A target tracking device and a transcranial magnetic therapy device

Abstract

This invention discloses a target tracking device and a transcranial magnetic stimulation (TMS) therapy device, relating to the field of medical devices, including a control module, a communication module, and a pose detection module. The control module first acquires the zero-point pose of the target tracking device measured by the pose detection module when the treatment coil is activated. Then, it acquires the current pose of the target tracking device after the treatment coil is activated, i.e., during treatment. When the pose offset between the zero-point pose and the current pose is greater than a preset offset threshold, it indicates that the user's head has moved. Based on the pose offset, the offset required for the treatment coil to reposition to the current target point is obtained, and this offset is sent to the TMS therapy device via the communication module. Therefore, this application can send the offset to the TMS therapy device when the user's head moves, so that the TMS therapy device can re-control the movement of the treatment coil to the target point, avoiding the problem of ineffective treatment caused by user head movement.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a target tracking device and a transcranial magnetic stimulation device. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a technique that uses a treatment coil to generate pulses on the cerebral cortex at a target location on the user's head, thereby inducing a current at the target location to temporarily excite or inhibit brain function. During TMS treatment, movement of the user's head can cause changes in the actual position of the target, leading to a relative positional deviation between the treatment coil and the target location. This can result in problems such as the treatment coil missing the target, easily leading to ineffective treatment. Summary of the Invention

[0003] The purpose of this invention is to provide a target tracking device and a transcranial magnetic stimulation (TMS) device that can send offset data to the TMS device when the user's head moves, so that the TMS device can re-control the movement of the treatment coil to the target position, thus avoiding the problem of ineffective treatment caused by the user's head movement.

[0004] To address the aforementioned technical problems, this invention provides a target tracking device, comprising a control module, a communication module, and a pose detection module;

[0005] The control module is used for:

[0006] When the treatment coil in the transcranial magnetic stimulation device is activated, the zero-point pose of the target tracking device, as measured by the pose detection module, is acquired.

[0007] After the treatment coil is activated, the current pose of the target tracking device, as measured by the pose detection module, is obtained.

[0008] Determine the pose offset between the zero-point pose and the current pose;

[0009] When the pose offset is greater than a preset offset threshold, the offset required for the treatment coil to move back to the target position is obtained based on the pose offset.

[0010] The offset is sent to the transcranial magnetic stimulation device via the communication module.

[0011] Preferably, the pose detection module includes a first gyroscope and a first accelerometer;

[0012] Obtaining the zero-point pose of the target tracking device as measured by the pose detection module includes:

[0013] The zero-point angular velocity collected by the first gyroscope and the zero-point acceleration collected by the first accelerometer are obtained;

[0014] The zero-point angular velocity is integrated to obtain the zero-point offset angle, and the zero-point rotation matrix of the target tracking device is obtained based on the zero-point offset angle.

[0015] The zero-point acceleration is integrated to obtain the zero-point velocity, the zero-point velocity is integrated to obtain the zero-point displacement, and the zero-point translation vector of the target tracking device is obtained based on the zero-point displacement.

[0016] Obtain the zero-point rotation matrix and the zero-point translation vector;

[0017] Obtaining the current pose of the target tracking device as measured by the pose detection module includes:

[0018] Obtain the current angular velocity collected by the first gyroscope and the current acceleration collected by the first accelerometer;

[0019] The current offset angle is obtained by integrating the current angular velocity, and the current rotation matrix of the target tracking device is obtained based on the current offset angle;

[0020] The current acceleration is integrated to obtain the current velocity, the current velocity is integrated to obtain the current displacement, and the current translation vector of the target tracking device is obtained based on the current displacement.

[0021] Obtain the current rotation matrix and the current translation vector.

[0022] Preferably, determining the pose offset between the zero-point pose and the current pose includes:

[0023] Determine the offset angle difference between the current offset angle and the zero-point offset angle;

[0024] Determine the translation difference between the current translation vector and the zero-point translation vector;

[0025] When the pose offset is greater than a preset offset threshold, the offset required for the treatment coil to reposition to the target point is obtained based on the pose offset, including:

[0026] When the offset angle difference is greater than a preset offset angle threshold and / or the translation difference is greater than a preset translation difference threshold, determine the rotation transformation matrix between the current rotation matrix and the zero-point rotation matrix, and determine the translation transformation matrix between the current translation vector and the zero-point translation vector;

[0027] The rotation transformation matrix and the translation transformation matrix are used as the offset required to reposition the treatment coil to the target location.

