A magnetic stimulator capable of monitoring the state of a handle coil

Abstract

The present invention provides a magnetic stimulator capable of monitoring the state of a handle coil, belonging to the technical field of magnetic stimulation equipment; it comprises a TMS coil beater, a controller, a magnetic stimulation host connected to the controller, and a posture monitoring component, wherein the magnetic stimulation host is electrically connected to the TMS coil beater and is used to drive the TMS coil beater to generate a pulsed magnetic field; a positioning component is fixed on the TMS coil beater, and the positioning component is connected to the controller; the posture monitoring component is used to cooperate with the positioning component to obtain the posture information of the TMS coil beater. The present invention can obtain the posture information of the TMS coil beater in real time by installing a positioning component on the TMS coil beater, and cooperate with the posture monitoring component, and can adjust the posture of the TMS coil beater according to the real-time posture information, so that the stimulation coil maintains the best posture to achieve a focusing effect, thereby improving the stimulation effect of the coil.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic stimulation equipment, and in particular to a magnetic stimulator capable of monitoring the state of a handle coil. Background Art

[0002] Transcranial Magnetic Stimulation (TMS) is a treatment method for neurological diseases. The magnetic signal generated by the transcranial magnetic stimulator can pass through the skull without attenuation to stimulate the brain nerves. In practical applications, it is not limited to brain stimulation, but can also stimulate peripheral nerves and muscles. This technology uses a complete set of charging modules to charge the capacitor, and then stimulates the magnetic stimulation coil through the discharge module to generate a high-intensity pulsed magnetic field, thereby stimulating the brain nerves to change the electrical activity of nerve cells in the brain, achieving the effect of treating neurological diseases. This method is safe and reliable, has obvious therapeutic effects, and is non-invasive.

[0003] In the actual treatment process, the stimulation coil needs to maintain a specific tilt angle for the patient's brain area to achieve the best stimulation effect. Different patients have different head physiological curves, and the optimal posture of the stimulation coil is also different. For specific patients, the stimulation coil needs to maintain the best posture to achieve a focusing effect, otherwise the purpose of target treatment cannot be achieved.

[0004] Due to the lack of a device for measuring the coil posture in the prior art, the coil can only be placed close to the patient's scalp in actual use to achieve relatively fuzzy positioning. However, since the physiological curve of each person's brain skull is different, it is difficult to achieve the best stimulation effect. Summary of the invention

[0005] The present application provides a magnetic stimulator capable of monitoring the state of a handle coil, thereby solving the problem in the prior art that it is difficult to achieve an optimal stimulation effect of the coil due to the lack of a device for measuring the coil posture.

[0006] The present application provides a magnetic stimulator capable of monitoring the state of a handle coil, comprising a TMS coil racket, a controller, a magnetic stimulation host connected to the controller, and a posture monitoring component, wherein the magnetic stimulation host is electrically connected to the TMS coil racket and is used to drive the TMS coil racket to generate a pulsed magnetic field; a positioning component is fixed on the TMS coil racket, and the positioning component is connected to the controller; the posture monitoring component is used to cooperate with the positioning component to obtain the posture information of the TMS coil racket.

[0007] In the technical solution provided in the present application, by installing a positioning component on the TMS coil beater, the posture information of the TMS coil beater can be obtained in real time in cooperation with the posture monitoring component. The posture of the TMS coil beater can be adjusted according to the real-time posture information, so that the stimulation coil maintains the best posture to achieve a focusing effect, thereby improving the stimulation effect of the coil.

[0008] In some embodiments, the magnetic stimulator also includes a positioning headgear connected to the controller, the positioning headgear is fixed on the user's head, and the posture monitoring component is used to cooperate with the positioning headgear to obtain the posture information of the user's head. By setting the positioning headgear, the posture monitoring component can be used to obtain the posture information of the user's head in real time, thereby providing a basis for the posture adjustment of the TMS coil.

[0009] In some embodiments, the magnetic stimulator also includes a robotic arm connected to a controller, and the TMS coil racket is fixed at the end of the robotic arm. The controller controls the robotic arm to clamp the TMS coil racket for translation and rotation based on the posture information of the user's head and the TMS coil racket, so that the TMS coil racket is moved to a target position. By setting the robotic arm to clamp the TMS coil racket instead of holding it by hand, the accuracy and stability of the TMS coil racket posture adjustment are improved, and the magnetic stimulation efficiency and therapeutic effect of the TMS coil racket are improved.

