Path planning methods and related devices for transcranial magnetic stimulation navigation

Abstract

This application relates to the field of medical technology, and provides a path planning method and related device for transcranial magnetic stimulation navigation, wherein the method mainly includes: determining the center point P of the patient's head. c The target magnetic stimulation point P on the patient's head e The initial position P of the tool center point of the robotic arm s With the center point P of the head c Create a spatial hemisphere with a center point and a preset length R as the radius, encompassing all magnetic stimulation points on the patient's head. Use the outer surface of this spatial hemisphere as a safety plane S, and connect it to the center point P of the head. c With the target magnetic stimulation point P e We obtain a point P that intersects with the safety plane S. m The straight line L is used to generate the tool center point of the robotic arm from the initial position point P according to a preset algorithm. s Move to intersection point P m Calculate the intersection point P of the first path segment. m To the target magnetic stimulation point P e The second path connects the first and second paths in sequence to obtain the planned path of the robotic arm.

Description

Technical Field

[0001] This application belongs to the field of medical technology, and in particular relates to a path planning method and related device for transcranial magnetic stimulation navigation. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a non-invasive neuromodulation technique with no known side effects. Its basic principle is to use pulsed magnetic fields applied to the central nervous system (primarily the cerebral cortex). The induced current generated by the pulsed magnetic field alters the membrane potential of cortical nerve cells, thereby affecting brain metabolism and neural activity. Currently, TMS primarily uses three stimulation modes: single-pulse, double-pulse, and repetitive-pulse. Single-pulse and double-pulse modes are commonly used in routine electrophysiological examinations. Repetitive-pulse mode can be applied to the treatment of movement disorders, mental illnesses, pathological pain, epilepsy, addiction, and functional recovery after damage to the nervous system.

[0003] In the automated navigation process of transcranial magnetic stimulation (TMS), the actuator for treating the patient's head is typically a robotic arm. The free end of the robotic arm carries a magnetic stimulation coil and reaches the patient's head according to a planned path. However, there are few existing technologies that provide robotic arm path planning for the TMS navigation process. Summary of the Invention

[0004] The purpose of this application is to provide a path planning method and related device for transcranial magnetic stimulation navigation, thereby enriching the current technical solutions for path planning in transcranial magnetic stimulation navigation.

[0005] In a first aspect, this application provides a path planning method for a transcranial magnetic stimulation navigation process, applied to a robotic arm, comprising:

[0006] Determine the center point P of the patient's head c The target magnetic stimulation point P on the patient's head e The initial position point P of the tool center point of the robotic arm s ;

[0007] With the head center point P c With the center of the sphere as the center and the preset length R as the radius, a spatial hemisphere is created, which encloses all the magnetic stimulation points on the patient's head;

[0008] The outer surface of the spatial hemisphere is taken as the safety plane S;

[0009] Connect the center point P of the head c With the target magnetic stimulation point Pe A straight line L is obtained, and the straight line L intersects the safety plane S at a point P. m ;

[0010] The tool center point of the robotic arm is generated from the initial position point P according to a preset algorithm. s Move to the intersection point P m The first segment of the path;

[0011] Calculate the intersection point P m To the target magnetic stimulation point P e Given the distance d, we obtain the second path segment;

[0012] By connecting the first path segment and the second path segment in sequence, the planned path of the robotic arm is obtained.

[0013] Optionally, the head center point P for determining the center point of the patient's head... c include:

[0014] The AABB bounding box algorithm is used to calculate the bounding box of the patient's head to obtain the bounding box of the patient's head.

[0015] Calculate the coordinates of the center point of the bounding box;

[0016] The center point coordinates of the bounding box are regarded as the center point P of the patient's head. c The coordinates.

[0017] Optionally, the preset length R includes:

[0018]

[0019] Wherein (X) c Y c Z c ) represents the center point P of the head. c The coordinates;

[0020] The (X) n Y n Z n ) indicates the distance from the bounding box to the center point P of the head. c The coordinates of the point furthest from the largest bounding box.

[0021] Optionally, calculate the intersection point P. m To the target magnetic stimulation point P e The distance d includes:

[0022]

[0023] Wherein (X) m Ym Z m ) represents the intersection point P m The coordinates;

[0024] The (X) e Y e Z e ) represents the target magnetic stimulation point P. e The coordinates.