[0028] Preferably, it also includes an inertial navigation module disposed on the neck pillow of the transcranial magnetic stimulation device;

[0029] The inertial navigation module is used to detect the current deflection pose of the neck pillow when the treatment coil is activated and the camera in the transcranial magnetic therapy device cannot identify the target point, and send the current deflection pose to the control module.

[0030] The control module is also used to determine the actual position and actual pose of the target point based on the current deflection pose, and to send the actual position and actual pose to the transcranial magnetic stimulation device through the communication module.

[0031] Preferably, the inertial navigation module includes a second gyroscope and a second accelerometer.

[0032] Preferably, it also includes status indicator lights;

[0033] The control module is also used to control the status indicator light to provide corresponding indications when the target tracking device is in different working states.

[0034] Preferably, the communication module is a wireless communication module.

[0035] Preferably, the control module is further configured to:

[0036] Before the treatment coil is activated, the relative position information between the target point and the feature point is obtained, wherein the target point and the feature point are located at different positions on the user's head.

[0037] When the camera in the transcranial magnetic stimulation device cannot identify the target point, the location information of the feature point is obtained through the camera.

[0038] The location information of the target point is determined based on the location information of the feature point and the relative location information, and the location information of the target point is sent to the transcranial magnetic stimulation device.

[0039] Preferably, before the treatment coil is activated, the relative position information between the target point and the feature point is acquired, including:

[0040] Before the treatment coil is activated, the position coordinates of the target point and the position coordinates of the feature point are obtained;

[0041] The position coordinates of the target point are taken as the origin, and the position coordinates of the feature point relative to the origin are taken as the relative position information.

[0042] To address the aforementioned technical problems, the present invention also provides a transcranial magnetic stimulation (TMS) device, including the aforementioned target tracking device and a treatment coil.

[0043] This invention provides a target tracking device and a transcranial magnetic stimulation (TMS) therapy device, including a control module, a communication module, and a pose detection module. The target tracking device can be worn on the user's head during use. Therefore, when the pose of the target tracking device changes, it indicates that the user's head has also moved. The control module first acquires the zero-point pose of the target tracking device measured by the pose detection module when the treatment coil is activated. Then, it acquires the current pose of the target tracking device after the treatment coil is activated, i.e., during treatment. When the pose offset between the zero-point pose and the current pose is greater than a preset offset threshold, it indicates that the user's head has moved. Based on the pose offset, the offset required for the treatment coil to reposition to the current target point is calculated, and this offset is sent to the TMS therapy device via the communication module. Thus, this application can send the offset to the TMS therapy device when the user's head moves, allowing the TMS therapy device to re-control the movement of the treatment coil to the target point, avoiding ineffective treatment caused by user head movement. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a target tracking device provided by the present invention;

[0046] Figure 2 This is a schematic diagram of a method for wearing a target tracking device provided by the present invention;

[0047] Figure 3 A side view of an inertial navigation module in a target tracking device provided by the present invention;

[0048] Figure 4 This is a top view of an inertial navigation module in a target tracking device provided by the present invention. Detailed Implementation

[0049] The core of this invention is to provide a target tracking device and a transcranial magnetic stimulation (TMS) device that can send offset data to the TMS device when the user's head moves, so that the TMS device can re-control the movement of the treatment coil to the target position, thus avoiding the problem of ineffective treatment caused by the user's head movement.

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a target tracking device provided by the present invention. The target tracking device includes a pose detection module 1, a control module 2, and a communication module 3.

[0052] Control module 2 is used for:

[0053] When the treatment coil in the transcranial magnetic stimulation device is activated, the zero-point pose of the target tracking device is acquired by the pose detection module 1.

[0054] After the treatment coil is activated, the current pose of the target tracking device is obtained by the pose detection module 1.

[0055] Determine the pose offset between the zero-point pose and the current pose;

[0056] When the pose offset is greater than the preset offset threshold, the offset required for the treatment coil to move back to the target position is obtained based on the pose offset.

[0057] The offset is sent to the transcranial magnetic stimulation device via communication module 3.

