Transcranial magnetic stimulation coil positioning device and positioning method thereof

Abstract

The invention discloses a transcranial magnetic stimulation coil positioning device and a positioning method thereof. The device comprises a positioning caliper gauge and a coil fixing support. The positioning caliper gauge comprises a first scale ruler and a second scale ruler, the first scale ruler is hinged to the second scale ruler, positioning identification pieces are arranged on the first scale ruler and the second scale ruler in a sliding mode, an angle ruler is arranged on the first scale ruler, and an indicating part is arranged at the end of the second scale ruler. The coil fixing support comprises a positioning plate, the positioning plate is provided with a connecting lug, the connecting lug is connected with an adjusting rod, and the adjusting rod is provided with a scale part. The method comprises the following steps: pasting a marker on scalp, imaging on a magnetic resonance image, and determining a stimulation target point, an imaging marker point and an adjusting rod contact point; determining the spatial position relation between the contact point and the marker point and the extension length of the adjusting rod; marking a contact point on the scalp by using a positioning caliper; and the adjusting rod and the contact point correspond to each other and are contacted. Operation is simpler and more convenient, and coil stability is good in the treatment process.

Description

Technical Field

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

[0002] At present, the navigation equipment for neuroimaging-guided transcranial magnetic stimulation (TMS) is a dedicated infrared sensing navigation system, which is expensive, occupies a large area, and is complicated to operate, resulting in a prolonged treatment process. In addition, the learning cost for the operator is high. During the treatment process, the shaking of the patient's head can easily cause the transcranial magnetic stimulation 8-shaped coil to shift, and the target needs to be re-targeted. In addition, the currently used transcranial magnetic stimulation target positioning ruler device is complicated to operate, inconvenient to adjust and position, and lacks accuracy. Therefore, it is very important to design a transcranial magnetic stimulation 8-shaped coil positioning and target positioning device that is simpler to operate and has a lower implementation cost. Summary of the invention

[0003] The object of the present invention is to provide a transcranial magnetic stimulation coil positioning device and a positioning method thereof, which have lower cost, simpler operation and better stability.

[0004] The purpose of the present invention is achieved through the following technical solutions: A transcranial magnetic stimulation coil positioning device, comprising a positioning caliper and a coil fixing bracket; The positioning caliper comprises a first scale ruler and a second scale ruler, the scale starting points on the first scale ruler and the second scale ruler are hinged through a first positioning mark, the first scale ruler is slidably provided with a second positioning mark, the second scale ruler is slidably provided with a third positioning mark, the first scale ruler is provided with an angle ruler, the angle ruler and the second positioning mark are respectively arranged on both sides of the first positioning mark, and the end of the second scale ruler is provided with an indication part adapted to the angle ruler; The coil fixing bracket includes a positioning plate fixedly connected to the transcranial magnetic stimulation coil, the edge of the positioning plate is provided with at least three connecting ears protruding outside the transcranial magnetic stimulation coil, the connecting ears are threadedly connected with an adjusting rod, and the adjusting rod is provided with a scale portion adapted to the connecting ears.

[0005] Furthermore, the first positioning identification component includes a first positioning rod and a threaded knob, and a through hole is opened at the starting point of the scale on the first scale ruler and the second scale ruler. The screw portion of the threaded knob passes through the through holes of the first scale ruler and the second scale ruler and is threadedly connected to the upper end of the first positioning rod.

[0006] Furthermore, the second positioning identification member and the third positioning identification member both include a slider and a second positioning rod, the upper end of the second positioning rod is connected to the slider, the slider is provided with a ruler through hole, the slider is provided with a threaded locking hole, the threaded locking hole is connected to a locking knob, and the threaded locking hole is connected to the ruler through hole.

[0007] Furthermore, a silicone pad is provided at the front end of the adjusting rod, and an operating head is provided at the rear end of the adjusting rod.

[0008] Furthermore, the first scale ruler, the second scale ruler, the angle ruler and the indicator part are all made of transparent materials; the first scale ruler and the angle ruler are integrally formed, and the second scale ruler and the indicator part are integrally formed.

[0009] The present invention also discloses a positioning method based on the above transcranial magnetic stimulation coil positioning device, comprising the following steps: S1. Paste two imaging markers on the subject's scalp and image them on the magnetic resonance image to determine the scalp stimulation target point, imaging marker point, and adjustment rod contact point; S2, determining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point, and the extension length of the adjustment rod; S3, using the line connecting the two imaging markers as a reference, based on the spatial position relationship between the adjustment rod contact point and the imaging marker point obtained in step S2, using a positioning caliper to mark at least three adjustment rod contact points on the subject's scalp; S4. The extension length of the adjusting rod is set based on the extension length of the adjusting rod obtained in step S2, and the coil fixing bracket is operated to make the adjusting rod correspond to and contact the contact point identified in step S3, so that the transcranial magnetic stimulation coil is in contact and tangent to the scalp stimulation target point.