[0025] Optionally, a magnetic stimulation coil is adapted to be installed at the end of the robotic arm, and the tool center point of the robotic arm is located on the free end surface of the magnetic stimulation coil. The coordinate value of the tool center point of the robotic arm is equal to the coordinate of the free end center point of the robotic arm plus the coordinate value corresponding to the thickness of the magnetic stimulation coil.

[0026] Optional, also includes:

[0027] Let the center point of the robotic arm's tool be the starting point and the center point of the patient's head be the ending point, forming a vector M;

[0028] The vector M is applied to the magnetic stimulation coil of the robotic arm, such that the robotic arm controls the magnetic stimulation coil to always be oriented toward the center point of the patient's head.

[0029] Optionally, after applying the vector M to the magnetic stimulation coil of the robotic arm, the method further includes:

[0030] The direction of the vector M is taken as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.

[0031] Optionally, after obtaining the planned path of the robotic arm, the method further includes:

[0032] The planned path is transformed into a motion path in the spatial coordinate system of the robotic arm;

[0033] The motion path is sent to the robotic arm so that the tool center point of the robotic arm moves along the motion path.

[0034] Secondly, this application provides a path planning system for a transcranial magnetic stimulation navigation process, applied to a robotic arm, comprising:

[0035] Determining unit, used to determine the center point P of the patient's head. c The target magnetic stimulation point P on the patient's head e The initial position point P of the tool center point of the robotic arm s ;

[0036] Create a unit for the head center point P cWith the center of the sphere as the center and the preset length R as the radius, a spatial hemisphere is created, which encloses all the magnetic stimulation points on the patient's head;

[0037] As a unit, it is used to use the outer surface of the spatial hemisphere as a safety plane S;

[0038] Connection unit, used to connect the head center point P c With the target magnetic stimulation point P e A straight line L is obtained, and the straight line L intersects the safety plane S at a point P. m ;

[0039] The generation unit is used to generate the tool center point of the robotic arm from the initial position point P according to a preset algorithm. s Move to the intersection point P m The first segment of the path;

[0040] A calculation unit is used to calculate the intersection point P. m To the target magnetic stimulation point P e Given the distance d, we obtain the second path segment;

[0041] The connecting unit is also used to connect the first path segment and the second path segment in sequence to obtain the planned path of the robotic arm.

[0042] Optionally, the determining unit determines the head center point P of the patient's head center point. c When, specifically used for:

[0043] The AABB bounding box algorithm is used to calculate the bounding box of the patient's head to obtain the bounding box of the patient's head.

[0044] Calculate the coordinates of the center point of the bounding box;

[0045] The center point coordinates of the bounding box are regarded as the center point P of the patient's head. c The coordinates.

[0046] Optionally, the preset length R includes:

[0047]

[0048] Wherein (X) c Y c Z c ) represents the center point P of the head. c The coordinates;

[0049] The (X) n Y n Z n ) indicates the distance from the bounding box to the center point P of the head.c The coordinates of the point furthest from the largest bounding box.

[0050] Optionally, the calculation unit calculates the intersection point P. m To the target magnetic stimulation point P e When the distance d is equal to the distance d, it is specifically used for:

[0051]

[0052] Wherein (X) m Y m Z m ) represents the intersection point P m The coordinates;

[0053] The (X) e Y e Z e ) represents the target magnetic stimulation point P. e The coordinates.

[0054] Optionally, a magnetic stimulation coil is adapted to be installed at the end of the robotic arm, and the tool center point of the robotic arm is located on the free end surface of the magnetic stimulation coil. The coordinate value of the tool center point of the robotic arm is equal to the coordinate of the free end center point of the robotic arm plus the coordinate value corresponding to the thickness of the magnetic stimulation coil.

[0055] Optional, also includes:

[0056] The creation unit is also used to set the tool center point of the robotic arm as the starting point and the patient's head center point as the ending point to form a vector M;

[0057] As a unit, it is also used to apply the vector M to the magnetic stimulation coil of the robotic arm, so that the robotic arm controls the magnetic stimulation coil to always be oriented toward the center point of the patient's head.