[0058] In existing transcranial magnetic stimulation (TMS) techniques, the actual position of the target point changes due to head movement, which in turn causes a relative positional deviation between the treatment coil and the target point, resulting in the treatment coil missing the target and ineffective treatment.

[0059] To address the aforementioned technical problems, this application provides a target tracking device, which includes a control module 2, a communication module 3, and a pose detection module 1. The pose detection module 1 measures the pose of the target tracking device, and the communication module 3 enables data transmission between the target tracking device and other devices. The target tracking device provided in this application can be worn on the user's head. Please refer to [reference needed]. Figure 2 , Figure 2This is a schematic diagram of a method for wearing a target tracking device provided by the present invention. Therefore, when the user's head moves, the target tracking device will also move accordingly. Thus, the user's head can be determined by detecting whether the target tracking device has moved, and the user's head can be reflected by detecting the offset of the target tracking device when it moves.

[0060] Specifically, when the treatment coil in the transcranial magnetic stimulation (TMS) device is activated, the control module 2 acquires the zero-point pose of the target tracking device measured by the pose detection module 1. This zero-point pose reflects the initial position of the user's head using the target tracking device. After the treatment coil is activated, i.e., during treatment, the control module 2 acquires the current pose of the target tracking device measured by the pose detection module 1. This current pose reflects the real-time position of the user's head during use. To determine whether the user's head has moved, after obtaining the current pose, this application needs to determine the pose offset between the zero-point pose and the current pose. When the pose offset is greater than a preset offset threshold, it indicates that the user's head position has changed, which may lead to ineffective treatment. Therefore, it is necessary to determine the required offset for the treatment coil to reposition to the new target position based on the pose offset. Finally, the offset is sent to the TMS device via the communication module 3, so that the TMS device can control the robotic arm to move the treatment coil to the new target position, thereby avoiding ineffective treatment caused by target position movement.

[0061] It should be noted that the target points are marked on the user's head before the transcranial magnetic stimulation (TMS) treatment. Furthermore, the preset offset threshold in this application is pre-set and only needs to be set once; it does not need to be reset unless modified according to actual circumstances.

[0062] In addition, the target tracking device may also include a power module for powering the target tracking device and a Type-C interface, through which the power module can be charged.

[0063] In summary, this invention provides a target tracking device, including a control module 2, a communication module 3, and a pose detection module 1. The target tracking device can be worn on the user's head during use. Therefore, when the pose of the target tracking device changes, it indicates that the user's head has also moved. Thus, the control module 2 first acquires the zero-point pose of the target tracking device measured by the pose detection module 1 when the treatment coil is activated, and then acquires the current pose of the target tracking device after the treatment coil is activated, i.e., during treatment. When the pose offset between the zero-point pose and the current pose is greater than a preset offset threshold, it indicates that the user's head has moved. Based on the pose offset, the offset required for the treatment coil to reposition to the current position of the target is obtained, and the offset is sent to the transcranial magnetic stimulation (TMS) device via the communication module 3. Therefore, this application can send the offset to the TMS device when the user's head moves, so that the TMS device can re-control the movement of the treatment coil to the target position, avoiding the problem of ineffective treatment caused by user head movement.

[0064] Based on the above embodiments:

[0065] In a preferred embodiment, the pose detection module 1 includes a first gyroscope and a first accelerometer;

[0066] The zero-point pose of the target tracking device, measured by the pose detection module 1, is obtained, including:

[0067] Obtain the zero-point angular velocity collected by the first gyroscope and the zero-point acceleration collected by the first accelerometer;

[0068] The zero-point offset angle is obtained by integrating the zero-point angular velocity, and the zero-point rotation matrix of the target tracking device is obtained based on the zero-point offset angle.

[0069] The zero-point acceleration is integrated to obtain the zero-point velocity, the zero-point velocity is integrated to obtain the zero-point displacement, and the zero-point translation vector of the target tracking device is obtained based on the zero-point displacement.

[0070] Obtain the zero-point rotation matrix and the zero-point translation vector;

[0071] The current pose of the target tracking device, as measured by the pose detection module 1, is obtained, including:

[0072] Obtain the current angular velocity collected by the first gyroscope and the current acceleration collected by the first accelerometer;

[0073] The current offset angle is obtained by integrating the current angular velocity, and the current rotation matrix of the target tracking device is obtained based on the current offset angle;

[0074] The current velocity is obtained by integrating the current acceleration, the current displacement is obtained by integrating the current velocity, and the current translation vector of the target tracking device is obtained based on the current displacement.

