A system and method for precise positioning of transcranial magnetic stimulation coil

Abstract

The present invention discloses a system and method for precise positioning of a transcranial magnetic stimulation coil, belonging to the field of medical auxiliary equipment. The present invention integrates a pressure flexible sensor array into a pressure-sensitive headgear, fixes a specially designed coil positioning plate on the stimulation coil, and converts the spatial position of the coil on the headgear through pressure measurement of the pressure-sensitive headgear to accurately position the coil. At the same time, a magnetic stimulation simulation head model is established in combination with individual imaging data, and the spatial treatment field distribution is obtained through finite element simulation, ultimately achieving visualization of the position of the transcranial magnetic stimulation coil on the virtual head model and real-time visualization of the treatment field generated in the brain. The present invention does not require changes to the design of conventional transcranial magnetic stimulation equipment and magnetic stimulation coils, but only requires the addition of a pressure-sensitive headgear and a coil positioning plate. It is easy to operate and can achieve high-precision transcranial magnetic stimulation positioning at low cost and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to a system and method for precise positioning of a transcranial magnetic stimulation coil. Background Art

[0002] Transcranial Magnetic Stimulation (TMS) is a method of changing neural activity by generating an induced electric field in the brain. It has been widely used in the treatment of neuropsychiatric diseases and brain science research. The principle of TMS is to use a coil to generate a rapidly changing magnetic field in the brain, thereby generating an induced current in the cerebral cortex and affecting the activity of neurons. This non-invasive neuromodulation technology has played an important role in the treatment of mental illnesses such as depression, anxiety, and obsessive-compulsive disorder, as well as in neuroscience research.

[0003] The electric field distribution generated by TMS in the brain is one of the important factors affecting its therapeutic effect. The distribution of the electric field not only determines the intensity of stimulation, but also affects the target and effect of stimulation. Therefore, the positioning accuracy and reliability of the magnetic stimulation coil are the basis of TMS therapeutic effect. However, the existing coil positioning methods have certain limitations, which are described as follows:

[0004] 1) Coil positioning method based on EEG cap: This method uses the markers on the electroencephalogram (EEG) cap to locate the TMS coil. This method is convenient and low-cost, but due to the variability of individual anatomical structure and function, the coil positioning error may be several centimeters. This error may affect the accuracy of stimulation and reduce the therapeutic effect.

[0005] 2) Real-time neuronavigation or TMS robotic systems: These systems use neuronavigation technology or robotic technology to accurately position the TMS coil, which can control the positioning error within a few millimeters. However, these systems are expensive and complex to operate, making them difficult to be widely used in clinical practice.

[0006] 3) Coil positioning method based on 3D printed personalized helmet: In recent years, some studies have used 3D printing technology to make personalized helmets for coil positioning. This method uses 3D laser scanning to scan the 3D image of the subject's head and the stimulation coil, reconstruct the 3D model of the head and coil, and print a fixed personalized helmet based on the stimulation target. Although this method improves the accuracy of positioning, it is complicated to operate, time-consuming to make, and can only be used for a single target stimulation at a time, making it difficult to promote and apply on a large scale.

[0007] Therefore, there is an urgent need to develop a system and method for precise positioning of transcranial magnetic stimulation coils that is easy to operate and can be promoted on a large scale, so as to overcome the shortcomings of traditional methods and facilitate user use. Summary of the invention

[0008] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a system and method for accurate positioning of a transcranial magnetic stimulation coil, so as to accurately position the transcranial magnetic stimulation coil in the head. The system does not need to change the design of conventional transcranial magnetic stimulation equipment and magnetic stimulation coils, but integrates an array of pressure flexible sensors into a pressure-sensitive headgear, fixes a specially designed coil positioning plate on the stimulation coil, and converts the spatial position of the coil on the headgear through pressure measurement of the pressure-sensitive headgear to accurately position the coil. At the same time, a magnetic stimulation simulation head model is established in combination with individual imaging data, and the spatial treatment field distribution is obtained through finite element simulation, ultimately realizing the visualization of the position of the transcranial magnetic stimulation coil on the virtual head model and the real-time visualization of the treatment field generated in the brain.

[0009] In order to achieve the above object, the technical solution adopted by the present invention is:

[0010] In a first aspect, the present invention provides a system for precise positioning of a transcranial magnetic stimulation coil, comprising: a control unit, a treatment field solving unit, a visualization unit, a coil orientation reconstruction unit, a pressure data acquisition unit, a pressure-sensitive headgear, a magnetic stimulation unit, a stimulation coil, a coil positioning plate, and a power supply unit;

[0011] The control unit is respectively connected to the treatment field solving unit, the coil position reconstruction unit, the magnetic stimulation unit, and the power supply unit; the control unit is used to perform information processing and central function control on the system; the power supply unit supplies power to the entire system;

[0012] The treatment field solving unit is used to construct an individual head model through brain tissue segmentation and three-dimensional reconstruction according to the imaging data of the individual to be treated with transcranial magnetic stimulation, and to combine the pressure-sensitive headgear model and the transcranial magnetic stimulation coil model onto the individual head model to form a finite element simulation model, and then generate different orientation combinations by discrete sampling the position and angle of the transcranial magnetic stimulation coil model, and obtain the spatial treatment field distribution induced by the transcranial magnetic stimulation coil model in the individual head model under each orientation combination through finite element simulation, and finally improve the position resolution and angle resolution of the spatial treatment field distribution through interpolation fitting;

[0013] The magnetic stimulation unit is used to generate a transcranial magnetic stimulation coil excitation current or voltage under the control of the control unit;

[0014] The stimulation coil is used to generate a transcranial magnetic stimulation induction magnetic field under the stimulation of the magnetic stimulation unit;

[0015] The top surface of the coil positioning plate has an assembly structure for assembling and fixing the stimulation coil, and the bottom surface is used to be fixed on the surface of the pressure-sensitive headgear, and the bottom surface of the coil positioning plate has a characteristic shape that can indicate the rotation orientation;

[0016] The pressure-sensitive headgear is made of flexible material in the shape of a headgear, and has an array of flexible pressure sensors distributed and integrated at different locations inside;

[0017] The pressure data acquisition unit is used to collect pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear;

[0018] The coil position reconstruction unit is used to read the pressure signal collected by the pressure data collection unit, and convert the pressure signals of all flexible pressure sensor arrays into stress distribution on the surface of the pressure-sensitive headgear, and perform pattern recognition in combination with the characteristic shape of the bottom surface of the coil positioning plate and the stress distribution to determine the real-time position information of the stimulation coil mounted on the coil positioning plate on the pressure-sensitive headgear;

[0019] The visualization unit is used to read the real-time orientation information of the stimulation coil output by the coil orientation reconstruction unit, and read the spatial treatment field distribution induced by the stimulation coil in the individual head model under the real-time orientation information from the interpolation fitting result of the treatment field solution unit, and perform visualization according to a preset visualization mode.