[0058] Optionally, the system further includes:

[0059] As a unit, it is also used to take the direction of the vector M as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.

[0060] Optionally, the system further includes:

[0061] The conversion unit is used to convert the planned path into a motion path in the spatial coordinate system of the robotic arm;

[0062] A sending unit is used to send the motion path to the robotic arm so that the tool center point of the robotic arm moves along the motion path.

[0063] Thirdly, this application provides a computer device, comprising:

[0064] Processor, memory, bus, input / output interfaces, network interfaces;

[0065] The processor is connected to the memory, the input / output interface, and the network interface via a bus;

[0066] The memory stores a program;

[0067] When the processor executes the program stored in the memory, it implements the path planning method for the transcranial magnetic stimulation navigation process described in the first aspect above.

[0068] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform a path planning method for the transcranial magnetic stimulation navigation process as described in the first aspect above.

[0069] Fifthly, this application provides a computer program product that, when executed on a computer, causes the computer to perform a path planning method for the transcranial magnetic stimulation navigation process as described in the first aspect above.

[0070] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0071] The path planning method for the transcranial magnetic stimulation navigation process in this application uses the center point P of the patient's head as the reference point. c With the center as the pivot and a preset length R as the radius, create a spatial hemisphere that encompasses all magnetic stimulation points on the patient's head. Then, use the outer surface of the spatial hemisphere as a safety plane S to ensure the safety of the patient's head. Finally, connect the center point P of the head. c With the target magnetic stimulation point P e This yields a straight line L, which intersects the safety plane S at a point P. m At this point, the tool center point of the robotic arm is generated according to the preset algorithm from the initial position point P. s Move to intersection point P m The first segment of the path; then calculate the intersection point P. m To the target magnetic stimulation point P e The distance d is used to obtain the second path segment; finally, the first and second paths are connected in sequence to obtain the planned path of the robotic arm. It can be seen that when the magnetic stimulation center point of the magnetic stimulation coil is located at the tool center point of the robotic arm, the robotic arm can follow this planned path to direct the tool center point of the robotic arm from the initial position point P. s Movement to the target magnetic stimulation point P e This enables path planning and navigation of the robotic arm during transcranial magnetic stimulation (TMS) navigation. Attached Figure Description

[0072] Figure 1 This is a schematic flowchart of an embodiment of the path planning method for the transcranial magnetic stimulation navigation process of this application;

[0073] Figure 2 This is a schematic flowchart of another embodiment of the path planning method for the transcranial magnetic stimulation navigation process of this application;

[0074] Figure 3 This is a schematic flowchart of another embodiment of the path planning method for the transcranial magnetic stimulation navigation process of this application;

[0075] Figure 4 This is a schematic diagram of an embodiment of the path planning system for the transcranial magnetic stimulation navigation process of this application;

[0076] Figure 5 This is a schematic diagram of the structure of one embodiment of the computer device of this application;

[0077] Figure 6 A side view of a patient's head model enclosed in a cube-shaped bounding box;

[0078] Figure 7 A side view of the positional relationship between the patient's head model and the safety plane S;

[0079] Figure 8 Let P be the intersection point of the magnetic stimulation coil and the safe plane S. m Move to the target magnetic stimulation point P of the patient's head model e A schematic diagram of one embodiment;

[0080] Figure 9 for Figure 7 Initial position point P in the first segment of the path s to intersection point P m A schematic diagram showing the orientation of vector M at different positions;

[0081] Figure 10 A schematic diagram of an example of a figure-eight magnetic stimulation coil being fitted and installed at the free end of a robotic arm. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0083] It is understandable that the path planning method for the transcranial magnetic stimulation navigation process in this application is based on the premise that the three-dimensional coordinate set of the patient's head model is known in the spatial coordinate system of the robotic arm. There are already mature existing technologies for mapping and registering the patient's head model in the spatial coordinate system of the robotic arm, which will not be elaborated upon here. For example, a patient's head model can be created in advance, and then the patient's head can be visually located using a binocular vision camera to determine its position and orientation in the binocular vision camera coordinate system. Then, based on the coordinate system transformation relationship between the binocular vision camera coordinate system and the spatial coordinate system of the robotic arm, the patient's head model can be mapped from its position and orientation in the binocular vision camera coordinate system to the spatial coordinate system of the robotic arm, so that the spatial coordinate system of the robotic arm can know the position and orientation of the patient's head.

