Medical regulation and control system, use method thereof and readable storage medium

Abstract

The embodiment of the invention discloses a medical regulation and control system, a use method thereof and a readable storage medium. The medical regulation and control system comprises a planning system configured to plan a regulation and control scheme based on target spot information of a tracking target; the regulation and control system is configured to be connected with the planning system and adjust parameters of the regulation and control system based on the regulation and control scheme so as to be matched with the target spot of the tracking target; and the positioning system is configured to be connected with the regulation and control system, acquire the real-time information of the target spot and transmit the real-time information of the target spot to the regulation and control system, and the regulation and control system adjusts parameters of the regulation and control system based on the real-time information of the target spot so as to be matched with the target spot.

Description

Medical control system, use method thereof, and readable storage medium Technical Field

[0001] The disclosure of this application relates to the field of medical equipment technology, and in particular to a medical control system, a method for using the system, and a readable storage medium. Background Art

[0002] Neuromodulation technology is a scientific, medical, and bioengineering technique that uses implantable and non-implantable techniques, relying on electrical or chemical means, to improve the quality of human life. As an effective surgical treatment, it is minimally invasive, reversible, and adjustable. Compared with stereotactic ablation surgery, it significantly reduces the surgical disability rate and offers a new option for patients with brain diseases.

[0003] Currently, neuromodulation technology is widely used in the treatment of movement disorders, intractable pain, epilepsy, mental disorders, brain diseases, addiction, and functional recovery after nervous system damage. This technology is particularly important in the treatment of mental and neurological diseases and rehabilitation.

[0004] However, due to the large individual differences among patients, the application of this type of technology in clinical practice still faces great challenges, such as the inability to meet the personalized needs of patients, including the formulation of personalized regulation plans, precise target positioning, and the formulation of reasonable regulation parameters, all of which will seriously affect the treatment effect.

[0005] Therefore, it is indeed necessary to provide a new integrated medical regulation system and its use method and readable storage medium that can at least meet the individual needs of patients.

[0006] Summary of the Invention

[0007] To address at least one aspect of the aforementioned problems and shortcomings in the prior art, the present application discloses a medical control system, a method for using the system, and a readable storage medium. The system, at least in part, enables the planning of integrated personalized control plans based on individual patient differences through an integrated design, and enables real-time adjustment of control parameters, thereby improving the efficacy of medical control treatments. The technical solution is as follows:

[0008] According to one aspect of the present application, a medical control system is provided, comprising:

[0009] A planning system configured to plan a control scheme based on target information of a tracked object;

[0010] a control system, configured to be connected to the planning system and to adjust its own parameters based on the control scheme to match the target point of the tracking object;

[0011] The positioning system is configured to connect with the control system, obtain real-time target information and transmit the real-time target information to the control system, and the control system adjusts its own parameters based on the real-time target information to match the target.

[0012] According to another aspect of the present application, a method for using a medical control system is provided, wherein:

[0013] The medical control system is any one of the medical control systems described above,

[0014] The method of use comprises the following steps:

[0015] The planning system plans the control scheme based on the target information of the tracking target;

[0016] Connecting a control system to the planning system, and adjusting the parameters of the control system based on the control scheme to match the target of the tracking object;

[0017] The positioning system is connected to the control system, and the real-time target information of the target is obtained through the positioning system, and then the real-time target information is transmitted to the control system. The control system adjusts its own parameters based on the real-time target information to match the target.

[0018] According to another aspect of the present application, a storable medium is provided, wherein the readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the method for using the medical control system is executed.

[0019] Other objects and advantages of the present disclosure will become apparent from the following description of the embodiments of the present disclosure with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of the preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0021] FIG1 is a schematic structural diagram of a medical control system according to an embodiment of the present invention;

[0022] FIG2 is a schematic structural diagram of the planning system shown in FIG1 ;

[0023] FIG3 is a schematic structural diagram of the control system shown in FIG1 ;

[0024] FIG4 is a schematic structural diagram of the positioning system shown in FIG1 ;

[0025] FIG5 is a flowchart of a method for using a medical control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be further described in detail below through examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as limiting the present invention.

[0027] Currently, neuromodulation technology has been widely used in the treatment of movement disorders, intractable pain, epilepsy, mental disorders, brain diseases, addiction, and functional recovery after nervous system damage. This technology is particularly important for the treatment of psychiatric and neurological diseases and rehabilitation. However, due to the large individual differences among patients, the application of this technology in clinical practice still faces significant challenges. For example, it cannot meet the individual needs of patients, including the development of personalized regulation plans, precise target location, and the establishment of reasonable regulation parameters, all of which can seriously affect the effectiveness of treatment.

