Coil pose determination method, device, electronic equipment and storage medium

Abstract

This invention discloses a coil pose determination method, apparatus, electronic device, and storage medium. The method includes: determining a selectable direction on a target cross-section based on a target cross-section corresponding to the target point position and a preset number of cross-sections; determining a selectable pose of the target coil based on a three-dimensional scalp model of the target object, the selectable direction, and the target point position; for each selectable pose, with the target coil placed on the target object's head in the selectable pose, determining the selectable EEG energy corresponding to the selectable pose by inducing EEG with a preset number of single-pulse magnetic stimulations; determining the target EEG energy based on each selectable EEG energy, and using the selectable pose corresponding to the target EEG energy as the target pose of the target coil, and the selectable direction corresponding to the target EEG energy as the target direction of the target target point. The technical solution of this invention improves the individual adaptability of the coil pose of the target coil.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical treatment, and in particular to a coil pose determination method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Transcranial magnetic stimulation is a physical technology for regulating the electrical activity of brain neurons and the conduction of electrical signals between neuron networks through output magnetic pulses, and has important application value in improving brain motor function and brain cognitive function.

[0003] The electrical properties of brain structure and organization are very complex, making it difficult to accurately calculate the electrical activity induced by transcranial magnetic pulses in the brain through simulation modeling. For research targeting non-motor cortex regulation, the traditional coil placement direction method uses a uniform standard, i.e., the coil placement direction is set to be parallel to the longitudinal fissure of the brain or at a 45° angle, without considering individual differences, which results in transcranial magnetic stimulation not being able to accurately adapt to each individual and the regulation effect on the brain being unsatisfactory. SUMMARY

[0004] The present application provides a coil pose determination method and device, an electronic device, and a storage medium to improve the individual adaptability of the coil pose of a target coil, and thus improve the accuracy of subsequent neural regulation through transcranial magnetic stimulation.

[0005] According to an aspect of the present application, a coil pose determination method is provided, which comprises:

[0006] According to a target section corresponding to a target point position of a target point and a preset number, a preset number of to-be-selected directions are determined on the target section; wherein the target point is set on a three-dimensional brain cortex model of a target object;

[0007] According to a three-dimensional scalp model of the target object, the to-be-selected directions, and the target point position, a to-be-selected pose of a target coil is determined;

[0008] For each to-be-selected pose, in the case where the target coil is placed at the to-be-selected pose on the head of the target object, according to a preset number of single-pulse magnetic stimulation-induced electroencephalograms, a to-be-selected electroencephalogram energy corresponding to the to-be-selected pose is determined;

[0009] According to each to-be-selected electroencephalogram energy, a target electroencephalogram energy is determined, and a to-be-selected pose corresponding to the target electroencephalogram energy is taken as a target pose of the target coil, and a to-be-selected direction corresponding to the target electroencephalogram energy is taken as a target direction of the target point.

[0010] According to another aspect of the present application, a coil pose determination device is provided, which comprises:

[0011] The to-be-selected direction determining module is configured to determine a preset number of to-be-selected directions on a target section corresponding to a target point position of a target point according to the target section and the preset number, wherein the target point is arranged on a three-dimensional brain cortex model of a target object.

[0012] The to-be-selected pose determining module is configured to determine a to-be-selected pose of a target coil according to the three-dimensional scalp model of the target object, the to-be-selected direction, and the target point position.

[0013] The to-be-selected brain electric energy determining module is configured to determine, for each to-be-selected pose, a to-be-selected brain electric energy corresponding to the to-be-selected pose according to single-pulse magnetic stimulation induced brain electric energy of a preset number of times in a case where the target coil is placed on the head of the target object in the to-be-selected pose.

[0014] The target pose determining module is configured to determine a target brain electric energy according to each to-be-selected brain electric energy, and determine a to-be-selected pose corresponding to the target brain electric energy as a target pose of the target coil, and determine a to-be-selected direction corresponding to the target brain electric energy as a target direction of the target point.

[0015] According to another aspect of the present application, an electronic device is provided, which comprises:

[0016] at least one processor; and

[0017] a memory connected with the at least one processor in communication; wherein

[0018] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the coil pose determining method according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the coil pose determining method according to any one of the embodiments of the present application when executed by the processor.