[0084] Please see Figure 1 An embodiment of the path planning method for transcranial magnetic stimulation navigation in this application, applied to a robotic arm, includes:

[0085] 101. Determine the center point P of the patient's head. c Target magnetic stimulation point P on the patient's head e The initial position P of the tool center point of the robotic arm s .

[0086] This step requires determining the center point P of the patient's head. c This provides data support for subsequent steps to create a safe plane. For example, for the center point P of the patient's head... c The center point coordinates of the patient's head model can be directly calculated; alternatively, the AABB bounding box algorithm can be used to calculate the bounding box of the patient's head, then the center point coordinates of the bounding box can be calculated, and the center point coordinates of the bounding box can be regarded as the center point P of the patient's head. c The coordinates. It is worth noting that determining the center point P of the patient's head is crucial. c There are many methods, and the appropriate one can be selected based on the actual situation in practical applications. No further restrictions will be imposed here.

[0087] This step requires determining the target magnetic stimulation point P on the patient's head. e In order to determine the endpoint of the path planning technology for the transcranial magnetic stimulation navigation process of this application, for example, the target magnetic stimulation point P. e This could be a target coordinate point selected by the operator on the patient's head model; this step also requires determining the initial position point P of the robotic arm's tool center point. s In order to determine the starting point of the path planning technique for this transcranial magnetic stimulation navigation process, for example, the initial location point P. sIt can be the coordinates of the tool center point of the robotic arm in the spatial coordinate system when the robotic arm starts.

[0088] 102. Taking the center point P of the head as an example. c With the center of the sphere as the center and the preset length R as the radius, create a spatial hemisphere that encloses all the magnetic stimulation points on the patient's head.

[0089] The head center point P determined in step 101 c With the center as the center and a preset length R as the radius, a spatial hemisphere is created. This spatial hemisphere encloses all magnetic stimulation points on the patient's head, achieving comprehensive protection for all magnetic stimulation points. The calculation process for the preset length R can be as follows:

[0090]

[0091] Where (X) c Y c Z c ) represents the center point P of the head. c The coordinates, (X n Y n Z n ) indicates the distance from the bounding box to the center point P of the head. c The coordinates of the point farthest from the largest bounding box. For example, see [link to example]. Figure 6 , Figure 6 This is a side view of a patient's head model enclosed in a cubic bounding box. Figure 6 From the top left corner vertex to the center point P of the head c The distance is the greatest.

[0092] 103. The outer surface of the spatial hemisphere is taken as the safety plane S.

[0093] 104. Connect the center point P of the head. c With the target magnetic stimulation point P e We obtain a straight line L, which intersects the safety plane S at a point P. m .

[0094] For example, please see Figure 7 , Figure 7 This is a side view of the positional relationship between the patient's head model and the safety plane S, assuming the center point of the head is P. c Located at the center of the patient's head model, the target magnetic stimulation point P e Located on the forehead of the patient's head model, connecting the center point P of the head. c With the target magnetic stimulation point P e If we obtain a straight line L, then this straight line L intersects the safety plane S at a point P. m .

[0095] 105. Generate the tool center point of the robotic arm from the initial position point P according to the preset algorithm. s Move to intersection point P m The first segment of the path.

