Multi-arm nerve regulation and control positioning navigation system and method

Abstract

The invention provides a multi-arm nerve regulation and control positioning navigation system. The system comprises a first mechanical arm, a first coil adapter, a first transcranial magnetic coil, a second mechanical arm, a second coil adapter, a second transcranial magnetic coil, a computer, a computer support, an optical positioning instrument, an optical positioning instrument support, a treatment chair and a flat plate. A plurality of mechanical arms are used for navigation and positioning, a computer is used for planning a plurality of treatment targets of the head of a patient according to medical image data of the patient, and to-be-treated poses of the mechanical arms are determined according to the treatment targets. Therefore, the mechanical arm fixed with the transcranial magnetic coil can be used for performing multi-brain-region treatment on a plurality of treatment targets at the same time, the transcranial magnetic treatment effect is improved, the manual operation difficulty is reduced, and the positioning error caused by human factors is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a multi-arm nerve regulation positioning navigation system and method. Background Art

[0002] Transcranial Magnetic Stimulation (TMS) has gained increasing recognition in the field of clinical neuropsychiatric diseases and rehabilitation. It is a technology for studying human neurophysiology that is non-invasive and painless, and can also be used to treat some neurological diseases.

[0003] In the prior art, the operation of transcranial magnetic stimulation treatment equipment mostly uses a transcranial magnetic stimulation coil combined with a navigation system to stimulate a single target in a single brain region at the same time, which cannot achieve the ideal treatment effect. When stimulating multiple targets in multiple brain regions at the same time, the transcranial magnetic coil is controlled by manual operation or bracket fixation in combination with a transcranial magnetic positioning cap to treat the patient. Manual operation is very inconvenient and requires holding the coil for a long time or using a bracket to fix a specific angle. The patient's experience is not good and it is easy to miss the target. After missing the target, the target needs to be repositioned. Manual positioning is cumbersome and not accurate enough, which reduces the patient's treatment effect. Summary of the invention

[0004] The present invention provides a multi-arm neural regulation positioning navigation system and method, which realizes simultaneous treatment of multiple therapeutic targets in multiple brain regions through multiple mechanical arms, so as to overcome the defects of the prior art transcranial magnetic stimulation treatment equipment, such as inconvenient manual operation of target stimulation, easy off-target effect, and multiple target repositioning after off-target, resulting in cumbersome and inaccurate positioning and poor treatment effect for patients.

[0005] The present invention provides a multi-arm nerve regulation positioning navigation system, the system comprising: a first mechanical arm, a first coil adapter, a first transcranial magnetic coil, a second mechanical arm, a second coil adapter, a second transcranial magnetic coil, a computer, a computer support, an optical locator, an optical locator support, a treatment chair, and a tablet; The first transcranial magnetic coil is fixed to the end of the first mechanical arm through the first coil adapter, and the second transcranial magnetic coil is fixed to the end of the second mechanical arm through the second coil adapter; The first mechanical arm and the second mechanical arm are fixed on two sides of the treatment chair; The optical locator is mounted on the optical locator bracket, and the optical locator is used to obtain the position information of the head of the patient sitting on the treatment chair; The computer is installed on the computer bracket, and is used to plan multiple treatment targets on the patient's head according to the patient's medical imaging data, and determine the positions to be treated of the first robotic arm and the second robotic arm according to the treatment targets.

[0006] In some embodiments, the first coil adapter is provided with a first tracking marker recognized by the optical locator; the second coil adapter is provided with a second tracking marker recognized by the optical locator; a head marker is provided on the head of the patient sitting on the treatment chair; a probe marker is provided on the handheld probe; and the optical locator is used to obtain the position information of the head marker and the probe marker in the optical locator space.

[0007] In some embodiments, the computer is further configured to collect the following information: First robotic arm position information of the first tracking marker in the first robotic arm space; The second tracking marker is the second robotic arm position information in the second robotic arm space.

[0008] In some embodiments, the computer is further used to establish a space conversion relationship, the space conversion relationship includes patient space registration, and the process of the computer establishing the patient space registration includes: Obtain the coordinates of the first feature point of the patient's facial feature point in the patient space; Obtaining the coordinates of the second feature points of the patient's facial feature points identified by the optical locator in the optical locator space; The first feature point coordinates are registered with the second feature point coordinates using a point cloud registration algorithm to obtain a spatial transformation matrix between the patient space and the optical locator space.