[0020] As a preferred embodiment of the first aspect, the imaging data is magnetic resonance imaging data or CT data.

[0021] As a preference for the first aspect above, it further includes a communication module connected to the control unit, and the communication module is used to establish a communication connection between the system and an external device in a wired or wireless manner.

[0022] As a preferred embodiment of the first aspect, the spatial treatment field distribution includes distribution information of magnetic field, electric field and current density in the individual head model.

[0023] As a preferred embodiment of the above-mentioned first aspect, the pressure data acquisition unit is also connected to the magnetic stimulation unit, for receiving a trigger signal of the magnetic stimulation unit each time generating a magnetic stimulation pulse; the acquired trigger signal is used to mark artifacts caused by the magnetic stimulation pulse to the pressure signal data acquisition.

[0024] As a preferred embodiment of the first aspect above, the pressure-sensitive headgear is made of at least two layers of flexible fabric, and flexible pressure sensor arrays are embedded between the flexible material layers at different locations of the pressure-sensitive headgear, and each flexible pressure sensor array is connected to the data acquisition interface through a flexible wire.

[0025] As a preferred embodiment of the first aspect, the characteristic shape of the bottom surface of the coil positioning plate is a rectangular ring, an isosceles triangle ring or a trapezoidal ring.

[0026] As a preferred embodiment of the above-mentioned first aspect, the system also includes an interaction unit connected to the control unit, and the interaction unit is used to provide human-computer interaction functions to the user; the human-computer interaction functions include setting system functions and parameters, virtual adjustment of the orientation of the stimulation coil displayed by the visualization unit, and marking the position of the magnetic stimulation target in the individual head model displayed by the visualization unit.

[0027] As a preferred embodiment of the first aspect, the pattern recognition in the coil orientation reconstruction unit is implemented by a template matching method or a machine learning algorithm.

[0028] In a second aspect, the present invention provides a method for precise positioning of a transcranial magnetic stimulation coil, which is implemented using a system for precise positioning of a transcranial magnetic stimulation coil as described in any one of the solutions of the first aspect above, and the method steps are as follows:

[0029] S1. Importing the imaging data of the individual to be treated with transcranial magnetic stimulation into the treatment field solving unit, and the treatment field solving unit generates a spatial treatment field distribution that meets the preset position resolution and angle resolution;

[0030] S2. Wear the pressure-sensitive headgear in a standard manner on the head of the individual to be treated with transcranial magnetic stimulation, assemble and fix the coil positioning plate and the stimulation coil into a combination that cannot rotate relative to each other, and then preliminarily fix the combination to the pressure-sensitive headgear on the head of the individual to be treated with transcranial magnetic stimulation according to the requirements of transcranial magnetic stimulation, and keep the coil positioning plate and the pressure-sensitive headgear in pressure contact;

[0031] S3, collecting pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear through a pressure data acquisition unit, and sending the pressure signals to a coil position reconstruction unit; the coil position reconstruction unit converts the pressure signals of all flexible pressure sensor arrays into stress distribution on the surface of the pressure-sensitive headgear, and performs pattern recognition on the real-time position information of the stimulation coil in the combination by inputting the stress distribution into a trained machine learning model or performing template matching on the shape of the pressure-bearing area in the stress distribution and the characteristic shape of the bottom surface of the coil positioning plate, and sends the real-time position information obtained by the recognition to the visualization unit;

[0032] S4. The visualization unit reads the real-time orientation information of the stimulation coil output by the coil orientation reconstruction unit, and renders and displays the transcranial magnetic stimulation coil model on the individual head model and the pressure-sensitive headgear model according to the real-time orientation information. At the same time, the spatial treatment field distribution induced by the stimulation coil in the individual head model under the real-time orientation information is matched from the data output by the treatment field solution unit, and rendered and displayed in the individual head model to assist the user in fine-tuning the orientation of the transcranial magnetic stimulation coil.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] (1) The present invention integrates a pressure flexible sensor array into a pressure-sensitive headgear and combines it with a specially designed coil positioning plate to accurately measure the spatial orientation of the coil on the headgear, thereby achieving precise positioning of the coil. The present invention combines individual magnetic resonance data to establish a magnetic stimulation simulation head model, further achieving real-time visualization of the coil position and treatment field in the brain, allowing the system to be personalized according to the anatomical structure of different individuals, thereby improving the accuracy of coil positioning and personalized adaptability.

[0035] (2) The system of the present invention does not require changes to the design of conventional transcranial magnetic stimulation equipment and magnetic stimulation coils. It only requires the addition of a pressure-sensitive headgear and a coil positioning plate. It is easy to operate and does not require complex equipment and professional operating skills. The individual user who is to receive transcranial magnetic stimulation only needs to wear a pressure-sensitive headgear and fix the coil positioning plate to achieve precise positioning. It is suitable for widespread clinical application, retains the versatility of existing equipment, and simplifies the operation process.

