A stimulating coil magnetic field measuring device

Abstract

The application discloses a kind of stimulating coil magnetic field measuring devices.The device includes: at least two magnetic field detection units;Magnetic field detection unit includes at least one magnetic field detection element;Wherein the number of magnetic field detection element in different magnetic field detection units and arrangement are different;Holder is used to clamp one of at least two magnetic field detection units, or, for clamping stimulating coil;Position movement module is connected with holder, for controlling holder moves;During the process of holder movement, the relative position of magnetic field detection unit and stimulating coil changes;Stimulating coil magnetic field measuring device measures the magnetic field of different regions of stimulating coil by one of at least two magnetic field detection units.The magnetic field measuring device in the application is simple in structure, and different measurement requirements for stimulating coil magnetic field can be realized by replacing different magnetic field detection units, to realize the multifunctionality of magnetic field measuring device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a device for measuring the magnetic field of a stimulation coil. Background Technology

[0002] Neurological disorders are increasingly impacting people's quality of life. Currently, commonly used neuromodulation techniques include invasive techniques and non-invasive stimulation. Transcranial magnetic stimulation (TMS) is a form of physical stimulation that utilizes time-varying current flowing into a transcranial magnetic stimulation coil to generate a high-intensity time-varying pulsed magnetic field. This pulsed magnetic field induces an electric field and current within the tissue, causing excitation in certain excitable tissues. TMS has advantages such as being painless, non-invasive, easy to operate, and safe and reliable, and it has wide applications in clinical medicine.

[0003] Transcranial magnetic stimulation (TMS) systems typically consist of a pulse generator, a controller, and a stimulation coil. The intensity distribution and symmetry of the magnetic field generated by the stimulation coil are crucial for the quantification of magnetic stimulation. Studying the distribution and symmetry of the excitation magnetic field is beneficial for the application research of the stimulation coil and promotes the development of neuromodulation techniques. Currently, devices for measuring the magnetic field of the stimulation coil are relatively simple in function and do not provide comprehensive measurement of the magnetic field. Summary of the Invention

[0004] This invention provides a magnetic field measuring device for a stimulation coil. The device has a simple structure and can comprehensively measure the magnetic field distribution of the stimulation coil, thereby improving its applicability.

[0005] This invention provides a device for measuring the magnetic field of a stimulation coil, comprising:

[0006] At least two magnetic field detection units; each magnetic field detection unit includes at least one magnetic field detection element; wherein the number and arrangement of the magnetic field detection elements in different magnetic field detection units are different.

[0007] A clamp for clamping one of at least two magnetic field detection units, or for clamping the stimulation coil;

[0008] A position movement module, connected to the gripper, is used to control the movement of the gripper; during the movement of the gripper, the relative position of the magnetic field detection unit and the stimulation coil changes;

[0009] The stimulation coil magnetic field measuring device measures the magnetic field of different regions of the stimulation coil through one of at least two magnetic field detection units.

[0010] The stimulation coil magnetic field measuring device provided in this invention includes: at least two magnetic field detection units; each magnetic field detection unit includes at least one magnetic field detection element; wherein the number and arrangement of magnetic field detection elements in different magnetic field detection units are different; a clamp for clamping one of the at least two magnetic field detection units, or for clamping the stimulation coil; a position moving module connected to the clamp for controlling the movement of the clamp; during the movement of the clamp, the relative position between the magnetic field detection unit and the stimulation coil changes; the stimulation coil magnetic field measuring device measures the magnetic field of different regions of the stimulation coil through one of the at least two magnetic field detection units. The magnetic field measuring device in this application has a simple structure, and by replacing different magnetic field detection units, different measurement requirements for the magnetic field of the stimulation coil can be met, realizing the multifunctionality of the magnetic field measuring device, comprehensively measuring the magnetic field distribution of the stimulation coil, and improving the applicability of the stimulation coil magnetic field measuring device. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of a stimulation coil magnetic field measuring device provided in an embodiment of the present invention;

[0012] Figures 2-4 Here are schematic diagrams of the structures of three magnetic field detection units provided in embodiments of the present invention;

[0013] Figure 5 This is a partial structural diagram of a clamp provided in an embodiment of the present invention;

[0014] Figure 6 This is a schematic diagram of another stimulation coil magnetic field measuring device provided in an embodiment of the present invention;

[0015] Figure 7 This is a partial structural schematic diagram of a stimulation coil magnetic field measuring device provided in an embodiment of the present invention;

[0016] Figure 8 This is a partial structural diagram of a position movement module provided in an embodiment of the present invention. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0018] This invention provides a device for measuring the magnetic field of a stimulation coil, used to detect the magnetic field distribution of the stimulation coil in a transcranial magnetic stimulation system. Figure 1This is a schematic diagram of a stimulation coil magnetic field measuring device provided in an embodiment of the present invention, with reference to... Figure 1 The magnetic field measuring device includes: at least two magnetic field detection units 1; each magnetic field detection unit 1 includes at least one magnetic field detection element 2; wherein the number and arrangement of the magnetic field detection elements 2 in different magnetic field detection units 1 are different; a clamp 3 is used to clamp one of the at least two magnetic field detection units 1, or to clamp a stimulation coil 4; a position moving module 5 is connected to the clamp 3 and is used to control the movement of the clamp 3; during the movement of the clamp 3, the relative position of the magnetic field detection unit 1 and the stimulation coil 4 changes; the stimulation coil magnetic field measuring device measures the magnetic field of different regions of the stimulation coil 4 through one of the at least two magnetic field detection units 1.