[0009] In some embodiments, obtaining the coordinates of the first feature point of the patient's facial feature point in the patient space includes: Performing three-dimensional reconstruction on the read medical image data of the patient to obtain three-dimensional model data, and extracting the coordinates of the first feature points of the patient's facial feature points in the patient space from the three-dimensional model data; The process of obtaining the coordinates of the second feature points of the patient's facial feature points identified by the optical locator in the optical locator space includes: The probe end of the handheld probe is placed at the patient's facial feature point, and the optical locator is used to collect the feature point coordinates of the probe marker of the handheld probe in the optical locator space as the second feature point coordinates of the patient's facial feature point in the optical locator space.

[0010] In some embodiments, the space conversion relationship further includes a robot space registration, and the process of the computer establishing the robot space registration includes: By moving the first mechanical arm, the first tracking marker of the first coil adapter is placed within the field of view of the optical locator, and first optical position information of the first tracking marker in the optical locator space is collected; By moving the second mechanical arm, the second tracking marker of the second coil adapter is placed within the field of view of the optical locator, and the second optical position information of the second tracking marker in the space of the optical locator is collected; Performing spatial registration on the collected first manipulator pose information and the first optical pose information to obtain a first conversion matrix between the first manipulator space and the optical locator space; The collected second robot arm posture information and the second optical posture information are spatially aligned to obtain a second transformation matrix between the second robot arm space and the optical locator space.

[0011] In some embodiments, the computer is further used to determine a third space conversion matrix between the patient space and the first robotic arm space, and a fourth space conversion matrix between the patient space and the second robotic arm space according to the patient space registration and the robotic arm space registration; According to the third space conversion matrix, converting the treatment target planned by the medical image data into a first target to be treated in the first robotic arm space; According to the fourth space conversion matrix, converting the treatment target planned by the medical image data into a second target to be treated in the second robotic arm space; Determining a first treatment posture corresponding to the first treatment target point of the first robotic arm, and controlling the first robotic arm to move to the first treatment posture; Determine a second treatment posture corresponding to the second treatment target point of the second robotic arm, and control the second robotic arm to move to the second treatment posture.

[0012] In some embodiments, the computer is further used to determine the first posture to be treated and the second posture to be treated in a simulation environment, and simulate the motion path of the first robotic arm and the motion path of the second robotic arm in the simulation environment.

[0013] In some embodiments, the computer is further used to collect the third posture information of the head marker in the optical locator space acquired by the optical locator; According to the patient space registration and the robot arm space registration, the third posture information is converted into a first compensation posture in the first robot arm space and a second compensation posture in the second robot arm space; The first compensation posture is used to perform motion compensation on the first posture to be treated of the first robotic arm, and the second compensation posture is used to perform motion compensation on the second posture to be treated of the second robotic arm.

[0014] The present invention also provides a multi-arm neural control positioning and navigation method, the method comprising the following steps: Acquire medical imaging data of the patient and position information of the patient's head, and plan multiple treatment targets on the patient's head based on the medical imaging data; Establishing a patient space registration and a robotic arm space registration, and determining a space conversion matrix between the patient space and the robotic arm space, wherein the patient space registration includes a space conversion relationship between the patient space and the optical locator space, and the robotic arm space registration includes a space conversion relationship between the optical locator space and the robotic arm space; According to the space conversion matrix, multiple treatment target points on the patient's head are converted into targets to be treated in the robotic arm space; The corresponding treatment posture of the robotic arm on the treatment target is determined, and motion compensation is performed on the treatment posture according to the posture information of the patient's head to control the robotic arm to move to the treatment posture after motion compensation.

[0015] The present invention provides a multi-arm neural regulation positioning navigation system and method. The system uses multiple mechanical arms for navigation and positioning, and uses a computer to plan multiple treatment targets on the patient's head based on the patient's medical imaging data, and determines the positions to be treated of multiple mechanical arms based on the treatment targets. In this way, a mechanical arm with a transcranial magnetic coil fixed thereon can be used to simultaneously treat multiple treatment targets for multiple brain regions, thereby improving the treatment effect of transcranial magnetics, reducing the difficulty of manual operation, and reducing positioning errors caused by human factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of the multi-arm neural regulation positioning navigation system provided by the present invention.