[0010] Furthermore, in step S2, determining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point includes: X1. Use the Euclidean distance formula to calculate the Euclidean distance between the contact point of the adjustment rod and the imaging marker point. The distance formula is: In the formula, (X i , Y i , Z i ) is the coordinate of the i-th imaging marker point, (X s , Y s , Z s ) is the three-dimensional coordinate of the contact point of the adjusting rod of the coil fixing bracket; X2. Use the dot product formula of space vectors to calculate the angle between the contact point of the adjustment rod and the line connecting the two imaging marker points.

[0011] Furthermore, in step S2, determining the extension length of the adjustment rod includes: Y1, extracting the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculating the surface normal vector of the scalp stimulation target by a local surface fitting method, and determining the tangent direction of the transcranial magnetic stimulation coil; Y2. Take the scalp stimulation target as the reference point, make the normal vector of the transcranial magnetic stimulation coil coincide with the normal vector of the scalp surface, and establish the spatial equation of the transcranial magnetic stimulation coil plane in the standard posture: a(x-x0) + b(y-y0) + c(z-z0) = 0 Where (x0, y0, z0) is the coordinate of the scalp stimulation target, (x, y, z) is the coordinate of any point on the plane, and (a, b, c) is the direction component of the normal vector; Y3. Use the space rotation matrix to transform the coil plane in the standard posture to the target section. The conversion formula is: P' = R × P + T Where P is the coordinate (x, y, z) of any point on the transcranial magnetic stimulation coil in the standard posture, P' is the new coordinate of the point after transformation, R is the rotation matrix that rotates the standard posture to the direction of the normal vector n = (a, b, c), and T is the translation vector that translates the plane to the scalp stimulation target (x0, y0, z0); Y4, extracting scalp surface point data from the image data obtained in step S1, performing three-dimensional surface fitting on discrete points using a B-spline surface fitting algorithm, and establishing a surface equation S(u,v) for calculating the curvature and normal vector of any point; Y5. Use the partial derivative of the surface equation to calculate the normal vector of each adjustment rod contact point: n = S u × S v / |S u × S v | In the formula, S u , S v Represents the tangent vector of the surface in the u and v directions; Y6. Based on the R matrix and T vector obtained in step Y3, combined with the position and direction constraints of multiple adjusting rods, a nonlinear equation group is established, and the extension length of each adjusting rod is solved by a digital optimization algorithm.

[0012] Furthermore, the position and direction constraints of the adjustment rod include: the direction of the adjustment rod is consistent with the scalp normal vector, the length of the adjustment rod is within an adjustable range, the relative position between the adjustment rods remains unchanged, and the coil plane is tangent to the scalp at the target point.

[0013] Furthermore, step S3 specifically includes: Z1. Place the first positioning mark against the center of the corresponding left imaging mark, and slide the second positioning mark on the first scale ruler to make it against the center of the right imaging mark; Z2, based on the Euclidean distance between an adjustment rod contact point and the left imaging marker obtained in step S2, and the angle between the line connecting the adjustment rod contact point and the left imaging marker and the line connecting the left and right imaging markers, slide the third positioning marker on the second scale ruler to the scale of the Euclidean distance and rotate the second scale ruler so that the indicator points to the value of the corresponding angle on the angle ruler. The contact point between the third positioning marker and the subject's scalp is the actual contact point of the adjustment rod, and the marker is affixed; Z3. Repeat the above step Z2 multiple times to obtain at least three actually determined contact points of the adjustment rod on the subject's scalp.

[0014] The present invention has the following advantages: 1. The use of positioning rulers and coil fixing brackets can achieve faster and more accurate target location, low cost, simpler and more convenient operation, and easy to master.

[0015] 2. After setting up the coil fixing bracket, multiple support points are added to the patient's head, and the coil has good stability during treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the positioning caliper.

[0017] Figure 2 This is a schematic diagram of the structure of the first positioning identification component.

[0018] Figure 3 It is a schematic diagram of the structure of the second positioning identification member and the third positioning identification member.

[0019] Figure 4 This is a schematic diagram of the structure of the coil fixing bracket.

