Frontal lobe positioning method of transcranial magnetic stimulation coil, closed-loop transcranial magnetic stimulation system and device

Abstract

This invention relates to a frontal lobe localization method for transcranial magnetic stimulation (TMS) coils, a closed-loop TMS system, and an apparatus. The closed-loop TMS system includes: a TMS device comprising a robotic arm and a TMS coil mounted on the robotic arm; an EEG cap having multiple electrodes and multiple points positioned in the frontal lobe region, the EEG cap being used to collect evoked signals generated in the brain during the i-th TMS stimulation session, obtaining multiple evoked signals; and a stimulation localization device receiving the multiple evoked signals provided by the EEG cap, generating a control command for the (i+1)-th TMS stimulation session based on the multiple evoked signals, and sending the (i+1)-th TMS stimulation control command to the TMS device for the next TMS stimulation session.

Description

Technical Field

[0001] This invention relates to the fields of brain cognitive science research and medical assistive devices, and more specifically, to a method for frontal lobe localization of a transcranial magnetic stimulation coil, a closed-loop transcranial magnetic stimulation system and device. Background Technology

[0002] With the continuous development of transcranial magnetic stimulation (TMS) technology, the integration of TMS with electroencephalography (EEG) imaging has become an important tool for studying brain function and activity. The frontal lobe is the most common target area for TMS, but there is currently no effective method to determine the optimal frontal lobe target area. Currently, the biggest challenge in the practical application of TMS is how to accurately determine the stimulation target. A navigation system based on MRI images and optical positioning data is typically used, allowing the TMS coil to be manually positioned to precisely locate the stimulation target. However, this method has drawbacks: it is relatively cumbersome to operate, requiring manual hand-holding of the coil to aim at the stimulation target. Furthermore, most current TMS systems are open-loop brain modulation systems, which cannot simultaneously record EEG data and analyze real-time brain feedback to adjust the stimulation target. Summary of the Invention

[0003] One objective of this disclosure is to provide a new technical solution for a frontal lobe localization method using a transcranial magnetic stimulation coil.

[0004] According to a first aspect of this disclosure, a closed-loop transcranial magnetic stimulation system is provided, comprising:

[0005] A transcranial magnetic stimulation (TMS) device includes a robotic arm and a TMS coil, with the coil mounted on the robotic arm. The robotic arm, according to the control command for the i-th TMS stimulation, moves the TMS coil to a stimulation position where its center coincides with the stimulation target point corresponding to the i-th TMS stimulation. The TMS coil outputs a magnetic signal at the stimulation position to perform the i-th TMS stimulation on the brain of the target individual. Here, i is greater than or equal to 1, and the stimulation target point corresponding to the i-th TMS stimulation is a point located in the frontal lobe region on an EEG cap. The EEG cap... The device comprises multiple electrodes and multiple points set in the frontal lobe region. The EEG cap is used to collect evoked signals generated in the brain during the i-th transcranial magnetic stimulation (TMS) to obtain multiple evoked signals. The device also includes a stimulation localization device that receives the multiple evoked signals provided by the EEG cap and generates a control command for the (i+1)-th TMS based on the multiple evoked signals. The control command for the (i+1)-th TMS is then sent to the TMS device for the next TMS. The control command for the (i+1)-th TMS reflects the stimulation target point corresponding to the (i+1)-th TMS.

[0006] Optionally, generating the control command for the (i+1)th transcranial magnetic stimulation based on the multiple evoked signals includes: calculating evoked data based on the multiple evoked signals; wherein the evoked data includes the whole-brain average field potential at multiple sampling points of the multiple evoked signals during the i-th transcranial magnetic stimulation; acquiring the peak value of the whole-brain average field potential within multiple time windows during the i-th transcranial magnetic stimulation; and generating the control command for the (i+1)th transcranial magnetic stimulation based on the peak value of the whole-brain average field potential within the multiple time windows.

[0007] Optionally, based on the peak values ​​of the whole-brain average field potential within multiple time windows, a control command for the (i+1)th transcranial magnetic stimulation is generated, including: calculating the sum of the peak values ​​of the whole-brain average field potential within multiple time windows as detection data; and generating a control command for the (i+1)th transcranial magnetic stimulation based on the detection data.

[0008] Optionally, based on the detection data, a control command for the (i+1)th transcranial magnetic stimulation is generated, including: calculating the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation using a gradient descent algorithm based on the detection data; and generating a control command for the (i+1)th transcranial magnetic stimulation based on the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation.

[0009] According to a second aspect of this specification, a method for frontal lobe localization of a transcranial magnetic stimulation coil is also provided, the method comprising:

[0010] The brain of the subject receiving stimulation from multiple electrodes of the EEG cap generates multiple evoked signals during the i-th transcranial magnetic stimulation (TMS) session; where i is greater than or equal to 1 and not greater than the set total number of stimulations M; the i-th TMS session is performed at specific points on the EEG cap located in the frontal lobe region; evoked data is calculated based on the multiple evoked signals; the evoked data includes the whole-brain mean field potential at multiple sampling points of the multiple evoked signals during the i-th TMS session; the peak values ​​of the whole-brain mean field potential within multiple time windows during the i-th TMS session are obtained; based on the peak values ​​of the whole-brain mean field potential within multiple time windows, the stimulation target point of the EEG cap corresponding to the (i+1)-th TMS session is determined; the stimulation target point is a point on the EEG cap located in the frontal lobe region. Control commands for the (i+1)-th TMS session are generated based on the stimulation target point corresponding to the (i+1)-th TMS session.