[0036] (3) Compared with the traditional 3D printing personalized helmet method, the system of the present invention has the advantages of simple manufacturing and low cost; at the same time, because it has real-time feedback and visualization functions, users can intuitively understand and adjust the stimulation effect, ensuring the accuracy and effectiveness of each treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 is a structural diagram of a system for precise positioning of a transcranial magnetic stimulation coil in an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of a wearing method and internal structure of a pressure-sensitive headgear in an embodiment of the present invention;

[0040] Figure 3 is a distribution diagram of a flexible pressure sensor array in a pressure-sensitive headgear in an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the principle of the coil positioning plate and the pressure-sensitive headgear cooperating to realize the positioning function in an embodiment of the present invention;

[0042] Figure 5 is a structural diagram of another system for precise positioning of a transcranial magnetic stimulation coil in an embodiment of the present invention;

[0043] Figure 6 It is a flow chart of a method for precise positioning of a transcranial magnetic stimulation coil in an embodiment of the present invention.

[0044] In the figure: control unit 1, treatment field solution unit 2, visualization unit 3, coil orientation reconstruction unit 4, pressure data acquisition unit 5, pressure-sensitive headgear 6, magnetic stimulation unit 7, stimulation coil 8, coil positioning plate 9, power supply unit 10, communication unit 11, interaction unit 12. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0046] In the description of the present invention, it should be understood that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0047] See also Figure 1 As shown, in a preferred embodiment of the present invention, a system for accurate positioning of a transcranial magnetic stimulation coil is provided, and the unit modules constituting the system include: a control unit 1, a treatment field solution unit 2, a visualization unit 3, a coil position reconstruction unit 4, a pressure data acquisition unit 5, a pressure-sensitive headgear 6, a magnetic stimulation unit 7, a stimulation coil 8, a coil positioning plate 9 and a power supply unit 10. Among them, the control unit 1 is respectively connected to the treatment field solution unit 2, the coil position reconstruction unit 4, the magnetic stimulation unit 7, and the power supply unit 10. The magnetic stimulation unit 7 is connected to the stimulation coil 8 and the pressure data acquisition unit 5.

[0048] In the system of the present invention, the control unit 1 is used to process information and control central functions of the system, and plays the role of a lower computer. In an embodiment of the present invention, the control unit 1 can be composed of a high-performance microprocessor, which is connected to other units in the system through a high-speed data bus to ensure real-time response and stable operation of the system, thereby realizing information processing and functional control of the entire system. The control unit 1 can use MCU or FPGA (field programmable gate array) for data processing and control logic implementation, and use an embedded operating system to manage task scheduling and resource allocation.

[0049] The power supply unit 10 provides the required voltage for other units in the entire system through the control unit 1 to provide energy for the system operation. The power supply unit 10 can be connected to the mains or other types of power supplies. In the embodiment of the present invention, the power module is mainly composed of a power conditioning circuit, and a modular power system is adopted, including an AC / DC conversion module, a DC / DC voltage stabilization module and a backup battery pack.

[0050] In the system of the present invention, the treatment field solution unit 2 is used to calculate the magnetic field or electric field distribution generated by the stimulation coil in the brain, and the core algorithm is implemented based on finite element analysis (FEA) and electromagnetic field simulation technology. Specifically, the algorithm flow executed in the treatment field solution unit 2 is as follows: according to the imaging data of the individual to be intervened by transcranial magnetic stimulation, the individual head model is constructed through brain tissue segmentation and three-dimensional reconstruction, and the pressure-sensitive headgear 6 model and the transcranial magnetic stimulation coil model are combined on the individual head model to form a finite element simulation model, and then the position and angle of the transcranial magnetic stimulation coil model are generated by discrete sampling in different orientation combinations, and the spatial treatment field distribution induced by the transcranial magnetic stimulation coil model in the individual head model under each orientation combination is obtained by finite element simulation, and finally the position resolution and angle resolution of the spatial treatment field distribution are improved by interpolation fitting.

[0051] It should be noted that the imaging data of the individual to be treated with transcranial magnetic stimulation can be imported by the user or automatically associated or read from relevant medical equipment through a software program. The process of constructing an individual head model through brain tissue segmentation and three-dimensional reconstruction based on imaging data belongs to the prior art and can be specifically selected according to the type of imaging data. In the present invention, the type of imaging data is not limited, for example, magnetic resonance imaging MRI data or CT data can be used to construct an individual head model.

[0052] It should also be noted that in the above-mentioned treatment field solving unit 2, the orientation of the magnetic stimulation coil includes the position and angle information of the magnetic stimulation coil. The position of the transcranial magnetic stimulation coil model can be obtained by using the three-dimensional coordinates P=(P x ,P y ,Pz ), and the angle of the transcranial magnetic stimulation coil model can be represented by the angle Φ of the horizontal rotation of the magnetic stimulation coil around the vertical line passing through the reference point. Discrete sampling of position and angle refers to sampling a series of discrete values ​​within the respective value ranges of the position and angle, and then the discrete sampling values ​​of the position and angle are combined with each other to form a series of orientation combinations, and each orientation combination corresponds to a specific position and a specific angle. Through subsequent finite element simulation, each orientation combination will obtain a corresponding spatial treatment field distribution. However, since the finite element simulation consumes a large amount of computing resources and has a high time cost, the present invention first performs finite element simulation on the different orientation combinations obtained by sampling, and then further improves the position resolution and angle resolution of the spatial treatment field distribution through interpolation fitting. When performing interpolation fitting, it is necessary to interpolate and calculate the spatial treatment field distribution under the position and orientation combination based on the spatial treatment field distribution corresponding to the existing orientation combination. Since the position and angle in the orientation combination actually contain four dimensions of three-dimensional spatial coordinates and angles, the interpolation is a four-dimensional data interpolation. Theoretically, the finer the interpolation, the higher the positioning accuracy can be achieved, but it also consumes more computing resources. Therefore, the position resolution and angle resolution formed by the final interpolation can be selected according to the actual positioning accuracy requirements. It is also possible to consider forming a spatial treatment field distribution that is continuous in all four dimensions through interpolation.

[0053] In a preferred embodiment of the present invention, an exemplary algorithm flow executed in the treatment field solving unit 2 is provided, and the specific steps are as follows:

[0054] 1) Data import: Import the MRI or CT image data of the individual to be treated with transcranial magnetic stimulation into the system.