[0019] Specifically, such as Figure 1 As shown, the magnetic field measuring device provided in this application includes: at least two magnetic field detection units 1, a clamp 3, and a position moving module 5. Each magnetic field detection unit 1 contains at least one magnetic field detection element 2, which is used to detect the magnetic field of the stimulation coil 4. The position moving module 5 is connected to one end of the clamp 3 and can control the clamp 3 to move in any direction in three-dimensional space. The other end of the clamp 3 can be used to clamp the stimulation coil to be tested or one of the at least two magnetic field detection units 1. In this configuration, when the position moving module 5 controls the clamp 3 to move, the relative positions of the magnetic field detection unit 1 and the stimulation coil to be tested change. By changing the position of the clamp 3, the magnetic field of different regions of the stimulation coil 4 to be tested can be detected using the magnetic field detection unit 1. In the following text, the stimulation coil 4 to be tested can be referred to simply as the stimulation coil 4, and the stimulation coil 4 mentioned in this application refers to the stimulation coil to be tested. Generally, the stimulation coil 4 is a planar coil, and the shape, structure, and other parameters of the stimulation coil 4 are conventional techniques in the art, which are not elaborated upon or limited in this invention. Figure 1 The shape of the stimulation coil 4 is for illustrative purposes only and does not represent its actual shape.

[0020] The position movement module 5 controls the movement of the gripper 3 in three-dimensional space, which can be understood as controlling the gripper 3 to move in any direction parallel to the plane where the stimulation coil 4 is located, as well as in a direction perpendicular to the plane where the stimulation coil 4 is located.

[0021] It is worth noting that in this application, the magnetic field measuring device is provided with at least two magnetic field detection units 1. Different magnetic field detection units 1 are provided with different numbers of magnetic field detection elements 2, and the arrangement of the magnetic field detection elements 2 in different magnetic field detection units 1 is different. In this way, one of the at least two magnetic field detection units 1 can be selected according to the actual test requirements, and the magnetic field of the stimulation coil 4 can be measured using the magnetic field detection unit 1 that meets the test requirements.

[0022] This can also be understood as follows: when using the magnetic field measuring device provided in this application to measure the magnetic field, a suitable magnetic field detection unit 1 can be selected according to the actual testing requirements. For example, when it is necessary to measure the magnetic field distribution of the stimulation coil 4 at a spatial point, a single-point magnetic field detection unit including a magnetic field detection element 2 can be clamped using the clamp 3, and the magnetic field distribution of the stimulation coil 4 at a spatial point can be measured using the single-point magnetic field detection unit. When it is necessary to measure the magnetic field distribution of the stimulation coil 4 in a spatial line (or surface) direction, a line (or surface) magnetic field detection unit including multiple magnetic field detection elements 2 can be selected, and the magnetic field distribution of the stimulation coil 4 in the spatial line (or surface) direction can be measured using the line (or surface) magnetic field detection unit.

[0023] In this embodiment, the arrangement of the magnetic field detection element 2 can refer to different positions of the magnetic field detection element 2 relative to the stimulation coil 4. For example, the magnetic field detection element 2 in one type of magnetic field detection unit 1 can be arranged in a plane parallel to the stimulation coil 4 to form a surface magnetic field detection unit. The surface magnetic field detection unit can be used to measure the magnetic field distribution of the stimulation coil 4 in any plane in space.

[0024] Figure 1 The example shown illustrates a clamp 3 holding a single-point magnetic field detection unit. Figures 2-4 The following are schematic diagrams of the structures of three magnetic field detection units provided in the embodiments of the present invention. Figure 2 As shown Figure 1 The single-point magnetic field detection unit in the middle, Figure 3 The magnetic field detection unit shown is a linear magnetic field detection unit. Figure 4 The image shows a surface magnetic field detection unit.

[0025] For example, if the clamp 3 clamps the stimulation coil 4, one of the at least two magnetic field detection units 1 can be fixed. The clamp 3 can move the stimulation coil 4 in any direction in three-dimensional space. During the movement, the magnetic field information of the stimulation coil 4 can be detected by the selected magnetic field detection unit 1.

[0026] If the clamp 3 clamps one of at least two magnetic field detection units 1, the stimulation coil 4 can be fixed. The clamp 3 can move the magnetic field detection unit 1 that meets the test requirements in any direction in three-dimensional space. During the movement, the magnetic field information of the stimulation coil 4 can be detected through the selected magnetic field detection unit 1.

[0027] The specific configuration of the position movement module 5 is not limited in this embodiment of the invention, and those skilled in the art can configure it according to actual needs. For example, the position movement module 5 can be a robotic arm capable of moving in three-dimensional space, and the robotic arm is connected to the gripper 3. The relative position of the stimulation coil 4 and the magnetic field detection unit 1 can be adjusted by controlling the robotic arm to move in any direction, but it is not limited to this.