[0011] Optionally, the stimulation target of the EEG cap corresponding to the (i+1)th magnetic stimulation is determined based on the peak values ​​of the whole-brain average field potential within multiple time windows, including: calculating the sum of the peak values ​​of the whole-brain average field potential within multiple time windows as detection data; and determining the stimulation target of the EEG cap corresponding to the (i+1)th magnetic stimulation based on the detection data.

[0012] Optionally, based on the detection data, the stimulation target of the EEG cap corresponding to the (i+1)th magnetic stimulation is determined, including: based on the detection data, using a gradient descent algorithm to determine the stimulation target that makes the detection data larger, as the stimulation target of the EEG cap corresponding to the (i+1)th transcranial magnetic stimulation.

[0013] Optionally, prior to the multiple evoked signals generated in the brain of the stimulated subject during the i-th transcranial magnetic stimulation, the method further includes:

[0014] When i equals 1, an electrode located in the frontal lobe region is selected from the multiple electrodes of the EEG cap as the stimulation target point corresponding to the first transcranial magnetic stimulation. Based on the stimulation target point corresponding to the first transcranial magnetic stimulation, a control command for the first transcranial magnetic stimulation is generated and sent to the transcranial magnetic stimulation device, so that the transcranial magnetic stimulation device can perform the first transcranial magnetic stimulation on the brain of the subject at the stimulation target point corresponding to the first transcranial magnetic stimulation.

[0015] When i is greater than 1, the control command for the i-th transcranial magnetic stimulation is obtained based on the multi-channel evoked information generated by the brain during the (i-1)-th transcranial magnetic stimulation output by the EEG cap, and the control command for the i-th transcranial magnetic stimulation is sent to the transcranial magnetic stimulation device so that the transcranial magnetic stimulation device can perform the i-th transcranial magnetic stimulation on the brain at the stimulation target point corresponding to the i-th transcranial magnetic stimulation; wherein, the control command for the i-th transcranial magnetic stimulation reflects the stimulation target point of the EEG cap corresponding to the i-th transcranial magnetic stimulation.

[0016] Optionally, after performing magnetic stimulation on the brain of the subject for the Mth time, the stimulation target point of the EEG cap corresponding to the maximum value of the transcranial magnetic stimulation in each detection data is obtained, and is taken as the optimal stimulation target point for transcranial magnetic stimulation.

[0017] According to a third aspect of the present invention, a stimulation localization device is also provided, comprising a processor and a memory, wherein the memory stores computer instructions, which, when executed by the processor, perform the steps of the frontal lobe localization method of the transcranial magnetic stimulation coil according to any of the second aspects of the present disclosure.

[0018] The closed-loop transcranial magnetic stimulation (TMS) system provided in this embodiment receives multiple evoked signals generated in the brain of the target subject during the i-th TMS session from multiple electrodes of the EEG cap. Based on these evoked signals, evoked data is calculated, and the detection data for the i-th TMS session is used to determine the stimulation target point of the EEG cap corresponding to the (i+1)-th stimulation. In this way, the position of the stimulation target point in the frontal lobe region can be continuously adjusted based on the real-time detection data generated by each TMS session, improving the accuracy of the stimulation target and enhancing the stimulation effect of TMS.

[0019] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0021] Figure 1 This is a hardware configuration structure diagram of a stimulus localization device that can be used to implement one embodiment;

[0022] Figure 2 This is a schematic diagram of a closed-loop transcranial magnetic stimulation system according to one embodiment;

[0023] Figure 3 This is a flowchart illustrating a frontal lobe localization method using a transcranial magnetic stimulation coil according to one embodiment.

[0024] Figure 4 This is a flowchart illustrating a frontal lobe localization method for a transcranial magnetic stimulation coil according to another embodiment.

[0025] Figure 5 This is a flowchart illustrating a frontal lobe localization method for a transcranial magnetic stimulation coil according to another embodiment.

[0026] Figure 6 This is a schematic diagram of a closed-loop transcranial magnetic stimulation system according to another embodiment;

[0027] Figure 7 This is a schematic diagram of the EEG cap of a closed-loop transcranial magnetic stimulation system according to another embodiment;

[0028] Figure 8 This is a schematic diagram of the whole-brain average field potential according to another embodiment;

[0029] Figure 9 This is a schematic diagram of the EEG cap of a closed-loop transcranial magnetic stimulation system according to another embodiment;

[0030] Figure 10 This is a schematic diagram of a stimulation localization device according to one embodiment. Detailed Implementation

[0031] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0032] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0034] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0036] <Implementation Environment and Hardware Configuration>

[0037] Figure 1 This is a hardware configuration diagram of a stimulation localization device 1000 for which the frontal lobe localization method of the transcranial magnetic stimulation coil can be applied according to embodiments of the present invention.

[0038] like Figure 1 As shown, the stimulation positioning device 1000 may include a processor 1100, a memory 1200, an interface device 1300, a display device 1400, and an input device 1500. The processor 1100 executes a computer program, which may employ an instruction set based on architectures such as x86, Arm, RISC, MIPS, or SSE. The memory 1200 may include, for example, ROM (Read-Only Memory), RAM (Random Access Memory), or non-volatile memory such as a hard disk. The interface device 1300 is a physical interface, such as a USB interface or a headphone jack. The display device 1400 may be a screen, which may be a touch screen. The input device 1500 may include a keyboard, a mouse, or a touch device.