[0096] Understandably, in transcranial magnetic stimulation (TMS) technology, the magnetic stimulation coil is installed at the end of a robotic arm; that is, the end of the robotic arm is fitted with a magnetic stimulation coil. The tool center point of the robotic arm is located on the free end surface of the magnetic stimulation coil. The coordinates of the tool center point of the robotic arm are equal to the coordinates of the free end center point of the robotic arm (known) plus the coordinates corresponding to the thickness of the magnetic stimulation coil. This prevents the robotic arm from moving from its initial position point P... s to intersection point P m The collision contact occurs during the first segment of the path due to the volume of the stimulation coil. The tool central point (TCP) of a robotic arm generally refers to the center point of the tool (e.g., a magnetic stimulation coil) mounted at the end of the robotic arm. For example, please refer to... Figure 10 The figure-eight shaped magnetic stimulation coil is fitted onto the free end of the robotic arm. If the center point of the free end of the robotic arm is originally located at (0, 0, 0) in the spatial coordinate system of the robotic arm, and this center point is on the positive z-axis of the end-effector coordinate system, and the figure-eight shaped magnetic stimulation coil has a thickness of 2 units, then (0, 0, 2) can be set as the new tool center point of the robotic arm to calibrate the deviation. Furthermore, since the end of the robotic arm gradually approaches the patient's head from a distance, this step first generates the tool center point of the robotic arm from the initial position point P according to a preset algorithm. s Move to intersection point P m The first segment of the path, for example, Figure 7 As shown, starting from the initial position point P s Move to intersection point P m The curved portion represents the first path segment. It should be noted that the preset algorithm here can be the artificial potential field method, ant colony algorithm, RRT algorithm, A* algorithm, etc., and the type or method of this preset algorithm is not limited here.

[0097] 106. Calculate the intersection point P. m To the target magnetic stimulation point P e The distance d is used to obtain the second path segment.

[0098] Specifically, the calculation process for distance d includes:

[0099]

[0100] Where (X) m Y m Z m ) represents the intersection point P m The coordinates; (Xe Y e Z e ) represents the target magnetic stimulation point P e The coordinates. For example, see [link to relevant documentation]. Figure 8 , Figure 8 Let P be the intersection point of the magnetic stimulation coil and the safe plane S. m Move to the target magnetic stimulation point P of the patient's head model e A schematic diagram.

[0101] 107. Connect the first path segment and the second path segment in sequence to obtain the planned path of the robotic arm.

[0102] In step 105, the tool center point of the robotic arm is obtained from the initial position point P. s Move to intersection point P m The first segment of the path, and in step 106, the path from intersection point P is obtained. m To the target magnetic stimulation point P e If the distance d is given, then this step can connect the first path segment and the second path segment in sequence to obtain the planned path of the robotic arm.

[0103] It can be seen that when the magnetic stimulation coil is located at the tool center point of the robotic arm, the robotic arm can guide the tool center point of the robotic arm from the initial position point P according to the planned path. s Movement to the target magnetic stimulation point P e This enables path planning and navigation of the robotic arm during transcranial magnetic stimulation (TMS) navigation.

[0104] Please see Figure 2 In the above Figure 1 Based on the previous embodiment, in order to further avoid the robotic arm from the initial position point P s to intersection point P m During the first segment of the path, the volume of the stimulation coil causes collision contact with the patient's head. Another embodiment of the path planning method for transcranial magnetic stimulation navigation in this application may further include:

[0105] 201. Let the center point of the robotic arm's tool be the starting point and the center point of the patient's head be the ending point, forming a vector M.

[0106] In the spatial coordinate system where the robotic arm is located, this vector M will always point to the center point of the patient's head model, regardless of its movement. For example... Figure 9 As shown, Figure 9 for Figure 7 The initial position point P of the first segment of the path s to intersection point P m A schematic diagram showing the orientation of vector M at different positions.

[0107] 202. Apply vector M to the magnetic stimulation coil of the robotic arm so that the control magnetic stimulation coil of the robotic arm is always oriented toward the center point of the patient's head.

[0108] Specifically, the vector M formed in step 201 is applied to the magnetic stimulation coil of the robotic arm, that is, the vector M is applied to one or more joint motors at the end of the robotic arm where the magnetic stimulation coil is located, so that the robotic arm always keeps the magnetic stimulation coil facing the center point of the patient's head.

[0109] Understandably, if the magnetic stimulation coil's orientation is uncertain during the first segment of its path, the coil's volume may come into contact with the patient's head. Therefore, it is stipulated that the magnetic stimulation coil always faces the center point of the patient's head, i.e., parallel to the tangential plane corresponding to the safety plane S. In this way, the orientation of the magnetic stimulation coil is only affected by the coil's thickness, and this effect is limited by... Figure 1 This has been eliminated in the embodiment, thus avoiding the possibility of the magnetic stimulation coil coming into contact with the head surface during the execution of the first path segment.