[0028] Optionally, the embodiments of the present invention do not limit the range of movement of the gripper 3 controlled by the position movement module 5, and those skilled in the art can set it according to actual testing requirements.

[0029] The stimulation coil magnetic field measuring device provided in this invention includes: at least two magnetic field detection units; each magnetic field detection unit includes at least one magnetic field detection element; wherein the number and arrangement of magnetic field detection elements in different magnetic field detection units are different; a clamp for clamping one of the at least two magnetic field detection units, or for clamping the stimulation coil; a position moving module connected to the clamp for controlling the movement of the clamp; during the movement of the clamp, the relative position between the magnetic field detection unit and the stimulation coil changes; the stimulation coil magnetic field measuring device measures the magnetic field of different regions of the stimulation coil through one of the at least two magnetic field detection units. The magnetic field measuring device in this application has a simple structure, and by replacing different magnetic field detection units, different measurement requirements for the magnetic field of the stimulation coil can be met, realizing the multifunctionality of the magnetic field measuring device, comprehensively measuring the magnetic field distribution of the stimulation coil, and improving the applicability of the stimulation coil magnetic field measuring device.

[0030] For example, please refer to... Figures 1-4 In a possible embodiment, the magnetic field detection unit 1 may further include a main body 6, the main body 6 including a clamping area 7, the magnetic field detection element 2 being fixed in a portion of the main body 6 excluding the clamping area 7; the clamp 3 clamps the clamping area 7 of the main body 6, and the position moving module 5 controls the clamp 3 to move so as to move the magnetic field detection unit 1.

[0031] Specifically, such as Figures 1-4 As shown, in this embodiment, the magnetic field detection unit 1 further includes a main body 6, which is the main structure of the magnetic field detection unit 1, and the magnetic field detection element 2 can be fixed on the main body 6. This embodiment of the invention does not limit the fixing method of the magnetic field detection unit 1 and the main body 6; those skilled in the art can make settings according to actual needs. For example, a fixing groove (not shown in the figure) may be provided on the main body 6, and the magnetic field detection element 2 may be installed in the fixing groove for fixed connection with the main body 6, but it is not limited to this.

[0032] In this embodiment, the clamp 3 can be used to clamp the magnetic field detection unit 1, as shown in the reference. Figures 1-4The main body 6 of the magnetic field detection unit 1 may include a clamping area 7, which is offset from the mounting area of ​​the magnetic field detection element 2. Figure 5 This is a partial structural diagram of a clamp provided in an embodiment of the present invention, with reference to... Figure 1 and Figure 5 The clamp 3 can be composed of a clamping rod 31 and a clamp 32. The clamp is fixed to one end of the clamping rod. The end of the clamping rod 31 away from the clamp 32 is connected to the position moving module 5. The clamp 32 clamps the clamped area 7 of the main body 6 by opening and closing.

[0033] In this configuration, when the position moving module 5 controls the gripper 3 to move, it can drive the magnetic field detection unit 1 to move, thereby changing the relative position of the magnetic field detection unit 1 and the stimulation coil 4.

[0034] It should be noted that the arrangement of the magnetic field detection element 2 within different magnetic field detection units 1 varies, and correspondingly, the shape of the main body 6 of different magnetic field detection units 1 may also differ. For example... Figure 2 The single-point magnetic field detection unit shown and Figure 3 The main body 6 in the linear magnetic field detection unit shown can all be rod-shaped; Figure 4 The main body 6 of the surface magnetic field detection unit shown can be in the shape of a flat plate.

[0035] In addition, in this embodiment, the shape of the gripper 3's clamp 32 can be set to be the same as the outer shape of the clamped area 7, thereby improving clamping stability. For example, when the main body 6 is rod-shaped (e.g.... Figure 2 and Figure 3 As shown), the clamped area 7 can be any area in the main body 6 where the magnetic field detection element 2 is not provided, and the shape of the clamp 32 is the same as the projection shape of the main body 6 along the extension direction of the main body 6. Figure 2 and Figure 3 An example is shown where the main body 6 is rectangular (the projection of the main body 6 along its extension direction is rectangular). However, the actual configuration is not limited to this; it can also be cylindrical (the projection of the main body 6 along its extension direction is circular), etc. When the main body 6 is rectangular, the shape of the clamp can also be rectangular (e.g., ...). Figure 5 As shown, when the chuck 32 clamps the main body 6, the chuck 32 and the main body 6 are in close contact.

[0036] Optional, you can continue to refer to Figure 1 In a possible embodiment, the stimulation coil 4 may be a planar coil; the magnetic field measuring device may also include a base 8, with the stimulation coil 4 placed horizontally on the surface of the base 8 around the edge of the base 8.

[0037] Specifically, such as Figure 1As shown, the magnetic field measuring device may also include a base 8, which can be fixed to the position moving module 5. The base 8 may be a flat plate, and the base 8 is parallel to the plane where the stimulation coil 4 is located. The stimulation coil 4 can be placed on the surface of the base 8 around the edge of the base 8 and remain stationary during the measurement.

[0038] The base 8 serves to fix the overall magnetic field measuring device, which helps to improve the stability of the magnetic field measuring device.