[0010] In some embodiments, the magnetic stimulator also includes a 3D scanner connected to the controller, the 3D scanner is used to obtain 3D point cloud data of the user's head and 3D point cloud data of the positioning headgear, the controller establishes a posture matching relationship between the positioning headgear and the user's head based on the 3D point cloud data of the user's head and the 3D point cloud data of the positioning headgear, and after the posture monitoring component obtains the posture information of the positioning headgear, it can calculate the posture information of the user's head based on the posture matching relationship between the positioning headgear and the user's head.

[0011] In some embodiments, the posture monitoring component is an infrared receiver, and the positioning component includes a positioning bracket and a plurality of first infrared transmitters mounted on the positioning bracket, and the positioning bracket is fixed on the handle of the TMS coil racket; the first infrared transmitters are connected to a controller, and the wavelengths of infrared light emitted by each first infrared transmitter are different; the controller stores wavelength information corresponding to each first infrared transmitter, installation position information of each first infrared transmitter on the positioning bracket, and relative posture information between the positioning bracket and the coil racket; since the posture conversion relationship between the positioning bracket and the TMS coil racket is fixed, it is only necessary to obtain the wavelength information of the positioning bracket. The posture information can be used to calculate the posture information of the TMS coil. To obtain the posture information of the positioning bracket, it can be calculated based on the relative position relationship between multiple first infrared transmitters (at least 2) on the positioning bracket. The distance between the infrared receiver and each first infrared transmitter can be calculated based on the time when the infrared receiver receives the infrared light signal emitted by each first infrared transmitter, thereby calculating the coordinate information of each first infrared transmitter in the infrared receiver coordinate system, and according to the installation position information of each first infrared transmitter on the positioning bracket, the posture information of the positioning bracket can be calculated, thereby obtaining the posture information of the TMS coil. In addition, by setting multiple first infrared transmitters, on the one hand, the accuracy of the TMS coil posture calculation can be improved. On the other hand, when one or several first infrared transmitters on the positioning bracket are blocked by obstacles, the TMS coil can also be accurately positioned by the remaining first infrared transmitters in cooperation with the infrared receiver.

[0012] In some embodiments, the positioning bracket is provided with a first electric control box, the first electric control box is provided with a first microcontroller chip, a first clock unit, a first power supply unit and a first communication unit, and the first communication unit is wirelessly connected with the controller;

[0013] The first microcontroller chip is used to control multiple first infrared transmitters to transmit infrared light signals simultaneously, the first clock unit is used to record the time information of multiple first infrared transmitters transmitting infrared light signals, and the first communication unit is used to send the time information of multiple first infrared transmitters transmitting infrared light signals to the controller; the infrared receiver is integrated with a third clock unit, which is used to record the time information of the infrared receiver receiving the infrared light signals emitted by each first infrared transmitter, and the controller calculates the distance between each first infrared transmitter and the infrared receiver according to the time information of the multiple first infrared transmitters transmitting infrared light signals and the time information of the infrared receiver receiving the infrared light signals, thereby calculating the posture information of the TMS coil beat; the first communication unit is connected to the controller in a wireless communication manner, which can reduce the interference of the wiring harness on the infrared light signal and the movement of the robotic arm.

[0014] In some embodiments, an induction coil is also installed on the positioning bracket, and the induction coil is located on the back of the stimulation coil of the TMS coil; the first microcontroller chip integrates a current detection circuit and an amplification circuit, the current detection circuit is electrically connected to the induction coil, and the amplification circuit is used to amplify the induced current signal detected by the current detection circuit, and the first communication unit is used to send the amplified induced current signal to the controller, and the controller calculates the magnetic field strength of the pulsed magnetic field generated by the stimulation coil according to the induced current signal; since the magnetic field strength of the pulsed magnetic field generated by the stimulation coil is easily affected by other factors (such as temperature, etc.) during operation, by installing the induction coil on the positioning bracket, the magnetic field strength generated by the stimulation coil can be detected in real time, which is convenient for adjusting the pulse current of the stimulation coil, so that the stimulation coil always generates a pulsed magnetic field with the set target magnetic field strength, thereby improving the stimulation effect.