[0020] In the figure, 1-first scale ruler, 2-second scale ruler, 3-angle ruler, 4-indicator, 5-transcranial magnetic stimulation coil, 6-positioning plate, 7-connecting ear, 8-adjusting rod, 9-scale part, 10-gasket, 11-first positioning rod, 12-threaded knob, 13-slider, 14-second positioning rod, 15-ruler perforation, 16-locking knob, 17-silicone cushion, 18-operating head. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] refer to Figure 1-4 As shown, one embodiment of the present invention is: A transcranial magnetic stimulation coil positioning device, comprising a positioning caliper and a coil fixing bracket; The positioning caliper comprises a first scale ruler 1 and a second scale ruler 2, the scale starting points on the first scale ruler 1 and the second scale ruler 2 are hinged through a first positioning identification piece, the first scale ruler 1 is slidably provided with a second positioning identification piece, the second scale ruler 2 is slidably provided with a third positioning identification piece, the first scale ruler 1 is provided with an angle ruler 3, the angle ruler 3 and the second positioning identification piece are respectively arranged on both sides of the first positioning identification piece, and the end of the second scale ruler 2 is provided with an indication part 4 adapted to the angle ruler 3; The coil fixing bracket includes a positioning plate 6 fixedly connected to the transcranial magnetic stimulation coil 5, and the edge of the positioning plate 6 is provided with at least three connecting ears 7 protruding outside the transcranial magnetic stimulation coil 5, and the connecting ears 7 are threadedly connected with an adjusting rod 8, and the adjusting rod 8 is provided with a scale portion 9 adapted to the connecting ears.

[0028] refer to Figure 4 As shown, the number of the connecting ears 7 in this embodiment is specifically 5. Figure 2 As shown, the first positioning identification member includes a first positioning rod 11 and a threaded knob 12. The scale starting points on the first scale ruler 1 and the second scale ruler 2 are provided with through holes. The screw portion of the threaded knob 12 passes through the through holes of the first scale ruler 1 and the second scale ruler 2 and is threadedly connected to the upper end of the first positioning rod 11. Specifically, a gasket 10 is further provided between the first scale ruler 1 and the second scale ruler 2.

[0029] refer to Figure 1 , 3 As shown, the second positioning identification member and the third positioning identification member both include a slider 13 and a second positioning rod 14. The upper end of the second positioning rod 14 is connected to the slider 13. The slider 13 is provided with a ruler through hole 15. The slider 13 is provided with a threaded locking hole. A locking knob 16 is connected to the threaded locking hole. The threaded locking hole is connected to the ruler through hole 15.

[0030] The first positioning rod 11 and the second positioning rod 14 should have a certain height, and the lower end should be a small conical structure, so as to facilitate the positioning mark on the subject's scalp and improve the positioning accuracy. The coil fixing bracket is made of plastic material to reduce weight and facilitate operation. The front end of the adjustment rod 8 is provided with a silicone cushion 17, and the rear end is provided with an operating head 18. Figure 4 As shown, the positioning plate 6 is fixed to the operating side of the transcranial magnetic stimulation coil 5 to facilitate hand-held operation. The starting point of the scale part 9 on the adjusting rod 8 is located in the middle of the adjusting rod. The specific position is the contact point between the adjusting rod 8 and the connecting ear 7 when the silicone pad at the front end of the adjusting rod 8 is flush with the stimulation side of the transcranial magnetic stimulation coil 5.

[0031] In the existing transcranial magnetic stimulation, the patient's head is tangent to the middle joint of the transcranial magnetic stimulation coil, and the rest of the transcranial magnetic stimulation coil is suspended in the air, which can easily cause the coil to move when the patient shakes. After setting the coil fixing bracket, the present application adds 5 silicone pads at the ends of the adjustment rods to contact the patient's scalp, making it difficult for the coil to move.

[0032] For easy operation and observation, the first scale ruler 1, the second scale ruler 2, the angle ruler 3, and the indicating part 4 are all made of transparent materials; the first scale ruler 1 and the angle ruler 4 are integrally formed, and the second scale ruler 2 and the indicating part 3 are integrally formed.

[0033] The positioning method based on the above transcranial magnetic stimulation coil positioning device comprises the following steps: S1. Paste two imaging markers (M1 and M2) on the subject's scalp and image them on the magnetic resonance image to determine the scalp stimulation target, imaging marker point, and adjustment rod contact point; Determining the scalp stimulation target specifically includes: determining the cortical stimulation target through magnetic resonance data analysis methods (such as resting-state functional connectivity), the system then segments the magnetic resonance image based on SPM to obtain a scalp segmentation map, binarizes the scalp segmentation map, identifies the external connected area of ​​the scalp through connected domain extraction, and extracts the outermost boundary. Based on the boundary extraction, the scalp projection of the cortical target is performed through the normal search method to determine the scalp stimulation target and produce a visualized image. In this application, the contact point of the adjustment rod refers to the contact point between the silicone pad at the front end of the adjustment rod and the subject's scalp.