[0039] The clamp 3 can be positioned above the surface of the base 8, that is, in the space above the stimulation coil 4 where the surface of the base 8 points. The position moving module 5 controls the clamp 3 to move in the space above the base 8, and then uses the magnetic field detection unit 1 to detect the magnetic field in any spatial area above the stimulation coil 4.

[0040] Optional, you can continue to refer to Figures 1-4 In a possible embodiment, at least two magnetic field detection units 1 include a first magnetic field detection unit 10, a second magnetic field detection unit 11, and a third magnetic field detection unit 12; the first magnetic field detection unit 10 includes a first main body 61 and a magnetic field detection element 2; the first main body 61 is rod-shaped; along the extending direction of the first main body 61, the magnetic field detection element 2 is fixed to one end of the first main body 61; the second magnetic field detection unit 11 includes a second main body 62 and at least two magnetic field detection elements 2, the second main body 62 is rod-shaped; along the extending direction of the second main body 62, at least two magnetic field detection elements 2 are arranged sequentially on the second main body 62; the third magnetic field detection unit 12 includes a third main body 63 and a plurality of magnetic field detection elements 2, the third main body 63 is plate-shaped, and the third main body 63 is parallel to the plane where the stimulation coil 4 is located; the plurality of magnetic field detection elements 2 are arranged in an array on one side surface of the third main body 63; wherein, the extending directions of the first main body 61 and the second main body 62 are both parallel to the plane where the stimulation coil 4 is located.

[0041] The first magnetic field detection unit 10 is the single-point magnetic field detection unit mentioned in the above embodiment, the second magnetic field detection unit 11 is the line magnetic field detection unit mentioned in the above embodiment, and the third magnetic field detection unit 12 is the surface magnetic field detection unit mentioned in the above embodiment.

[0042] Specifically, refer to Figure 1 and Figure 2The first magnetic field detection unit 10 can be composed of a first main body 61 and a magnetic field detection element 2. The first main body 61 can be rod-shaped, and its extension direction is parallel to the plane where the stimulation coil 4 is located, that is, the extension direction of the first main body 61 is parallel to the surface of the base 8. The magnetic field detection element 2 in the first magnetic field detection unit 10 is fixed to one end of the first main body 61. The clamp 3 clamps the first main body 61, which can drive the first magnetic field detection unit 10 to move in any spatial direction above the stimulation coil 4, so that the magnetic field detection element 2 can measure the point magnetic field of different areas of the stimulation coil 4.

[0043] Figure 6 This is a schematic diagram of another stimulation coil magnetic field measuring device provided in an embodiment of the present invention, which can be referred to in conjunction with reference to... Figure 3 and Figure 6 The second magnetic field detection unit 11 can be composed of a second main body 62 and at least two magnetic field detection elements 2. The second main body 62 can also be rod-shaped, and its extension direction is parallel to the plane where the stimulation coil 4 is located, that is, the extension direction of the second main body 62 is parallel to the surface of the base 8. The structure of the second main body 62 is similar to that of the first main body 61. At least two magnetic field detection elements 2 in the second magnetic field detection unit 11 are sequentially fixed on the second main body 62 along its extension direction. Thus, relative to the stimulation coil 4, each magnetic field detection element 2 in the second magnetic field detection unit 11 is arranged radially along the stimulation coil 4. At this time, the clamped area 7 can be located between any two adjacent magnetic field detection elements 2. The clamp 3 clamps the second main body 62, causing the second magnetic field detection unit 11 to move in any spatial direction above the stimulation coil 4, thereby allowing the magnetic field detection elements 2 to measure the linear magnetic field of different regions of the stimulation coil 4.

[0044] refer to Figure 4 The third magnetic field detection unit 12 can be composed of a third main body 63 and a plurality of arrayed magnetic field detection elements 2. The third main body 63 can be a flat plate structure, and the third main body 63 is parallel to the plane where the stimulation coil 4 is located, that is, the third main body 63 is parallel to the base 8. The plurality of magnetic field detection elements 2 are fixed in an array on one side surface of the third main body 63. Thus, relative to the stimulation coil 4, the arrangement direction of each magnetic field detection element 2 in the third magnetic field detection unit 12 is parallel to the plane where the stimulation coil 4 is located. At this time, the clamping area 7 can also be located between any two adjacent magnetic field detection elements 2. The clamp 3 clamps the third main body 63 and drives the third magnetic field detection unit 12 to move in any spatial direction above the stimulation coil 4, so that the magnetic field detection elements 2 can measure the surface magnetic field of different regions of the stimulation coil 4.

[0045] It should be noted that in the third magnetic field detection unit 12, the clamping structure 9 can be installed in the area of ​​the third main body 63 where the magnetic field detection element 2 is not provided. The clamping structure 9 corresponds to the clamping area 7. Figure 3 The clamped structure 9 shown is cubic in shape, and Figure 5 The shape of the chuck 32 shown is matched, but the actual setting method is not limited to this. Figure 4 The example shown depicts the clamped structure 9 located near the center of the third main body 63. However, the actual arrangement is not limited to this, and those skilled in the art can adjust the arrangement according to their specific needs. In this arrangement, the clamp is positioned relatively close to the center of all magnetic field detection elements.