[0015] In some embodiments, the posture monitoring component is an infrared receiver, and a plurality of second infrared transmitters are distributedly installed on the positioning headgear, the second infrared transmitters are connected to the controller, and the wavelengths of infrared light emitted by each second infrared transmitter are different; the controller stores wavelength information corresponding to each second infrared transmitter, installation position information of each second infrared transmitter on the positioning headgear, and relative posture information between the positioning headgear and the user's head; since the posture pairing relationship between the positioning headgear and the user's head is fixed, it is only necessary to obtain the posture information of the positioning headgear to calculate the posture information of the user's head, and to obtain the posture information of the positioning headgear, it can be calculated according to the relative position relationship between the plurality of second infrared transmitters (at least 2) on the positioning headgear, and the distance between the infrared receiver and each second infrared transmitter can be calculated according to the time when the infrared receiver receives the infrared light signal emitted by each second infrared transmitter, so as to calculate the coordinate information of each second infrared transmitter in the infrared receiver coordinate system, and according to the installation position information of each second infrared transmitter on the positioning headgear, the posture information of the positioning headgear can be calculated, so as to obtain the posture information of the user's head. In addition, by setting up multiple second infrared transmitters, on the one hand, the accuracy of calculating the user's head posture can be improved; on the other hand, when one or several second infrared transmitters on the positioning headgear are blocked by obstacles, the positioning headgear can also be accurately positioned by using the remaining second infrared transmitters in conjunction with the infrared receiver.

[0016] In some embodiments, a second electric control box is installed on the positioning headgear, and a second microcontroller chip, a second clock unit, a second power supply unit and a second communication unit are arranged in the second electric control box, and the second communication unit is wirelessly connected with the controller;

[0017] The second microcontroller chip is used to control multiple second infrared transmitters to simultaneously transmit infrared light signals, the second clock unit is used to record the time information of multiple second infrared transmitters transmitting infrared light signals, and the second communication unit is used to send the time information of multiple second infrared transmitters transmitting infrared light signals to the controller; the infrared receiver is integrated with a third clock unit, which is used to record the time information of the infrared receiver receiving the infrared light signals emitted by each second infrared transmitter, and the controller calculates the distance between each second infrared transmitter and the infrared receiver according to the time information of the multiple second infrared transmitters transmitting infrared light signals and the time information of the infrared receiver receiving the infrared light signals, thereby calculating the posture information of the user's head. The second communication unit is connected to the controller in a wireless communication manner, which can reduce the interference of the wire harness on the infrared light signal and the motion of the TMS coil.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings in this application are used to illustrate preferred embodiments, so that those skilled in the art can clearly understand various other advantages and benefits, and should not be considered as limitations of this application. In addition, the same reference numerals are used throughout the drawings to represent the same or similar components.

[0020] Figure 1 is a schematic diagram of the overall structure of a magnetic stimulator in one embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the structure of a TMS coil in an embodiment of the present application;

[0022] Figure 3 This is a structural schematic diagram of a positioning headgear in an embodiment of the present application;

[0023] Icons: 1. TMS coil; 2. Controller; 3. Posture monitoring component; 4. Positioning headgear; 5. Positioning bracket; 6. First infrared transmitter; 7. Handle; 8. Stimulation coil; 9. First electric control box; 10. Induction coil; 11. Second infrared transmitter; 12. Second electric control box. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), unless otherwise clearly and specifically defined.

[0027] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0028] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0029] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0030] See also Figure 1-Figure 3 The embodiment of the present application provides a magnetic stimulator that can monitor the state of a handle coil, including a TMS coil racket 1, a controller 2, a magnetic stimulation host connected to the controller 2, and a posture monitoring component 3, wherein the magnetic stimulation host is electrically connected to the TMS coil racket 1 and is used to drive the TMS coil racket 1 to generate a pulsed magnetic field; a positioning component is fixed on the TMS coil racket 1, and the positioning component is connected to the controller 2; the posture monitoring component 3 is used to cooperate with the positioning component to obtain the posture information of the TMS coil racket 1.

[0031] In the technical solution provided in the embodiment of the present application, by installing a positioning component on the TMS coil beat 1, the posture information of the TMS coil beat 1 can be obtained in real time in cooperation with the posture monitoring component 3. The posture of the TMS coil beat 1 can be adjusted according to the real-time posture information, so that the stimulation coil 8 maintains the best posture to achieve a focusing effect, thereby improving the stimulation effect of the coil.