[0055] 2) Preprocessing: Perform brain tissue segmentation (such as scalp, skull, cerebrospinal fluid, gray matter, white matter, etc.) on the imported image data, and perform post-processing (smoothing filtering, denoising, etc.) on the segmented images. In an embodiment of the present invention, brain tissue segmentation can be achieved through models such as Unet.

[0056] 3) Three-dimensional reconstruction: The processed image is reconstructed in three dimensions to generate an individual head model (also referred to as an individual head model in the present invention), and then the pressure-sensitive headgear model is placed on the segmented individual head model, and the stimulation coil 8 is also placed on the individual head model according to the actual magnetic stimulation situation, thereby forming a finite element simulation model required for simulation. In an embodiment of the present invention, three-dimensional reconstruction can be achieved by software such as Comsol.

[0057] 4) Finite element meshing: The finite element simulation model is divided into finite element meshes, and corresponding node parameters are assigned to different tissues (individual head model) and components (stimulation coil 8 and pressure-sensitive headgear 6).

[0058] 5) Field distribution calculation: The position and angle of the transcranial magnetic stimulation coil model are discretely sampled to generate different position combinations; based on each position combination, the position of the stimulation coil 8 in the finite element simulation model is adjusted, and then the spatial treatment field distribution A induced by the stimulation coil 8 in the head model at the position and angle corresponding to the position combination is obtained through finite element simulation. (P ,Φ ) (P x ,P y ,P z ,Φ ), the spatial treatment field distribution contains the distribution information of magnetic field, electric field and current density in the individual head model. Then, according to the required position resolution and angle resolution, the obtained spatial treatment field distribution A (P ,Φ ) (P x ,P y ,P z ,Φ ) to perform four-dimensional interpolation fitting to obtain the spatial treatment field distribution A' induced by the stimulation coil 8 in the head model at different positions and angles (P ,Φ ) .

[0059] In the system of the present invention, the magnetic stimulation unit 7 is used to generate an excitation current or voltage for the transcranial magnetic stimulation coil 8 under the control of the control unit 1. The magnetic stimulation unit 7 can generate corresponding magnetic stimulation pulses according to the control instructions of the control unit 1, and then send them to the stimulation coil 8. The stimulation coil 8 is used to generate a transcranial magnetic stimulation induced magnetic field under the pulse excitation of the magnetic stimulation unit 7. The specific implementation of the magnetic stimulation unit 7 and the stimulation coil 8 is similar to that of the traditional transcranial magnetic stimulation system, which will not be described in detail.

[0060] In the system of the present invention, the coil positioning plate 9 needs to be specially designed according to the positioning requirements, and its top surface has an assembly structure for assembling and fixing the stimulation coil 8, and the bottom surface is used to be fixed on the surface of the pressure-sensitive head cover 6, and the bottom surface of the coil positioning plate 9 has a characteristic shape that can indicate the rotational orientation. The assembly structure form of the top surface of the coil positioning plate 9 is not limited, as long as the stimulation coil 8 can be detachably assembled and fixed, and the two should be unable to rotate relative to each other after being assembled into a combination.

[0061] It should be noted that the characteristic shape of the bottom surface of the coil positioning plate 9 can indicate the rotational orientation, which means that the surface of the coil positioning plate 9 that is in direct contact with the pressure-sensitive head cover 6 should have a certain characteristic shape, and the characteristic shape cannot be a circle, but should be in the form of a specific length-to-width ratio, protrusions, irregular deformations, etc., so that when the coil positioning plate 9 rotates relative to the pressure-sensitive head cover 6, it leaves different marks on the pressure-sensitive head cover 6. In an embodiment of the present invention, the characteristic shape of the bottom surface of the coil positioning plate 9 can be a rectangular ring, an isosceles triangle ring or a trapezoidal ring, and the interior of each ring shape is hollow. It should be noted that the characteristic shape of the bottom surface of the coil positioning plate 9 in the present invention can be one or more.

[0062] The coil positioning plate 9 is fixed under the stimulation coil 8 when in use, and its bottom can indicate the characteristic shape of the rotational orientation. Therefore, when it is fixed to the pressure-sensitive headgear 6, it can assist in generating a characteristic stress pattern on the pressure-sensitive headgear 6, so as to realize the real-time orientation reconstruction of the stimulation coil 8 by the coil orientation reconstruction unit 4. The coil positioning plate 9 can be produced by 3D scanning the existing stimulation coil 8 and adapting it according to the coil shape, or a unified standard positioning plate structure with a fixed size structure can be used.

[0063] In the system of the present invention, the pressure-sensitive headgear 6 used in conjunction with the coil positioning plate 9 is made of a flexible material in the shape of a headgear, and has a flexible pressure sensor array distributed and integrated at different locations inside. The flexible material is the base material of the pressure-sensitive headgear 6, and it is best to have air permeability. The core of the positioning function of the coil positioning plate 9 in the present invention is the flexible pressure sensor array distributed and integrated inside the pressure-sensitive headgear 6. In theory, the more the number of flexible pressure sensor arrays and the denser the distribution, the higher the positioning accuracy.

[0064] See also Figure 2 As shown, a pressure-sensitive headgear for precise positioning of transcranial magnetic stimulation coils in an embodiment of the present invention is shown, and a composition structure diagram is shown. The pressure-sensitive headgear 6 is worn on the head similar to a traditional electroencephalogram cap, and the stimulation coil 8 is further fixed to the pressure-sensitive headgear 6 through a coil positioning plate 9. In this embodiment, the pressure-sensitive headgear 6 is manufactured by MEMS technology using a flexible pressure sensor array 63, a flexible conductive wire 62, and a fabric 61. The headgear shell is made of a fabric 61 with good air permeability, and the flexible pressure sensor array 63 and the flexible conductive wire 62 are integrated between the inner and outer layers of the fabric 61. The flexible conductive wire 62 can be made of a conductive polymer, and each flexible pressure sensor array 63 is uniformly connected to the data acquisition interface through the flexible conductive wire 62.

[0065] Of course, the cloth 61 constituting the headgear shell in the pressure-sensitive headgear 6 may also be made of other flexible fabrics, and the number of layers may be more than two, and there is no limitation to this.

