Motion threshold automatic detection method, system, device and medium

Abstract

The present invention discloses a method, system, device, and medium for automatically detecting a motor threshold. The method comprises: determining the position and intensity of a starting stimulation point; moving a coil to the starting stimulation point and triggering a TMS pulse; acquiring a mesoporous electrocardiogram (MEP) signal in response to the triggered TMS pulse, and extracting the latency and peak-to-peak amplitude from the MEP signal; when the extracted latency and peak-to-peak amplitude both meet preset conditions, maintaining the current position of the coil unchanged, gradually reducing the stimulation intensity according to a preset ratio until a minimum stimulation intensity that meets the preset conditions is obtained, recording the minimum stimulation intensity as the motor threshold intensity, and recording the current stimulation point as the motor target point. The present invention fully utilizes the detection results of previous stimulation points, avoids repeated detection of large areas, and can significantly improve detection efficiency while ensuring detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of motion threshold detection, and in particular to a method, system, device and medium for automatic detection of motion threshold. Background Art

[0002] Transcranial Magnetic Stimulation (TMS) utilizes pulsed magnetic fields to target the central nervous system (primarily the brain), altering the membrane potential of cortical nerve cells and generating induced currents. This influences brain metabolism and neural electrical activity, thereby triggering a series of physiological and biochemical reactions. The accuracy of stimulation intensity is a key indicator of TMS effectiveness. This intensity is determined based on the threshold, which varies significantly between individuals. Therefore, before starting TMS treatment, a motor threshold test is necessary based on individual patient differences.

[0003] The location of motor areas in the brain varies from patient to patient, and their tolerance to stimulation in these areas also varies. In clinical use, operators typically set a high threshold and then perform TMS stimulation at different locations on the head. The position and stimulation threshold are then comprehensively determined using motor evoked potentials (MEPs). After determining the coil position, the stimulation threshold is lowered and the MEP data waveform is continuously observed until the minimum stimulation intensity that meets the MEP waveform characteristics is determined. This entire process is very cumbersome and requires high operator skills, which to some extent limits clinical application.

[0004] A Chinese patent with publication number CN113730816A, published on December 3, 2021, discloses a method for automatically detecting motion thresholds. This method sets preset parameters to inform the navigation system of the location of the subject's anatomical feature points, and then uses a binary search method to control the entire system to complete automatic detection of the motion threshold. The detection efficiency of this method depends on the size of the stimulation matrix, and when the stimulation point and motion threshold are not found according to the preset stimulation matrix, the stimulation matrix needs to be adjusted, and then the entire brain motor area is re-detected with the adjusted stimulation matrix, resulting in reduced detection efficiency. Summary of the Invention

[0005] To overcome the above-mentioned deficiencies in the prior art, the present invention provides a method, system, device and medium for automatic detection of motion threshold, so as to solve at least one of the above-mentioned technical problems.

[0006] According to one aspect of the present invention, a method for automatically detecting a motion threshold is provided, comprising:

[0007] Determine the location of the starting stimulation point and the stimulation intensity;

[0008] Move the coil to the starting stimulation point and trigger the TMS pulse;

[0009] In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak amplitude are extracted from the MEP electrical signal;

[0010] When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil beat is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motion threshold intensity, and the current stimulation point is recorded as the motion target point.

[0011] The above technical solution selects a starting stimulation point in the brain motor area to be tested and sets the initial stimulation intensity based on experience. After positioning the coil at the starting stimulation point, TMS pulses are output for stimulation with the initial stimulation intensity. At the same time, MEP data fed back from the brain motor area are received, and two indicators, latency and peak-to-peak amplitude, are extracted from the MEP data. These two indicators are compared with preset indicator conditions. If the preset conditions are met, the stimulation intensity is adjusted to find the minimum stimulation intensity that can meet the preset conditions as the motor threshold of the current brain motor area, and the current stimulation point is recorded as the motor target.