[0039] In this embodiment, the memory 1200 of the stimulation localization device 1000 is used to store a computer program that controls the processor 1100 to operate in order to implement the frontal lobe localization method of the transcranial magnetic stimulation coil according to any embodiment. Those skilled in the art can design the computer program based on the scheme disclosed in this specification. How the computer program controls the processor 1100 to operate is well known in the art and will not be described in detail here.

[0040] Those skilled in the art should understand that, although in Figure 1The present invention illustrates a plurality of devices of the stimulation positioning device 1000; however, the stimulation positioning device 1000 of the present invention may involve only some of the devices, or may include other devices, which is not limited herein.

[0041] <System Implementation>

[0042] In this embodiment of the invention, a closed-loop transcranial magnetic stimulation system 2000 is also provided. Figure 2 A schematic diagram of a closed-loop transcranial magnetic stimulation system 2000 is shown. The closed-loop transcranial magnetic stimulation system 2000 includes: a transcranial magnetic stimulation device 2100, an EEG cap 2200, and a stimulation localization device 2300.

[0043] in:

[0044] The transcranial magnetic stimulation device 2100 is used to move the transcranial magnetic stimulation coil to a stimulation position such that the center of the transcranial magnetic stimulation coil coincides with the stimulation target point corresponding to the i-th transcranial magnetic stimulation, according to the control command of the i-th transcranial magnetic stimulation; it is also used to output a magnetic signal at the stimulation position to perform the i-th transcranial magnetic stimulation on the brain of the stimulation subject; wherein i is greater than or equal to 1, and the stimulation target point corresponding to the i-th transcranial magnetic stimulation is a part of the EEG cap located in the frontal lobe region.

[0045] The EEG cap 2200 is used to collect evoked signals generated in the brain during the i-th transcranial magnetic stimulation via electrodes, and obtain multiple evoked signals; the EEG cap has multiple electrodes and multiple points set in the frontal lobe region;

[0046] The stimulation localization device 2300 is used to receive multiple evoked signals provided by the EEG cap, generate a control command for the (i+1)th transcranial magnetic stimulation based on the multiple evoked signals, and send the control command for the (i+1)th transcranial magnetic stimulation to the transcranial magnetic stimulation device for the next transcranial magnetic stimulation. The control command for the (i+1)th transcranial magnetic stimulation reflects the stimulation target point corresponding to the (i+1)th transcranial magnetic stimulation.

[0047] In one embodiment of this disclosure, generating a control command for the (i+1)th transcranial magnetic stimulation (TMS) based on multiple evoked signals includes: calculating evoked data based on the multiple evoked signals; wherein the evoked data includes the whole-brain mean field potential at multiple sampling points of the multiple evoked signals during the i-th TMS; acquiring the peak values ​​of the whole-brain mean field potential within multiple time windows during the i-th TMS; and generating a control command for the (i+1)th TMS based on the peak values ​​of the whole-brain mean field potential within the multiple time windows.

[0048] In one embodiment of this disclosure, a control command for the (i+1)th transcranial magnetic stimulation is generated based on the peak values ​​of the whole-brain average field potentials within multiple time windows, including: calculating the sum of the peak values ​​of the whole-brain average field potentials within multiple time windows as detection data; and generating a control command for the (i+1)th transcranial magnetic stimulation based on the detection data.

[0049] In one embodiment of this disclosure, generating a control command for the (i+1)th transcranial magnetic stimulation based on detection data includes: calculating the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation using a gradient descent algorithm based on the detection data; and generating a control command for the (i+1)th transcranial magnetic stimulation based on the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation.

[0050] in addition, Figure 6 The signal transmission process of the closed-loop transcranial magnetic stimulation system 2000 is illustrated below, and will be described in detail:

[0051] During the i-th transcranial magnetic stimulation (TMS) session, after magnetic stimulation of the target point, multiple evoked signals generated by multiple electrodes on the EEG cap are transmitted to the stimulation localization device via an EEG amplifier. The target point is a location on the EEG cap located in the frontal lobe region, and the multiple designated locations on the EEG cap are any points within the frontal lobe region. The stimulation localization device receives the multiple evoked signals and calculates the control command for the (i+1)-th TMS session based on these signals. The stimulation localization device transmits this control command to the TMS device. The TMS device then performs the (i+1)-th TMS session on the target point specified in the control command. It is important to note that... Figure 6 As shown, the transcranial magnetic stimulation coil in this embodiment can be figure-eight shaped, so the center of the transcranial magnetic stimulation coil corresponds to the center point of the figure-eight shape. The transcranial magnetic stimulation coil can also be other shapes, which are not limited here.

[0052] The closed-loop transcranial magnetic stimulation (TMS) system provided in this embodiment receives multiple evoked signals generated in the brain of the target subject during the i-th TMS session from multiple electrodes of the EEG cap. Based on these evoked signals, evoked data is calculated, and the detection data for the i-th TMS session is used to determine the stimulation target point of the EEG cap corresponding to the (i+1)-th stimulation. In this way, the position of the stimulation target point in the frontal lobe region can be continuously adjusted based on the real-time detection data generated by each TMS session, improving the accuracy of the stimulation target and enhancing the stimulation effect of TMS.