[0066] See also Figure 3 As shown, a distribution diagram of a flexible pressure sensor array of a pressure-sensitive headgear for precise positioning of a transcranial magnetic stimulation coil in an embodiment of the present invention is shown. Referring to the traditional 10-20 EEG positioning, a flexible pressure sensor array 63 is distributed at each positioning location for precise transcranial magnetic stimulation coil positioning at each EEG positioning site. The flexible pressure sensor array 63 at each site contains 20×15=300 acquisition sensors. However, it should be noted that Figure 3 This is only a preferred distribution method of the flexible pressure sensor array in the pressure-sensitive headgear. In other embodiments, the distribution position and density can also be set according to actual needs.

[0067] In the system of the present invention, the pressure data acquisition unit 5 is used to collect pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear 6. The pressure data acquisition unit 5 can be connected to the data acquisition interface on the pressure-sensitive headgear 6 to collect pressure signals on each flexible pressure sensor array.

[0068] See also Figure 4 As shown, it shows the principle schematic diagram of the coil positioning plate 9 and the pressure-sensitive head cover 6 in the embodiment of the present invention cooperating to realize the positioning function, wherein the bottom surface of the coil positioning plate 9 adopts an inner hollow rectangular ring design with a certain ratio of length to width. Figure 4In the figure, a) is a schematic diagram of a single flexible pressure sensor array 63, and each point in the middle is a pressure sensor. At this time, the flexible pressure sensor array 63 is not in contact with the coil positioning plate 9; and b), c), and d) are distributed to show the effect diagram when the stimulation coil 8 and the coil positioning plate 9 are used in combination at 0°, 45°, and 90°. The pressure sensor in the red area is subjected to the pressure of the bottom surface of the coil positioning plate 9. It can be seen that since the bottom surface of the coil positioning plate 9 has a characteristic shape that can indicate the rotation orientation, it is convenient to realize stress mode discrimination when the coil positioning plate 9 and the pressure-sensitive head cover 6 are in stress contact. As long as the coil positioning plate 9 and the stimulation coil 8 are relatively fixed and immovable, when the user places the stimulation coil 8 on the pressure-sensitive head cover 6 on the head, since only the coil positioning plate 9 is in direct contact with the pressure-sensitive head cover 6, the flexible pressure sensor array 63 at the fixed position of the coil positioning plate 9 can sense the pressure, while the flexible pressure sensor array 63 at other positions cannot feel the pressure. The fixed position of the coil positioning plate 9 can be detected based on the flexible pressure sensor array 63 that senses the pressure, thereby indirectly locating the position of the stimulation coil 8 in three-dimensional space. In addition, the angle formed by the characteristic shape of the bottom surface of the coil positioning plate 9 on the flexible pressure sensor array 63 can indirectly locate the rotation angle of the stimulation coil 8 relative to the reference position. Finally, combined with the special aspect ratio rectangular bottom surface design of the coil positioning plate 9, the stress pattern can be further identified by detecting the pressure signals on each flexible pressure sensor array 63 on the pressure-sensitive headgear 6, so as to determine the angle and position of the stimulation coil 8.

[0069] In the system of the present invention, the orientation positioning of the stimulation coil 8 can only be achieved by stress pattern recognition of the pressure signals on the flexible pressure sensor arrays on the pressure-sensitive headgear 6, and this function is integrated in the coil orientation reconstruction unit 4. The coil orientation reconstruction unit 4 is used to read the pressure signals of all the flexible pressure sensor arrays 63 collected by the pressure data acquisition unit 5, and convert the pressure signals of all the flexible pressure sensor arrays 63 into stress distribution on the surface of the pressure-sensitive headgear 6 according to the positions of the flexible pressure sensor arrays 63, and perform pattern recognition in combination with the characteristic shape of the bottom surface of the coil positioning plate 9 and the aforementioned stress distribution, to determine the real-time orientation information of the stimulation coil 8 mounted on the coil positioning plate 9 on the pressure-sensitive headgear 6, including the angle and position of the stimulation coil 8.

[0070] Of course, the above Figure 4 The positioning principle shown is only one implementation, in which the characteristic shape size of the bottom surface of the coil positioning plate 9 is smaller than the size of a single flexible pressure sensor array 63. However, in actual applications, the size of the coil positioning plate 9 can also be larger than the flexible pressure sensor array 63, as long as the orientation of the stimulation coil 8 can be determined with the pattern recognition algorithm.

[0071] In the system of the present invention, the pattern recognition in the coil orientation reconstruction unit 4 is implemented by a template matching method or a machine learning algorithm. Both methods require that the bottom surface characteristic shape of the coil positioning plate 9 is fixed. The position of the stimulation coil 8 can be simply determined by the position of the compressed flexible pressure sensor array 63, while the angle of the stimulation coil 8 needs to be implemented by a template matching method or a machine learning algorithm. For the template matching method, the compressed contour can be extracted based on the stress distribution on the surface of the pressure-sensitive headgear 6, and then the bottom surface characteristic shape of the coil positioning plate 9 is set to a certain posture as a reference angle of 0°, and then the bottom surface characteristic shape of the coil positioning plate 9 is continuously rotated at different angles to perform geometric template matching with the compressed contour. The rotation angle with the highest matching degree is the rotation angle of the coil positioning plate 9 and the stimulation coil 8. For the machine learning algorithm, a machine learning model can be trained in advance using a labeled data set. The input of the machine learning model is the stress distribution on the surface of the pressure-sensitive headgear 6, and the output is the rotation angle of the coil positioning plate 9 and the stimulation coil 8 relative to the reference posture. The specific form of the machine learning model is not limited, and a convolutional neural network CNN or other neural network models may be used. The training of the machine learning model belongs to the existing technology and will not be described in detail.

[0072] In addition, considering that different adapted coil positioning plates 9 may need to be designed when applied to different individuals and different stimulation coils, a series of standard parts may need to be designed for the coil positioning plates 9. In order to ensure that the pattern recognition in the coil orientation reconstruction unit 4 is applicable to all coil positioning plates 9, these coil positioning plates 9 need to use a unified standard positioning plate, and the characteristic shape of the bottom surface needs to be completely consistent to ensure that a characteristic stress pattern is generated on different head shapes and sizes.