[0028] Referring to FIG1 , a medical control system 100 according to an embodiment of the present invention is shown. The medical control system 100 includes a planning system 10, a control system 20, and a positioning system 30. The planning system 10 is configured to plan a control scheme based on target information of a tracked target (not shown). The control system 20 is configured to connect to the planning system 10 and adjust its own parameters based on the control scheme to match the target of the tracked target. The positioning system 30 is configured to connect to the control system 20, obtain real-time target information, and transmit the real-time target information to the control system 20. The control system 20 then adjusts its own parameters based on the real-time target information to match the target.

[0029] In one example, the medical control system 100 further includes a signal acquisition and evaluation system 40 connected to the planning system 10. The signal acquisition and evaluation system 40 is configured to transmit its evaluation results of the target to the planning system 10, and the planning system 10 re-determines the target information and re-plans the control plan based on the evaluation results.

[0030] As shown in Figures 1 and 2 , the planning system 10 includes a target determination module 11 and a control scheme planning module 12. The target determination module 11 is connected to the control scheme planning module 12. The control scheme planning module 12 plans a control scheme based on the target information transmitted by the target determination module 11 and then transmits the control scheme to the control system 20. The control system 20 adjusts its own parameters based on the control scheme to match the target of the tracking object. In one example, the target information includes the target's location, size, and type.

[0031] In one example, the target determination module 11 includes a first determination submodule 111, a second determination submodule 112, a third determination submodule 113, and a fourth determination submodule 114. The first determination submodule 111 is configured to determine target location information based on a target region of interest (ROI) determined from a medical imaging image of the tracked target. The second determination submodule 112 is configured to determine target location information based on tissue metabolism data determined from the medical imaging image. The third determination submodule 113 is configured to determine target location information based on physiological signals of the tracked target measured by a physiological signal measurement device. The fourth determination submodule 114 is configured to determine target location information based on positioning the target by a physical stimulation device.

[0032] Those skilled in the art will appreciate that the first determining submodule 111, the second determining submodule 112, the third determining submodule 113, and the fourth determining submodule 114 can be set according to actual needs. For example, when the first determining submodule 111 and the fourth determining submodule 114 are needed in an actual situation, those skilled in the art may choose not to set the second determining submodule 112 and the third determining submodule 113. Of course, the second and third determining submodules may also be set in the system 100 and enabled when needed. Of course, those skilled in the art may also combine the first, second, and third determining submodules, or combine the first, third, and fourth determining submodules, or combine the second and fourth determining submodules, or combine the second, third, and fourth determining submodules, and so on, and will not be described in detail here. Those skilled in the art will appreciate that this example is merely an illustrative example, and those skilled in the art should not be construed as limiting the present invention.

[0033] In one example, the first determination submodule 111 can determine at least two regions of interest of the tracking target based on the brain structural magnetic resonance imaging, task-state functional magnetic resonance imaging, or resting-state functional magnetic resonance imaging of the tracking target and the voxel connectivity between each brain region in the corresponding imaging. Then, the first determination submodule 111 determines at least one abnormal region of interest based on all regions of interest in the at least two regions of interest and according to an abnormality detection rule. Finally, the first determination submodule 111 determines the target based on all abnormal regions of interest in the at least one abnormal region of interest. The abnormality detection rule is to calculate all regions of interest of the tracking target based on the individual brain connection matrix of the tracking target, the mean value matrix and the standard deviation matrix of the group brain connection matrix of the subject group and obtain an abnormality detection result p_z(n), and obtain an abnormal region of interest based on the abnormality detection result. The expression of the abnormality detection result p_z(n) is:

[0034]

[0035] Where p_corr(n) represents the individual brain connection matrix of the tracking target, mean(n) represents the mean value matrix of the group brain connection matrix, and std(n) represents the standard deviation matrix of the group brain connection matrix.

[0036] In one example, in a brain connectivity matrix, such as an individual brain connectivity matrix and a group brain connectivity matrix, the Pearson correlation coefficient between the time series of the regions of interest is used as an element of the matrix.

[0037] Those skilled in the art will understand that when the lesion is located in a part other than the brain, such as the intestine, heart, lymph, blood vessels, etc., the first determination submodule 111 should determine the target based on the medical imaging image of the corresponding part.