[0053] It should be noted that although several devices or units for the system of action execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the implementation method of the present invention, the characteristics and functions of two or more devices or units described above can be embodied in one device or unit. Conversely, the characteristics and functions of one device or unit described above can be further divided and embodied by multiple devices or units.

[0054] <Method Implementation>

[0055] Figure 3 A frontal lobe localization method for a transcranial magnetic stimulation coil according to one embodiment is shown. This method can be, for example, derived from... Figure 1 The stimulation localization device 1000 shown is implemented.

[0056] The method for frontal lobe localization of the transcranial magnetic stimulation coil may include the following steps S1000 to S6000:

[0057] Step S2000: Receive multiple evoked signals generated by the brain of the stimulated subject during the i-th transcranial magnetic stimulation (TMS) from multiple electrodes of the EEG cap; wherein i is greater than or equal to 1 and not greater than the set total number of stimulations M, and the i-th TMS is performed at a partial location on the EEG cap in the frontal lobe region.

[0058] Transcranial magnetic stimulation (TMS) is a painless and non-invasive research method. Magnetic signals can penetrate the skull without attenuation to stimulate brain nerves. In practical applications, it is not limited to stimulating the brain; peripheral nerves and muscles can also be stimulated. By applying magnetic stimulation to the brain of the subject and recording the evoked potentials generated, multichannel evoked information is obtained. This multichannel evoked information can be acquired using an EEG cap and specifically presented as brainwaves on an electroencephalogram (EEG).

[0059] An EEG cap can be worn on the brain of the subject being stimulated, and the cap can cover all areas of the brain. Multiple electrodes are located on the side of the cap that contacts the brain. These electrodes are distributed symmetrically across the brain at various stimulation sites. The electrodes of the EEG cap are in direct or indirect contact with the scalp of the subject. Each electrode can collect information on the evoked potentials generated after transcranial magnetic stimulation at each corresponding brain location. The evoked potential information collected by all electrodes of the EEG cap constitutes multichannel evoked information. The EEG cap in this embodiment can be a dry EEG cap, a wet EEG cap, or other types of EEG caps; no limitation is made here.

[0060] It is also important to note that the frontal lobe region of the brain is divided into the dorsolateral, medial, and inferior surfaces. Transcranial magnetic stimulation (TMS) is typically performed on the dorsolateral frontal lobe. Based on this, the embodiments of this disclosure perform TMS on the dorsolateral frontal lobe region of the target brain, and points on the dorsolateral frontal lobe region can be selected as stimulation targets. In the embodiments of this disclosure, the frontal lobe region refers to the dorsolateral frontal lobe region.

[0061] In the embodiments of this disclosure, the transcranial magnetic stimulation (TMS) device can perform magnetic stimulation at any point on the EEG cap located in the dorsolateral frontal lobe region. The stimulated point on the EEG cap is the stimulation target point mentioned above. Additionally, a stimulation localization device receives multiple evoked signals generated in the brain of the subject from multiple electrodes of the EEG cap during the i-th magnetic stimulation. The TMS device performs a total of M magnetic stimulations on the subject's brain. Here, i is greater than or equal to 1, and i is not greater than the set total number of stimulations M. The interval between the i-th and (i+1)-th TMS stimulations remains unchanged. The total number of stimulations M can be set according to actual conditions and is not limited here.

[0062] In one embodiment, before receiving the multiple evoked signals generated in the brain of the stimulated subject during the i-th transcranial magnetic stimulation from the multiple electrodes of the EEG cap in step S2000, such as Figures 4 to 5 As shown, the method further includes steps S1000 to S1100:

[0063] Step S1000: When i equals 1, select an electrode located in the frontal lobe region from among the multiple electrodes of the EEG cap as the stimulation target point corresponding to the first transcranial magnetic stimulation. Based on the stimulation target point corresponding to the first transcranial magnetic stimulation, generate a control command for the first transcranial magnetic stimulation and send it to the transcranial magnetic stimulation device so that the transcranial magnetic stimulation device can perform the first transcranial magnetic stimulation on the brain of the subject at the stimulation target point corresponding to the first transcranial magnetic stimulation.

[0064] When i equals 1, the transcranial magnetic stimulation (TMS) coil performs the first magnetic stimulation on the subject's brain. First, an EEG cap is placed on the subject's head. Then, the TMS coil, controlled by the robotic arm, is moved to the standard position for dorsolateral prefrontal cortex magnetic stimulation on the human head. The specific method is as follows:

[0065] Figure 7The diagram illustrates the corresponding positions of multiple electrodes on the EEG cap. When stimulating the dorsolateral prefrontal cortex of the left scalp, the center of the transcranial magnetic stimulation (TMS) coil can be moved to the position of electrode F3 on the EEG cap. In other words, the position of electrode F3 on the EEG cap can be used as the initial stimulation target. Electrode F3 is located in the dorsolateral prefrontal region of the brain. When stimulating the dorsolateral prefrontal cortex of the right scalp, the center of the TMS coil can be moved to the position of electrode F4 on the EEG cap. In other words, the position of electrode F4 on the EEG cap can be used as the initial stimulation target. Electrode F4 is located in the dorsolateral prefrontal cortex of the brain. When the center of the TMS coil coincides with the initial stimulation target, the secondary TMS coil performs the first TMS stimulation on the brain at the initial stimulation target.