[0075] Get the current rotation matrix and the current translation vector.

[0076] In this embodiment, the pose detection module 1 includes a first gyroscope and a first accelerometer. The first gyroscope can be used to collect the angular velocity of the target tracking device, and the first accelerometer can be used to collect the acceleration of the target tracking device. The pose data such as the velocity, position and attitude of the target tracking device can be obtained by calculation.

[0077] Specifically, the process of obtaining the zero-point pose of the target tracking device using the first gyroscope and the first accelerometer involves first acquiring the zero-point angular velocity collected by the first gyroscope and the zero-point acceleration collected by the first accelerometer. Integrating the zero-point angular velocity yields the zero-point offset angle, and based on this offset angle, the zero-point rotation matrix of the target tracking device is obtained. This zero-point rotation matrix reflects the spatial attitude of the target tracking device. Specifically, the zero-point rotation matrix Cba is obtained based on the zero-point offset angles φ, θ, and γ of the target tracking device along the X, Y, and Z axes.

[0078]

[0079] To avoid a large number of trigonometric function calculations, this embodiment uses quaternions to represent the zero-point rotation matrix. A quaternion is a number consisting of a real unit 1 and imaginary units i, j, and k, containing four elements (q0, q1, q2, q3).

[0080]

[0081] The quaternion equation is solved using the zero-point angular velocity output from the first gyroscope, and the zero-point rotation matrix is ​​updated. The zero-point rotation matrix can then be expressed as:

[0082]

[0083] Wherein, ωgx, ωgy, and ωgz are the angular velocities of the target tracking device relative to the X-axis, Y-axis, and Z-axis, measured by the first gyroscope.

[0084] Finally, the attitude angles are extracted using quaternions q0, q1, q2, and q3 based on the obtained zero-point rotation matrix. The attitude angles can be expressed as:

[0085] θ = arcsin(2q0q3 + 2q1q2)

[0086]

[0087]

[0088] This yields the zero-point rotation matrix R, which can be expressed as:

[0089]

[0090] The zero-point velocity is obtained by integrating the zero-point acceleration, and the zero-point displacement of the target tracking device is obtained by integrating the zero-point velocity again. Finally, the zero-point translation vector of the target tracking device is obtained based on the zero-point displacement, which reflects the amount of positional movement of the target tracking device in space.

[0091] Specifically, the triaxial acceleration of the target tracking device in the carrier coordinate system is measured by the first accelerometer and converted into triaxial acceleration in the navigation coordinate system. The triaxial acceleration in the carrier coordinate system is denoted as A(b) = [a x a y a z ] T The acceleration in the navigation coordinate system is denoted as A(n) = [a x a y a z ] T The rotation matrix that transforms the carrier coordinate system to the navigation coordinate system is denoted as:

[0092]

[0093] in, Let θ represent the pitch angle, γ represent the roll angle, and γ represent the yaw angle. Substituting these values ​​into A(n) = R(b, n) * A(b) yields the acceleration information in the navigation coordinate system. To avoid extensive trigonometric function calculations, a quaternion rotation matrix is ​​used in this embodiment.

[0094]

[0095] Therefore, we obtain A(b):

[0096]

[0097] Global acceleration is obtained by compensating for gravitational acceleration:

[0098] Where g is the acceleration due to gravity;

[0099] Integrating the above equation yields the speed:

[0100] V(e)=∫A(e)dt;

[0101] Discretizing the above equation again, we get:

[0102]

[0103] In the formula, V(k) is the discretized expression of the continuous quantity V(e), A(j) is the discretized expression of A(e), and K ia It is the proportionality coefficient used to sum the accelerations;

[0104] The displacement is obtained by integrating the velocity a second time, denoted as:

[0105] S(e)=∫V(e)dt;

[0106] After discretization, we get:

[0107]

[0108] In the formula, S(k) is the discretized expression of the continuous quantity S(e), V(j) is the discretized expression of V(e), and K iv It is the proportionality coefficient for the cumulative sum of speeds.

[0109] The final obtained S(k) is the zero-point translation vector of the target tracking device. Combining the zero-point translation vector with the zero-point rotation matrix yields the zero-point pose of the target tracking device.