[0012] After selecting the stimulation point, the above technical solution can automatically trigger the TMS pulse output by moving the coil position, automatically obtain the feedback MEP data, automatically extract the latency and peak-to-peak amplitude, and automatically compare the latency and peak-to-peak amplitude until the stimulation intensity that meets the preset conditions is found, thereby realizing automatic detection of the motor threshold.

[0013] As a further technical solution, the method further includes:

[0014] When either the extracted latency or peak-to-peak amplitude does not meet the preset conditions, a new stimulation point is selected with the current stimulation point as the center and the preset distance as the radius.

[0015] Move the coil to the new stimulation point and trigger the TMS pulse;

[0016] In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak amplitude are extracted from the MEP electrical signal;

[0017] When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil beat is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motion threshold, and the new stimulation point is recorded as the motion target.

[0018] When the above technical solution fails to detect the motion threshold at the starting stimulation point, a circular area is formed with the starting stimulation point as the center and the preset distance as the radius, and a new stimulation point is selected on the circumference of the circular area for motion threshold detection. This setting will neither miss the detection area nor cause repeated detection of the same area, while taking into account both detection efficiency and detection accuracy.

[0019] As a further technical solution, when the latency and peak-to-peak amplitude that meet the preset conditions are not extracted at the new stimulation point, a new stimulation point is selected again by radiating outward with the new stimulation point as the center and the preset distance as the radius.

[0020] In the process of searching for stimulation points, the detected stimulation point is always used as the center of the circle and the preset distance is used as the radius to radiate outward, and new stimulation points are selected on the circumference of the radiation circle to achieve the purpose of taking into account both detection efficiency and detection accuracy.

[0021] Optionally, the preset distance (ie, the radiation radius) may be determined empirically.

[0022] As a further technical solution, four points are symmetrically selected as new stimulation points on a circle with the current stimulation point as the center and the preset distance as the radius, and motion threshold detection is performed on these four stimulation points one by one.

[0023] Optionally, the four stimulation points are evenly distributed on the circumference of the radiation circle, which can avoid omission or overlap of detection areas to the greatest extent and improve detection efficiency and detection accuracy.

[0024] Optionally, the four stimulation points are opposite to each other in pairs and are located at 0°, 90°, 180° and 360° of the radiation circle respectively.

[0025] As a further technical solution, if the latency and peak-to-peak amplitude that meet the preset conditions are not extracted at the four selected stimulation points, new stimulation points are reselected with these four stimulation points as the new center and the preset distance as the radius radiating outward.

[0026] As a further technical solution, while keeping the current position of the coil beat unchanged, when the stimulation intensity is gradually reduced according to a preset ratio, if either the latency period or the peak-to-peak amplitude corresponding to the reduced stimulation intensity does not meet the preset conditions, the last stimulation intensity is recorded as the motor threshold intensity.

[0027] Optionally, when the stimulation intensity is reduced step by step according to a preset ratio, when it is reduced to a certain stimulation intensity and it is found that the extracted indicators do not meet the preset conditions, the stimulation intensity can be increased by a certain ratio. At this time, the ratio of increasing the stimulation intensity is smaller than the ratio of gradually reducing the stimulation intensity, so that the increased stimulation intensity will not exceed the previous stimulation intensity, thereby finding the optimal stimulation intensity between the previous effective stimulation intensity and the current invalid stimulation intensity.

[0028] As a further technical solution, the position of the starting stimulation point is determined based on experience.

[0029] Based on experience, an empirical position is determined in the brain motor area as the starting stimulation point, which can achieve rapid initial positioning.

[0030] When the current stimulation point fails to detect the motion threshold, the present invention selects a new stimulation point by radiating outward with the current stimulation point as the center and the preset distance as the radius. If the new stimulation point still fails to detect the motion threshold, the new stimulation point is again radiated outward with the new stimulation point as the center and the preset distance as the radius. Therefore, after the initial positioning, the present invention can ensure the detection accuracy by selecting the stimulation point through radiation, and will not miss the detection area. At the same time, it can also make full use of the results of the previous detection, and will not repeat the detection of a large area, thereby ensuring the detection efficiency.