[0038] In one example, mean(n) can be a mean value matrix composed of the average values ​​of the Pearson correlation coefficients between the regions of interest of all subjects in the test group and the time series of the regions of interest, or a correlation coefficient mean value matrix composed of the Pearson correlation coefficients calculated between each row of the group brain connectivity matrix and the corresponding row in the mean value matrix. std(n) can be a standard deviation matrix composed of the standard deviations of the Pearson correlation coefficients between the regions of interest of all subjects in the test group and the time series of the regions of interest, or a correlation coefficient standard deviation matrix composed of the Pearson correlation coefficients calculated between each row of the group brain connectivity matrix and the corresponding row in the standard deviation matrix.

[0039] In one example, a person skilled in the art may also determine the abnormal region of interest based on the type of disease being tracked. In one example, the brain connectivity matrix may be obtained based on structural images obtained by computed tomography (CT) or magnetic resonance imaging (MRI), or based on functional brain images obtained by functional magnetic resonance imaging (fMRI).

[0040] In one example, the abnormal region of interest can be set as a target region of interest, and the center of the target region of interest is determined as the target point. The target region of interest can also be determined based on the intersection of the abnormal region of interest and the brain structure partition where the target point of the tracking target may exist, and the center of the target region of interest is determined as the target point. Of course, it is also possible to determine the abnormal region of interest as the target region of interest and the center of the target region of interest as the target point based on the connection degree between any one of the multiple abnormal regions of interest and all other abnormal regions of interest meeting a preset threshold, or to determine the abnormal region of interest as the target region of interest and the brain structure partition where the target point of the tracking target may exist based on the intersection of the abnormal region of interest and the brain structure partition where the target point of the tracking target may exist, and the center of the target region of interest is determined as the target point.

[0041] In one example, the target point can also be determined based on the connectivity between the disease region of interest and the target region of interest. The disease region of interest can be a region where the disease may exist, determined based on the disease type of the tracking target. The target region of interest can be obtained according to the target region of interest determination method described above, and the region where the target point of the corresponding disease may exist can also be obtained from the disease region of interest. After determining multiple disease regions of interest and multiple target regions of interest, the Pearson correlation coefficient of each voxel of each target region of interest in the multiple target regions of interest and each disease region of interest in the multiple disease regions of interest is calculated. When the calculated Pearson correlation coefficient of the voxel meets the preset target connectivity threshold, the voxel is determined as a target point.

[0042] In one example, the second determination submodule 112 determines the target by identifying the metabolic status of the mediator in a brain metabolic image generated by positron emission tomography (PET) or by inputting metabolic data of the mediator generated by a PET examination. For example, a brain metabolic image is obtained by a fluorodeoxyglucose positron emission tomography-computed tomography (i.e., fluorodeoxyglucose PET-CT) examination. The second determination submodule 112 then identifies the metabolic status of glucose in the brain metabolic image to determine the target. Locations with high glucose metabolism can be set as targets, or metabolic data of the mediator (e.g., glucose) can be input to the second determination submodule 112. The second determination submodule 112 performs comparisons and judgments through its own arithmetic logic unit (ALU). When the glucose metabolism data of a certain region is higher than a threshold, the region is determined to be a target region, and the center of the target region is determined to be the target.

[0043] In one example, the third determination submodule 113 determines the target based on the corresponding physiological signals obtained by the electroencephalogram (EEG) measuring device, the electromyography (EMG) measuring device, and the near-infrared spectroscopy (NIRS) technology. For example, the third determination submodule 113 can determine the target in the skull based on the electroencephalogram (EEG) obtained by the electroencephalogram (EEG) measuring device. The third determination submodule 113 can also determine the sensitive point of the head based on the strength of the electromyography (EMG) signal or the size of the electromyography value collected by the electromyography (EMG) measuring device while performing head stimulation, and use the sensitive point as the target. The third determination submodule 113 can also identify the target in real time based on the near-infrared spectroscopy (NIRS) technology to determine the target.

[0044] In one example, the fourth determination submodule 114 determines the target based on a physical stimulation device, such as an electrode cap or a stereotactic head frame (e.g., a Lecksell head frame). For example, the international 10-20 electrode cap positioning method can be used to determine the target. Alternatively, the target can be determined by recording the physiological electrical signals generated by microelectrode stimulation of the stereotactic head frame using a microelectrode recorder.

[0045] In one example, the planning system 10 further includes an information input module 13. The information input module 13 is connected to the target determination module 11 to input a signal from an external device (not shown) or a medical image of a tracked target to the target determination module 11. The external device includes at least one of an electroencephalogram (EEG) measurement device, an electromyography (EMG) measurement device, a near-infrared spectroscopy (NIRS) system, an electrode cap, and a medical imaging scanner. The external device is input into the medical control system 100 via the information input module 13. The information input module 13 then determines to which of the first to fourth determination submodules the input signal is transmitted based on the signal type and signal frequency of the external device.