[0073] In addition, in the system of the present invention, the pressure data acquisition unit 5 can collect pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear 6, and the acquisition function can be realized by the acquisition front end. However, since the magnetic stimulation pulse will bring artifacts to the pressure signal data acquisition, in the embodiment of the present invention, the pressure data acquisition unit 5 is provided with a trigger module in addition to the acquisition front end. The pressure data acquisition unit 5 is composed of an acquisition front end module and a trigger module, which can collect the acquisition signals of each flexible pressure sensor array 63 on the set pressure-sensitive headgear. The front end module uses a high-precision ADC (analog-to-digital converter) to digitize the sensor signal. The trigger module is also connected to the magnetic stimulation unit and can receive the trigger signal of each pulse stimulation of the magnetic stimulation unit 7. The collected trigger signal is used to mark the artifacts brought by the magnetic stimulation pulse to the data acquisition. In the embodiment of the present invention, the trigger module can use photoelectric transceiver for TTL triggering.

[0074] In the system of the present invention, the basic function of the above-mentioned visualization unit 3 is to read the real-time orientation information of the stimulation coil 8 output by the above-mentioned coil orientation reconstruction unit 4, and read the spatial treatment field distribution induced by the stimulation coil 8 in the individual head model under the real-time orientation information from the interpolation fitting result of the above-mentioned treatment field solution unit 2, and perform visualization according to the preset visualization mode.

[0075] It should be noted that the visualization mode used when performing visualization display can be customized according to the needs of the user. In an embodiment of the present invention, one of the most intuitive visualization modes is to render and display the transcranial magnetic stimulation coil model on the individual head model and the pressure-sensitive headgear 6 model according to the real-time orientation information of the stimulation coil 8 output by the coil orientation reconstruction unit 4, and at the same time, the spatial treatment field distribution induced by the stimulation coil 8 in the individual head model under the real-time orientation information is also rendered to the individual head model accordingly, so that the user can intuitively understand the treatment field distribution (including magnetic field, electric field, and current density distribution information) inside the current individual head model. In addition, the visualization unit 3 can further indicate the spatial stereoscopic position of the marked target, or provide other auxiliary information, such as the real-time orientation (including position and angle) of the current stimulation coil. In an embodiment of the present invention, the visualization unit 3, as a rendering function module, can be coupled to a display or other hardware device that can realize the display function, and three-dimensional rendering can be performed through a high-performance graphic interface such as OpenGL or Vulkan, combined with a user-friendly GUI (graphical user interface) to achieve intuitive operation and visualization.

[0076] In another embodiment of the present invention, see Figure 5As shown, in the system for precise positioning of the transcranial magnetic stimulation coil, a communication module 11 and an interaction unit 12 can also be provided as needed, and both the communication module 11 and the interaction unit 12 can be connected to the control unit 1. The communication module 11 is used to establish a communication connection between the system and an external device. The communication method is wired communication or wireless Bluetooth WIFI communication. The wired communication can use Ethernet or USB interface, and the wireless communication can use Wi-Fi or Bluetooth module. The external device can be a local device, such as a host computer, an integrated display terminal, or a cloud device, such as a remote server, a cloud server, a remotely accessed mobile device, etc. The interaction unit 12 is used to provide human-computer interaction functions to the user. The specific human-computer interaction function can be customized according to actual needs. Generally speaking, the human-computer interaction function can selectively include one or more of the following functions: 1. Setting system functions and parameters; 2. Virtually adjusting the orientation of the stimulation coil 8 displayed by the visualization unit 3, so that the user can understand how the spatial treatment field distribution induced in the individual head model will change when the stimulation coil 8 is in different orientations, so as to fine-tune the orientation of the stimulation coil 8; 3. Marking the position of the magnetic stimulation target on the individual head model displayed in the visualization unit 3. The specific interactive method that can be used in the present invention is not limited, and its interactive interface can be in the form of a liquid crystal touch display screen, an LED display screen, buttons and touch keys, and provide operation guidance and system feedback through an intuitive user interface.

[0077] The working principle of the above-mentioned system of the present invention to achieve precise positioning of the transcranial magnetic stimulation coil is to integrate the pressure flexible sensor array into the pressure-sensitive headgear 6 to achieve precise positioning of the transcranial magnetic stimulation coil 8 in the head position and direction. The system senses the pressure changes caused by the contact between the headgear and the head skin through the pressure-sensitive headgear 6. The pressure data acquisition unit 5 converts these pressure signals into digital signals, and marks the artifacts caused by the magnetic stimulation pulse when receiving the pulse trigger signal of the magnetic stimulation unit 7. The coil positioning plate 9 is designed as a unified standard positioning plate with a fixed size and structure to ensure that a characteristic stress pattern is generated on different head shapes and sizes. The coil orientation reconstruction unit 4 analyzes these data and uses a machine learning algorithm for pattern recognition to calculate the real-time orientation information of the coil. The treatment field solution unit 2 uses individual MRI or CT image data, and after preprocessing and three-dimensional reconstruction, performs finite element analysis to calculate the spatial treatment field distribution induced by the magnetic stimulation coil 8 at different positions and angles in the head model. The visualization unit 3 displays the treatment field distribution and real-time orientation of the coil at different positions on the head in real time. The user sets relevant parameters and adjusts the coil position through the interactive unit 12, and the system provides real-time feedback. The magnetic stimulation unit 7 generates an excitation current or voltage, the stimulation coil 8 generates an induced magnetic field, and the pressure-sensitive headgear 6 monitors the head pressure changes in real time to ensure that the coil position during the stimulation process is accurate and stable. By integrating these technologies, the present invention can significantly improve the positioning accuracy and effect of magnetic stimulation therapy.

[0078] In another embodiment of the present invention, based on the above-mentioned system for precise positioning of a transcranial magnetic stimulation coil, a method for precise positioning of a transcranial magnetic stimulation coil is provided, and the steps of the method are as follows:

[0079] S1. Import the imaging data of the individual to be treated with transcranial magnetic stimulation into the treatment field solving unit 2, and the treatment field solving unit 2 generates a spatial treatment field distribution that meets the preset position resolution and angle resolution.