[0110] 203. Take the direction of vector M as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.

[0111] Specifically, to facilitate the execution of the second path segment, this step can use the direction of vector M as the z-axis direction of the end-effector coordinate system of the robotic arm containing the magnetic stimulation coil (see [link to relevant documentation]). Figure 10 As shown in the figure, the plane equation containing the coordinates of the center point of the robotic arm tool is obtained from the coordinates of the center point of the robotic arm tool. On the plane represented by the plane equation, two mutually perpendicular straight lines with the coordinates of the center point of the robotic arm tool as the intersection point are selected to establish an orthogonal coordinate system and obtain the coordinate system of the end effector of the robotic arm. The pose of the magnetic stimulation coil can be obtained in the coordinate system of the end effector of the robotic arm, and then the pose of the magnetic stimulation coil vector M can be specifically controlled.

[0112] In this embodiment, path planning for the transcranial magnetic stimulation (TMS) navigation process can be performed in either the spatial coordinate system of the robotic arm or the coordinate system of the binocular vision camera, thereby obtaining the planned path. When the path planning for the TMS navigation process in this embodiment is not performed in the spatial coordinate system of the robotic arm, in order for the robotic arm to know the planned path and realize the TMS navigation process, please refer to [link to relevant documentation]. Figure 3 Another embodiment of the path planning method for the transcranial magnetic stimulation navigation process of this application includes:

[0113] 301. Transform the planned path into a motion path in the spatial coordinate system of the robotic arm.

[0114] The planned path formed in other coordinate systems is transformed into the motion path in the spatial coordinate system of the robotic arm. For example, the planned path of the robotic arm formed in the coordinate system of the binocular vision camera is transformed into the motion path in the spatial coordinate system of the robotic arm according to the transformation relationship between the coordinate system of the binocular vision camera and the spatial coordinate system of the robotic arm.

[0115] 302. Send the motion path to the robotic arm so that the tool center point of the robotic arm moves along the motion path.

[0116] The motion path transformed in step 30 is sent to the robotic arm so that the motion path is generated in the spatial coordinate system of the robotic arm. This allows the robotic arm to direct its tool center point to move along the motion path, thus completing the execution of the motion path and realizing the execution of path planning in the transcranial magnetic stimulation navigation process.

[0117] The above embodiments describe the path planning method for the transcranial magnetic stimulation (TMS) navigation process of this application. The path planning system for the TMS navigation process of this application is described below. Please refer to [link to relevant documentation]. Figure 4 An embodiment of a path planning system for transcranial magnetic stimulation navigation, applied to a robotic arm, includes:

[0118] Determining unit 401 is used to determine the center point P of the patient's head. c The target magnetic stimulation point P on the patient's head e The initial position point P of the tool center point of the robotic arm s ;

[0119] Creation unit 402 is used to create a head center point P c With the center of the sphere as the center and the preset length R as the radius, a spatial hemisphere is created, which encloses all the magnetic stimulation points on the patient's head;

[0120] Unit 403 is used to use the outer surface of the spatial hemisphere as a safety plane S;

[0121] Connection unit 404 is used to connect the head center point P c With the target magnetic stimulation point P e A straight line L is obtained, and the straight line L intersects the safety plane S at a point P. m ;

[0122] Generation unit 405 is used to generate the tool center point of the robotic arm from the initial position point P according to a preset algorithm. s Move to the intersection point P m The first segment of the path;

[0123] Calculation unit 406 is used to calculate the intersection point P. mTo the target magnetic stimulation point P e Given the distance d, we obtain the second path segment;

[0124] The connecting unit 404 is also used to connect the first path segment and the second path segment in sequence to obtain the planned path of the robotic arm.

[0125] Optionally, the determining unit 401 determines the head center point P of the patient's head center point. c When, specifically used for:

[0126] The AABB bounding box algorithm is used to calculate the bounding box of the patient's head to obtain the bounding box of the patient's head.

[0127] Calculate the coordinates of the center point of the bounding box;

[0128] The center point coordinates of the bounding box are regarded as the center point P of the patient's head. c The coordinates.