[0031] According to one aspect of the present invention, there is provided a system for automatically detecting a motor threshold, comprising: a coil positioning system, a PC control system, and a MEP module, wherein the PC control system is connected to the coil positioning system and the MEP module, respectively; wherein the PC control system is connected to the coil positioning system for obtaining the current posture information of the coil and controlling the coil to move to a target position; and the PC control system is connected to the MEP module for triggering the MEP module to perform TMS pulse stimulation, collect MEP data, and process the MEP data.

[0032] According to one aspect of the present invention, a computer device is provided, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the automatic motion threshold detection method are implemented.

[0033] According to one aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for automatically detecting a motion threshold are implemented.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] (1) When the motion threshold is not detected at the current stimulation point, the present invention selects a new stimulation point by radiating outward with the current stimulation point as the center and the preset distance as the radius. If the motion threshold is still not detected at the new stimulation point, the present invention again radiates outward with the new stimulation point as the center and the preset distance as the radius to reselect the stimulation point. Therefore, after the initial positioning, the present invention can ensure the detection accuracy by selecting the stimulation point through radiation, and will not miss the detection area. At the same time, it can also make full use of the results of the previous detection, and will not repeat the detection of a large area, thereby ensuring the detection efficiency.

[0036] (2) Compared with the existing method of searching for stimulation points one by one by presetting the stimulation matrix, the present invention makes full use of the detection results of previous stimulation points, avoids repeated detection of large areas, and can significantly improve the detection efficiency while ensuring the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 4 is a flow chart of a method for automatically detecting a motion threshold according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of stimulation point selection according to an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of a system for automatically detecting motion threshold according to an embodiment of the present invention.

[0040] Figure 4 2 is a schematic diagram of the structure of a computing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0042] The present invention provides a method, system, device and medium for automatically detecting a motion threshold, which are used to solve the problems of complex operation and difficulty in balancing accuracy and efficiency in existing motion threshold detection.

[0043] like Figure 1 As shown, the present invention provides a method for automatically detecting a motion threshold, comprising:

[0044] Step 1: Determine the location and intensity of the starting stimulation point.

[0045] The location of the starting stimulation point was determined empirically.

[0046] Based on experience, an empirical position is determined in the brain motor area as the starting stimulation point, which can achieve rapid initial positioning.

[0047] Specifically, if the test is performed in the left motor area of ​​the brain, the coil is moved to the left brain area, and a position is selected as the starting stimulation point based on experience to complete the initial positioning.

[0048] The experience here can be the operator's experience. For example, the operator makes settings on the PC control terminal based on the experience. The PC control terminal selects an empirical position in the brain motor area based on the set data, and uses this empirical position as the position of the starting stimulation point.

[0049] The experience here can also be machine learning experience. For example, the PC control end stores a large amount of early experience data in the database, uses machine learning or other self-learning methods to obtain experience data of the motion threshold, and then extracts the experience value as the position of the starting stimulation point based on the learning results when detection is needed.

[0050] Specifically, the stimulation intensity at the starting point can also be determined empirically, such as selecting a stimulation intensity within the range of 30%-70% as the stimulation intensity at the starting point. When waveform indicators are subsequently extracted, the stimulation intensity can be adjusted based on the extracted waveform, such as by gradually decreasing the stimulation intensity or increasing the stimulation intensity within a certain range.

[0051] Step 2: Move the coil to the starting stimulation point and trigger the TMS pulse.

[0052] The movement of the coil racket can be achieved through the combination of the coil positioning system and the PC control system. By obtaining the current position information of the coil, the coil is controlled to move to the target stimulation point.

[0053] Specifically, the coil racket can be fixed on a robotic arm, and the robotic arm is controlled by a PC control system to drive the coil racket to move.

[0054] Specifically, visual methods, optical methods or other existing methods can be used to obtain the current position information of the coil and control the coil to move to the target point. Here, only existing mature technologies are used to achieve the position acquisition and movement of the coil. The specific positioning method will not be elaborated here.