[0032] Please continue reading Figure 1 In some embodiments, the magnetic stimulator also includes a positioning headgear 4 connected to the controller 2, the positioning headgear 4 is fixed on the user's head, and the posture monitoring component 3 is used to cooperate with the positioning headgear 4 to obtain the posture information of the user's head. By setting the positioning headgear 4, the posture monitoring component 3 can be used to obtain the posture information of the user's head in real time, thereby providing a basis for the posture adjustment of the TMS coil 1.

[0033] In some embodiments, the magnetic stimulator also includes a robotic arm (not shown in the figure) connected to the controller 2, and the TMS coil beater 1 is fixed at the end of the robotic arm. The controller 2 controls the robotic arm to clamp the TMS coil beater 1 for translation and rotation according to the posture information of the user's head and the TMS coil beater 1, so that the TMS coil beater 1 moves to the target position. By setting the robotic arm to clamp the TMS coil beater 1 instead of holding it by hand, the accuracy and stability of the posture adjustment of the TMS coil beater 1 are improved, and the magnetic stimulation efficiency and therapeutic effect of the TMS coil beater 1 are improved.

[0034] In some embodiments, the magnetic stimulator also includes a 3D scanner (not shown in the figure) connected to the controller 2, and the 3D scanner is used to obtain 3D point cloud data of the user's head and 3D point cloud data of the positioning headgear 4. The controller 2 establishes a posture matching relationship between the positioning headgear 4 and the user's head based on the 3D point cloud data of the user's head and the 3D point cloud data of the positioning headgear 4. After the posture monitoring component 3 obtains the posture information of the positioning headgear 4, it can calculate the posture information of the user's head based on the posture matching relationship between the positioning headgear 4 and the user's head.

[0035] Please continue reading Figure 2 In some embodiments, the posture monitoring component 3 is an infrared receiver, and the positioning component includes a positioning bracket 5 and a plurality of first infrared transmitters 6 installed on the positioning bracket 5 (the specific number can be flexibly adjusted according to actual conditions), and the positioning bracket 5 is fixed on the handle 7 of the TMS coil racket 1; the first infrared transmitter 6 is connected to the controller 2, and the wavelength of infrared light emitted by each first infrared transmitter 6 is different; the controller 2 stores the wavelength information corresponding to each first infrared transmitter 6, the installation position information of each first infrared transmitter 6 on the positioning bracket 5, and the relative posture information of the positioning bracket 5 and the coil racket; since the posture conversion relationship between the positioning bracket 5 and the TMS coil racket 1 is fixed Therefore, it is only necessary to obtain the posture information of the positioning bracket 5 to calculate the posture information of the TMS coil 1. To obtain the posture information of the positioning bracket 5, it can be calculated based on the relative position relationship between the multiple first infrared transmitters 6 (at least 2) on the positioning bracket 5. According to the time when the infrared receiver receives the infrared light signal emitted by each first infrared transmitter 6, the distance between the infrared receiver and each first infrared transmitter 6 can be calculated, thereby calculating the coordinate information of each first infrared transmitter 6 in the infrared receiver coordinate system, and according to the installation position information of each first infrared transmitter 6 on the positioning bracket 5, the posture information of the positioning bracket 5 can be calculated, thereby obtaining the posture information of the TMS coil. In addition, by setting multiple first infrared transmitters 6, on the one hand, the accuracy of the TMS coil posture calculation can be improved, and on the other hand, when one or several first infrared transmitters 6 on the positioning bracket 5 are blocked by obstacles, the TMS coil can also be accurately positioned by the remaining first infrared transmitters 6 in cooperation with the infrared receiver.

[0036] In a specific embodiment, the positioning bracket 5 is provided with a first electric control box 9, and the first electric control box 9 is provided with a first micro-control chip, a first clock unit, a first power supply unit and a first communication unit, and the first communication unit is wirelessly connected with the controller 2;

[0037] The first microcontroller chip is used to control multiple first infrared transmitters 6 to transmit infrared light signals simultaneously, the first clock unit is used to record the time information of multiple first infrared transmitters 6 transmitting infrared light signals, and the first communication unit is used to send the time information of multiple first infrared transmitters 6 transmitting infrared light signals to the controller 2; the infrared receiver is integrated with a third clock unit, which is used to record the time information of the infrared receiver receiving the infrared light signals emitted by each first infrared transmitter 6, and the controller 2 calculates the distance between each first infrared transmitter 6 and the infrared receiver according to the time information of the multiple first infrared transmitters 6 transmitting infrared light signals and the time information of the infrared receiver receiving the infrared light signals, thereby calculating the posture information of the TMS coil beat 1; the first communication unit is connected to the controller 2 in a wireless communication manner, which can reduce the interference of the wiring harness on the infrared light signal and the movement of the robotic arm.