[0046] The specific dimensions of the main body 6 corresponding to the first magnetic field detection unit 10, the second magnetic field detection unit 11, and the third magnetic field detection unit 12, as well as the number of magnetic field detection elements 2 in the second magnetic field detection unit 11 and the third magnetic field detection unit 12, can be set by those skilled in the art according to actual needs, and the embodiments of the present invention do not limit this.

[0047] For example, in an optional embodiment, the length of the first main body 61 and the second main body 62 along their respective extension directions can be 20cm. In the second magnetic field detection unit 11, the number of magnetic field detection elements 2 can be 50. The distance between adjacent magnetic field detection elements 2 is about 2mm. The length of the magnetic field detection element 2 along the extension direction of the second main body 6 is about 2mm. The actual setting parameters are not limited to these.

[0048] For example, the third main body 63 of the third magnetic field detection unit 12 can be a plate-shaped part with a side length of about 20cm. The magnetic field detection element 2 is a cube with a side length of about 2mm. A total of 2500 magnetic field detection elements 2 (50 in each row and 50 in each column) are arranged in an array. The actual setting parameters are not limited to this.

[0049] The magnetic field detection element 2 can be a Hall sensor or a gaussmeter or other element capable of detecting magnetic field information. This embodiment of the invention does not elaborate on or limit this.

[0050] The above embodiments are all described using a gripper holding a magnetic field detection unit. In other embodiments, a gripper may also be used to hold a stimulation coil. Exemplarily, in possible embodiments, the stimulation coil may still be a planar coil; the magnetic field measuring device may still include a base, with the stimulation coil horizontally placed on the surface of the base around its edge; one of the at least two magnetic field detection units is placed on the surface of the base; the gripper is used to hold the stimulation coil, and the position movement module controls the movement of the gripper to move the stimulation coil.

[0051] Specifically, in this embodiment, the arrangement of the stimulation coil and the base is the same as in the above embodiments; the specific structure can be found in [reference needed]. Figure 1 This will not be elaborated upon here. With Figure 1 Unlike the previous embodiment, in this embodiment, the clamp no longer holds the magnetic field detection unit, but instead holds the stimulation coil. One of the selected magnetic field detection units, which meets the requirements for magnetic field testing, is placed on the base surface and remains stationary during the measurement.

[0052] The position movement module controls the gripper to move in the space above the base. During the movement of the gripper, the stimulation coil moves on the surface of the base towards the space above the magnetic field detection unit. The magnetic field detection unit then detects the magnetic field in the space above the stimulation coil and in any space below it.

[0053] It should be noted that the height of the magnetic field detection unit along the direction perpendicular to the base surface is generally greater than the height of the stimulation coil along that direction. Therefore, in this configuration, the stimulation coil can move in the area below and above the magnetic field detection unit.

[0054] In this embodiment, the magnetic field detection unit is kept stationary, and the relative position of the magnetic field detection unit and the stimulation coil is adjusted by moving the stimulation coil. This allows for the measurement of the magnetic field generated by the stimulation coil in the space below, thus improving the comprehensiveness of the magnetic field measurement of the stimulation coil.

[0055] Of course, in other possible embodiments, the stimulation coil can be placed around the base. In this arrangement, the stimulation coil can also be moved above the magnetic field detection unit, so that magnetic field information of the space above and below the stimulation coil can be obtained simultaneously in one measurement cycle.

[0056] Figure 7 This is a partial structural schematic diagram of a stimulation coil magnetic field measuring device provided in an embodiment of the present invention, with reference to... Figure 7 Optionally, in a possible embodiment, one of the at least two magnetic field detection units 1 includes a first main body 61 and a magnetic field detection element 2; the first main body 61 is rod-shaped; along the extending direction of the first main body 61, the magnetic field detection element 2 is fixed to one end of the first main body 61; a groove 13 is provided on the surface of the base 8, the groove 13 extends from the center position of the surface of the base 8 to any edge of the base 8; along the direction perpendicular to the surface of the base 8, the starting point of the groove 13 coincides with the geometric center of the stimulation coil (not shown in the figure); the first main body 61 is placed in the groove 13, and the magnetic field detection element 2 is close to the starting point of the groove 13.

[0057] Specifically, such as Figure 7As shown, in this embodiment, the surface of the base 8 is provided with a groove 13. The starting point of the groove 13 is the center of the surface of the base 8, and the ending point of the groove 13 is any edge of the base 8. When the stimulation coil is placed on the surface of the base 8, the geometric center of the stimulation coil coincides with the center of the surface of the base 8, that is, the geometric center of the stimulation coil coincides with the starting point of the groove 13.

[0058] In this embodiment, at least one of the two magnetic field detection units 1 is arranged in the same way as the first magnetic field detection unit 10 in the above embodiment. It should be noted that the internal space of the groove 13 may have the same shape as the first main body 61 of the first magnetic field detection unit 10, the first main body 61 may be placed in the groove 13, and the magnetic field detection element 2 of the first magnetic field detection unit 10 coincides with or approximately coincides with the starting point of the groove 13.

[0059] In this configuration, when the gripper (not shown in the figure) does not move the stimulation coil, the magnetic field detection element 2 is located at the geometric center of the stimulation coil. At this time, the coordinates of the gripper can be set to (0,0,0), which is the initial position. This coordinate can be used as a reference when moving the gripper 3 later.