[0055] Step 3: In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak-to-peak amplitude are extracted from the MEP electrical signal.

[0056] The position and posture of the moving coil on the motor area of ​​the brain are recorded. Each time the position is moved, a TMS pulse output is triggered, and the MEP data in response to the TMS pulse is obtained. The two indicators of latency and peak-to-peak amplitude are extracted from the MEP data.

[0057] The acquired MEP data can be displayed as a waveform directly or after smoothing, with the latency and peak-to-peak amplitude used as MEP waveform features to facilitate comparison with preset conditions.

[0058] Extensive clinical data indicates that an effective MEP waveform is one with a latency of 15ms ± 5ms and a peak-to-peak amplitude of 50–150µV. Therefore, by extracting these two metrics, latency and peak-to-peak amplitude, MEP waveform comparison can be performed, enabling automated motor threshold detection in conjunction with automated control methods.

[0059] Step 4: When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil beat is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motion threshold intensity, and the current stimulation point is recorded as the motion target point.

[0060] The preset ratio is determined based on experience, such as reducing the stimulation intensity by 3% to 10%. When the stimulation intensity needs to be increased, the stimulation intensity can also be increased by 3% to 10%. In actual application, the ratio when reducing the stimulation intensity is greater than the ratio when increasing the stimulation intensity.

[0061] Specifically, because the location of the starting stimulation point is determined based on experience, which comes from the accumulation of a large amount of clinical data, the accuracy of the starting stimulation point selection increases with the accumulation of empirical data. Therefore, the method of finding the stimulation point radiating outward from the starting stimulation point as the center and a preset distance as the radius can greatly improve detection efficiency.

[0062] Furthermore, this search method that radiates outward with the stimulation point as the center can traverse the brain's motor area without repeating the traversal in a large area. The stimulation point area that has been found will not be searched again, thus avoiding repeated detection while ensuring no missed detection, greatly improving detection efficiency.

[0063] As an implementation method, if the motion threshold is not found at the starting stimulation point, a new stimulation point is selected radiating outward with the current stimulation point as the center and the preset distance as the radius, the stimulation intensity is set, and then the process returns to step 2.

[0064] Specifically, the coil is moved to a new stimulation point position and a TMS pulse is triggered; in response to the triggered TMS pulse, a MEP electrical signal is acquired, and the latency and peak-to-peak amplitude are extracted from the MEP electrical signal; when the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil is kept unchanged, and the stimulation intensity is gradually reduced according to a preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained, the minimum stimulation intensity is recorded as the motion threshold, and the new stimulation point is recorded as the motion target.

[0065] In this embodiment, when the motion threshold cannot be detected at the starting stimulation point, a circular area is formed by radiating outward with the starting stimulation point as the center and the preset distance as the radius, and a new stimulation point is selected on the circumference of the circular area for motion threshold detection. This setting will neither miss the detection area nor cause repeated detection of a large area, while taking into account both detection efficiency and detection accuracy.

[0066] Optionally, if the latency and peak-to-peak amplitude that meet the preset conditions are still not extracted at the new stimulation point, a new stimulation point is selected again by radiating outward with the new stimulation point as the center and the preset distance as the radius.

[0067] In the process of searching for stimulation points, the detected stimulation point is always used as the center of the circle and the preset distance is used as the radius to radiate outward, and new stimulation points are selected on the circumference of the radiation circle to achieve the purpose of taking into account both detection efficiency and detection accuracy.

[0068] Optionally, the preset distance (i.e., the radiation radius) can be determined empirically. For example, 3 mm is used as the preset radius for radiating outwards. This value is only used as an example and is not intended to limit the scope of the present invention.

[0069] As an implementation method, four points may be symmetrically selected as new stimulation points on a circle formed with the current stimulation point as the center and a preset distance as the radius, and motion threshold detection may be performed on these four stimulation points one by one.