[0110] The process of obtaining the current pose, which consists of the current rotation matrix and the current translation vector, using the first gyroscope and the first accelerometer is the same as the process of obtaining the zero-point rotation matrix and the zero-point translation vector using the first gyroscope and the first accelerometer, and will not be repeated here.

[0111] In summary, this embodiment can calculate the pose of the target tracking device using a first gyroscope and a first accelerometer, and the calculation method is simple and effective.

[0112] As a preferred embodiment, determining the pose offset between the zero-point pose and the current pose includes:

[0113] Determine the difference between the current offset angle and the zero-point offset angle;

[0114] Determine the translation difference between the current translation vector and the zero-point translation vector;

[0115] When the pose offset exceeds a preset offset threshold, the offset required for the treatment coil to reposition to the target point is determined based on the pose offset, including:

[0116] When the offset angle difference is greater than the preset offset angle threshold and / or the translation difference is greater than the preset translation difference threshold, determine the rotation transformation matrix between the current rotation matrix and the zero-point rotation matrix, and determine the translation transformation matrix between the current translation vector and the zero-point translation vector;

[0117] The rotation transformation matrix and translation transformation matrix are used as the offset required to reposition the treatment coil to the target location.

[0118] In this embodiment, determining the pose offset between the zero-point pose and the current pose specifically involves obtaining the difference between the current offset angle and the zero-point offset angle, and determining the difference between the current translation vector and the zero-point translation vector. This reflects not only the displacement of the target tracking device along the X, Y, and Z axes, but also its rotation along these axes, thus indicating the specific movement of the user's head. For example, if the offset angle difference is greater than 2 degrees and / or the translation difference is greater than 2 millimeters, it is considered that the target tracking device has moved, which in turn indicates that the user's head has moved.

[0119] After determining that the user's head has moved, it is necessary to determine the offset required for the treatment coil to move back to the new target position. This requires determining the rigid transformation matrix between the current pose and the zero pose. Specifically, it is necessary to determine the rotation transformation matrix between the current rotation matrix and the zero rotation matrix, and the translation transformation matrix between the current translation vector and the zero translation vector. Finally, the rotation transformation matrix and the translation transformation matrix are used as the offset required for the treatment coil to move back to the target position.

[0120] As a preferred embodiment, it also includes an inertial navigation module disposed on the neck pillow of the transcranial magnetic stimulation device;

[0121] The inertial navigation module is used to detect the current deflection pose of the neck pillow when the treatment coil is activated and the camera in the transcranial magnetic therapy device cannot identify the target point, and send the current deflection pose to the control module 2.

[0122] The control module 2 is also used to determine the actual position and actual pose of the target point based on the current deflection pose, and to send the actual position and actual pose to the transcranial magnetic stimulation device through the communication module 3.

[0123] Please refer to Figure 3 and Figure 4 , Figure 3 A side view of an inertial navigation module in a target tracking device provided by the present invention; Figure 4 This is a top view of an inertial navigation module in a target tracking device provided by the present invention.

[0124] To further avoid ineffective treatment due to user head movement during transcranial magnetic stimulation (TMS) therapy, an inertial navigation module is also installed on the neck support of the TMS therapy device in this embodiment. Since objects such as the treatment coil may obstruct the target point during TMS therapy, preventing the camera in the TMS therapy device from recognizing the target's position and thus failing to locate it, this application uses an inertial navigation module to detect the current deflection pose of the neck support and sends it to the control module 2. The control module 2 calculates the actual position and pose of the target point from the deflection pose of the neck support and sends this information to the TMS therapy device so that the device can control the robotic arm to accurately move the treatment coil to the target position.

[0125] In summary, this application utilizes an inertial navigation module to detect target displacement during treatment. This enables spatial positioning via a gyroscope even when the transcranial magnetic stimulation head obscures the target location and visual recognition is insufficient. This solves the problem that spatial positioning cannot be achieved solely through visual recognition when visual markers are obscured, thus achieving real-time and accurate target tracking.

[0126] In a preferred embodiment, the inertial navigation module includes a second gyroscope and a second accelerometer.

[0127] In this embodiment, the inertial navigation module includes a second gyroscope and a second accelerometer. The second gyroscope can obtain the angular velocity and acceleration of the neck pillow in the X-axis, Y-axis and Z-axis directions. By integrating the acceleration and accelerometer, the displacement data and rotation data of the neck pillow in the X-axis, Y-axis and Z-axis directions can be obtained.