[0066] In other words, during the first transcranial magnetic stimulation (TMS), an electrode location in the frontal lobe region of the EEG cap can be selected as the initial stimulation target point corresponding to the center of the coil during the first TMS. The selection of the initial stimulation target point for TMS can be set according to the actual situation and is not restricted here.

[0067] Step S1100: When i is greater than 1, based on the multi-channel evoked information generated by the brain during the (i-1)th transcranial magnetic stimulation (TMS) output by the EEG cap, the control command for the i-th TMS is obtained, and the control command for the i-th TMS is sent to the TMS device so that the TMS device can perform the i-th TMS on the brain at the stimulation target point corresponding to the i-th TMS; wherein, the control command for the i-th TMS reflects the stimulation target point of the EEG cap corresponding to the i-th TMS.

[0068] In other words, when i is greater than 1, the transcranial magnetic stimulation (TMS) coil performs non-first TMS on the brain of the target. The control command for the i-th TMS is the stimulation target point, which is calculated based on the multi-channel evoked information obtained from the (i-1)-th TMS. The control command for the i-th TMS includes the stimulation target point. The location of the stimulation target point for the i-th TMS can be a point on the EEG cap located in the frontal lobe region. The specific location is determined by the coordinates included in the control command for the i-th TMS. In this case, the stimulation target point does not necessarily have to be a location determined by any electrode on the EEG cap.

[0069] Step S3000: Based on the multi-channel evoked signals, evoked data is calculated; wherein, the evoked data includes the whole-brain mean field potential of multiple sampling points of the multi-channel evoked signals during the i-th transcranial magnetic stimulation.

[0070] Evoked data are calculated based on multiple evoked signals, where the evoked data is generated during the i-th transcranial magnetic stimulation (TMS) session. Evoked data, i.e., whole-brain mean field potential (GMFP), is calculated based on multiple evoked signals sampled from multiple electrodes on the EEG cap. The GMFP is used as the objective function, and the specific calculation method is as follows:

[0071]

[0072] Among them, V i V represents any one induced signal, k represents the total number of induced signals, and V mean This represents the average signal from the multiple evoked signals, and t represents the time axis during the i-th transcranial magnetic stimulation. For example... Figure 8 As shown, the multi-channel evoked information generated during the i-th transcranial magnetic stimulation is input into the above objective function to calculate the whole-brain mean field potential (GMFP) data of the multi-channel evoked information collected by multiple electrodes during the i-th transcranial magnetic stimulation, i.e., the evoked data.

[0073] Step S4000: Obtain the peak value of the whole brain mean field potential within multiple time windows during the i-th transcranial magnetic stimulation.

[0074] In the embodiments of this disclosure, the interval between each transcranial magnetic stimulation (TMS) is consistent, and the time window is a set time interval within the interval. Evoked data includes the whole-brain mean field potential (WNP) data generated after each TMS, and the peak data of the WNP within the set time window are extracted. For example... Figure 8 As shown, 30-50ms, 50-70ms, 75-150ms, and 150-225ms after magnetic stimulation are used as time windows. Peak data within these time windows are extracted. Within the 30-50ms time window, the peak value of the whole-brain average field potential generated at 40ms after magnetic stimulation is defined as N40; within the 50-70ms time window, the peak value of the whole-brain average field potential generated at 60ms after magnetic stimulation is defined as P60; within the 75-150ms time window, the peak value of the whole-brain average field potential generated at 100ms after magnetic stimulation is defined as N100; and within the 150-225ms time window, the peak value of the whole-brain average field potential generated at 185ms after magnetic stimulation is defined as P185. In other words, N40, P60, N100, and P185 are the peak values ​​of the whole-brain average field potential in the i-th time window, respectively. The specific settings for multiple time windows can be manually configured according to the actual situation, and no restrictions are imposed here.

[0075] Step S5000: Based on the peak values ​​of the whole brain average field potential within multiple time windows, determine the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation; wherein, the stimulation target point is a point on the EEG cap located in the frontal lobe region.

[0076] The peak values ​​of the whole-brain mean field potentials within multiple time windows during the i-th transcranial magnetic stimulation (TMS) are summed to obtain the sum of the peak values ​​of the whole-brain mean field potentials within multiple time windows during the i-th TMS, which is used as the detection data corresponding to the i-th TMS. Based on the detection data corresponding to the i-th TMS, the stimulation target point for the (i+1)-th TMS is calculated using the gradient descent method. The stimulation target point is always located within the frontal lobe region of the subject's brain.

[0077] In one embodiment, step S5000, which determines the stimulation target of the EEG cap corresponding to the (i+1)th transcranial magnetic stimulation based on the peak values ​​of the whole-brain average field potential within multiple time windows, may include steps S5100 to S5200, which are described in detail below:

[0078] Step S5100: Calculate the sum of the peak values ​​of the whole brain mean field potential within multiple time windows as the detection data.

[0079] Using the above example, the values ​​of the whole brain mean field potential (GMPF) obtained during the i-th transcranial magnetic stimulation (TMS) corresponding to N40, P60, N100, and P185 are summed to obtain the sum of the peak values ​​of the whole brain mean field potential within multiple time windows, which is then used as the detection data for the i-th TMS.

[0080] Step S5200: Based on the detection data, determine the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation.

[0081] Based on the detection data of the i-th transcranial magnetic stimulation, the stimulation localization device uses the gradient descent method to find the stimulation target point that makes the sum of the GMPF peaks larger, which is used as the stimulation target point located in the frontal lobe region on the EEG cap corresponding to the (i+1)-th transcranial magnetic stimulation.