[0080] S2. Wear the pressure-sensitive headgear 6 in a standard manner on the head of the individual to be treated with transcranial magnetic stimulation, assemble and fix the coil positioning plate 9 and the stimulation coil 8 into a combination that cannot rotate relative to each other, and then preliminarily fix the combination to the pressure-sensitive headgear 6 on the head of the individual to be treated with transcranial magnetic stimulation according to the requirements of transcranial magnetic stimulation, and keep the coil positioning plate 9 and the pressure-sensitive headgear 6 in pressure contact.

[0081] S3. The pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear 6 are collected by the pressure data collection unit 5, and sent to the coil position reconstruction unit 4; the coil position reconstruction unit 4 converts the pressure signals of all flexible pressure sensor arrays into stress distribution on the surface of the pressure-sensitive headgear 6, and performs pattern recognition on the real-time position information of the stimulation coil 8 in the combination by inputting the stress distribution into a trained machine learning model or performing template matching on the shape of the pressure-bearing area in the stress distribution with the characteristic shape of the bottom surface of the coil positioning plate 9, and sends the recognized real-time position information to the visualization unit 3.

[0082] S4. The visualization unit 3 reads the real-time orientation information of the stimulation coil 8 output by the coil orientation reconstruction unit 4, and renders and displays the transcranial magnetic stimulation coil model on the individual head model and the pressure-sensitive headgear 6 model according to the real-time orientation information. At the same time, the spatial treatment field distribution induced by the stimulation coil 8 in the individual head model under the real-time orientation information is matched from the data output by the treatment field solution unit 2, and rendered and displayed in the individual head model to assist the user to fine-tune the orientation of the transcranial magnetic stimulation coil 8.

[0083] It should be noted that the above steps S1 to S4 do not constitute an absolute order restriction, and if there is no order relationship between them, the execution order can be flexibly adjusted. For example, the spatial treatment field distribution solution process of the treatment field solution unit 2 in step S1 can be executed at any stage before step S4.

[0084] It should be noted that wearing the pressure-sensitive headgear 6 in a standard manner on the head of the individual to be treated with transcranial magnetic stimulation means that the reference point of the pressure-sensitive headgear 6 needs to be kept accurately in place when worn and cannot deviate at will, because the pressure-sensitive headgear 6 is designed according to the shape of the head.

[0085] See also Figure 6 As shown, an exemplary implementation process of the method for precise positioning of the transcranial magnetic stimulation coil in an embodiment of the present invention is shown, and the specific process is as follows: on the one hand, the pressure-sensitive headgear is worn on the subject's head in a standard manner, and the acquisition front-end module connected to the pressure data acquisition unit is in place, and the pressure data acquisition unit starts to collect correction signals to ensure the accuracy of the initial state; the coil positioning plate is combined with the transcranial magnetic stimulation coil used, and the combined coil is placed at a relevant position on the head; the flexible pressure sensor array of the pressure-sensitive headgear generates a signal change, and the pressure data acquisition unit collects the signal and transmits it to the coil orientation reconstruction unit for pattern recognition, and uses a machine learning algorithm to calculate in real time the real-time orientation information of the stimulation coil on the pressure-sensitive headgear, that is, the specific position and relative angle (P x ,P y ,P z,Φ); on the other hand, the individual image data is imported into the coil orientation reconstruction unit, and the three-dimensional reconstruction of the individual head model is realized through brain tissue segmentation and post-processing, and then the pressure-sensitive headgear model is placed on the segmented head model. According to the actual situation, the transcranial magnetic stimulation coil model is also placed on the individual head model. The individual head model, the pressure-sensitive headgear model and the transcranial magnetic stimulation coil model are meshed separately through finite element meshing, and the corresponding dielectric parameters are assigned to the finite element nodes in the brain tissue, the headgear and the coil components. Then, the finite element solution is performed to obtain the spatial treatment field distribution A induced in the head model under the magnetic stimulation coil settings at different positions and angles. (P ,Φ) (P x ,P y ,P z ,Φ), the obtained spatial therapeutic field distribution is interpolated and fitted to improve the position resolution and angle resolution, and finally the spatial therapeutic field distribution A' induced by the magnetic stimulation coil in the head model that meets the required resolution is obtained (P ,Φ ) After completing the above two aspects of processing, the real-time position information (P x ,P y ,P z ,Φ ) and the spatial treatment field distribution A' corresponding to the real-time orientation information obtained by the treatment field solution unit (P ,Φ ) (P x ,P y ,P z ,Φ ), the spatial treatment field distribution and the stimulation coil position are displayed in real time in the visualization unit, and the target position pre-marked by the user through the interactive unit is also displayed, forming a three-dimensional image that the user can observe intuitively.

[0086] It should also be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the division of steps or modules in the above-described system and method is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or steps can be combined or integrated together, and a module or step can also be split. For example, for the control unit, it can distinguish functions according to the amount of calculation, and some functions with small amount of calculation are implemented in the lower computer, while functions with large amount of calculation (such as treatment field solution unit, visualization unit, coil orientation reconstruction unit) are implemented by additionally setting up a host computer or data processing unit. Similarly, some human-computer interaction functions in the interactive unit can also be implemented in a dispersed manner through different devices, or integrated on the same display device.