[0060] Optional, you can continue to refer to Figure 1 In a possible embodiment, the position movement module 5 may include a first slide rail 51, a second slide rail 52, a third slide rail 53, a first sliding structure 54, a second sliding structure 55, and a third sliding structure 56; wherein, the first slide rail 51 extends along a first direction X, the second slide rail 52 extends along a second direction Z, and the third slide rail 53 extends along a third direction Y; the first direction X, the second direction Z, and the third direction Y are perpendicular to each other; the first sliding structure 54 is connected to the gripper 3, and the first sliding structure 54 slides relative to the first slide rail 51 to drive the gripper 3 to move along the first direction X; the first slide rail 51 is connected to the second sliding structure 55, and the second sliding structure 55 slides relative to the second slide rail 52 to drive the first slide rail 51 to move along the second direction Z; the second slide rail 52 is connected to the third sliding structure 56, and the third sliding structure 56 slides relative to the third slide rail 53 to drive the second slide rail 52 to move along the third direction Y.

[0061] Specifically, such as Figure 1 As shown, the position movement module 5 may include three perpendicular slide rails, wherein the extension directions of the three slide rails may be the X-axis, Y-axis, and Z-axis directions in three-dimensional space, respectively. Specifically, the first slide rail 51 extends along the first direction X, which may be the X-axis direction; the second slide rail 52 extends along the second direction Z, which may be the Z-axis direction; and the third slide rail 53 extends along the third direction Y, which may be the Y-axis direction.

[0062] The position movement module 5 may further include a first sliding structure 54, a second sliding structure 55, and a third sliding structure 56. The first sliding structure 54 can slide along the first slide rail 51, the second sliding structure 55 can slide along the second slide rail 52, and the third sliding structure 56 can slide along the third slide rail 53.

[0063] The first sliding structure 54 can be fixedly connected to the clamp 3. When the first sliding structure 54 slides along the first slide rail 51, it can drive the clamp 3 to slide relative to each other in the first direction X. The second sliding structure 55 can be fixedly connected to the first slide rail 51. When the second sliding structure 55 slides along the second slide rail 52, it can drive the first slide rail 51 to slide relative to each other in the second direction Z. The third sliding structure 56 can be fixedly connected to the second slide rail 52. When the third sliding structure 56 slides along the third slide rail 53, it can drive the second slide rail 52 to slide relative to each other in the third direction Y.

[0064] Thus, by controlling the relative positions of the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 within their respective slide rails, the gripper 3 can be controlled to move in any direction in three-dimensional space.

[0065] The first slide rail 51 and the third slide rail 53 extend in directions parallel to the plane containing the stimulation coil 4. That is, when the clamp 3 moves along the first direction X and / or the third direction Y, the relative position of the stimulation coil 4 and the magnetic field detection unit 1 changes in the direction (horizontal direction) of the plane containing the stimulation coil 4. The third slide rail 53 extends in directions perpendicular to the plane containing the stimulation coil 4. When the clamp 3 moves along the third direction Y, the relative position of the stimulation coil 4 and the magnetic field detection unit 1 changes in the direction (vertical direction) perpendicular to the plane containing the stimulation coil 4.

[0066] Optionally, when the magnetic field detection unit 1 includes a rod-shaped main body, the extending direction of the rod-shaped main body can be set to be parallel to the second direction Z or the third direction Y. Figure 1 The diagram shows that the extension direction of the rod-shaped main body is parallel to the third direction Y, but in reality it is not limited to this.

[0067] In addition, in this embodiment of the application, the base 8 can be fixed to any slide rail. Figure 1 The example shows the base 8 fixed to the third slide rail 53, and the actual setup is as follows.

[0068] Optional, Figure 8 This is a partial structural diagram of a position movement module provided in an embodiment of the present invention, which can be further referred to. Figure 1 and Figure 8In a possible embodiment, the position movement module 5 may further include a first motor 57, a second motor 58, and a third motor 59; the first motor 57, the second motor 58, and the third motor 59 are respectively connected to the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 in a transmission connection; the magnetic field measuring device further includes a position controller 14, which is electrically connected to the first motor 57, the second motor 58, and the third motor 59; the position controller 14 is used to control the sliding of the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 through the first motor 57, the second motor 58, and the third motor 59 respectively.

[0069] Specifically, such as Figure 1 and Figure 8 As shown, in this embodiment, the position moving module 5 may further include a first motor 57, a second motor 58, and a third motor 59, which are respectively connected to the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56. The first motor 57, the second motor 58, and the third motor 59 are respectively used to drive the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 to slide relative to each other along the corresponding slide rails.

[0070] Among them, reference Figure 1 The magnetic field measuring device may also include a position controller 14, which is electrically connected to the first motor 57, the second motor 58, and the third motor 59. The position controller 14 can send control signals to the first motor 57, the second motor 58, and the third motor 59, thereby adjusting the relative position of the sliding structure within the slide rail under the action of the motors. The relative relationship between the motor operating states (e.g., rotation direction and number of rotations) and the coordinates of the gripper 3 can be pre-stored. During the test, after inputting the target coordinates, the motors can be controlled to operate in the corresponding operating state at the target coordinates, thereby adjusting the gripper 3 to the target position.