[0082] In one embodiment, step S5200, which determines the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation based on the detection data, may include the following step S5210, which is described in detail below:

[0083] Step S5210: Based on the detection data, the gradient descent algorithm is used to determine the stimulation target point that makes the detection data larger, which is used as the stimulation target point of the EEG cap corresponding to the (i+1)th transcranial magnetic stimulation.

[0084] The frontal lobe localization method of the transcranial magnetic stimulation coil in this invention aims to obtain the stimulation target point corresponding to the maximum value of the sum of GMPF peak values ​​within multiple time windows during M transcranial magnetic stimulation sessions.

[0085] The gradient descent algorithm, also known as the steepest descent method, requires iteratively searching for a local minimum of a function by moving in the opposite direction of the gradient (or approximate gradient) of the current point on the function, with a specified step distance.

[0086] During the i-th transcranial magnetic stimulation (TMS) session, the center of the TMS coil should remain in close contact with the stimulation target on the scalp. During the M-th TMS session, the plane containing the TMS coil should maintain a 45-degree angle with the midline of the body. For example... Figure 9 As shown, the actual position of the center of the transcranial magnetic stimulation coil can be represented by two-dimensional coordinates (x, y), with the unit being millimeters. The stimulation target point selected by the transcranial magnetic stimulation coil during the first transcranial magnetic stimulation can be set as the origin of the coordinates (0, 0). Figure 9 The location of electrode F3 is taken as the origin of the two-dimensional coordinate system (0, 0). It should be noted that the location of the origin of the two-dimensional coordinate system can be set according to the actual situation, and there is no restriction here.

[0087] It is worth noting that the problem of finding the maximum sum of GMFP peak values ​​can be transformed into finding the minimum sum of -GMFP peak values ​​for each time window.

[0088] Taking a bivariate function z = f(x, y) as an example, assume that it has continuous first-order partial derivatives with respect to each variable. The vector formed by these two partial derivatives is the gradient vector of the bivariate function. Therefore, in multivariable functions, the gradient represents a vector, and the steepest direction is where the change is fastest. Adjusting the coordinates along the direction of descent of the gradient vector can quickly obtain the minimum value of the objective function f(x, y).

[0089] For any point A(x, y) on the objective function f(x, y), after calculating a gradient, we obtain an updated coordinate A. ′ (x, y), iterating repeatedly, eventually yields the optimal solution. Therefore, the formula for gradient descent is:

[0090]

[0091] Where 'a' is the step size for each update. Let f(x, y) be the gradient vector of the bivariate function. It is important to note that in the gradient descent algorithm, a suitable step size or learning factor 'a' needs to be selected. A step size 'a' that is too long or too short is unsuitable for using gradient descent to calculate the coordinates of the stimulation target point for the (i+1)th transcranial magnetic stimulation. The step size can be set according to the actual situation and is not restricted here.

[0092] Based on the above method, the following is a detailed description of the entire process of using the gradient descent algorithm to obtain the coordinates of the stimulus target points that result in a larger amount of detection data:

[0093] according to Figure 9 The coordinate axes shown are defined as follows: the sum of the -GMFP peak values ​​obtained in each time window when the center of the transcranial magnetic stimulation coil is at coordinate (x, y) is set as the target function f(x, y). That is, f(x, y) is a bivariate function, which will be... Let f(x, y) be the gradient. After obtaining the detection data from the i-th transcranial magnetic stimulation (TMS) session, the sum of the -GMFP peak values ​​for each time window is obtained. Then, the coordinates of the center of the TMS coil are aligned along the gradient. The coordinates are adjusted again in the direction of descent to calculate the coordinates that minimize the sum of the -GMFP peak values ​​for each time window. These coordinates are then used as the two-dimensional coordinates (x, y) of the stimulation target point corresponding to the (i+1)th transcranial magnetic stimulation. As the corresponding objective function, i.e., the sum of the -GMFP peak values ​​for each time window, decreases, the sum of the GMFP peak values ​​for the corresponding time windows also increases. The gradient descent algorithm used here is understandable to those skilled in the art and will not be elaborated upon further.

[0094] It is important to note that the two-dimensional coordinates (x, y) of the stimulation target point corresponding to the (i+1)th transcranial magnetic stimulation mentioned above are located on a two-dimensional coordinate system established based on the top-down angle of the subject's brain. In practical applications, since the subject's head is usually approximately spherical, the coordinates of the stimulation target point are actually three-dimensional coordinates. In the embodiment of this invention, during the M transcranial magnetic stimulation sessions, the three-dimensional coordinates (x, y, z) of a stimulation target point are obtained by keeping the center of the transcranial magnetic stimulation coil in close contact with the stimulation target point on the scalp, and ensuring that the plane containing the transcranial magnetic stimulation coil always forms a 45-degree angle with the midline of the body. The specific method is as follows:

[0095] Once the x and y coordinates are determined through calculation, the center of the transcranial magnetic stimulation (TMS) coil determines the specific coordinates (x, y) of the stimulation target point in the two-dimensional coordinate system. At this point, the center of the TMS coil needs to be moved along the normal direction of the plane containing the two-dimensional coordinate system at coordinates (x, y) until it is in close contact with the scalp of the subject. It is important to note that the distance moved along the normal direction of the plane containing the two-dimensional coordinate system from the center coordinates (x, y) of the TMS coil is defined as the z-value. This yields the complete three-dimensional coordinates (x, y, z) of the stimulation target point. In this way, the frontal lobe localization method of the TMS coil of this invention can be applied to the brain shape of most subjects to find the optimal frontal lobe stimulation target point. Other methods can also be used to obtain the specific location coordinates of the stimulation target point, which will not be elaborated here.