[0020] The technical scheme of the embodiment of the present application determines a preset number of to-be-selected directions on the target section according to the target section corresponding to the target point position of the target point and the preset number, determines a to-be-selected pose of the target coil according to the three-dimensional scalp model of the target object, the to-be-selected direction and the target point position, for each to-be-selected pose, in the case that the target coil is placed at the head of the target object in the to-be-selected pose, determines a to-be-selected brain electric energy corresponding to the to-be-selected pose according to the brain electric energy induced by the preset number of single-pulse magnetic stimulations, determines a target brain electric energy according to each to-be-selected brain electric energy, and takes the to-be-selected pose corresponding to the target brain electric energy as the target pose of the target coil, and takes the to-be-selected direction corresponding to the target brain electric energy as the target direction of the target point, thereby solving the problem that the individual adaptability of the target point direction and the coil direction is poor when transcranial magnetic stimulation is performed, resulting in the inability to adapt to each target object, and achieving the effect of improving the individual adaptability of the coil pose of the target coil, and further, improving the accuracy of subsequent neural regulation by transcranial magnetic stimulation.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 A flowchart of a coil pose determination method provided by the first embodiment of the present application;

[0024] Figure 2 A flowchart of a coil pose determination method provided by the second embodiment of the present application;

[0025] Figure 3 A flowchart of another coil pose determination method provided by the second embodiment of the present application;

[0026] Figure 4 A schematic diagram of a target point direction setting provided by the second embodiment of the present application;

[0027] Figure 5 A schematic diagram of a coil placement provided by the second embodiment of the present application;

[0028] Figure 6A structure schematic view of a coil pose determination device provided by the embodiment three of the present application;

[0029] Figure 7 A structure schematic view of an electronic device provided by the embodiment four of the present application. DETAILED DESCRIPTION

[0030] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should belong to the protection scope of the present application.

[0031] It should be noted that the terms "to be selected", "target" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] It can be understood that the data involved in the present technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the corresponding laws, regulations and relevant provisions.

[0033] Embodiment one

[0034] Figure 1 A flowchart of a coil pose determination method provided by the embodiment one of the present application, the present embodiment can be applicable to the case of determining the pose of a target coil before transcranial magnetic stimulation, the method can be executed by a coil pose determination device, the coil pose determination device can be realized in the form of hardware and / or software, and the coil pose determination device can be configured in an electronic device.

[0035] As shown in the method includes: Figure 1

[0036] S110, according to the target cut surface corresponding to the target point position of the target target point and the preset number, a preset number of to-be-selected directions are determined on the target cut surface.

[0037] ​The target object can be an object to be subjected to transcranial magnetic stimulation. The three-dimensional brain cortex model can be a three-dimensional brain cortex model established for the target object, and can be established based on medical image scanning and medical image processing. The target target point is arranged on the three-dimensional brain cortex model of the target object, and the target target point can be a target point to be subjected to transcranial magnetic stimulation. The target point position can be the position of the target target point on the three-dimensional brain cortex model. The target section can be a section of the target target point on the three-dimensional brain cortex model. The preset number can be a preset number of to-be-selected directions, for example, 8, 16, etc. The to-be-selected direction can be a direction on the target section with the target target point as the starting point. For example, the preset number is 8, 8 to-be-selected directions are determined in the 360° area of the target section with the target target point as the center, and the to-be-selected directions can be uniformly distributed or randomly determined. If the to-be-selected directions are uniformly distributed, an initial direction can be determined, and 360° / N is taken as an interval, N represents the preset number, that is, 360° / 8=45° is taken as an interval to determine each to-be-selected direction. If N=16, each to-be-selected direction is determined at an interval of 22.5°.

[0038] Specifically, on the target section corresponding to the target point position of the target target point, a preset number of to-be-selected directions are uniformly or randomly determined according to the preset number.

[0039] S120, according to the three-dimensional scalp model of the target object, the to-be-selected direction and the target point position, determining a to-be-selected pose of the target coil.

[0040] The three-dimensional scalp model can be a three-dimensional scalp model established for the target object, and can be established based on medical image scanning and medical image processing. The target coil can be a coil used for subsequent transcranial magnetic stimulation, and can be an 8-shaped coil. The to-be-selected pose can include the position of the target coil and the attitude of the target coil towards different to-be-selected directions at the position.

[0041] Specifically, the corresponding position of the target point position of the target target point on the three-dimensional scalp model is determined, and then the position is combined with different to-be-selected directions to determine a preset number of to-be-selected poses.

[0042] S130, for each to-be-selected pose, under the condition that the target coil is placed on the head of the target object in the to-be-selected pose, according to a preset number of single-pulse magnetic stimulation, brain electricity is induced to determine a to-be-selected brain electricity energy corresponding to the to-be-selected pose.

