the transcranial magnetic stimulation process is in the most suitable stimulation position under the drive of the magnetic stimulation actuator, thereby achieving a better magnetic stimulation treatment effect.

[0135] 304. Trigger the step of sending the navigation coordinates to the magnetic stimulation actuator.

[0136] The navigation coordinates of the stimulation target in the magnetic stimulation actuator space are sent to the magnetic stimulation actuator through the host computer software, which controls the end magnetic stimulation coil of the magnetic stimulation actuator to move to the stimulation target and perform magnetic stimulation treatment. Figure 3 The embodiment process is tracked in real time, and the magnetic stimulation actuator is controlled to compensate for movement in real time to ensure that the stimulation coil does not miss the target.

[0137] In another embodiment, the coordinates of the stimulation target can be mapped to the spatial coordinates of the magnetic stimulation actuator by the hand-eye calibration method, and the infrared binocular camera can be used in conjunction with the magnetic stimulation actuator to perform Figure 3 A similar process obtains the displacement coordinates of the patient's head and compensates for the coordinates of the stimulation target, which can also achieve the purpose of accurately treating the stimulation target.

[0138] The above embodiment describes the transcranial magnetic stimulation navigation method of the present application. The following describes the transcranial magnetic stimulation navigation system of the present application. Figure 4 , an embodiment of a transcranial magnetic stimulation navigation system includes:

[0139] A selection unit 401 is configured to select X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar;

[0140] The collecting unit 402 is configured to collect X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points;

[0141] A mapping unit 403 is configured to map the X actual feature points to corresponding virtual feature points in the standard head model, and establish a preliminary mapping relationship between the actual feature points and the virtual feature points;

[0142] a calculation unit 404, configured to calculate a global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship;

[0143] The receiving unit 405 is configured to receive a designated pickup point of the standard head model to obtain a stimulation target point;

[0144] A conversion unit 406 is configured to convert the coordinates of the stimulation target point on the standard head model into navigation coordinates according to the global mapping relationship;

[0145] The sending unit 407 is configured to send the navigation coordinates to a magnetic stimulation execution mechanism, so that the magnetic stimulation execution mechanism performs magnetic stimulation on the patient's head according to the navigation coordinates.

[0146] Optionally, the system further includes:

[0147] An acquisition unit 408 is configured to acquire a standard template image, wherein the standard template image describes functional distribution information of cerebral cortex brain regions;

[0148] A creating unit 409, configured to create the three-dimensional standard head model according to the standard template image;

[0149] The mapping unit 403 is further configured to map the functional distribution information of the cerebral cortex brain regions to the outer scalp surface of the standard head model using a balloon inflation method.

[0150] Optionally, when the mapping unit 403 maps the X actual feature points to corresponding virtual feature points in the standard head model, it is specifically configured to:

[0151] Mapping the X actual feature points to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point;

[0152] When the calculation unit 404 calculates the global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship, it is specifically used to:

[0153] Based on the preliminary mapping relationship between the actual feature points and the virtual feature points, a rough mapping relationship between the patient's head and the standard head model is obtained.

[0154] Optionally, when the calculation unit 404 calculates the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship, it is specifically configured to:

[0155] Selecting Y virtual feature points of the scalp in the standard head model, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed on the standard head model;

[0156] Collecting Y actual feature points on the scalp of the patient's head corresponding to the Y virtual feature points;

[0157] The mapping relationship between the Y virtual feature points and the Y actual feature points is optimized through affine transformation to obtain an optimized mapping relationship between the patient's head and the standard head model.

[0158] Optionally, the system further includes:

[0159] The selection unit 401 is further configured to select K virtual feature points of the scalp in the standard head model using a normal-based method, where K is a positive integer greater than 0;

[0160] The collecting unit 402 is further configured to collect K actual feature points of the patient's scalp, where the K actual feature points are evenly distributed on the patient's head;

[0161] The mapping unit 403 is further configured to perform non-rigid registration on the K actual feature points and the K virtual feature points by using a coherent point drift method to obtain a global mapping relationship between the patient's head and the standard head model.

[0162] Optionally, the system further includes:

[0163] The acquisition unit 408 is further configured to acquire a real-time image of the patient's head;

[0164] An analysis unit 410 is configured to analyze the real-time head image to obtain displacement coordinates of the patient's head;

[0165] When the conversion unit 406 converts the coordinates of the stimulation target point in the standard head model into navigation coordinates according to the global mapping relationship, it is specifically used to:

[0166] Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates;

[0167] The step of sending the navigation coordinates to the magnetic stimulation actuator is triggered.