[0018] Figure 2 Schematic diagram of the coil adapter provided by the present invention.

[0019] Figure 3 It is a schematic diagram of setting the head marker provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the marker setting of the handheld probe provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the optical locator provided by the present invention monitoring the position information of head markers in real time.

[0022] Reference numerals: 1: first robotic arm; 2: first coil adapter; 3: first transcranial magnetic coil; 4: second robotic arm; 5: second coil adapter; 6: second transcranial magnetic coil; 7: computer; 8: computer stand; 9: optical locator; 10: optical locator stand; 11: treatment chair; 12: tablet. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Combine the following Figure 1-Figure 5 The multi-arm neural regulation positioning navigation system of the present invention is described. Figure 1 Schematic diagram of the structure of the multi-arm neural regulation positioning navigation system provided by the present invention. Figure 1 As shown, the multi-arm neural regulation positioning navigation system (hereinafter referred to as the system) includes: a first robotic arm 1, a first coil adapter 2, a first transcranial magnetic coil 3, a second robotic arm 4, a second coil adapter 5, a second transcranial magnetic coil 6, a computer 7, a computer stand 8, an optical locator 9, an optical locator stand 10, a treatment chair 11, and a tablet 12.

[0025] In the system, the first transcranial magnetic coil 3 is fixed to the end of the first mechanical arm 1 through the first coil adapter 2, and the second transcranial magnetic coil 6 is fixed to the end 4 of the second mechanical arm through the second coil adapter 5. The first mechanical arm 1 and the second mechanical arm 4 are fixed to both sides of the treatment chair 11. The structure of the mechanical arm is compact and does not occupy too much space, but it is necessary to ensure that the working space of the first mechanical arm 1 and the working space of the second mechanical arm 4 can cover the entire head of the patient. The optical locator 9 is installed on the optical locator bracket 10, and the optical locator 9 is used to obtain the posture information of the head of the patient sitting on the treatment chair 11. The computer 7 is installed on the computer bracket 8. The computer 7 will read the medical imaging data of the patient in real time, and is used to plan multiple treatment targets of the patient's head according to the medical imaging data of the patient, and determine the treatment posture of the first mechanical arm 1 and the second mechanical arm 4 according to the treatment targets. Among them, the computer 7 will perform preprocessing after collecting the medical imaging data of the patient. Specifically, the medical image data of the patient includes two-dimensional medical image data and three-dimensional model data. The two-dimensional medical image data can be CT, MRI or standard atlas data in the formats of nii, nii.gz, dcm, dicom, etc. These data can present the axial plane, coronal plane and sagittal plane of the medical image in the computer 7. The three-dimensional model data can be obtained by three-dimensional reconstruction of the two-dimensional medical image data. According to the treatment needs of the patient, multiple treatment targets are planned on the two-dimensional medical image and the three-dimensional model. The planning method can plan multiple treatment targets on the cerebral cortex data of the two-dimensional medical image and then map them to the patient's scalp data, or directly plan the treatment targets on the patient's scalp data. In addition, the coordinates of multiple facial feature points of the patient can also be obtained on the three-dimensional model data of the patient. The facial feature point coordinates belong to the feature point coordinates in the patient space, which are used to determine the treatment posture of the first mechanical arm 1 and the second mechanical arm 4 to be treated, and treat multiple treatment targets on the patient's head.

[0026] Furthermore, in order to determine the posture to be treated of the first robotic arm 1 and the second robotic arm 4, the embodiment of the present invention sets corresponding markers on the coil adapter and the patient's head to help determine relevant posture information.

[0027] like Figure 2 As shown, the first coil adapter 2 is provided with a first tracking marker recognized by the optical locator 9, and the second coil adapter 5 is provided with a second tracking marker recognized by the optical locator 9. Figure 3 As shown, a head marker is provided on the head of the patient sitting on the treatment chair 11. Figure 4 As shown, a hand-held probe is also used during system treatment, which is held by medical staff and provided with a probe marker. The optical locator 9 is used to obtain the position information of the head marker and the probe marker in the optical locator space.