[0043] The preset number of times can be a predetermined number of times of single-pulse magnetic stimulation, for example, can be 30 times, etc. It should be noted that too large a preset number of times can result in too long a stimulation time, and too small a preset number of times can result in a low accuracy rate. Therefore, the specific number of times can be determined according to actual needs. The to-be-selected brain electrical energy can be the energy of the brain electrical signal induced according to the single-pulse magnetic stimulation of the preset number of times, and each to-be-selected brain electrical energy corresponds to each to-be-selected pose.

[0044] Specifically, for each to-be-selected pose, the same method can be used to obtain the to-be-selected brain electrical energy corresponding to the to-be-selected pose. Therefore, one of the to-be-selected poses is taken as an example for description. The target coil is placed on the head of the target object according to the to-be-selected pose, and the head of the target object is subjected to single-pulse magnetic stimulation for a preset number of times. The brain electrical signal during the single-pulse magnetic stimulation is collected, and the brain electrical signal is analyzed, calculated and processed to obtain the to-be-selected brain electrical energy corresponding to the to-be-selected pose.

[0045] In S140, the target brain electrical energy is determined according to each to-be-selected brain electrical energy, and the to-be-selected pose corresponding to the target brain electrical energy is taken as the target pose of the target coil, and the to-be-selected direction corresponding to the target brain electrical energy is taken as the target direction of the target target point.

[0046] The target brain electrical energy can be one of the to-be-selected brain electrical energies that best meets the requirements, for example, the maximum value of the to-be-selected brain electrical energies. The target pose can be the position and pose of the target coil when the target brain electrical energy is generated. The target direction can be the to-be-selected direction corresponding to the target target point when the target brain electrical energy is generated.

[0047] Specifically, after each to-be-selected brain electrical energy is determined, the target brain electrical energy is determined from the to-be-selected brain electrical energies. The to-be-selected pose used when the target brain electrical energy is generated is determined as the target pose of the target coil, and the to-be-selected direction used when the target brain electrical energy is generated is taken as the target direction of the target target point.

[0048] The technical scheme of the embodiment of the present application determines a preset number of to-be-selected directions on the target section according to the target section corresponding to the target point position of the target point and the preset number, determines a to-be-selected pose of the target coil according to the three-dimensional scalp model of the target object, the to-be-selected direction and the target point position, for each to-be-selected pose, in the case that the target coil is placed at the head of the target object in the to-be-selected pose, determines a to-be-selected brain electric energy corresponding to the to-be-selected pose according to the brain electric energy induced by the preset number of single-pulse magnetic stimulations, determines a target brain electric energy according to each to-be-selected brain electric energy, and takes the to-be-selected pose corresponding to the target brain electric energy as the target pose of the target coil and takes the to-be-selected direction corresponding to the target brain electric energy as the target direction of the target point, thereby solving the problem that the individual adaptability of the target point direction and the coil direction is poor when transcranial magnetic stimulation is performed, resulting in the inability to adapt to each target object, and achieving the effect of improving the individual adaptability of the coil pose of the target coil, and further, improving the accuracy of subsequent neural regulation by transcranial magnetic stimulation.

[0049] Embodiment two

[0050] Figure 2 The flowchart of the coil pose determination method provided in the second embodiment of the present application is based on the above-mentioned embodiments, and the specific implementation of determining the target section, determining the to-be-selected pose of the target coil and determining the to-be-selected brain electric energy can be referred to the detailed description of the present technical solution. Among them, the explanation of the same or corresponding terms as the above-mentioned embodiments will not be repeated here.

[0051] As Figure 2 shown, the method comprises:

[0052] S210, obtaining a head medical image of a target object, and constructing a three-dimensional scalp model and a three-dimensional brain cortex model according to the head medical image.

[0053] The head medical image can be a medical image of the target object including the head obtained based on a medical imaging device, for example, the head medical image can be a nuclear magnetic image of the head structure of the target object.

[0054] Specifically, the target object can be scanned based on a medical imaging device, and the three-dimensional scalp model and the three-dimensional brain cortex model can be obtained by medical image reconstruction of the head medical image containing the head. The head medical image can also be retrieved from the medical database corresponding to the target object, and the medical database corresponding to the target object can contain medical images, basic information, inspection information, etc. of the target object.

[0055] S220, determining a target section according to the target point position of a target point and a three-dimensional brain cortex model.