[0034] S2, determining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point, and the extension length of the adjustment rod; Wherein, determining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point includes: X1. The system uses the Euclidean distance formula to calculate the Euclidean distance between the contact point of the adjustment rod and the imaging marker point. The distance formula is: In the formula, (X i , Y i , Z i ) is the coordinate of the i-th imaging marker point, (X s , Y s , Z s ) is the three-dimensional coordinate of the contact point of the adjusting rod of the coil fixing bracket.

[0035] X2. Use the dot product formula of space vectors to calculate the angle between the contact point of the adjustment rod and the line connecting the two imaging marker points.

[0036] M1 is the left imaging mark point, M2 is the right imaging mark point, T1 is the adjustment rod contact point, ∠ TIMIM2 The angle is θ.

[0037] (1) Express M1M2 and M1T1 as vectors: vector M1M2 = M2 - M1 vector M1T1 = T1 - M1 (2) Vector dot product formula to calculate the angle: cos(θ) = (vector M1M2 ·vector M1T1 ) / (|vector M1M2 |·|vector M1T1 |) θ = arccos((vector M1M2 ·vector M1T1 ) / (|vector M1M2 |·|vector M1T1 |)) The above steps are repeated multiple times to obtain the spatial position relationship between multiple adjustment rod contact points and imaging marker points.

[0038] Determining the extension length of the adjustment rod includes: Y1, extracting the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculating the surface normal vector (n=(a, b, c)) of the scalp stimulation target by the local surface fitting method, and determining the tangent direction of the transcranial magnetic stimulation coil; Y2. Take the scalp stimulation target as the reference point, make the normal vector of the transcranial magnetic stimulation coil coincide with the normal vector of the scalp surface, and establish the spatial equation of the transcranial magnetic stimulation coil plane in the standard posture: a(x-x0) + b(y-y0) + c(z-z0) = 0 In the formula, (x0, y0, z0) are the coordinates of the scalp stimulation target, (x, y, z) are the coordinates of any point on the plane, and (a, b, c) are the direction components of the normal vector; this spatial property represents the ideal position of the cranial magnetic stimulation coil in a standard posture in space.

[0039] Y3. Use the space rotation matrix to transform the coil plane in the standard posture to the target section. The conversion formula is: P' = R × P + T In the formula, P is the coordinate (x, y, z) of any point on the transcranial magnetic stimulation coil in the standard posture, P' is the new coordinate of the point after transformation, R is the rotation matrix that rotates the standard posture to the direction of the normal vector n=(a, b, c), and T is the translation vector that translates the plane to the scalp stimulation target (x0, y0, z0); this transformation formula determines the precise position and posture of the transcranial magnetic stimulation coil in actual space.

[0040] Y4, extracting scalp surface point data from the image data obtained in step S1, performing three-dimensional surface fitting on discrete points using a B-spline surface fitting algorithm, and establishing a surface equation S(u,v) for calculating the curvature and normal vector of any point; Y5. Use the partial derivative of the surface equation to calculate the normal vector of each adjusting rod contact point: n = S u × S v / |S u × S v | In the formula, S u , S v Represents the tangent vector of the surface in the u and v directions; the adjustment rod extends along the normal direction to ensure vertical contact with the scalp.

[0041] Y6. Based on the R matrix and T vector obtained in step Y3, combined with the position and direction constraints of multiple adjusting rods, a nonlinear equation group is established, and the extension length of each adjusting rod is solved by a digital optimization algorithm.

[0042] Constraint adjustment includes: adjusting the rod direction to be consistent with the scalp normal vector (Q i -P i ) / / n i ), the length of the adjustment rod is within the adjustable range (L min ≤ |Q i -P i | ≤ L max ), the relative position between the adjustment rods remains unchanged (|Q i -Q j-1 | =d (fixed value)), the coil plane is tangent to the scalp at the target point (determined by the R matrix and T vector).

[0043] Among them, the starting point P of the adjusting rod i It is the scalp support point, the end point Q i is the fixed point of the transcranial magnetic stimulation coil (the position after R×P+T transformation), and the direction of the adjustment rod n i is the scalp surface normal vector, and the length of the support rod is L i .

[0044] The above steps are all implemented by running the system software. After obtaining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point and the extension length parameter of the adjustment rod, the operator only needs to perform the following steps S3 and S4.