[0128] As a preferred embodiment, it also includes a status indicator light;

[0129] Control module 2 is also used to control the status indicator light to provide corresponding indications when the target tracking device is in different working states.

[0130] In this embodiment, a status indicator light is also included to indicate different operating states of the target tracking device. For example, the status indicator light is off when the target tracking device is not working; the status indicator light is yellow when the target tracking device is powered on but has not established a communication connection with the transcranial magnetic stimulation device through the communication module 3; the status indicator light is green after the target tracking device is powered on and has established a communication connection with the transcranial magnetic stimulation device through the communication module 3; and the status indicator light is red when the target tracking device malfunctions.

[0131] In a preferred embodiment, communication module 3 is a wireless communication module.

[0132] In this embodiment, a wireless communication module is selected as the communication module 3. For example, a Bluetooth module is selected as the communication module 3, which can reduce the size of the target tracking device and the transcranial magnetic therapy device, making them easier to move and use.

[0133] In a preferred embodiment, the control module 2 is further configured to:

[0134] Before the treatment coil is activated, the relative position information between the target point and the feature point is obtained, where the target point and the feature point are located at different positions on the user's head.

[0135] When the camera in the transcranial magnetic stimulation device cannot identify the target point, the location information of the feature point is obtained through the camera.

[0136] The location information of the target point is determined based on the location information and relative location information of the feature points, and the location information of the target point is sent to the transcranial magnetic stimulation device.

[0137] Considering the possibility of the treatment coil obscuring the target point during transcranial magnetic stimulation (TMS) therapy, this embodiment sets target points and feature points at different positions on the user's head before TMS therapy. When the target point is obscured, its position can be indirectly determined by identifying the feature points. By retrieving relative position information and combining it with the position information of the feature points, the actual position of the obscured target point is calculated using coordinate transformation. This achieves the goal of using feature points to assist in locating the target point even when it is obscured. Specifically, the relative positional relationship between the target point and the feature points is obtained before the treatment coil is activated. When the camera in the TMS therapy device cannot identify the target point, the position information of the feature points is obtained through the camera. Then, based on the position information of the feature points and the relative position information, the position information of the target point is determined and sent to the TMS therapy device so that the TMS therapy device can control the robotic arm to move the treatment coil to the target point.

[0138] In addition, the control module 2 can continuously compare the changes in the target position over a specified time. If the change in the target position exceeds a preset threshold, the path planning of the robotic arm of the transcranial magnetic stimulation device will be re-planned to achieve the effect of tracking treatment.

[0139] As a preferred embodiment, before the treatment coil is activated, the relative position information between the target point and the feature point is acquired, including:

[0140] Before the treatment coil is activated, the position coordinates of the target point and the position coordinates of the feature points are obtained;

[0141] The target point's coordinates are used as the origin, and the feature point's coordinates relative to the origin are used as the relative position information.

[0142] In this embodiment, obtaining the relative positional relationship between the target point and the feature point specifically involves first obtaining the position coordinates of the target point and the position coordinates of the feature point. Then, the position coordinates of the target point are used as the origin, and the position coordinates of the feature point relative to the coordinates of the feature point are used as the relative positional information. For example, if the coordinates of the target point are (X0, Y0, Z0, x0, y0, z0) and the coordinates of the feature point are (X, Y, Z, x, y, z), then the relative coordinates (X1, Y1, Z1, x1, y1, z1) can be represented as (X-X0, Y-Y0, Z-Z0, x-x0, y-y0, z-z0).

[0143] In summary, in this embodiment, when the target point is occluded during treatment, the target point is continuously located using a feature point-assisted localization method. Furthermore, when the target point is re-identified, the identification method can be switched, and the target point can be reused for localization. This solves the problem of spatial localization being impossible when the target point is occluded, achieving continuous and accurate target point localization.

[0144] The present invention also provides a transcranial magnetic stimulation device, including the above-mentioned target tracking device, and further including a treatment coil.

[0145] For a detailed description of the transcranial magnetic stimulation device provided by this invention, please refer to the above-described embodiment of the target tracking device; further details will not be provided here.