[0070] Optionally, the four stimulation points are evenly distributed on the circumference of the radiation circle, which can avoid omission or overlap of detection areas to the greatest extent and improve detection efficiency and detection accuracy.

[0071] Optionally, the four stimulation points are opposite to each other in pairs and are located at 0°, 90°, 180° and 360° of the radiation circle respectively.

[0072] Preferably, if Figure 2 As shown, if the latency and peak-to-peak amplitude that meet the preset conditions are not extracted at the four selected stimulation points, new stimulation points are selected with the four stimulation points as the new center and the preset distance as the radius radiating outward.

[0073] As an implementation method, while keeping the current position of the coil beat unchanged and gradually reducing the stimulation intensity according to a preset ratio, if either the latency period or the peak-to-peak amplitude corresponding to the reduced stimulation intensity does not meet the preset conditions, the last stimulation intensity is recorded as the motor threshold intensity.

[0074] Optionally, when the stimulation intensity is reduced step by step according to a preset ratio, when it is reduced to a certain stimulation intensity and it is found that the extracted indicators do not meet the preset conditions, the stimulation intensity can be increased by a certain ratio. At this time, the ratio of increasing the stimulation intensity is smaller than the ratio of gradually reducing the stimulation intensity, so that the increased stimulation intensity will not exceed the previous stimulation intensity, thereby finding the optimal stimulation intensity between the previous effective stimulation intensity and the current invalid stimulation intensity.

[0075] like Figure 3 As shown, on one hand, the present invention provides an automatic motion threshold detection system, including: a coil positioning system, a PC control system and a MEP module, wherein the PC control system is connected to the coil positioning system and the MEP module respectively; wherein the PC control system is connected to the coil positioning system to obtain the current posture information of the coil and control the coil to move to the target point; the PC control system is connected to the MEP module to trigger the MEP module to perform TMS pulse stimulation, collect MEP data and process the MEP data.

[0076] The PC control system is also used to set an initial stimulation intensity, such as selecting a stimulation intensity within the range of 30%-70% as a starting point, and to adjust the stimulation intensity based on the extracted waveform when subsequently extracting waveform indicators, such as gradually reducing the stimulation intensity or increasing the stimulation intensity within a certain range.

[0077] The PC control system is further configured to: move the coil's position and posture over the motor area of ​​the brain, triggering a TMS pulse output with each position change; and acquire MEP data in response to the TMS pulse, extracting two indicators, latency and peak-to-peak amplitude, from the MEP data.

[0078] The PC control system is further configured to: when the extracted latency and peak-to-peak amplitude both meet preset conditions, maintain the current position of the coil beat unchanged, gradually reduce the stimulation intensity according to a preset ratio until a minimum stimulation intensity that meets the preset conditions is obtained, record the minimum stimulation intensity as the motion threshold intensity, and record the current stimulation point as the motion target point.

[0079] The PC control system is further configured to: if either the extracted latency or peak-to-peak amplitude does not meet preset conditions, select a new stimulation point by radiating outward from the current stimulation point and a preset distance as a radius, and perform a motor threshold test at the new stimulation point. Furthermore, if neither the extracted latency nor peak-to-peak amplitude meets the preset conditions at the new stimulation point, select a new stimulation point by radiating outward from the new stimulation point and a preset distance as a radius.

[0080] The implementation of the system of the present invention can be achieved with reference to the method.

[0081] It should be noted that those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the specific working processes of the above-described system and each module and unit can refer to the corresponding processes in the aforementioned embodiments and will not be repeated here.

[0082] According to one aspect of the present invention, a computer device is provided. The computer device may be an industrial computer, a server, or a computer terminal.

[0083] The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the automatic motion threshold detection method are implemented.

[0084] The computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0085] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any method for automatically detecting a motion threshold.

[0086] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0087] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any method for automatic detection of motion threshold.

[0088] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0089] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0090] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps:

[0091] Determine the location of the starting stimulation point and the stimulation intensity;

[0092] Move the coil to the starting stimulation point and trigger the TMS pulse;

[0093] In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak amplitude are extracted from the MEP electrical signal;

[0094] When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil beat is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motion threshold intensity, and the current stimulation point is recorded as the motion target point.