[0071] By setting up a motor, the sliding structure is driven to slide, thereby achieving automatic adjustment of the position of the sliding structure, and thus automatic adjustment of the position of the gripper in space.

[0072] Currently, in possible embodiments, reference is made to Figure 1 and Figure 8 Each sliding structure can be equipped with a knob 15. By adjusting the knob 15, the position of the sliding structure can be manually adjusted, thereby enabling the manual adjustment of the position of the clamp 3 in space.

[0073] Optionally, in a possible embodiment, the position controller 14 includes a human-machine interface unit (not shown in the figure) and a position control unit (not shown in the figure), wherein the position control unit is electrically connected to the human-machine interface unit, the first motor 57, the second motor 58 and the third motor 59 respectively; the human-machine interface unit is used to receive position control commands, and the position control unit is used to adjust the working state of the first motor 57, the second motor and / or the third motor 59 according to the position control commands.

[0074] Specifically, the position controller 14 may include a human-machine interface unit and a position control unit, with the position control unit electrically connected to the first motor 57, the second motor 58, and the third motor 59, respectively. The human-machine interface unit can receive position control commands input by the test personnel and transmit the position control commands to the position control unit, which then adjusts the working state of each motor according to the position control commands.

[0075] Taking the clamp 3 holding the magnetic field detection unit 1 as an example, before measurement, the clamp 3 can be pre-adjusted to an initial position, and the initial coordinates (0,0,0) of the position of the magnetic field detection unit 1 can be set. Subsequently, the relative positions of the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 can be adjusted with reference to these initial coordinates. Specifically, during measurement, the tester can input the target coordinates (xy,z) of the X-axis, Y-axis, and Z-axis into the human-machine interface unit, and then control the command receiving unit to adjust the clamp 3 to the target position corresponding to the target coordinates (xy,z). The magnetic field detection unit 1 then collects the magnetic field at the target coordinates (xy,z).

[0076] The location coordinates of the magnetic field detection unit 1 are displayed using the human-computer interaction unit, so as to display the current position of the magnetic field detection unit 1 in real time and intuitively during the measurement process, which makes it convenient for the tester to adjust the relative position of the magnetic field detection unit 1 and the stimulation coil 4.

[0077] Optional, you can continue to refer to Figure 1 In a possible embodiment, the stimulation coil magnetic field measuring device may further include a magnetic field acquisition module 16 and a magnetic field display module 17. The magnetic field acquisition module 16 is electrically connected to the magnetic field detection element 2 and the magnetic field display module 17, respectively. The magnetic field acquisition module 16 sends the magnetic field information detected by the magnetic field detection element 2 to the magnetic field display module 17.

[0078] Specifically, such as Figure 1 As shown in the embodiment of this application, the magnetic field measuring device may also be provided with a magnetic field acquisition module 16 and a magnetic field display module 17. The magnetic field acquisition module 16 is electrically connected to the magnetic field detection element 2 in the magnetic field detection unit 1 used to measure the magnetic field. The magnetic field acquisition module 16 acquires the magnetic field information detected by the magnetic field detection element 2 and generates a magnetic field distribution image.

[0079] The magnetic field display module 17 is electrically connected to the magnetic field acquisition module 16. The magnetic field acquisition module 16 sends the generated magnetic field distribution image to the magnetic field display module 17, which then displays the magnetic field distribution. The magnetic field display module 17 may include a point magnetic field display unit, a line magnetic field display unit, and a surface magnetic field display unit, which are used to display the magnetic field distribution acquired by the first magnetic field detection unit, the second magnetic field detection unit, and the third magnetic field detection unit, respectively.

[0080] The measurement process of the stimulation coil magnetic field measuring device in this application is briefly described below. (Reference) Figure 1 In this embodiment, the example is that the stimulation coil 4 is placed on the surface of the base 8 and kept stationary, while the holder 3 holds the magnetic field detection unit 1 and moves.

[0081] For example, the stimulation coil 4 can be placed on the surface of the base 8, and a center point can be marked on the center of the surface of the base 8 so that the geometric center of the stimulation coil 4 coincides with the center point of the surface of the base 8. The magnetic field measuring device provided in this application can be operated in manual or automatic mode. In manual mode, the tester manually adjusts the positions of the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56 until the projection of the magnetic field detection element 2 on the surface of the base 8 coincides with the center point of the surface of the base 8. At this time, the position of the magnetic field detection unit 1 in the position controller 14 is marked as the initial coordinate (0,0,0) for origin correction. Then, by adjusting the first sliding structure 54, the second sliding structure 55, and the third sliding structure 56, the magnetic field detection unit 1 is moved to the target position, and the magnetic field of the stimulation coil 4 can be measured using the magnetic field detection unit 1. The measured magnetic field distribution is transmitted to the magnetic field display module 17 in real time for display. In automatic mode, the target coordinates can be input into the position controller 14, the motor starts to work, and then the magnetic field detection unit 1 is adjusted to the target coordinate position under the drive of the motor. The magnetic field detection unit 1 is used to measure the magnetic field of the stimulation coil 4, and the measured magnetic field distribution is displayed by the magnetic field display module 17.