[0046] In one example, the selection of the external device is selected based on the setting of the determination submodule in the target determination module 11. For example, when only the third determination submodule 113 is set in the target determination module 11, the external device can be selected from at least one of an electroencephalogram measuring device, an electromyography measuring device, and a near-infrared spectroscopy (NIRS) system. When only the fourth determination submodule 114 is set in the target determination module 11, the external device is selected from an electrode cap. When the first and third determination submodules are set in the target determination module 11, the external device can be selected from a physiological signal measurement device and a medical imaging scanning device. The physiological signal measurement device can be at least one of an electroencephalogram measuring device, an electromyography measuring device, and a near-infrared spectroscopy system, and the medical imaging scanning device can be at least one of a magnetic resonance imaging scanner, a CT scanner, and a PET-CT examination device. This example is only an illustrative example, and those skilled in the art can combine the first to fourth determination submodules as needed, and determine the external devices that can be connected based on the combination of the first to fourth submodules.

[0047] Those skilled in the art will understand that, in the process of target determination by each determination submodule, the principles of the target determination method for other parts besides the brain (such as the intestine, heart, lymph and blood vessels, etc.) are the same or similar to those of the brain target determination method, and they will not be described one by one here.

[0048] As shown in Figure 3, the control system 20 includes a magnetic field stimulation module 21, an electric field stimulation module 22, a light stimulation module 23 and a mechanical wave stimulation module 24. The magnetic field stimulation module 21 can output magnetic field energy to the target point of the tracking target, the electric field stimulation module 22 can output electric field energy to the target point of the tracking target, the light stimulation module 23 can output light energy to the target point of the tracking target, and the mechanical wave stimulation module 24 can output mechanical wave energy (such as ultrasound) to the target point of the tracking target. Those skilled in the art can set the various stimulation modules in the control system 20 as needed. For example, the magnetic field stimulation module 21, the electric field stimulation module 22, the light stimulation module 23 and the mechanical wave stimulation module 24 can be arbitrarily combined, and the control system 20 can be any one of the arbitrary combinations. For example, the control system 20 can include the magnetic field stimulation module 21 and the electric field stimulation module 22, or it can only include the magnetic field stimulation module 21, or it can include the magnetic field stimulation module 21, the electric field stimulation module 22 and the mechanical wave stimulation module 24. This example is merely an illustrative example, and those skilled in the art may select a combination of stimulation modules as needed, and determine the type of energy output to the target point of the tracking object according to the selected combination.

[0049] In one example, the control system 20 further includes an energy output terminal (not shown) and an interface (not shown) matching the energy output terminal. The energy output terminal includes at least one of a magnetic field energy output terminal 211, an electric field energy output terminal 221, a light energy output terminal 231, and a mechanical wave energy output terminal 241. The control system 20 adjusts its own parameters according to the control scheme and then transmits stimulation energy to the target point of the tracking object through the output terminal.

[0050] In one example, the control scheme planned by the planning system 10 is the type, intensity, duration, direction, frequency, energy convergence position, relative distance and relative posture between the energy output terminal of the control system 20 and the target, and the stimulation energy that matches the target, planned based on the target information. Accordingly, the parameters of the control system 20 include the intensity, duration, direction, frequency, energy convergence position, relative distance and relative posture between the energy output terminal of the control system and the target. When the energy output terminal is connected to the interface of the control system 20, the stimulation module corresponding to the type of energy output terminal is triggered to start, and then the stimulation module sends its own unique identifier or the unique identifier of the energy output terminal to the planning system 10. The planning system 10 determines the type of stimulation energy in the control scheme based on the unique identifier.

[0051] For example, when the energy output end is a magnetic field energy output end, the magnetic field energy output end is connected to the interface and triggers the magnetic field stimulation module to start. The magnetic field stimulation module 21 sends its own unique identifier or the unique identifier of the magnetic field energy output end to the planning system 10. The control scheme planning module 12 of the planning system 10 determines that the type of energy to be output in the control scheme is a magnetic field based on the received unique identifier, and then determines the intensity of the magnetic field, stimulation duration, stimulation direction, stimulation frequency, energy convergence position, relative distance and relative posture between the energy output end of the control system and the target based on the target information, thereby forming a complete set of control schemes.