[0129] Optionally, the preset length R includes:

[0130]

[0131] Wherein (X) c Y c Z c ) represents the center point P of the head. c The coordinates;

[0132] The (X) n Y n Z n ) indicates the distance from the bounding box to the center point P of the head. c The coordinates of the point furthest from the largest bounding box.

[0133] Optionally, the calculation unit calculates the intersection point P. m To the target magnetic stimulation point P e When the distance d is equal to the distance d, it is specifically used for:

[0134]

[0135] Wherein (X) m Y m Z m ) represents the intersection point P m The coordinates;

[0136] The (X) e Y e Z e ) represents the target magnetic stimulation point P. e The coordinates.

[0137] Optionally, a magnetic stimulation coil is adapted to be installed at the end of the robotic arm, and the tool center point of the robotic arm is located on the free end surface of the magnetic stimulation coil. The coordinate value of the tool center point of the robotic arm is equal to the coordinate of the free end center point of the robotic arm plus the coordinate value corresponding to the thickness of the magnetic stimulation coil.

[0138] Optional, also includes:

[0139] The creation unit is also used to set the tool center point of the robotic arm as the starting point and the patient's head center point as the ending point to form a vector M;

[0140] As a unit, it is also used to apply the vector M to the magnetic stimulation coil of the robotic arm, so that the robotic arm controls the magnetic stimulation coil to always be oriented toward the center point of the patient's head.

[0141] Optionally, the system further includes:

[0142] As a unit, it is also used to take the direction of the vector M as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.

[0143] Optionally, the system further includes:

[0144] The conversion unit 407 is used to convert the planned path into a motion path in the spatial coordinate system of the robotic arm;

[0145] The sending unit 408 is used to send the motion path to the robotic arm so that the tool center point of the robotic arm moves along the motion path.

[0146] The path planning system for the transcranial magnetic stimulation navigation process in this application embodiment performs the same operations as described above. Figure 1 , Figure 2 as well as Figure 3 The operations performed in the embodiments are similar and will not be described again here.

[0147] The computer device according to embodiments of this application is described below. Please refer to... Figure 5 One embodiment of the computer device in this application includes:

[0148] The computer device 500 may include one or more central processing units (CPUs) 501 and memory 502, wherein the memory 502 stores one or more application programs or data. The memory 502 may be volatile or persistent storage. The program stored in the memory 502 may include one or more modules, each module including a series of instruction operations on the computer device. Furthermore, the processor 501 may be configured to communicate with the memory 502 and execute the series of instruction operations stored in the memory 502 on the computer device 500. The computer device 500 may also include one or more network interfaces 503, one or more input / output interfaces 504, and / or one or more operating systems, such as Windows Server, Mac OS, Unix, Linux, FreeBSD, etc. The processor 501 can execute the aforementioned... Figures 1 to 3 The specific operations performed in the illustrated embodiment will not be described in detail here.

[0149] In the several embodiments provided in this application, those skilled in the art should understand that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0150] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes: USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media capable of storing program code.

[0151] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A path planning method for transcranial magnetic stimulation navigation, characterized in that, Applications in robotic arms, including: Determine the center point P of the patient's head c The target magnetic stimulation point P on the patient's head e The initial position point P of the tool center point of the robotic arm s ; With the head center point P c With the center of the sphere as the center and the preset length R as the radius, a spatial hemisphere is created, which encloses all the magnetic stimulation points on the patient's head; The outer surface of the spatial hemisphere is taken as the safety plane S; Connect the center point P of the head c With the target magnetic stimulation point P e A straight line L is obtained, and the straight line L intersects the safety plane S at a point P. m ; The tool center point of the robotic arm is generated from the initial position point P according to a preset algorithm. s Move to the intersection point P m The first path segment, the preset algorithm includes one of the following: artificial potential field method, ant colony algorithm, RRT algorithm, and A* algorithm; Calculate the intersection point P m To the target magnetic stimulation point P e Given the distance d, we obtain the second path segment; By connecting the first path segment and the second path segment in sequence, the planned path of the robotic arm is obtained; The head center point P for determining the center point of the patient's head. c include: The AABB bounding box algorithm is used to calculate the bounding box of the patient's head to obtain the bounding box of the patient's head. Calculate the coordinates of the center point of the bounding box; The center point coordinates of the bounding box are regarded as the center point P of the patient's head. c The coordinates; The preset length R includes: Where X c Y c Z c The head center point P represents c The coordinates; X n Y n Z n This indicates the distance from the bounding box to the center point P of the head. c The coordinates of the point furthest from the largest bounding box; Calculate the intersection point P m To the target magnetic stimulation point P e The distance d includes: Where X m Y m Z m The intersection point P represents m The coordinates; X e Y e Z e The target magnetic stimulation point P is indicated. e The coordinates.