[0028] In some embodiments, the computer 7 is used to collect various posture information to establish posture transformation relationships in different spaces to achieve navigation and positioning of the system. The collected information includes the first robot arm posture information of the first tracking marker in the first robot arm space, the second robot arm posture information of the second tracking marker in the second robot arm space, and the posture information of the patient's facial feature points in the optical locator space.

[0029] In some embodiments, the computer 7 is also used to establish a spatial conversion relationship, which includes patient space registration and robotic arm space registration, wherein the patient space registration represents the spatial conversion relationship between the patient space and the optical locator space, and the robotic arm space registration represents the spatial conversion relationship between the optical locator space and the robotic arm space, which is described in detail below.

[0030] The process of establishing patient space registration on computer 7 includes: first obtaining the coordinates of the first feature point of the patient's facial feature point in the patient space, where the patient's medical imaging data read by computer 7 can be three-dimensionally reconstructed to obtain three-dimensional model data, and the feature point coordinates of the patient's facial feature point in the optical locator space can be extracted from the three-dimensional model data.

[0031] Next, the coordinates of the second feature points of the patient's facial feature points in the optical locator space are obtained. The coordinates of the second feature points are obtained by identifying the optical locator 9. The identification process is as follows: within the field of view of the optical locator 9, the medical staff moves the probe end (such as Figure 4 The optical locator 9 can collect the coordinates of the feature points of the probe marker of the handheld probe in the optical locator space, and then determine the coordinates of the second feature points of the feature points of the patient's face in the optical locator space.

[0032] Finally, a point cloud registration algorithm (for example, a singular value decomposition (SVD) algorithm or an iterative closest point (ICP) algorithm) is used to align the coordinates of the first feature point with the coordinates of the second feature point to obtain a spatial transformation matrix between the patient space and the optical locator space. This matrix represents the patient space registration, that is, the spatial transformation relationship between the patient space and the optical locator space.

[0033] The process of establishing the robot space registration by the computer 7 is as follows: by moving the first robot 1, the first tracking marker of the first coil adapter 2 is placed within the field of view of the optical locator, and the first optical position information of the first tracking marker in the optical locator space is collected. And by moving the second robot 4, the second tracking marker of the second coil adapter 5 is placed within the field of view of the optical locator, and the second optical position information of the second tracking marker in the optical locator space is collected.

[0034] Then, the collected first manipulator pose information is spatially registered with the first optical pose information to obtain the first conversion matrix between the first manipulator space and the optical locator space, and the collected second manipulator pose information is spatially registered with the second optical pose information to obtain the second conversion matrix between the second manipulator space and the optical locator space. This first conversion matrix and the second conversion matrix are manipulator space registration, which characterizes the spatial conversion relationship between the optical locator space and the manipulator space.

[0035] According to the patient space registration and the robot space registration, the multiple treatment targets of the patient's head planned according to the patient's medical image data can be used to determine the treatment posture of the robot arm. Since the multiple treatment targets of the patient's head planned belong to the patient space. According to the spatial conversion relationship (i.e., spatial conversion matrix) of the patient space registration and the spatial conversion relationship (first conversion matrix and second conversion matrix) of the robot space registration, the third spatial conversion matrix of the patient space and the first robot space, and the fourth spatial conversion matrix of the patient space and the second robot space can be determined. According to the third spatial conversion matrix, the treatment target planned by the medical image data is converted to the first target to be treated under the first robot space. The first robot arm 1 is on the left side of the treatment chair 1, so the treatment target on the left side of the patient's brain area is converted to the first target to be treated under the first robot space. According to the fourth spatial conversion matrix, the treatment target planned by the medical image data is converted to the second target to be treated under the second robot space. The first robot arm 4 is on the left side of the treatment chair 1, so the treatment target on the right side of the patient's brain area is converted to the first target to be treated under the first robot space.

[0036] Next, in the first robotic arm space, the first treatment posture corresponding to the first robotic arm 1 on the first treatment target is determined, that is, the treatment position to which the first robotic arm 1 needs to move is determined, and the first robotic arm 1 is controlled to move to the first treatment posture. Similarly, in the second robotic arm space, the second treatment posture corresponding to the second treatment target is determined, that is, the treatment position to which the second robotic arm 4 needs to move is determined, and the second robotic arm 4 is controlled to move to the first treatment posture. In this way, all treatment targets in the patient's head and brain area can be fully covered and treated through the movement of the two robotic arms.