[0052] In one example, the control system 20 is further provided with a control module 25, which is connected to the corresponding stimulation modules in the control system 20. For example, when the control system 20 is provided with a magnetic field stimulation module 21, an electric field stimulation module 22, a light stimulation module 23, and a mechanical wave stimulation module 24, the control module 25 is connected to these four stimulation modules. When the control system 20 is provided with only the magnetic field stimulation module 21 and the electric field stimulation module 22, the control module 25 is connected to the magnetic field stimulation module 21 and the electric field stimulation module 22, respectively, and so on, which are not further described here.

[0053] In one example, after the energy output end is connected to the interface, it will send, for example, a low-level signal and / or its own unique identifier to the control module 25. The control module 25 determines the type of energy output end connected to the interface (for example, a magnetic field energy output end, etc.) based on the received unique identifier, and then starts the corresponding stimulation module (for example, a magnetic field stimulation module 21) based on the type of the energy output end.

[0054] In one example, the medical control system 100 can be applied to areas such as the adjustment and recovery of athletes' body parts and functions, mental meditation recovery, psychotherapy, sleep disorders, anti-aging, and memory enhancement. Accordingly, the control system 20 can be configured as, for example, a wearable device that can output electromagnetic waves in a predetermined wavelength band to regulate biological molecules and cells in the human body, a certain body part of an athlete, a person's spirit, psychology, sleep, and memory. Furthermore, the control system 20 can also be configured as other auxiliary devices, such as movement disorder control devices, functional recovery devices, rehabilitation devices, mental soothing devices, psychotherapy devices, psychological stress reduction adjustment devices, sleep aid devices, memory enhancement devices, and the like. This example is merely illustrative, and those skilled in the art can make appropriate adjustments based on actual needs, and should not be construed as a limitation of the present invention.

[0055] As shown in Figure 4, the positioning system 30 includes an identification module 31, a target tracking module 32, and a registration module 33. The identification module 31 is configured to identify the tracking target and the target of the tracking target, and obtain the target real-time information of the target. The target tracking module 32 is configured to be connected to the identification module 31 and the control system 20 respectively, for tracking the tracking target and the target based on the target real-time information provided by the identification module 31, and transmitting the target real-time information to the corresponding stimulation module in the control system 20. The registration module 33 is provided with a tracking target model (not shown) corresponding to the tracking target, and the registration module 33 is configured to be connected to the identification module 31, the target tracking module 32, and the target determination module 11 respectively, and the tracking target and the target are mapped to the tracking target model with the help of the identification module 31, the target tracking module 32, and the target determination module 11.

[0056] In one example, the recognition module 31 includes a visible light recognition component 311 and an electromagnetic field recognition component 312. The visible light recognition component 311 includes an optical capture unit (not shown) and a reflective identification unit (not shown). The electromagnetic field recognition component 312 includes a magnetic field transmitting unit (not shown), a magnetic field receiving unit (not shown), and a data acquisition unit (not shown). Those skilled in the art can configure the recognition module 31 to include only the visible light recognition component, or alternatively, only the electromagnetic field recognition component, as needed.

[0057] In one example, an optical capture unit is used to capture and identify real-time location information of a tracking target or a target point. A reflective marker unit is provided on the tracking target or target point for capture and identification by the optical capture unit. The optical capture unit is connected to the target tracking module 32 and the registration module 33 to transmit the captured and identified real-time target information to the target tracking module 32 and the registration module 33, respectively.

[0058] In one example, a magnetic field transmitting unit and a magnetic field receiving unit are connected to each other. The magnetic field transmitting unit is provided with a magnetic field generator. During use, the magnetic field transmitting unit transmits electromagnetic waves generated by the magnetic field generator to the magnetic field receiving unit. The magnetic field receiving unit is connected to a data acquisition unit, which is connected to the target tracking module 32 and the registration module 33, respectively. The magnetic field receiving unit transmits the electromagnetic waves from the magnetic field transmitting unit to the data acquisition unit. The data acquisition unit processes and analyzes the electromagnetic wave data obtained to obtain real-time target information, and then transmits the real-time target information to the target tracking module 32 and the registration module 33.

[0059] In one example, the target tracking module 32 includes a deviation data comparison module 321 and a follow-up tracking module 322. Those skilled in the art can configure the target tracking module 32 to include only the deviation data comparison module, or can also configure the target tracking module 32 to include only the follow-up tracking module 322, as needed.