[0087] The above-described embodiments are only some preferred solutions of the present invention, but are not intended to limit the present invention. A person skilled in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A system for precise positioning of a transcranial magnetic stimulation coil, characterized in that: include: A control unit, a treatment field solving unit, a visualization unit, a coil orientation reconstruction unit, a pressure data acquisition unit, a pressure-sensitive headgear, a magnetic stimulation unit, a stimulation coil, a coil positioning plate, and a power supply unit; The control unit is respectively connected to the treatment field solving unit, the coil position reconstruction unit, the magnetic stimulation unit, and the power supply unit; the control unit is used to perform information processing and central function control on the system; the power supply unit supplies power to the entire system; The treatment field solving unit is used to import the imaging data of the individual to be intervened by transcranial magnetic stimulation, perform brain tissue segmentation on the imported imaging data to obtain a segmented image, perform post-processing including smoothing filtering and denoising on the segmented image, perform three-dimensional reconstruction on the post-processed image to generate an individual head model, and combine the pressure-sensitive headgear model and the transcranial magnetic stimulation coil model on the individual head model to form a finite element simulation model, perform finite element meshing on the finite element simulation model and assign node parameters, and then generate different orientation combinations by discrete sampling the position and angle of the transcranial magnetic stimulation coil model, adjust the orientation of the transcranial magnetic stimulation coil in the finite element simulation model based on each orientation combination, and then obtain the spatial treatment field distribution induced by the transcranial magnetic stimulation coil at the position and angle corresponding to the orientation combination in the individual head model through finite element simulation solution, and finally improve the position resolution and angle resolution of the spatial treatment field distribution through interpolation fitting according to the required position resolution and angle resolution; The magnetic stimulation unit is used to generate a transcranial magnetic stimulation coil excitation current or voltage under the control of the control unit; The stimulation coil is used to generate a transcranial magnetic stimulation induction magnetic field under the stimulation of the magnetic stimulation unit; The top surface of the coil positioning plate has an assembly structure for assembling and fixing the stimulation coil, and the bottom surface is used to be fixed on the surface of the pressure-sensitive headgear, and the bottom surface of the coil positioning plate has a characteristic shape that can indicate the rotation orientation; The pressure-sensitive headgear is made of flexible material in the shape of a headgear, and has an array of flexible pressure sensors distributed and integrated at different locations inside; The pressure data acquisition unit is used to collect pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear; The coil position reconstruction unit is used to read the pressure signal collected by the pressure data collection unit, and convert the pressure signals of all flexible pressure sensor arrays into stress distribution on the surface of the pressure-sensitive headgear, and perform pattern recognition in combination with the characteristic shape of the bottom surface of the coil positioning plate and the stress distribution to determine the real-time position information of the stimulation coil mounted on the coil positioning plate on the pressure-sensitive headgear; The visualization unit is used to read the real-time orientation information of the stimulation coil output by the coil orientation reconstruction unit, and read the spatial treatment field distribution induced by the stimulation coil in the individual head model under the real-time orientation information from the interpolation fitting result of the treatment field solution unit, and perform visualization according to a preset visualization mode.

2. The system for precise positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The imaging data is magnetic resonance imaging data or CT data.

3. The system for precise positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: It also includes a communication module connected to the control unit, and the communication module is used to establish a communication connection between the system and external equipment in a wired or wireless manner.

4. The system for precise positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The spatial treatment field distribution includes the distribution information of the magnetic field, electric field and current density in the individual head model.

5. The system for precise positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The pressure data acquisition unit is also connected to the magnetic stimulation unit for receiving a trigger signal of each magnetic stimulation pulse generated by the magnetic stimulation unit; the acquired trigger signal is used to mark artifacts caused by the magnetic stimulation pulse to the pressure signal data acquisition.

6. The system for accurate positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The pressure-sensitive headgear is made of at least two layers of flexible fabric, and flexible pressure sensor arrays are embedded between the flexible material layers at different locations of the pressure-sensitive headgear, and each flexible pressure sensor array is connected to a data acquisition interface via a flexible wire.

7. The system for precise positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The characteristic shape of the bottom surface of the coil positioning plate is a rectangular ring, an isosceles triangle ring or a trapezoidal ring.

8. The system for accurate positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The system also includes an interaction unit connected to the control unit, which is used to provide human-computer interaction functions to the user; the human-computer interaction functions include setting system functions and parameters, virtualizing the orientation of the stimulation coil displayed by the visualization unit, and marking the position of the magnetic stimulation target in the individual head model displayed by the visualization unit.

9. The system for accurate positioning of a transcranial magnetic stimulation coil according to claim 1, characterized in that: The pattern recognition in the coil position reconstruction unit is implemented by a template matching method or a machine learning algorithm.

10. A method for accurate positioning of a transcranial magnetic stimulation coil, characterized in that: The method is implemented by using the system for precise positioning of the transcranial magnetic stimulation coil as claimed in any one of claims 1 to 9, and the method steps are as follows: S1. Importing the imaging data of the individual to be treated with transcranial magnetic stimulation into the treatment field solving unit, and the treatment field solving unit generates a spatial treatment field distribution that meets the preset position resolution and angle resolution; S2. Wear the pressure-sensitive headgear in a standard manner on the head of the individual to be treated with transcranial magnetic stimulation, assemble and fix the coil positioning plate and the stimulation coil into a combination that cannot rotate relative to each other, and then preliminarily fix the combination to the pressure-sensitive headgear on the head of the individual to be treated with transcranial magnetic stimulation according to the requirements of transcranial magnetic stimulation, and keep the coil positioning plate and the pressure-sensitive headgear in pressure contact; S3, collecting pressure signals on each flexible pressure sensor array in the pressure-sensitive headgear through a pressure data acquisition unit, and sending the pressure signals to a coil position reconstruction unit; the coil position reconstruction unit converts the pressure signals of all flexible pressure sensor arrays into stress distribution on the surface of the pressure-sensitive headgear, and performs pattern recognition on the real-time position information of the stimulation coil in the combination by inputting the stress distribution into a trained machine learning model or performing template matching on the shape of the pressure-bearing area in the stress distribution and the characteristic shape of the bottom surface of the coil positioning plate, and sends the real-time position information obtained by the recognition to the visualization unit; S4. The visualization unit reads the real-time orientation information of the stimulation coil output by the coil orientation reconstruction unit, and renders and displays the transcranial magnetic stimulation coil model on the individual head model and the pressure-sensitive headgear model according to the real-time orientation information. At the same time, the spatial treatment field distribution induced by the stimulation coil in the individual head model under the real-time orientation information is matched from the data output by the treatment field solution unit, and rendered and displayed in the individual head model to assist the user in fine-tuning the orientation of the transcranial magnetic stimulation coil.

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