[0082] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A device for measuring the magnetic field of a stimulation coil, characterized in that, include: At least two magnetic field detection units; each magnetic field detection unit includes at least one magnetic field detection element; wherein the number and arrangement of the magnetic field detection elements in different magnetic field detection units are different. A clamp for clamping one of at least two magnetic field detection units, or for clamping the stimulation coil; A position movement module, connected to the gripper, is used to control the movement of the gripper; during the movement of the gripper, the relative position of the magnetic field detection unit and the stimulation coil changes; The stimulation coil magnetic field measuring device measures the magnetic field of different regions of the stimulation coil through one of at least two magnetic field detection units.

2. The stimulation coil magnetic field measuring device according to claim 1, characterized in that, The magnetic field detection unit further includes a main body, the main body includes a clamping area, and the magnetic field detection element is fixed in a portion of the main body excluding the clamping area. The clamp holds the clamped area of ​​the main body, and the position movement module controls the clamp to move so as to move the magnetic field detection unit.

3. The stimulation coil magnetic field measuring device according to claim 2, characterized in that, The stimulation coil is a planar coil; The magnetic field measuring device also includes a base, and the stimulation coil is placed horizontally on the surface of the base around the edge of the base.

4. The stimulation coil magnetic field measuring device according to claim 3, characterized in that, The at least two magnetic field detection units include a first magnetic field detection unit, a second magnetic field detection unit, and a third magnetic field detection unit; The first magnetic field detection unit includes a first main body and a magnetic field detection element; The first main body is rod-shaped; along the extending direction of the first main body, the magnetic field detection element is fixed to one end of the first main body. The second magnetic field detection unit includes a second main body and at least two magnetic field detection elements, wherein the second main body is rod-shaped; and the at least two magnetic field detection elements are arranged sequentially on the second main body along the extending direction of the second main body. The third magnetic field detection unit includes a third main body and a plurality of magnetic field detection elements. The third main body is flat and parallel to the plane where the stimulation coil is located. The plurality of magnetic field detection elements are arranged in an array on one side surface of the third main body. The extension directions of both the first main body and the second main body are parallel to the plane where the stimulation coil is located.

5. The stimulation coil magnetic field measuring device according to claim 1, characterized in that, The stimulation coil is a planar coil; The magnetic field measuring device also includes a base, and the stimulation coil is placed horizontally on the surface of the base around the edge of the base; One of the at least two magnetic field detection units is placed on the surface of the base; The clamp is used to hold the stimulation coil, and the position movement module controls the clamp to move so as to move the stimulation coil.

6. The stimulation coil magnetic field measuring device according to claim 5, characterized in that, One of the at least two magnetic field detection units includes a first main body and a magnetic field detection element; the first main body is rod-shaped; the magnetic field detection element is fixed to one end of the first main body along its extending direction; The surface of the base is provided with a groove, which extends from the center of the base surface to any edge of the base; along the direction perpendicular to the surface of the base, the starting point of the groove coincides with the geometric center of the stimulation coil; The first main body is placed inside the groove, and the magnetic field detection element is close to the starting point of the groove.

7. The stimulation coil magnetic field measuring device according to claim 1, characterized in that, The position movement module includes a first slide rail, a second slide rail, a third slide rail, a first sliding structure, a second sliding structure, and a third sliding structure; wherein, the first slide rail extends along a first direction, the second slide rail extends along a second direction, and the third slide rail extends along a third direction; the first direction, the second direction, and the third direction are perpendicular to each other; The first sliding structure is connected to the clamp, and the first sliding structure slides relative to the first slide rail to drive the clamp to move in the first direction; The first slide rail is connected to the second sliding structure, and the second sliding structure slides relative to the second slide rail to drive the first slide rail to move in the second direction; The second slide rail is connected to the third sliding structure, and the third sliding structure slides relative to the third slide rail to drive the second slide rail to move in the third direction.

8. The stimulation coil magnetic field measuring device according to claim 7, characterized in that, The position movement module further includes a first motor, a second motor, and a third motor; the first motor, the second motor, and the third motor are respectively connected to the first sliding structure, the second sliding structure, and the third sliding structure for transmission. The magnetic field measuring device further includes a position controller, which is electrically connected to the first motor, the second motor and the third motor respectively; the position controller is used to control the sliding of the first sliding structure, the second sliding structure and the third sliding structure through the first motor, the second motor and the third motor respectively.

9. The stimulation coil magnetic field measuring device according to claim 8, characterized in that, The position controller includes a human-machine interface unit and a position control unit. The position control unit is electrically connected to the human-machine interface unit, the first motor, the second motor, and the third motor, respectively. The human-machine interface unit is used to receive position control commands, and the position control unit is used to adjust the working state of the first motor, the second motor, and / or the third motor according to the position control commands.

10. The stimulation coil magnetic field measuring device according to claim 1, characterized in that, It also includes a magnetic field acquisition module and a magnetic field display module. The magnetic field acquisition module is electrically connected to the magnetic field detection element and the magnetic field display module, respectively. The magnetic field acquisition module sends the magnetic field information detected by the magnetic field detection element to the magnetic field display module.

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