[0037] Considering that the first robot arm 1 and the second robot arm 4 may collide during the movement, affecting the treatment process. Therefore, the computer 7 is also used to determine the first posture to be treated and the second posture to be treated in the simulation environment, and simulate the movement path of the first robot arm 1 and the movement path of the second robot arm 4 in the simulation environment. The simulation process can be performed in the computer 7 or in the tablet 12. The tablet 12 is a tablet computer and is also installed on the computer bracket 8. Medical staff can observe the simulation process in real time and make decisions or adjustments to the treatment process of the system in a timely manner.

[0038] Here, the robotic arm device and the three-dimensional model data of the patient can be placed in the correct position in the simulation environment according to the third space conversion matrix between the patient space and the first robotic arm space, and the fourth space conversion matrix between the patient space and the second robotic arm space, and then the motion path of the first robotic arm 1 and the motion path of the second robotic arm 4 are simulated. When it is determined during the simulated placement that the robotic arms (i.e., the first robotic arm 1 and the second robotic arm 4) will not collide when moving to the target to be treated (i.e., the first target to be treated and the second target to be treated), the robotic arms are controlled to move to the position to be treated to treat the target to be treated.

[0039] Furthermore, the embodiment of the present invention also takes into account that during the treatment process of the robot arm movement, the patient's head may move due to shaking or other unexpected circumstances, causing the coil to miss the target. Therefore, the computer 7 also collects the head markers (such as Figure 3 The third posture information of the head marker shown in the figure in the optical locator space is obtained in real time by the optical locator 9 during the treatment process. Then, according to the patient space registration and the robot space registration, the third posture information is converted into the first compensation posture in the first robot space and the second compensation posture in the second robot space. The first compensation posture is used to perform motion compensation on the first robot arm's first posture to be treated, and the second compensation posture is used to perform motion compensation on the second robot arm's second posture to be treated. Thus, the robot arm movement position is corrected by real-time motion compensation to ensure that the coil will not be off-target due to the shaking of the patient's head, and to avoid re-navigation positioning.

[0040] like Figure 5As shown, during the motion compensation process, the optical locator 9 will monitor the positions of the tracking markers on the first coil adapter 2 and the second coil adapter 5 in real time, and then calculate the posture relationship between the first robotic arm 1 and the second robotic arm 2 in real time in combination with the spatial conversion relationship in the patient space registration and the robotic arm space registration, so as to ensure that there is no collision between the robotic arm, coil adapter and transcranial magnetic coil in the system, avoid the need for repositioning due to unexpected situations, and improve the efficiency of positioning and the treatment effect on patients.

[0041] The multi-arm neural regulation positioning navigation system provided by the embodiment of the present invention uses multiple mechanical arms for navigation and positioning, uses a computer to plan multiple treatment targets on the patient's head according to the patient's medical imaging data, and establishes patient space registration and mechanical arm space registration according to the posture information recognized by the optical locator, thereby determining the posture to be treated of multiple mechanical arms. In this way, a mechanical arm fixed with a transcranial magnetic coil can be used to simultaneously treat multiple treatment targets for multi-brain region treatment. In addition, during the process of mechanical arm motion therapy, the patient's head movement state is monitored in real time by an optical locator, and feedback is given to multiple mechanical arms according to the spatial conversion relationship to perform motion compensation to prevent off-target, and during the motion compensation process, it is ensured that there is no collision between multiple mechanical arms, multiple coil adapters and multiple coils, which further improves the treatment effect, reduces the workload of doctors, reduces the positioning error caused by human factors, and makes the transcranial magnetic coil positioning more accurate.

[0042] An embodiment of the present invention further provides a multi-arm neural regulation positioning and navigation method, which is applied to a multi-arm neural regulation positioning and navigation system and is implemented by following steps 101 to 104, which are described one by one below.

[0043] Step 101: Obtain medical imaging data of a patient and position information of the patient's head, and plan multiple treatment targets on the patient's head based on the medical imaging data.