[0038] Please continue reading Figure 2 In some embodiments, an induction coil 10 is also installed on the positioning bracket 5, and the induction coil 10 is located on the back of the stimulation coil 8 of the TMS coil 1; the first microcontroller chip integrates a current detection circuit and an amplifier circuit, the current detection circuit is electrically connected to the induction coil 10, and the amplifier circuit is used to amplify the induced current signal detected by the current detection circuit, and the first communication unit is used to send the amplified induced current signal to the controller 2, and the controller 2 calculates the magnetic field strength of the pulsed magnetic field generated by the stimulation coil 8 according to the induced current signal; since the magnetic field strength of the pulsed magnetic field generated by the stimulation coil 8 is easily affected by other factors (such as temperature, etc.) during the operation of the stimulation coil 8, by installing the induction coil 10 on the positioning bracket 5, the magnetic field strength generated by the stimulation coil 8 can be detected in real time, which is convenient for adjusting the pulse current of the stimulation coil 8, so that the stimulation coil 8 always generates a pulsed magnetic field with the set target magnetic field strength, thereby improving the stimulation effect.

[0039] Please continue reading Figure 3In some embodiments, the posture monitoring component 3 is an infrared receiver, and a plurality of second infrared transmitters 11 are distributedly installed on the positioning headgear 4 (the specific number can be flexibly adjusted according to actual conditions), and the second infrared transmitters 11 are connected to the controller 2, and the wavelengths of infrared light emitted by each second infrared transmitter 11 are different; the controller 2 stores the wavelength information corresponding to each second infrared transmitter 11, the installation position information of each second infrared transmitter 11 on the positioning headgear 4, and the relative posture information of the positioning headgear 4 and the user's head; since the posture pairing relationship between the positioning headgear 4 and the user's head is fixed, it is only necessary to obtain the posture information of the positioning headgear 4. The information can be used to calculate the posture information of the user's head, and the posture information of the positioning headgear 4 can be obtained according to the relative position relationship between the multiple second infrared transmitters 11 (at least 2) on the positioning headgear 4. The distance between the infrared receiver and each second infrared transmitter 11 can be calculated according to the time when the infrared receiver receives the infrared light signal emitted by each second infrared transmitter 11, so as to calculate the coordinate information of each second infrared transmitter 11 in the infrared receiver coordinate system, and the posture information of the positioning headgear 4 can be calculated according to the installation position information of each second infrared transmitter 11 on the positioning headgear 4, so as to obtain the posture information of the user's head. In addition, by setting multiple second infrared transmitters 11, on the one hand, the accuracy of the user's head posture calculation can be improved, and on the other hand, when one or several second infrared transmitters 11 on the positioning headgear 4 are blocked by obstacles, the positioning headgear 4 can also be accurately positioned by the remaining several second infrared transmitters 11 in cooperation with the infrared receiver.

[0040] In a specific embodiment, a second electric control box 12 is installed on the positioning head cover 4, and a second micro-control chip, a second clock unit, a second power supply unit and a second communication unit are arranged in the second electric control box 12, and the second communication unit is wirelessly connected with the controller 2;

[0041] The second microcontroller chip is used to control the multiple second infrared transmitters 11 to transmit infrared light signals simultaneously, the second clock unit is used to record the time information of the multiple second infrared transmitters 11 transmitting infrared light signals, and the second communication unit is used to send the time information of the multiple second infrared transmitters 11 transmitting infrared light signals to the controller 2; the infrared receiver is integrated with a third clock unit, which is used to record the time information of the infrared receiver receiving the infrared light signals emitted by each second infrared transmitter 11, and the controller 2 calculates the distance between each second infrared transmitter 11 and the infrared receiver according to the time information of the multiple second infrared transmitters 11 transmitting infrared light signals and the time information of the infrared receiver receiving the infrared light signals, thereby calculating the posture information of the user's head. The second communication unit is connected to the controller 2 by wireless communication, which can reduce the interference of the wire harness on the infrared light signal and the movement of the TMS coil 1.