[0056] Specifically, depending on the requirements, the target point can be determined on the three-dimensional cerebral cortex model, and the plane tangent to the three-dimensional cerebral cortex model can be determined as the target tangent plane with the target point as the intersection point.

[0057] S230. Based on the target section corresponding to the target point position and the preset number, determine the preset number of selectable directions on the target section.

[0058] S240. Based on the preset marker points, register the head of the target object with the three-dimensional scalp model to obtain the registration result.

[0059] The preset marker points can be points used for registration, such as the root of the nose, the tip of the nose, and the earlobes. The registration result represents the correspondence between the head of the target object and the registration points in the 3D scalp model. The registration points include, but are not limited to, the preset marker points.

[0060] Specifically, a precision positioning and navigation system can be used to set marker points in a pre-established three-dimensional scalp model and register the head of the target object with the three-dimensional scalp model to obtain the registration result.

[0061] S250. Based on the registration results and the target position, determine the target position of the target coil.

[0062] Specifically, the target point is registered to the head of the target object according to the registration result, and the registered position of the target point is used as the target position of the target coil.

[0063] S260. Determine the target coil's selectable pose based on the target position and the direction to be selected.

[0064] Specifically, by combining the target position with each selectable direction, the selectable pose of the target coil corresponding to each selectable direction can be obtained.

[0065] It should be noted that, taking a figure-eight coil as an example, the point with the strongest stimulation signal in the coil, such as the center of the figure-eight, is set at the target position, and the handle direction of the target coil is set to be consistent with the direction to be selected. At this time, the position and attitude of the target coil is the pose to be selected.

[0066] S270. For each selectable posture, with the target coil placed on the head of the target subject in the selectable posture, a preset number of single-pulse magnetic stimulations are output through the transcranial magnetic stimulator, and the target EEG signal of the target subject is recorded simultaneously.

[0067] In this embodiment, the stimulation duration of each single-pulse magnetic stimulation is a preset duration, and the pulse interval between two adjacent single-pulse magnetic stimulations is a preset interval. Both the preset duration and the preset interval can be set according to actual needs, and are not specifically limited in this embodiment.

[0068] Specifically, for each candidate posture, a preset number of single-pulse magnetic stimulations are performed. Taking any one of the candidate postures as an example, the target coil is placed on the target subject's head according to the candidate posture, and a transcranial magnetic stimulation (TMS) device outputs a preset number of single-pulse magnetic stimulations to the target subject's head. It should be noted that the parameters of the single-pulse magnetic stimulation are all preset, such as stimulation intensity, stimulation duration, and pulse interval. The parameters used are the same for each candidate posture. Furthermore, during single-pulse magnetic stimulation, the target subject's electroencephalogram (EEG) signals, i.e., the target EEG signals, are acquired using an EEG acquisition device.

[0069] For example, when collecting EEG data evoked by single-pulse magnetic stimulation, the electrode leads of the EEG acquisition device can be aligned with the handle of the target coil to reduce electromagnetic interference from the magnetic pulses in the EEG. Earplugs can also be worn in both ears of the target subject to reduce the impact of sound stimulation during the magnetic stimulation pulse output on the target EEG signal. For each selectable posture, the transcranial magnetic stimulator outputs 30 single-pulse magnetic stimuli, with an interval of 3-5 seconds between adjacent pulses, and the EEG signal is recorded synchronously; this is the target EEG signal corresponding to that selectable posture. The target EEG signals corresponding to all selectable postures can be collected sequentially using the above method.

[0070] S280. Based on the target EEG signal, determine the EEG energy corresponding to the position to be selected.

[0071] Specifically, energy spectrum analysis can be performed on the target EEG signal corresponding to each candidate pose to calculate the candidate EEG energy during single-pulse magnetic stimulation. The candidate EEG energy can be the sum of the EEG energy generated by a preset number of single-pulse magnetic stimulations, or it can be the average of the EEG energy generated by a preset number of single-pulse magnetic stimulations. The specific value used can be determined according to the requirements.

[0072] Optionally, to improve the accuracy of the calculation of the EEG energy to be selected, the following steps can be used to determine the EEG energy corresponding to the pose to be selected based on the target EEG signal:

[0073] Step 1: For each single-pulse magnetic stimulation, determine the single-pulse brainwave energy corresponding to the single-pulse magnetic stimulation based on the single EEG signal and the preset time period.

[0074] The single EEG signal can be the EEG signal corresponding to a single single-pulse magnetic stimulation, that is, the portion of the target EEG signal corresponding to each EEG signal. It can be understood that the single EEG signal is the EEG signal collected during each single-pulse magnetic stimulation. The preset time period can be the time period corresponding to the EEG changes induced by single-pulse magnetic stimulation, such as 30-300ms.