[0060] In one example, the deviation data comparison module 321 is configured to be connected to the identification module 31 and obtain the target deviation data in the target real-time information through the identification module 31, and then compare the target deviation data with the deviation threshold range to determine whether to transmit the target deviation data to the control system 20. When the target deviation data is outside the deviation threshold range, it is determined that the target deviation data is transmitted to the control system, that is, the tracking target position deviation is large, and the control system should be adjusted to match the tracking target and the target. When the target deviation data is within the deviation threshold range, it is determined that the target deviation data does not need to be transmitted to the control system 20, that is, the tracking target position deviation is small, and the control system 20 does not need to be adjusted.

[0061] In one example, the control system 20 adjusts the stimulation direction, energy convergence position, relative distance between the energy output terminal and the target, and relative posture of the parameters of the corresponding stimulation module according to the received target deviation data. Of course, only any one of the stimulation direction, energy convergence position, relative distance between the energy output terminal and the target, and relative posture between the energy output terminal and the target can be adjusted. Of course, any combination of the stimulation direction, energy convergence position, relative distance between the energy output terminal and the target, and relative posture between the energy output terminal and the target can also be adjusted, such as adjusting the stimulation direction and energy convergence position, or adjusting the energy convergence position and the relative posture between the energy output terminal and the target.

[0062] In one example, when the energy output end of the control system 20 is a magnetic field energy output end, the control module 25 of the control system 20 transmits the received target deviation data to the magnetic field stimulation module 21, and the magnetic field stimulation module 21 adjusts its own energy convergence position, stimulation direction, relative distance and relative posture between the magnetic field energy output end and the target according to the target deviation data. When the energy output end of the control system is an electric field energy output end and a light energy output end, the control module 25 of the control system 20 transmits the received target deviation data to the electric field stimulation module 22 and the light stimulation module 23, and the electric field stimulation module 22 and the light stimulation module 23 respectively adjust their respective energy convergence position, stimulation direction, relative distance and relative posture between the magnetic field energy output end and the target according to the target deviation data. This example is only an illustrative example, and those skilled in the art should not be understood as a limitation of the present invention.

[0063] In one example, the follow-up tracking module 322 is configured to connect with the recognition module 31 and obtain the real-time information of the target through the recognition module 31, and then adjust the position and posture of the recognition module 31 and the position and posture of the corresponding energy output end based on the real-time information of the target.

[0064] In one example, the tracking module 322 is a mobile tracking system. The mobile tracking device is provided with a mobile support device (not shown), a drive device (not shown), and a control system (not shown). The control system is respectively connected to the drive device, the recognition module 31, and the control module 25 in the control system 20. The control system obtains real-time position and posture information of the tracking target, the target point, the recognition module 31, and the energy output terminal through the recognition module 31 and the control module 25. The drive device is connected to the mobile support device to drive the mobile support device, and the mobile support device is connected to the recognition module 31.

[0065] During use, the recognition module 31 is fixed to the mobile support device. When the recognition module 31 recognizes the tracking target and the movement of the target, it transmits the real-time information of the target to the control system. The control system calculates the position change and attitude change of the target based on the real-time information of the target. Then, based on the position change and attitude change of the target, the real-time position and attitude information of the recognition module, and the real-time position and attitude information of the energy output end, the position change and attitude change of the recognition module and the energy output end are obtained. The control system then controls the drive device to drive the mobile support device to move in order to adjust the position and attitude of the recognition module in real time. The movement of the mobile support device is the position change and attitude change of the recognition module.

[0066] At the same time, the control system transmits the position change and posture change of the energy output end to the control module 25, and the control module 25 transmits the position change and posture change of the energy output end to the corresponding stimulation module (such as the magnetic field stimulation module, the electric field stimulation module). The corresponding stimulation module adjusts the position and posture of its own energy output end (such as the magnetic field energy output end, the electric field energy output end) in real time according to the position change and posture change of the energy output end.

[0067] As shown in FIG1 , the signal acquisition and evaluation system 40 includes an information acquisition module 41 and an evaluation module 42 connected to each other. In one example, the information acquisition module 41 can also be configured to be connected to the information input module 13 of the planning system 10 to acquire physiological signals and medical imaging images of the tracking target. The evaluation module 42 is connected to the target determination module 11 of the planning system 10, and evaluates the control effect based on the physiological signals and medical imaging images transmitted by the information acquisition module 41, and then transmits the evaluation results (such as changes in the coverage area of ​​the target, changes in tissue metabolism at the target, and changes in physiological signals at the target) to the target determination module 11. The target determination module 11 redetermines the target based on the evaluation results, and then transmits the target information of the redetermined tracking target to the control scheme planning module 12. The control scheme planning module 12 replans the control scheme based on the new target information and transmits the new control scheme to the control system 20.