[0168] Optionally, when the acquiring unit 408 acquires the real-time head image of the patient's head, it is specifically configured to:

[0169] Acquire a real-time image of the patient's head at an infrared reflective point at a specific position on the patient's head through an infrared binocular camera;

[0170] When the analyzing unit 410 analyzes the real-time head image to obtain the displacement coordinates of the patient's head, it is specifically used to:

[0171] Calculating a coordinate system conversion relationship between a head tracking coordinate system where the infrared reflective point in the real-time head image is located and a preset initial position coordinate system;

[0172] Using the coordinate system transformation relationship as the displacement coordinates of the patient's head;

[0173] When the conversion unit 406 adds the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates, it is specifically used to:

[0174] The navigation coordinates are obtained by converting the coordinates of the stimulation target point on the standard head model through the coordinate system conversion relationship.

[0175] Optionally, the magnetic stimulation actuator is a multi-axis robotic arm, and the magnetic stimulation coil is fixed to the end of the multi-axis robotic arm.

[0176] The transcranial magnetic stimulation navigation system of the present application embodiment performs the same operations as the aforementioned Figure 1 、 Figure 2 as well as Figure 3 The operations performed in the embodiment are similar and will not be described in detail here.

[0177] It can be seen that the embodiments of the present application do not require the acquisition of high-resolution magnetic resonance images of the patient, and can also achieve transcranial magnetic stimulation navigation of the patient, reduce the complexity of the clinical treatment process of transcranial magnetic stimulation technology, save treatment time for doctors and patients, and at the same time reduce the economic burden of patients undergoing clinical treatment with transcranial magnetic stimulation technology.

[0178] The following describes the computer device of the embodiment of the present application. Figure 5 , an embodiment of the computer device in the embodiment of the present application includes:

[0179] The computer device 500 may include one or more processors (central processing units, CPU) 501 and a memory 502, in which one or more applications or data are stored. The memory 502 is a volatile storage or a persistent storage. The program stored in the memory 502 may include one or more modules, each of which may include a series of instruction operations on the computer device. Furthermore, the processor 501 may be configured to communicate with the memory 502 and execute a series of instruction operations in the memory 502 on the computer device 500. The computer device 500 may also include one or more wireless network interfaces 503, one or more input and output interfaces 504, and / or one or more operating systems, such as Windows Server, Mac OS, Unix, Linux, FreeBSD, etc. The processor 501 may execute the aforementioned Figures 1 to 3 The operations performed in the illustrated embodiment will not be described in detail here.

[0180] In the several embodiments provided in the embodiments of the present application, those skilled in the art should understand that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the unit is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0181] In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0182] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements or improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A transcranial magnetic stimulation navigation method, characterized in that: include: Selecting X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar; Collecting X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points, wherein the standard head model is not a real head model of the patient's head; Mapping the X actual feature points to corresponding virtual feature points in the standard head model, and establishing a preliminary mapping relationship between the actual feature points and the virtual feature points; Calculating a global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship; receiving a designated picking point of the standard head model to obtain a stimulation target point; Converting the coordinates of the stimulation target on the standard head model into navigation coordinates according to the global mapping relationship; sending the navigation coordinates to a magnetic stimulation actuator, so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates; Before selecting X virtual feature points of the scalp in the preset standard head model, the method further includes: Acquiring a standard template image, wherein the standard template image describes functional distribution information of cerebral cortical brain regions; Creating the three-dimensional standard head model according to the standard template image; Mapping the functional distribution information of the cerebral cortex brain area onto the outer scalp surface of the standard head model using a balloon inflation method; Mapping the X actual feature points to corresponding virtual feature points in the standard head model includes: Mapping the X actual feature points to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point; Calculating the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship includes: Obtaining a rough mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship between the actual feature points and the virtual feature points; Calculating the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship includes: Selecting Y virtual feature points of the scalp in the standard head model, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed on the standard head model; Collecting Y actual feature points on the scalp of the patient's head corresponding to the Y virtual feature points; Optimizing the mapping relationship between the Y virtual feature points and the Y actual feature points through affine transformation to obtain an optimized mapping relationship between the patient's head and the standard head model; After obtaining the optimized mapping relationship between the patient's head and the standard head model, the method further includes: Selecting K virtual feature points of the scalp in the standard head model using a normal-based method, where K is a positive integer greater than 0; Collecting K actual feature points of the patient's scalp, where the K actual feature points are evenly distributed on the patient's head; The K actual feature points are non-rigidly registered with the K virtual feature points by using a coherent point drift method to obtain a global mapping relationship between the patient's head and the standard head model.