[0075] Specifically, the same method can be used to determine the single-pulse EEG energy for each single-pulse magnetic stimulation. Taking one single-pulse magnetic stimulation as an example, the single-pulse EEG signal corresponding to the single-pulse magnetic stimulation is determined, and the EEG signal to be calculated can be extracted from the single-pulse EEG signal according to a preset time period. Energy calculation is performed on the EEG signal to be calculated to obtain the single-pulse EEG energy corresponding to the single-pulse magnetic stimulation.

[0076] Step 2: Based on the preset number of single EEG energies, determine the EEG energy corresponding to the position to be selected.

[0077] Specifically, based on a preset calculation method, the energy of a single EEG signal is calculated for a preset number of times. The calculation result can be used as the EEG energy to be selected for the desired pose. The preset calculation method can be summation, averaging, etc., and the specific method can be selected according to actual needs.

[0078] Optionally, before determining the single EEG energy corresponding to each single-pulse magnetic stimulation based on the single EEG signal and a preset time period, artifact removal and segmentation processing can be performed. Specifically, this may include the following steps:

[0079] Step 1: Perform artifact removal processing on the target EEG signal and update the target EEG signal.

[0080] The artifact removal process includes at least one of the following: cubic interpolation processing, drift time period removal processing, and baseline correction processing.

[0081] Specifically, the target EEG signal can be processed using artifact removal methods, and the processed signal can be used as the new target EEG signal.

[0082] For example, firstly, electromagnetic interference artifacts induced by magnetic stimulation pulses in the target EEG signal are removed by three interpolations. Then, drifting time periods can be removed, and baseline correction can be performed to obtain an artifact-free EEG signal, which is the updated EEG signal.

[0083] Step 2: Based on the pulse output time corresponding to each single pulse magnetic stimulation, the target EEG signal is segmented to determine the single EEG signal corresponding to each single pulse magnetic stimulation.

[0084] The pulse output time can be the start time of recording during single-pulse magnetic stimulation.

[0085] Specifically, during single-pulse magnetic stimulation, the start time of a single EEG signal can be taken as the pulse output time corresponding to the single-pulse magnetic stimulation, and the target EEG signal can be divided. Then, according to the preset stimulation duration, the end time of each single EEG signal can be determined to segment the target EEG signal, and the segmented EEG signal obtained can be used as the single EEG signal corresponding to each single-pulse magnetic stimulation.

[0086] S290. The maximum value among the selected EEG energies is determined as the target EEG energy, and the selected pose corresponding to the target EEG energy is taken as the target pose of the target coil, and the selected direction corresponding to the target EEG energy is taken as the target direction of the target target point.

[0087] Specifically, the maximum value among the selectable EEG energies indicates the best effect of transcranial magnetic stimulation (TMS), with minimal energy loss and better neuromodulation; therefore, it can be used as the target EEG energy. Furthermore, the selectable pose corresponding to the target EEG energy can be determined as the target pose of the target coil during subsequent TMS, and the selectable direction corresponding to the target EEG energy can be used as the target direction of the target point.

[0088] Figure 3 This is a flowchart illustrating another coil pose determination method provided in Embodiment 2 of the present invention, as shown below. Figure 3 As shown:

[0089] 1. Obtain MRI images of the head structure.

[0090] Specifically, MRI images of the target subject's head structure (head medical images).

[0091] 2. Construct a three-dimensional scalp model and a three-dimensional cerebral cortex model.

[0092] Specifically, the MRI images of the head structure are imported into a precision positioning and navigation system, and a three-dimensional scalp model and a three-dimensional cerebral cortex model are reconstructed in the precision navigation system.

[0093] 3. Determine the location of the target point.

[0094] Specifically, the target locations are set on the three-dimensional cerebral cortex.

[0095] 4. Determine the different target directions.

[0096] Specifically, in a precision positioning and navigation system, after setting target points on an established three-dimensional cerebral cortex model, a target cross-section is determined with the target points as the center. Different target point orientations are then uniformly set across the target cross-section at 360°. Here, the accuracy of the target point orientation is 360° / N, where N is the number of pre-set target point orientations; that is, the number of pre-set target point orientations determines the accuracy of the target point orientation.