[0096] Step S6000: Generate the control command for the (i+1)th transcranial magnetic stimulation based on the stimulation target point corresponding to the (i+1)th magnetic stimulation.

[0097] Based on the calculated coordinates of the stimulation target point corresponding to the (i+1)th transcranial magnetic stimulation, a control command for the (i+1)th transcranial magnetic stimulation is generated. The control command for the (i+1)th transcranial magnetic stimulation reflects the coordinates of the stimulation target point for the (i+1)th transcranial magnetic stimulation.

[0098] In one embodiment of this application, after the Mth time of magnetic stimulation of the brain of the subject, the stimulation target point of the EEG cap corresponding to the maximum value of the transcranial magnetic stimulation in the previous test data is obtained, which is taken as the optimal stimulation target point of transcranial magnetic stimulation.

[0099] In M transcranial magnetic stimulation (TMS) sessions, based on the detection data obtained from the i-th TMS session, the two-dimensional coordinates of the stimulation target point for the (i+1)-th TMS session are calculated. This process continuously approximates the coordinates (x, y) corresponding to the minimum sum of -GMFP peak values ​​within each time window in the M TMS sessions. These coordinates (x, y) are also the two-dimensional coordinates corresponding to the maximum sum of GMFP peak values ​​within each time window, and are used as the optimal two-dimensional coordinates for the TMS stimulation target point. The specific process of finding the optimal TMS stimulation target point in the brain based on these two-dimensional coordinates is as follows:

[0100] First, the center of the transcranial magnetic stimulation (TMS) coil is aligned with the coordinates of the optimal TMS target point. Then, the center of the TMS coil is moved along the normal direction of the plane containing the two-dimensional coordinate system until it is in close contact with the scalp of the subject. The position of the center of the TMS coil at this point is the optimal TMS target point. The axis originating from the origin of the two-dimensional coordinate system and oriented along the normal direction of the two-dimensional plane is designated as the Z-axis. The distance the center of the TMS coil moves along the Z-axis is designated as the z-value, thus obtaining the complete three-dimensional coordinates (x, y, z) of the target point. This completes the process of finding the optimal TMS target point in the frontal lobe region using the frontal lobe localization method with the TMS coil.

[0101] It is important to note that during the i-th transcranial magnetic stimulation (TMS), it is only necessary to calculate the two-dimensional coordinates of the stimulation target point corresponding to the (i+1)-th TMS, and then move the center of the TMS coil along the normal direction of the plane containing the two-dimensional coordinate system until it is close to the scalp of the subject. This will give the specific location of the stimulation target point in the frontal lobe region of the subject's brain during the (i+1)-th TMS.

[0102] The frontal lobe localization method for transcranial magnetic stimulation (TMS) coils provided in this disclosure receives multiple evoked signals generated in the brain of the target subject during the i-th TMS session from multiple electrodes of the EEG cap. Evoked data is then calculated based on these signals, and the detection data from the i-th TMS session is used to determine the stimulation target point of the EEG cap corresponding to the (i+1)-th TMS session. Through M TMS sessions, the optimal stimulation target point is finally obtained. This method allows for continuous adjustment of the TMS target point's position based on real-time detection data generated during each TMS session, enabling rapid and accurate determination of the optimal frontal lobe stimulation target point and significantly improving the TMS stimulation effect.

[0103] <Equipment Example>

[0104] In this embodiment, a stimulation positioning device 7000 is also provided. For example... Figure 10 As shown, the stimulation localization device 7000 may include a processor 7100 and a memory 7200. The memory 7200 stores computer instructions, which are executed by the processor 7100 to perform the steps of the frontal lobe localization method of the transcranial magnetic stimulation coil according to any embodiment of the present disclosure.

[0105] <Media Example>

[0106] In this embodiment, a computer-readable storage medium is also provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the steps of the frontal lobe localization method of the transcranial magnetic stimulation coil as described in any embodiment of the present invention are implemented.

[0107] The present invention may be a system, method, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing processor 1100 to implement various aspects of the present invention.