2. The transcranial magnetic stimulation navigation method according to claim 1, characterized in that: Before sending the navigation coordinates to the magnetic stimulation actuator, the method further includes: Acquiring a real-time head image of the patient; Analyzing the real-time head image to obtain the displacement coordinates of the patient's head; The converting the coordinates of the stimulation target point on the standard head model into navigation coordinates according to the global mapping relationship comprises: Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates; The step of sending the navigation coordinates to the magnetic stimulation actuator is triggered.

3. The transcranial magnetic stimulation navigation method according to claim 2, characterized in that: The step of acquiring a real-time head image of the patient's head comprises: Acquire a real-time image of the patient's head at an infrared reflective point at a specific position on the patient's head through an infrared binocular camera; The step of analyzing the real-time head image to obtain the displacement coordinates of the patient's head includes: Calculating a coordinate system conversion relationship between a head tracking coordinate system where the infrared reflective point in the real-time head image is located and a preset initial position coordinate system; Using the coordinate system transformation relationship as the displacement coordinates of the patient's head; Adding the displacement coordinates to the coordinates of the stimulation target point on the standard head model according to the global mapping relationship to obtain the navigation coordinates includes: The navigation coordinates are obtained by converting the coordinates of the stimulation target point on the standard head model through the coordinate system conversion relationship.

4. The transcranial magnetic stimulation navigation method according to claim 1, characterized in that: The magnetic stimulation actuator is a multi-axis robotic arm, and the magnetic stimulation coil is fixed at the end of the multi-axis robotic arm.

5. A transcranial magnetic stimulation navigation system, characterized in that: include: a selecting unit, configured to select X virtual feature points of the scalp in a preset standard head model, where X is a positive integer greater than or equal to 3, and at least three of the X virtual feature points are non-collinear and non-coplanar; a collection unit, configured to collect X actual feature points on the scalp of the patient's head corresponding to the X virtual feature points, wherein the standard head model is not a real head model of the patient's head; a mapping unit, configured to map the X actual feature points to corresponding virtual feature points in the standard head model, and establish a preliminary mapping relationship between the actual feature points and the virtual feature points; a calculation unit, configured to calculate a global mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship; A receiving unit, configured to receive a designated pickup point of the standard head model to obtain a stimulation target point; a conversion unit, configured to convert the coordinates of the stimulation target point on the standard head model into navigation coordinates according to the global mapping relationship; a sending unit, configured to send the navigation coordinates to a magnetic stimulation actuator, so that the magnetic stimulation actuator performs magnetic stimulation on the patient's head according to the navigation coordinates; The system further comprises: an acquisition unit, configured to acquire a standard template image, wherein the standard template image describes functional distribution information of cerebral cortical brain regions; a creating unit, configured to create the three-dimensional standard head model according to the standard template image; The mapping unit is further configured to map the functional distribution information of the cerebral cortex brain regions onto the outer scalp surface of the standard head model using a balloon inflation method; When the mapping unit maps the X actual feature points to corresponding virtual feature points in the standard head model, it is specifically used to: Mapping the X actual feature points to corresponding virtual feature points in the standard head model, so that each actual feature point is rigidly registered with the virtual feature point; When the calculation unit calculates the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship, it is specifically used to: Obtaining a rough mapping relationship between the patient's head and the standard head model based on the preliminary mapping relationship between the actual feature points and the virtual feature points; When the calculation unit calculates the global mapping relationship between the patient's head and the standard head model according to the preliminary mapping relationship, it is specifically used to: Selecting Y virtual feature points of the scalp in the standard head model, where Y is a positive integer greater than or equal to 6, and the Y virtual feature points are evenly distributed on the standard head model; Collecting Y actual feature points on the scalp of the patient's head corresponding to the Y virtual feature points; Optimizing the mapping relationship between the Y virtual feature points and the Y actual feature points through affine transformation to obtain an optimized mapping relationship between the patient's head and the standard head model; The system further comprises: The selection unit is further configured to select K virtual feature points of the scalp in the standard head model using a normal-based method, where K is a positive integer greater than 0; The collecting unit is further used to collect K actual feature points of the scalp of the patient's head, wherein the K actual feature points are evenly distributed on the patient's head; The mapping unit is further configured to perform non-rigid registration on the K actual feature points and the K virtual feature points by using a coherent point drift method to obtain a global mapping relationship between the patient's head and the standard head model.

6. A computer device, characterized in that: include: Processor, memory, bus, input and output interface, wireless network interface; The processor is connected to the memory, the input / output interface, and the wireless network interface via a bus; The memory stores a program; When the processor executes the program stored in the memory, the transcranial magnetic stimulation navigation method according to any one of claims 1 to 4 is implemented.

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