[0044] Here, the patient's medical imaging data is collected by computer, and the position information of the patient's head identified by the optical locator is collected. Then, multiple treatment targets are planned based on the cerebral cortex data of the medical imaging data and then mapped to the patient's scalp data. Treatment targets can also be planned directly on the patient's scalp data.

[0045] Step 102, establish patient space registration and robotic arm space registration, and determine the space conversion matrix between the patient space and the robotic arm space, wherein the patient space registration includes the space conversion relationship between the patient space and the optical locator space, and the robotic arm space registration includes the space conversion relationship between the optical locator space and the robotic arm space.

[0046] Next, we establish patient space registration and robotic arm space registration. Since patient space registration includes the spatial conversion relationship between patient space and optical locator space, and robotic arm space registration includes the spatial conversion relationship between optical locator space and robotic arm space, the spatial conversion matrix of patient space and robotic arm space can be determined.

[0047] Step 103: According to the space conversion matrix, multiple treatment target points on the patient's head are converted into target points to be treated in the robot arm space.

[0048] Here, after determining the spatial conversion matrix between the patient space and the robotic arm space, the multiple treatment targets on the patient's head can be converted into the targets to be treated in the robotic arm space according to the spatial conversion matrix. Here, the multiple treatment targets in the patient space are directly converted into the targets to be treated in the robotic arm space through the spatial conversion matrix between the patient space and the robotic arm space.

[0049] Step 104 , determining the corresponding treatment posture of the robotic arm on the treatment target point, and performing motion compensation on the treatment posture according to the posture information of the patient's head, so as to control the robotic arm to move to the treatment posture after motion compensation.

[0050] Finally, the corresponding treatment position of the robotic arm on the treatment target is determined as the treatment position where the robotic arm needs to move. During the movement of the robotic arm, motion compensation is performed on the treatment position according to the posture information of the patient's head to control the robotic arm to move to the treatment position after motion compensation, so as to treat the treatment target.

[0051] The technical effects of the multi-arm neural regulation, positioning and navigation method provided in the embodiment of the present application are the same as the beneficial effects of the above-mentioned multi-arm neural regulation, positioning and navigation system. Both can improve the therapeutic effect of transcranial magnetic resonance imaging, reduce the workload of doctors, and reduce the positioning error caused by human factors. Therefore, the beneficial effects of the multi-arm neural regulation, positioning and navigation method will not be repeated here.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-arm neural control positioning navigation system, characterized in that: The system comprises: a first mechanical arm, a first coil adapter, a first transcranial magnetic coil, a second mechanical arm, a second coil adapter, a second transcranial magnetic coil, a computer, a computer stand, an optical locator, an optical locator stand, a treatment chair, and a tablet; The first transcranial magnetic coil is fixed to the end of the first mechanical arm through the first coil adapter, and the second transcranial magnetic coil is fixed to the end of the second mechanical arm through the second coil adapter; The first mechanical arm and the second mechanical arm are fixed on two sides of the treatment chair; The optical locator is mounted on the optical locator bracket, and the optical locator is used to obtain the position information of the head of the patient sitting on the treatment chair; The computer is installed on the computer bracket, and is used to plan multiple treatment targets on the patient's head according to the patient's medical imaging data, and determine the positions to be treated of the first robotic arm and the second robotic arm according to the treatment targets.

2. The multi-arm neural control positioning navigation system according to claim 1, characterized in that: The first coil adapter is provided with a first tracking marker recognized by the optical locator; the second coil adapter is provided with a second tracking marker recognized by the optical locator; A head marker is arranged on the head of the patient sitting on the treatment chair; a probe marker is arranged on the handheld probe; and the optical locator is used to obtain the position information of the head marker and the probe marker in the optical locator space.

3. The multi-arm neural control positioning navigation system according to claim 2, characterized in that: The computer is also used to collect the following information: First robotic arm position information of the first tracking marker in the first robotic arm space; The second tracking marker is the second robotic arm position information in the second robotic arm space.