[0097] For example, if 8 target point directions are set, the accuracy of the target point direction is 45°; if 16 target point directions are set, the accuracy of the target point direction is 22.5°. Different target point direction settings are as follows... Figure 4 As shown, the more different target point directions are set, the higher the accuracy of the target point direction, but the time required to obtain the target point direction will be correspondingly longer.

[0098] 5. Register the target object's head with the 3D scalp model.

[0099] Specifically, the BrainSight precision positioning and navigation system is used to set four marker points in the established 3D scalp model: the root of the nose, the tip of the nose, and the positions of both earlobes. The head of the target object is then registered with the 3D scalp model.

[0100] 6. Single-pulse magnetic stimulation induces brain electrical activity.

[0101] Specifically, an EEG acquisition electrode is placed at the target site, with the EEG reference electrode placed at the mastoid processes of both ears and the ground electrode placed at the tip of the nose. A target point direction is selected, and under the guidance of a precision positioning and navigation system, the transcranial magnetic stimulation coil is positioned so that the handle direction is aligned with the target point direction, such as... Figure 5 As shown, optionally, the angle error can be kept within 1°. During single-pulse magnetic stimulation-induced EEG acquisition, the wires of the EEG acquisition electrodes are aligned with the coil handle to reduce electromagnetic interference from the magnetic pulses in the EEG. Earplugs are worn in both ears of the target subject to reduce the influence of sound stimulation during the magnetic stimulation pulse output. Then, 30 single-pulse magnetic stimuli are output from the transcranial magnetic stimulator, with an interval of 3-5 seconds between adjacent pulses, and the EEG signals are recorded synchronously. This is the single-pulse magnetic stimulation-induced EEG signal (target EEG signal) corresponding to the target point direction. Single-pulse magnetic stimulation-induced EEG signals for all target point directions are acquired sequentially using the above method.

[0102] 7. Obtain brainwave energy.

[0103] Specifically, the collected single-pulse magnetic stimulation-evoked EEG signals were processed offline. First, electromagnetic interference artifacts induced by the magnetic stimulation pulse were removed through cubic interpolation. Then, the signals were segmented, and drifting time periods were manually removed. Baseline correction was performed to obtain artifact-free EEG signals. For artifact-free EEG signals, the energy of the signal within the 30-300 ms time period after the magnetic stimulation pulse output was calculated, with the output time of the magnetic stimulation pulse as zero. This energy is the single-pulse EEG energy. The combined single-pulse EEG energy can determine the EEG energy corresponding to the target direction (the EEG energy to be selected).

[0104] 8. Determine the correspondence between EEG energy and target direction.

[0105] Specifically, the brain waves induced by single-pulse magnetic stimulation in each target direction are processed sequentially to obtain the brain wave energy in each target direction.

[0106] 9. Determine the direction of the target point.

[0107] Specifically, the maximum brainwave energy (target brainwave energy) is obtained at different target directions, and the target direction corresponding to the maximum brainwave energy is obtained. This direction is the target direction.

[0108] 10. Determine the direction of the target coil.

[0109] Specifically, the direction in which the coil is placed corresponds to the direction of the target point.

[0110] The technical solution of this invention involves acquiring a medical image of the target object's head, constructing a three-dimensional scalp model and a three-dimensional cerebral cortex model based on the image, determining a target section based on the target point location and the three-dimensional cerebral cortex model, determining a preset number of selectable directions on the target section based on the target section corresponding to the target point location and a preset number of selectable directions, registering the target object's head with the three-dimensional scalp model based on preset marker points to obtain a registration result, determining the target position of the target coil based on the registration result and the target point location, determining the selectable pose of the target coil based on the target position and the selectable directions, and placing the target coil in the selectable pose for each selectable pose. With the target subject's head in the case of transcranial magnetic stimulation (TMS), a preset number of single-pulse magnetic stimulations are output, and the target EEG signal of the target subject is recorded simultaneously. Based on the target EEG signal, the EEG energy corresponding to the candidate pose is determined. The maximum value among the candidate EEG energies is determined as the target EEG energy, and the candidate pose corresponding to the target EEG energy is taken as the target pose of the target coil. The candidate direction corresponding to the target EEG energy is taken as the target direction of the target point. This solves the problem of poor accuracy due to the lack of a unified standard in determining the target point direction and coil direction, and improves the accuracy of the target point direction and coil direction, thereby improving the accuracy of subsequent neuromodulation.

[0111] Example 3

[0112] Figure 6 This is a schematic diagram of a coil pose determination device provided in Embodiment 3 of the present invention. Figure 6 As shown, the device includes: a selection direction determination module 310, a selection pose determination module 320, a selection EEG energy determination module 330, and a target pose determination module 340.