[0042] The working process of the magnetic stimulator in this embodiment is as follows:

[0043] First, a handheld 3D scanner is used to scan the user's head to obtain 3D point cloud data of the user's head; then the positioning headgear 4 is worn on the user's head, and the 3D point cloud data of the user's head wearing the positioning headgear 4 is obtained again through the 3D scanner. The 3D point cloud data includes the user's facial feature data, and the relative position relationship between the 3D point cloud data of the user's head and the user's facial feature data and the relative position relationship between the 3D point cloud data of the positioning headgear 4 and the user's facial feature data is calculated to obtain the relative position relationship between the positioning headgear 4 and the user's head (i.e., the posture matching relationship).

[0044] The TMS coil racket 1 is clamped by a mechanical arm to move, and at the same time, the controller 2 controls multiple first infrared transmitters 6 and multiple second infrared transmitters 11 to periodically transmit infrared light signals of specific wavelengths, and records the time when each first infrared transmitter 6 and second infrared transmitter 11 transmits the infrared light signal and the time when the infrared receiver receives the infrared light signal emitted by each first infrared transmitter 6 and second infrared transmitter 11. According to the time data of the propagation of the infrared light signal, the distance between each first infrared transmitter 6, second infrared transmitter 11 and the infrared receiver can be calculated, so as to calculate the coordinate information of each first infrared transmitter 6, second infrared transmitter 11 in the infrared receiver coordinate system, and then calculate the positioning bracket 5 in the infrared receiver according to the coordinate information of each first infrared transmitter 6 in the infrared receiver coordinate system. The method comprises the following steps: obtaining the posture information of the positioning headgear 4 in the infrared receiver coordinate system, and obtaining the posture information of the TMS coil in the infrared receiver coordinate system according to the posture conversion relationship between the positioning bracket 5 and the TMS coil; at the same time, calculating the posture information of the positioning headgear 4 in the infrared receiver coordinate system according to the coordinate information of each second infrared transmitter 11 in the infrared receiver coordinate system, and then obtaining the posture information of the user's head in the infrared receiver coordinate system according to the posture pairing relationship between the positioning headgear 4 and the user's head; finally, according to the posture information of the TMS coil beat 1 and the user's head in the infrared receiver coordinate system, controlling the mechanical arm to hold the TMS coil beat 1 for translation and rotation, so that the TMS coil beat 1 moves to the target posture; when the posture of the user's head changes, the new posture information of the user's head can be obtained in real time through the above method, so as to realize the tracking and positioning of the user's head.

[0045] During the stimulation process, the magnetic field strength of the pulsed magnetic field generated by the stimulation coil 8 is obtained in real time through the induction coil 10. The controller 2 adjusts the pulse current of the stimulation coil 8 according to the magnetic field strength obtained by the induction coil 10, so that the stimulation coil 8 always generates a pulsed magnetic field with the set target magnetic field strength.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A magnetic stimulator capable of monitoring the state of a handle coil, characterized in that: The invention comprises a TMS coil racket (1), a controller (2), a magnetic stimulation host connected to the controller (2), and a posture monitoring component (3), wherein the magnetic stimulation host is electrically connected to the TMS coil racket (1) and is used to drive the TMS coil racket (1) to generate a pulsed magnetic field; a positioning component is fixed on the TMS coil racket (1), and the positioning component is connected to the controller (2); and the posture monitoring component (3) is used to cooperate with the positioning component to obtain posture information of the TMS coil racket (1); The posture monitoring component (3) is an infrared receiver, and the positioning component comprises a positioning bracket (5) and a plurality of first infrared transmitters (6) mounted on the positioning bracket (5), wherein the positioning bracket (5) is fixed on a handle (7) of the TMS coil racket (1); the first infrared transmitters (6) are connected to a controller (2), and the wavelengths of infrared light emitted by each first infrared transmitter (6) are different; the controller (2) stores wavelength information corresponding to each first infrared transmitter (6), installation position information of each first infrared transmitter (6) on the positioning bracket (5), and relative posture information between the positioning bracket (5) and the coil racket; The magnetic stimulator also includes a positioning headgear (4) connected to the controller (2), the positioning headgear (4) being fixed on the user's head, and the posture monitoring component (3) being used to cooperate with the positioning headgear (4) to obtain posture information of the user's head; The magnetic stimulator also includes a 3D scanner connected to the controller (2), the 3D scanner is used to obtain 3D point cloud data of the user's head and 3D point cloud data of the positioning headgear (4), and the controller (2) establishes a posture pairing relationship between the positioning headgear (4) and the user's head based on the 3D point cloud data of the user's head and the 3D point cloud data of the positioning headgear (4); The posture monitoring component (3) is an infrared receiver, and a plurality of second infrared transmitters (11) are distributedly installed on the positioning head cover (4), the second infrared transmitters (11) are connected to the controller (2), and the wavelengths of infrared light emitted by each second infrared transmitter (11) are different; the controller (2) stores wavelength information corresponding to each second infrared transmitter (11), installation position information of each second infrared transmitter (11) on the positioning head cover (4), and relative posture information between the positioning head cover (4) and the user's head.