[0108] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0109] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0110] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0111] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0112] These computer-readable program instructions can be provided to the processor 1100 of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor 1100 of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0113] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0114] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0115] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A closed-loop transcranial magnetic stimulation system, characterized in that, include: A transcranial magnetic stimulation (TMS) device includes a robotic arm and a TMS coil, the TMS coil being mounted on the robotic arm. The robotic arm, according to a control command for the i-th TMS stimulation, moves the TMS coil to a stimulation position where the center of the TMS coil coincides with the stimulation target point corresponding to the i-th TMS stimulation. The TMS coil outputs a magnetic signal at the stimulation position to perform the i-th TMS stimulation on the brain of the target; where i is greater than or equal to 1, and the stimulation target point corresponding to the i-th TMS stimulation is a partial point on the EEG cap located in the frontal lobe region. The EEG cap, having multiple electrodes and multiple points positioned in the frontal lobe region, is used to acquire evoked signals generated in the brain during the i-th transcranial magnetic stimulation (TMS) session, thereby obtaining multiple evoked signals; and... A stimulation localization device receives the multi-channel evoked signals provided by the EEG cap, generates a control command for the (i+1)th transcranial magnetic stimulation (TMS) based on the multi-channel evoked signals, and sends the (i+1)th TMS control command to the TMS device for the next TMS. The (i+1)th TMS control command reflects the stimulation target point corresponding to the (i+1)th TMS. The step of generating the control command for the (i+1)th transcranial magnetic stimulation based on the multi-channel evoked signals includes: calculating evoked data based on the multi-channel evoked signals; wherein the evoked data includes the whole-brain mean field potential at multiple sampling points of the multi-channel evoked signals during the i-th transcranial magnetic stimulation; acquiring the peak value of the whole-brain mean field potential within multiple time windows during the i-th transcranial magnetic stimulation; and generating the control command for the (i+1)th transcranial magnetic stimulation based on the peak value of the whole-brain mean field potential within the multiple time windows.

2. The closed-loop transcranial magnetic stimulation system according to claim 1, characterized in that, The step of generating the control command for the (i+1)th transcranial magnetic stimulation based on the peak values ​​of the whole-brain mean field potential within the multiple time windows includes: The sum of the peak values ​​of the whole-brain mean field potential within the multiple time windows is calculated as the detection data; Based on the detection data, a control command for the (i+1)th transcranial magnetic stimulation is generated.

3. The closed-loop transcranial magnetic stimulation system according to claim 2, characterized in that, The step of generating the control command for the (i+1)th transcranial magnetic stimulation based on the detection data includes: Based on the detection data, the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation is calculated using the gradient descent algorithm; Based on the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation, the control command for the (i+1)th transcranial magnetic stimulation is generated.

4. A stimulation localization device, characterized in that, The system includes a processor and a memory, the memory storing programs or instructions executable on the processor, which, when executed by the processor, implement a method for frontal lobe localization of a transcranial magnetic stimulation coil. This method includes: The brain of the subject receiving the output of multiple electrodes from the EEG cap generates multiple evoked signals during the i-th transcranial magnetic stimulation; wherein i is greater than or equal to 1 and i is not greater than the set total number of stimulations M, and the i-th transcranial magnetic stimulation is performed at a partial point on the EEG cap located in the frontal lobe region. Based on the multi-channel evoked signals, evoked data is calculated; wherein, the evoked data includes the whole-brain mean field potential of multiple sampling points of the multi-channel evoked signals during the i-th transcranial magnetic stimulation. The peak values ​​of the whole-brain mean field potentials were obtained within multiple time windows during the i-th transcranial magnetic stimulation. Based on the peak values ​​of the whole-brain average field potential within the multiple time windows, the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation is determined; wherein, the stimulation target point is a point on the EEG cap located in the frontal lobe region; Based on the stimulation target point corresponding to the (i+1)th magnetic stimulation, the control command for the (i+1)th transcranial magnetic stimulation is generated.

5. The stimulation localization device according to claim 4, characterized in that, The step of determining the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation based on the peak value of the whole-brain average field potential within the multiple time windows includes: The sum of the peak values ​​of the whole-brain mean field potential within the multiple time windows is calculated as the detection data; Based on the detection data, the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation is determined.

6. The stimulation localization device according to claim 5, characterized in that, The step of determining the stimulation target point of the EEG cap corresponding to the (i+1)th magnetic stimulation based on the detection data includes: Based on the detection data, a gradient descent algorithm is used to determine the stimulation target point that makes the detection data larger, which is then used as the stimulation target point of the EEG cap corresponding to the (i+1)th transcranial magnetic stimulation.

7. The stimulation localization device according to claim 4, characterized in that, Prior to the multiple evoked signals generated in the brain of the stimulated subject during the i-th transcranial magnetic stimulation, as indicated by the multiple electrodes of the EEG cap, the method further includes: When i equals 1, an electrode located in the frontal lobe region is selected from the multiple electrodes of the EEG cap as the stimulation target point corresponding to the first transcranial magnetic stimulation. Based on the stimulation target point corresponding to the first transcranial magnetic stimulation, a control command for the first transcranial magnetic stimulation is generated and sent to the transcranial magnetic stimulation device, so that the transcranial magnetic stimulation device can perform the first transcranial magnetic stimulation on the brain of the stimulation subject at the stimulation target point corresponding to the first transcranial magnetic stimulation. When i is greater than 1, the control command for the i-th transcranial magnetic stimulation is obtained based on the multiple evoked signals generated by the brain during the (i-1)-th transcranial magnetic stimulation output by the EEG cap, and the control command for the i-th transcranial magnetic stimulation is sent to the transcranial magnetic stimulation device, so that the transcranial magnetic stimulation device performs the i-th transcranial magnetic stimulation on the brain at the stimulation target point corresponding to the i-th transcranial magnetic stimulation; wherein, the control command for the i-th transcranial magnetic stimulation reflects the stimulation target point of the EEG cap corresponding to the i-th transcranial magnetic stimulation.

8. The stimulation localization device according to claim 4, characterized in that, After performing magnetic stimulation on the brain of the target subject for the Mth time, the stimulation target point of the EEG cap corresponding to the maximum value of the transcranial magnetic stimulation in the previous test data is obtained, and is taken as the optimal stimulation target point for transcranial magnetic stimulation.

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