2. The path planning method according to claim 1, characterized in that, The end of the robotic arm is fitted with a magnetic stimulation coil. The tool center point of the robotic arm is located on the free end surface of the magnetic stimulation coil. The coordinate value of the tool center point of the robotic arm is equal to the coordinate of the free end center point of the robotic arm plus the coordinate value corresponding to the thickness of the magnetic stimulation coil.

3. The path planning method according to claim 2, characterized in that, Also includes: Let the center point of the robotic arm's tool be the starting point and the center point of the patient's head be the ending point, forming a vector M; The vector M is applied to the magnetic stimulation coil of the robotic arm, such that the robotic arm controls the magnetic stimulation coil to always be oriented toward the center point of the patient's head.

4. The path planning method according to claim 3, characterized in that, After applying the vector M to the magnetic stimulation coil of the robotic arm, the method further includes: The direction of the vector M is taken as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.

5. The path planning method according to claim 1, characterized in that, After obtaining the planned path of the robotic arm, the method further includes: The planned path is transformed into a motion path in the spatial coordinate system of the robotic arm; The motion path is sent to the robotic arm so that the tool center point of the robotic arm moves along the motion path.

6. A path planning system for transcranial magnetic stimulation navigation, characterized in that, include: Determining unit, used to determine the center point P of the patient's head. c The target magnetic stimulation point P on the patient's head e The initial position P of the tool center point of the robotic arm s ; Create a unit for use at the head center point P c With the center of the sphere as the center and the preset length R as the radius, a spatial hemisphere is created, which encloses all the magnetic stimulation points on the patient's head; As a unit, it is used to use the outer surface of the spatial hemisphere as a safety plane S; Connection unit, used to connect the head center point P c With the target magnetic stimulation point P e A straight line L is obtained, and the straight line L intersects the safety plane S at a point P. m ; The generation unit is used to generate the tool center point of the robotic arm from the initial position point P according to a preset algorithm. s Move to the intersection point P m The first path segment, the preset algorithm includes one of the following: artificial potential field method, ant colony algorithm, RRT algorithm, and A* algorithm; A calculation unit is used to calculate the intersection point P. m To the target magnetic stimulation point P e Given the distance d, we obtain the second path segment; The connecting unit is also used to connect the first path segment and the second path segment in sequence to obtain the planned path of the robotic arm; The determining unit determines the head center point P of the patient's head center point. c When, specifically used for: The AABB bounding box algorithm is used to calculate the bounding box of the patient's head to obtain the bounding box of the patient's head. Calculate the coordinates of the center point of the bounding box; The center point coordinates of the bounding box are regarded as the center point P of the patient's head. c The coordinates; The preset length R includes: Where X c Y c Z C The head center point P represents c The coordinates; X n Y n Z n This indicates the distance from the bounding box to the center point P of the head. c The coordinates of the point furthest from the largest bounding box; The calculation unit calculates the intersection point P. m To the target magnetic stimulation point P e When the distance d is equal to the distance d, it is specifically used for: Where X m Y m Z m The intersection point P represents m The coordinates; X e Y e Z e The target magnetic stimulation point P is indicated. e The coordinates.

7. A computer device, characterized in that, include: Processor, memory, bus, input / output interfaces, and network interfaces; The processor is connected to the memory, the input / output interface, and the network interface via a bus; The memory stores a program; When the processor executes the program stored in the memory, it implements the path planning method for the transcranial magnetic stimulation navigation process as described in any one of claims 1 to 5.

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