[0146] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0147] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A target tracking device, characterized in that, Includes a control module, a communication module, and a pose detection module; The control module is used for: When the treatment coil in the transcranial magnetic stimulation device is activated, the zero-point pose of the target tracking device, as measured by the pose detection module, is acquired. After the treatment coil is activated, the current pose of the target tracking device, as measured by the pose detection module, is obtained. Determine the pose offset between the zero-point pose and the current pose; When the pose offset is greater than a preset offset threshold, the offset required for the treatment coil to move back to the target position is obtained based on the pose offset. The offset is sent to the transcranial magnetic stimulation device via the communication module; It also includes an inertial navigation module mounted on the neck pillow of the transcranial magnetic stimulation device; The inertial navigation module is used to detect the current deflection pose of the neck pillow when the treatment coil is activated and the camera in the transcranial magnetic therapy device cannot identify the target point, and send the current deflection pose to the control module. The control module is also used to determine the actual position and actual pose of the target point based on the current deflection pose, and to send the actual position and actual pose to the transcranial magnetic stimulation device through the communication module.

2. The target tracking device as described in claim 1, characterized in that, The pose detection module includes a first gyroscope and a first accelerometer; Obtaining the zero-point pose of the target tracking device as measured by the pose detection module includes: The zero-point angular velocity collected by the first gyroscope and the zero-point acceleration collected by the first accelerometer are obtained; The zero-point angular velocity is integrated to obtain the zero-point offset angle, and the zero-point rotation matrix of the target tracking device is obtained based on the zero-point offset angle. The zero-point acceleration is integrated to obtain the zero-point velocity, the zero-point velocity is integrated to obtain the zero-point displacement, and the zero-point translation vector of the target tracking device is obtained based on the zero-point displacement. Obtain the zero-point rotation matrix and the zero-point translation vector; Obtaining the current pose of the target tracking device as measured by the pose detection module includes: Obtain the current angular velocity collected by the first gyroscope and the current acceleration collected by the first accelerometer; The current offset angle is obtained by integrating the current angular velocity, and the current rotation matrix of the target tracking device is obtained based on the current offset angle; The current acceleration is integrated to obtain the current velocity, the current velocity is integrated to obtain the current displacement, and the current translation vector of the target tracking device is obtained based on the current displacement. Obtain the current rotation matrix and the current translation vector.

3. The target tracking device as described in claim 2, characterized in that, Determining the pose offset between the zero-point pose and the current pose includes: Determine the offset angle difference between the current offset angle and the zero-point offset angle; Determine the translation difference between the current translation vector and the zero-point translation vector; When the pose offset is greater than a preset offset threshold, the offset required for the treatment coil to reposition to the target point is obtained based on the pose offset, including: When the offset angle difference is greater than a preset offset angle threshold and / or the translation difference is greater than a preset translation difference threshold, determine the rotation transformation matrix between the current rotation matrix and the zero-point rotation matrix, and determine the translation transformation matrix between the current translation vector and the zero-point translation vector; The rotation transformation matrix and the translation transformation matrix are used as the offset required to reposition the treatment coil to the target location.

4. The target tracking device as described in claim 1, characterized in that, The inertial navigation module includes a second gyroscope and a second accelerometer.

5. The target tracking device as described in claim 1, characterized in that, It also includes status indicator lights; The control module is also used to control the status indicator light to provide corresponding indications when the target tracking device is in different working states.

6. The target tracking device as described in claim 1, characterized in that, The communication module is a wireless communication module.

7. The target tracking device according to any one of claims 1 to 6, characterized in that, The control module is also used for: Before the treatment coil is activated, the relative position information between the target point and the feature point is obtained, wherein the target point and the feature point are located at different positions on the user's head. When the camera in the transcranial magnetic stimulation device cannot identify the target point, the location information of the feature point is obtained through the camera. The location information of the target point is determined based on the location information of the feature point and the relative location information, and the location information of the target point is sent to the transcranial magnetic stimulation device.

8. The target tracking device as described in claim 7, characterized in that, Before the treatment coil is activated, the relative position information between the target point and the feature point is acquired, including: Before the treatment coil is activated, the position coordinates of the target point and the position coordinates of the feature point are obtained; The position coordinates of the target point are taken as the origin, and the position coordinates of the feature point relative to the origin are taken as the relative position information.

9. A transcranial magnetic stimulation (TMS) device, characterized in that, The device includes the target tracking device as described in any one of claims 1 to 8, and also includes a treatment coil.

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