[0068] In one example, the information acquisition module 41 acquires physiological signals of the target at different stages during the stimulation process. The evaluation module 42 evaluates the real-time physiological signal changes of the target based on the physiological signals of the target at different stages from the information acquisition module 41 .

[0069] In one example, the information acquisition module 41 can also acquire medical imaging images of the target before and after stimulation by the stimulation energy. The evaluation module 42 evaluates changes in the images of the target before and after stimulation based on the medical imaging images of the target before and after stimulation from the information acquisition module 41. Changes in the medical imaging images include changes in the coverage position of the target region of interest and / or changes in tissue metabolism data. For example, changes in the coverage area of ​​the target region of interest in a brain functional image generated based on functional magnetic resonance imaging before and after stimulation are acquired. For example, changes in glucose metabolism of the target in a brain metabolism image generated based on PET before and after stimulation are acquired.

[0070] 5 , which shows a method 200 for using the medical control system 100 according to another embodiment of the present invention. The method 200 for using the medical control system includes the following steps:

[0071] Planning a control scheme based on target information of the tracking target through the planning system 10;

[0072] Connecting the control system 20 to the planning system 10 and adjusting its own parameters based on the control scheme to match the target of the tracking object through the control system 20;

[0073] The positioning system 30 is connected to the control system 20, and the real-time target information of the target is obtained through the positioning system 30, and then the real-time target information is transmitted to the control system 20. The control system 20 adjusts its own parameters based on the real-time target information to match the target.

[0074] In one example, the method 200 further includes the following steps:

[0075] The signal acquisition and evaluation system 40 in the medical control system 100 is connected to the planning system 10, and the evaluation results of the target are transmitted to the planning system 10. The planning system 10 then redefines the target information and replans the control plan based on the evaluation results.

[0076] In one example, a readable storage medium is provided according to another embodiment of the present invention. The "readable storage medium" of an embodiment of the present invention refers to any medium that participates in providing a program or instruction to a processor for execution. The medium can take a variety of forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including wires comprising buses. Transmission media can also take the form of sound waves or light waves, such as those generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic medium, CD-ROMs, DVDs, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0077] The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the method 200 for using the medical control system is executed.

[0078] The medical control system, the method for using the same, and the readable storage medium according to the embodiments of the present application have at least one of the following advantages:

[0079] (1) The medical control system, method of use, and readable storage medium disclosed in this application can, through an integrated design, plan an integrated personalized control plan based on the individual differences of patients and can adjust control parameters in real time, thereby improving the efficacy of medical control treatment;

[0080] (2) The medical control system, its method of use, and readable storage medium disclosed in this application can obtain information such as the patient's target position in real time through the design of a positioning system, thereby avoiding the deviation of the control target caused by the patient's body movement, which in turn causes the deviation of the convergence position of the stimulation energy output by the control system;

[0081] (3) The medical control system, its use method, and readable storage medium disclosed in this application can evaluate the changes between various stages before and after stimulation or during stimulation through the design of a signal acquisition and evaluation system, thereby achieving timely adjustment of the control plan.

[0082] Although some embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined in the claims and their equivalents.

Claims

1. A medical control system comprising: A planning system configured to plan a control scheme based on target information of a tracked object; a control system, configured to be connected to the planning system and to adjust its own parameters based on the control scheme to match the target point of the tracking object; and The positioning system is configured to connect with the control system, obtain real-time target information and transmit the real-time target information to the control system, and the control system adjusts its own parameters based on the real-time target information to match the target.

2. The medical control system according to claim 1, wherein: The planning system includes a target determination module and a control scheme planning module connected to each other. The control scheme planning module plans the control scheme based on the target information transmitted by the target determination module, and then transmits the control scheme to the control system. The control system adjusts its own parameters based on the control scheme to match the target.

3. The medical control system according to claim 2, wherein: The positioning system is provided with a tracking target model corresponding to the tracking target, The target point determination module is connected to the positioning system to map the target point information onto the tracking object model.

4. The medical control system according to claim 3, wherein: The target information includes target location information, The target determination module includes at least one of a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule, or any combination thereof. The first determining submodule is configured to determine target position information based on a target region of interest determined from a medical imaging image of the tracked target; The second determination submodule is configured to determine target point location information based on tissue metabolism data determined from the medical imaging image; The third determination submodule is configured to determine target point position information based on the physiological signal of the tracking target measured by the physiological signal measurement device; The fourth determination submodule is configured to determine target point location information based on positioning of the target point by the physical stimulation device.