[0113] The module 310 is used to determine a preset number of selectable directions on the target cross-section based on the target cross-section corresponding to the target point position and a preset number of directions; wherein the target point is set on the three-dimensional cerebral cortex model of the target object; the module 320 is used to determine the selectable pose of the target coil based on the three-dimensional scalp model of the target object, the selectable directions, and the target point position; the module 330 is used to determine the selectable brainwave energy corresponding to the selectable pose for each selectable pose, with the target coil placed on the head of the target object in the selectable pose, based on a preset number of single-pulse magnetic stimulation to induce brainwaves; the module 340 is used to determine the target brainwave energy based on each selectable brainwave energy, and to take the selectable pose corresponding to the target brainwave energy as the target pose of the target coil, and to take the selectable direction corresponding to the target brainwave energy as the target direction of the target point.

[0114] Optionally, before determining the preset number of selectable directions on the target section based on the target section corresponding to the target point position and the preset number, the device further includes: a target section determination module, used to acquire a head medical image of the target object, construct a three-dimensional scalp model and a three-dimensional cerebral cortex model based on the head medical image; and determine the target section based on the target point position and the three-dimensional cerebral cortex model.

[0115] Optionally, the pose determination module 320 is further configured to register the head of the target object with the three-dimensional scalp model according to preset marker points to obtain a registration result; determine the target position of the target coil according to the registration result and the target point position; and determine the pose to be selected for the target coil according to the target position and the direction to be selected.

[0116] Optionally, the selectable EEG energy determination module 330 is further configured to output a preset number of single-pulse magnetic stimulations via a transcranial magnetic stimulator and simultaneously record the target EEG signal of the target object, wherein the stimulation duration of each single-pulse magnetic stimulation is a preset duration, and the pulse interval between two adjacent single-pulse magnetic stimulations is a preset interval; and to determine the selectable EEG energy corresponding to the selectable pose based on the target EEG signal.

[0117] Optionally, the EEG energy determination module 330 is further configured to, for each single-pulse magnetic stimulation, determine the single-wave EEG energy corresponding to the single-wave EEG signal and a preset time period; and determine the EEG energy to be selected corresponding to the selected pose based on the preset number of single-wave EEG energies.

[0118] Optionally, before determining the single-wave EEG energy corresponding to each single-wave magnetic stimulation based on the single-wave EEG signal and a preset time period, the device further includes: a single-wave EEG signal determination module, used to perform artifact removal processing on the target EEG signal and update the target EEG signal; wherein, the artifact removal processing includes at least one of three-dimensional difference processing, drift time period removal processing, and baseline correction processing; and the target EEG signal is segmented according to the pulse output time corresponding to each single-wave magnetic stimulation to determine the single-wave EEG signal corresponding to each single-wave magnetic stimulation.

[0119] Optionally, the target pose determination module 340 is also used to determine the maximum value among the selected EEG energies as the target EEG energy.

[0120] The technical solution of this invention solves the problem of poor individual adaptability of target point direction and coil direction during transcranial magnetic stimulation, which leads to the inability to adapt to different target objects. It improves the individual adaptability of the coil position and thus enhances the accuracy of subsequent neuromodulation via transcranial magnetic stimulation. For each position, with the coil placed on the target object's head, single-pulse magnetic stimulation is used to induce EEG, determining the EEG energy corresponding to the position. Based on each EEG energy, the target EEG energy is determined, and the position corresponding to the target EEG energy is used as the target coil position. The selected direction is used as the target direction of the target target. This solves the problem of poor individual adaptability of target point direction and coil direction during transcranial magnetic stimulation, leading to incompatibility with different target objects. It improves the individual adaptability of the target coil position, thereby enhancing the accuracy of subsequent neuromodulation via transcranial magnetic stimulation.

[0121] The coil pose determination device provided in the embodiments of the present invention can execute the coil pose determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0122] Example 4

[0123] Figure 7A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0124] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0125] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0126] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the coil pose determination method.

[0127] In some embodiments, the coil pose determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the coil pose determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the coil pose determination method by any other suitable means (e.g., by means of firmware).