[0095] According to one aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for automatically detecting a motion threshold are implemented.

[0096] The computer-readable storage medium may be an internal storage unit of the computer device described in the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a SmartMediaCard (SMC), a Secure Digital (SD) card, a flash memory card, etc., equipped on the computer device.

[0097] Throughout this specification, reference to terms such as "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically detecting a motion threshold, characterized in that: include: Determine the location of the starting stimulation point and the stimulation intensity; Move the coil to the starting stimulation point and trigger the TMS pulse; In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak amplitude are extracted from the MEP electrical signal; When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motor threshold intensity, and the current stimulation point is recorded as the motion target point; When either the extracted latency or peak-to-peak amplitude does not meet the preset conditions, a new stimulation point is selected with the current stimulation point as the center and the preset distance as the radius. Move the coil to the new stimulation point and trigger the TMS pulse; In response to the triggered TMS pulse, the MEP electrical signal is acquired, and the latency and peak amplitude are extracted from the MEP electrical signal; When the extracted latency and peak-to-peak amplitude both meet the preset conditions, the current position of the coil beat is kept unchanged, and the stimulation intensity is gradually reduced according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained. The minimum stimulation intensity is recorded as the motion threshold, and the new stimulation point is recorded as the motion target.

2. The method for automatically detecting the motion threshold according to claim 1, wherein: When the latency and peak-to-peak amplitude that meet the preset conditions are not extracted at the new stimulation point, a new stimulation point is selected again by radiating outward with the new stimulation point as the center and the preset distance as the radius.

3. The method for automatically detecting the motion threshold according to claim 1, wherein: On a circle formed with the current stimulation point as the center and the preset distance as the radius, four points are symmetrically selected as new stimulation points, and motion threshold detection is performed on these four stimulation points one by one.

4. The method for automatically detecting the motion threshold according to claim 3, wherein: If the latency and peak-to-peak amplitude values ​​that meet the preset conditions are not extracted at the four selected stimulation points, new stimulation points will be selected with the four stimulation points as the new center and the preset distance as the radius radiating outward.

5. The method for automatically detecting the motion threshold according to claim 1, wherein: While keeping the current position of the coil beat unchanged, the stimulation intensity is gradually reduced according to the preset ratio. If either the latency or the peak-to-peak amplitude corresponding to the reduced stimulation intensity does not meet the preset conditions, the previous stimulation intensity is recorded as the motor threshold intensity.

6. The method for automatically detecting the motion threshold according to claim 1, wherein: The location of the starting stimulation point was determined empirically.

7. Automatic motion threshold detection system, characterized in that: include: A coil positioning system, a PC control system and an MEP module, wherein the PC control system is connected to the coil positioning system and the MEP module respectively; wherein the PC control system is connected to the coil positioning system for obtaining the current position information of the coil and controlling the coil to move to the target point; the PC control system is connected to the MEP module for triggering the MEP module to perform TMS pulse stimulation, collect MEP data and process MEP data; wherein, when either the extracted latency and peak-to-peak amplitude do not meet the preset conditions, the PC control system selects a new stimulation point radiating outward with the current stimulation point as the center and the preset distance as the radius; moves the coil to the new stimulation point position and triggers the TMS pulse; in response to the triggered TMS pulse, obtains the MEP electrical signal, and extracts the latency and peak-to-peak amplitude from the MEP electrical signal; when the extracted latency and peak-to-peak amplitude both meet the preset conditions, keeps the current position of the coil unchanged, and reduces the stimulation intensity step by step according to the preset ratio until the minimum stimulation intensity that meets the preset conditions is obtained, records the minimum stimulation intensity as the motion threshold, and records the new stimulation point as the motion target.

8. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the method for automatic motion threshold detection according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method for automatically detecting a motion threshold value according to any one of claims 1 to 6 are implemented.

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