4. The multi-arm neural control positioning navigation system according to claim 2, characterized in that: The computer is also used to establish a space conversion relationship, the space conversion relationship includes patient space registration, and the process of the computer establishing the patient space registration includes: Obtain the coordinates of the first feature point of the patient's facial feature point in the patient space; Obtaining the coordinates of the second feature points of the patient's facial feature points identified by the optical locator in the optical locator space; The coordinates of the first feature point are registered with the coordinates of the second feature point using a point cloud registration algorithm to obtain a spatial transformation matrix between the patient space and the optical locator space.

5. The multi-arm neural control positioning navigation system according to claim 4, characterized in that: The step of obtaining the coordinates of the first feature point of the patient's facial feature point in the patient space includes: Performing three-dimensional reconstruction on the read medical image data of the patient to obtain three-dimensional model data, and extracting the coordinates of the first feature points of the patient's facial feature points in the patient space from the three-dimensional model data; The process of obtaining the coordinates of the second feature points of the patient's facial feature points identified by the optical locator in the optical locator space includes: The probe end of the handheld probe is placed at the patient's facial feature point, and the optical locator is used to collect the feature point coordinates of the probe marker of the handheld probe in the optical locator space as the second feature point coordinates of the patient's facial feature point in the optical locator space.

6. The multi-arm neural control positioning navigation system according to claim 4, characterized in that: The spatial conversion relationship also includes a robot space registration, and the process of the computer establishing the robot space registration includes: By moving the first mechanical arm, the first tracking marker of the first coil adapter is placed within the field of view of the optical locator, and first optical position information of the first tracking marker in the optical locator space is collected; By moving the second mechanical arm, the second tracking marker of the second coil adapter is placed within the field of view of the optical locator, and the second optical position information of the second tracking marker in the space of the optical locator is collected; Performing spatial registration on the collected first manipulator pose information and the first optical pose information to obtain a first conversion matrix between the first manipulator space and the optical locator space; The collected second robot arm posture information and the second optical posture information are spatially aligned to obtain a second transformation matrix between the second robot arm space and the optical locator space.

7. The multi-arm neural control positioning navigation system according to claim 6, characterized in that: The computer is further used to determine a third space conversion matrix between the patient space and the first robotic arm space, and a fourth space conversion matrix between the patient space and the second robotic arm space according to the patient space registration and the robotic arm space registration; According to the third space conversion matrix, converting the treatment target planned by the medical image data into a first target to be treated in the first robotic arm space; According to the fourth space conversion matrix, converting the treatment target planned by the medical image data into a second target to be treated in the second robotic arm space; Determining a first treatment posture corresponding to the first treatment target point of the first robotic arm, and controlling the first robotic arm to move to the first treatment posture; Determine a second treatment posture corresponding to the second treatment target point of the second robotic arm, and control the second robotic arm to move to the second treatment posture.

8. The multi-arm neural control positioning navigation system according to claim 7, characterized in that: The computer is also used to determine the first posture to be treated and the second posture to be treated in a simulation environment, and simulate the motion path of the first robotic arm and the motion path of the second robotic arm in the simulation environment.

9. The multi-arm neural control positioning navigation system according to claim 7, characterized in that: The computer is also used to collect the third posture information of the head marker in the optical locator space acquired by the optical locator; According to the patient space registration and the robot arm space registration, the third posture information is converted into a first compensation posture in the first robot arm space and a second compensation posture in the second robot arm space; The first compensation posture is used to perform motion compensation on the first posture to be treated of the first robotic arm, and the second compensation posture is used to perform motion compensation on the second posture to be treated of the second robotic arm.

10. A multi-arm neural control positioning and navigation method, characterized in that: The method comprises: Acquire medical imaging data of the patient and position information of the patient's head, and plan multiple treatment targets on the patient's head based on the medical imaging data; Establishing a patient space registration and a robotic arm space registration, and determining a space conversion matrix between the patient space and the robotic arm space, wherein the patient space registration includes a space conversion relationship between the patient space and the optical locator space, and the robotic arm space registration includes a space conversion relationship between the optical locator space and the robotic arm space; According to the space conversion matrix, multiple treatment target points on the patient's head are converted into targets to be treated in the robotic arm space; The corresponding treatment posture of the robotic arm on the treatment target is determined, and motion compensation is performed on the treatment posture according to the posture information of the patient's head, so as to control the robotic arm to move to the treatment posture after motion compensation.

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