2. A magnetic stimulator capable of monitoring the state of a handle coil as claimed in claim 1, characterized in that: The magnetic stimulator also includes a mechanical arm connected to the controller (2), the TMS coil racket (1) is fixed at the end of the mechanical arm, and the controller (2) controls the mechanical arm to clamp the TMS coil racket (1) for translation and rotation according to the posture information of the user's head and the TMS coil racket (1), so that the TMS coil racket (1) moves to a target position.

3. A magnetic stimulator capable of monitoring the state of a handle coil as claimed in claim 1, characterized in that: The positioning bracket (5) is provided with a first electric control box (9), the first electric control box (9) is provided with a first micro-control chip, a first clock unit, a first power supply unit and a first communication unit, and the first communication unit is wirelessly connected to the controller (2); The first microcontroller chip is used to control the multiple first infrared transmitters (6) to transmit infrared light signals simultaneously; the first clock unit is used to record the time information of the multiple first infrared transmitters (6) transmitting infrared light signals; the first communication unit is used to send the time information of the multiple first infrared transmitters (6) transmitting infrared light signals to the controller (2); the infrared receiver is integrated with a third clock unit, which is used to record the time information of the infrared receiver receiving the infrared light signals emitted by each first infrared transmitter (6); the controller (2) calculates the distance between each first infrared transmitter (6) and the infrared receiver according to the time information of the multiple first infrared transmitters (6) transmitting infrared light signals and the time information of the infrared receiver receiving infrared light signals, thereby calculating the position information of the TMS coil beater (1).

4. A magnetic stimulator capable of monitoring the state of a handle coil as claimed in claim 3, characterized in that: An induction coil (10) is also installed on the positioning bracket (5), and the induction coil (10) is located on the back of the stimulation coil (8) of the TMS coil rack (1); the first microcontroller chip integrates a current detection circuit and an amplifier circuit, the current detection circuit is electrically connected to the induction coil (10), the amplifier circuit is used to amplify the induced current signal detected by the current detection circuit, and the first communication unit is used to send the amplified induced current signal to the controller (2), and the controller (2) calculates the magnetic field strength of the pulsed magnetic field generated by the stimulation coil (8) according to the induced current signal.

5. A magnetic stimulator capable of monitoring the state of a handle coil as claimed in claim 1, characterized in that: A second electric control box (12) is installed on the positioning head cover (4), and a second micro-control chip, a second clock unit, a second power supply unit and a second communication unit are arranged in the second electric control box (12), and the second communication unit is wirelessly connected to the controller (2); The second microcontroller chip is used to control the plurality of second infrared transmitters (11) to simultaneously transmit infrared light signals; the second clock unit is used to record time information of the plurality of second infrared transmitters (11) transmitting infrared light signals; the second communication unit is used to send the time information of the plurality of second infrared transmitters (11) transmitting infrared light signals to the controller (2); the infrared receiver is integrated with a third clock unit, which is used to record time information of the infrared receiver receiving infrared light signals emitted by each second infrared transmitter (11); the controller (2) calculates the distance between each second infrared transmitter (11) and the infrared receiver according to the time information of the plurality of second infrared transmitters (11) transmitting infrared light signals and the time information of the infrared receiver receiving infrared light signals, thereby calculating the position information of the user's head.

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