[0128] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0132] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0133] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0134] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0135] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A coil pose determination method, characterized in that, The method comprises the following steps: determining a preset number of candidate directions on a target section corresponding to a target position of a target point and the preset number, wherein the target point is arranged on a three-dimensional brain cortex model of a target object; determining a candidate pose of a target coil according to the three-dimensional scalp model of the target object, the candidate direction and the target position; for each candidate pose, determining a candidate electroencephalogram (EEG) energy corresponding to the candidate pose according to a preset number of single-pulse magnetic stimulation induced EEGs in a case that the target coil is placed at the head of the target object in the candidate pose; determining a target EEG energy according to the candidate EEG energies, and taking a candidate pose corresponding to the target EEG energy as a target pose of the target coil and taking a candidate direction corresponding to the target EEG energy as a target direction of the target point; wherein the determining of the candidate pose of the target coil according to the three-dimensional scalp model of the target object, the candidate direction and the target position comprises: registering the head of the target object with the three-dimensional scalp model according to a preset marker point to obtain a registration result; determining a target position of the target coil according to the registration result and the target position; determining the candidate pose of the target coil according to the target position and the candidate direction, wherein a handle direction of the target coil is consistent with the candidate direction corresponding to the candidate pose.

2. The method of claim 1, wherein, Before the determining of the candidate pose of the target coil, the method further comprises: obtaining a head medical image of the target object, and constructing a three-dimensional scalp model and a three-dimensional brain cortex model according to the head medical image; determining a target section according to the target position of the target point and the three-dimensional brain cortex model.

3. The method of claim 1, wherein, The determining of the candidate EEG energy corresponding to the candidate pose comprises: outputting a preset number of single-pulse magnetic stimulations through a transcranial magnetic stimulation instrument, and synchronously recording a target EEG signal of the target object, wherein a stimulation duration of each single-pulse magnetic stimulation is a preset duration, and a pulse interval between adjacent two single-pulse magnetic stimulations is a preset interval; determining the candidate EEG energy corresponding to the candidate pose according to the target EEG signal.

4. The method of claim 3, wherein, The determining of the candidate EEG energy corresponding to the candidate pose according to the target EEG signal comprises: for each single-pulse magnetic stimulation, determining a single EEG energy corresponding to the single-pulse magnetic stimulation according to a single EEG signal corresponding to the single-pulse magnetic stimulation and a preset time period; determining the candidate EEG energy corresponding to the candidate pose according to the preset number of single EEG energies.

5. The method of claim 4, wherein, Before the determining of the single EEG energy corresponding to the single-pulse magnetic stimulation, the method further comprises: The target electroencephalogram signal is subjected to artifact removal processing, and the target electroencephalogram signal is updated; wherein the artifact removal processing includes at least one of three difference processing, removal of a drift time period processing and baseline correction processing; According to the pulse output time corresponding to each single pulse magnetic stimulation, the target electroencephalogram signal is subjected to segmentation processing, and a single electroencephalogram signal corresponding to each single pulse magnetic stimulation is determined.

6. The method of claim 1, wherein, The target electroencephalogram energy is determined according to each to-be-selected electroencephalogram energy, including: The maximum value of each to-be-selected electroencephalogram energy is determined as the target electroencephalogram energy.

7. A coil pose determination apparatus, characterized by, Including: The to-be-selected direction determination module is configured to determine a preset number of to-be-selected directions on the target section according to a target section corresponding to a target point position of a target point and the preset number, wherein the target point is arranged on a three-dimensional cerebral cortex model of a target object; The to-be-selected pose determination module is configured to determine a to-be-selected pose of a target coil according to a three-dimensional scalp model of the target object, the to-be-selected direction and the target point position; The to-be-selected electroencephalogram energy determination module is configured to, for each to-be-selected pose, determine a to-be-selected electroencephalogram energy corresponding to the to-be-selected pose according to single pulse magnetic stimulation induced electroencephalogram of a preset number of times, in a case that the target coil is placed on the head of the target object in the to-be-selected pose; The target pose determination module is configured to determine a target electroencephalogram energy according to each to-be-selected electroencephalogram energy, and determine a to-be-selected pose corresponding to the target electroencephalogram energy as a target pose of the target coil, and determine a to-be-selected direction corresponding to the target electroencephalogram energy as a target direction of the target point; The to-be-selected pose determination module is further configured to register the head of the target object and the three-dimensional scalp model according to a preset marker point to obtain a registration result, determine a target position of the target coil according to the registration result and the target point position, and determine the to-be-selected pose of the target coil according to the target position and the to-be-selected direction, wherein a handle direction of the target coil is consistent with the to-be-selected direction corresponding to the to-be-selected pose.

8. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; wherein The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the coil pose determination method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the coil pose determination method of any one of claims 1-6 when executed.

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