5. The medical control system according to any one of claims 1 to 4, wherein: The planning system further includes an information input module connected to the target determination module, and the information input module inputs a signal from an external device or a medical image of the tracking target to the target determination module.

6. The medical control system according to claim 3, wherein: The control system is configured to output at least one stimulation energy to the target, and is configured to include at least one of a magnetic field stimulation module that outputs magnetic field energy based on the parameters, an electric field stimulation module that outputs electric field energy based on the parameters, a light stimulation module that outputs light energy based on the parameters, and a mechanical wave stimulation module that outputs mechanical wave energy based on the parameters, or any combination thereof. The parameters include the intensity of stimulation energy corresponding to at least one stimulation energy, stimulation duration, stimulation direction, stimulation frequency, energy convergence position, relative distance between the energy output end of the control system and the target point, and relative posture, The control scheme is the type, intensity, duration, direction, frequency, energy convergence position, relative distance and relative posture between the energy output end of the control system and the target that are planned according to the target information and match the target.

7. The medical control system according to claim 6, wherein: The positioning system comprises: an identification module, configured to identify the tracking object and the target point, and obtain real-time target information of the target point; a target tracking module, configured to be connected to the recognition module and the control system respectively, for tracking the target based on the real-time target information, and transmitting the real-time target information to the corresponding stimulation module in the control system; The registration module is provided with the tracking target model and is configured to be connected to the recognition module and the target tracking module respectively, and maps the tracking target and the target to the tracking target model by means of the recognition module and the target tracking module.

8. The medical control system according to claim 7, wherein: The recognition module includes at least one of a visible light recognition component and an electromagnetic field recognition component, wherein the visible light recognition component includes an optical capture unit and a reflective identification unit, and the electromagnetic field recognition component includes a magnetic field transmitting unit, a magnetic field receiving unit and a data acquisition unit.

9. The medical control system according to claim 7, wherein: The target tracking module includes at least one of a deviation data comparison module and a follow-up tracking module. The deviation data comparison module is configured to be connected to the recognition module and obtain target deviation data in the target real-time information through the recognition module, and then transmit the target deviation data to the control system to adjust the parameters; The follow-up tracking module is configured to be connected to the recognition module and obtain the real-time information of the target through the recognition module, and then adjust the position and posture of the recognition module and the energy output end respectively based on the real-time information of the target.

10. The medical control system according to claim 9, wherein: The deviation data comparison module compares the target deviation data with the deviation threshold range to determine whether to transmit the target deviation data to the control system. When the target point deviation data is outside the deviation threshold range, it is determined to transmit the target point deviation data to the control system.

11. The medical control system according to claim 10, wherein: The control system adjusts at least one of the parameters, namely, the stimulation direction, the energy convergence position, the relative distance between the energy output end and the target, and the relative posture between the energy output end and the target, or any combination thereof, based on the target deviation data.

12. The medical control system according to any one of claims 6 to 11, wherein: The medical control system also includes a signal acquisition and evaluation system connected to the planning system, and the signal acquisition and evaluation system is configured to transmit its evaluation results of the target to the planning system. The planning system redetermines the target information and replans the control plan based on the evaluation results.

13. The medical control system according to claim 12, wherein: The signal acquisition and evaluation system is configured to input and evaluate changes in physiological signals of the target point at different stages during stimulation to obtain the evaluation result.

14. The medical control system according to claim 12, wherein: The signal acquisition and evaluation system is configured to input and evaluate changes in medical imaging images of the target before and after stimulation by stimulation energy to obtain the evaluation result.

15. The medical control system according to claim 14, wherein: The change of the medical image includes at least one of a change in the coverage position of the target region of interest and a change in tissue metabolism data.

16. A method for using a medical control system, wherein: The medical control system is a medical control system according to any one of claims 1 to 15, The method of use comprises the following steps: The planning system plans the control scheme based on the target information of the tracking target; Connecting a control system to the planning system, and adjusting the parameters of the control system based on the control scheme to match the target of the tracking object; The positioning system is connected to the control system, and the real-time target information of the target is obtained through the positioning system, and then the real-time target information is transmitted to the control system. The control system adjusts its own parameters based on the real-time target information to match the target.

17. The method of use according to claim 16, wherein: The method of use further comprises the following steps: The signal acquisition and evaluation system in the medical control system is connected to the planning system, and the evaluation result of the target is transmitted to the planning system. Then, the planning system re-determines the target information and re-plans the control plan based on the evaluation result.

18. A readable storage medium, wherein: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the method for using the medical control system according to claim 16 or 17 is executed.

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