[0045] S3, using the line connecting the two imaging markers as a reference, based on the spatial position relationship between the adjustment rod contact point and the imaging marker point obtained in step S2, using a positioning caliper to mark at least three adjustment rod contact points on the subject's scalp, specifically including: Z1, place the first positioning mark against the center of the corresponding left imaging mark (M1), and slide the second positioning mark on the first scale ruler so that it is against the center of the right imaging mark (M2); Z2, based on the Euclidean distance between an adjustment rod contact point and the left imaging marker obtained in step S2, and the angle between the line connecting the adjustment rod contact point and the left imaging marker and the line connecting the left and right imaging markers, slide the third positioning marker on the second scale ruler to the scale of the Euclidean distance and rotate the second scale ruler so that the indicator points to the value of the corresponding angle on the angle ruler, the contact point between the third positioning marker and the subject's scalp is the actual determined adjustment rod contact point (T1), and the marker is affixed; Z3. Repeat the above step Z2 multiple times to obtain at least three actually determined contact points of the adjustment rod on the subject's scalp.

[0046] S4. Set the extension length of the adjusting rod based on the extension length of the adjusting rod obtained in step S2, operate the coil fixing bracket to make the adjusting rod correspond to and contact the contact point identified in step S3, so that the transcranial magnetic stimulation coil is in contact and tangent to the scalp stimulation target point, that is, the middle joint on the stimulation side of the transcranial magnetic stimulation coil is in contact with the target point.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transcranial magnetic stimulation coil positioning device, characterized in that: Including positioning calipers and coil fixing brackets; The positioning caliper comprises a first scale ruler and a second scale ruler, the scale starting points on the first scale ruler and the second scale ruler are hinged through a first positioning mark, the first scale ruler is slidably provided with a second positioning mark, the second scale ruler is slidably provided with a third positioning mark, the first scale ruler is provided with an angle ruler, the angle ruler and the second positioning mark are respectively arranged on both sides of the first positioning mark, and the end of the second scale ruler is provided with an indication part adapted to the angle ruler; The coil fixing bracket includes a positioning plate fixedly connected to the transcranial magnetic stimulation coil, the edge of the positioning plate is provided with at least three connecting ears protruding outside the transcranial magnetic stimulation coil, the connecting ears are threadedly connected with an adjusting rod, and the adjusting rod is provided with a scale portion adapted to the connecting ears.

2. The transcranial magnetic stimulation coil positioning device according to claim 1, characterized in that: The first positioning identification component includes a first positioning rod and a threaded knob. The scale starting points on the first scale ruler and the second scale ruler are provided with through holes. The screw portion of the threaded knob passes through the through holes of the first scale ruler and the second scale ruler and is threadedly connected to the upper end of the first positioning rod.

3. The transcranial magnetic stimulation coil positioning device according to claim 1, characterized in that: The second positioning identification member and the third positioning identification member both include a slider and a second positioning rod. The upper end of the second positioning rod is connected to the slider. The slider is provided with a ruler through hole. The slider is provided with a threaded locking hole. The threaded locking hole is connected to a locking knob. The threaded locking hole is connected to the ruler through hole.

4. The transcranial magnetic stimulation coil positioning device according to claim 1, characterized in that: The front end of the adjusting rod is provided with a silicone cushion, and the rear end of the adjusting rod is provided with an operating head.

5. The transcranial magnetic stimulation coil positioning device according to claim 1, characterized in that: The first scale ruler, the second scale ruler, the angle ruler and the indicating part are all made of transparent materials; the first scale ruler and the angle ruler are integrally formed, and the second scale ruler and the indicating part are integrally formed.

6. A positioning method for a transcranial magnetic stimulation coil positioning device according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Paste two imaging markers on the subject's scalp and image them on the magnetic resonance image to determine the scalp stimulation target point, imaging marker point, and adjustment rod contact point; S2, determining the spatial position relationship between the contact point of the adjustment rod and the imaging marker point, and the extension length of the adjustment rod; S3, using the line connecting the two imaging markers as a reference, based on the spatial position relationship between the adjustment rod contact point and the imaging marker point obtained in step S2, using a positioning caliper to mark at least three adjustment rod contact points on the subject's scalp; S4. The extension length of the adjusting rod is set based on the extension length of the adjusting rod obtained in step S2, and the coil fixing bracket is operated to make the adjusting rod correspond to and contact the contact point identified in step S3, so that the transcranial magnetic stimulation coil is in contact and tangent to the scalp stimulation target point.

7. The positioning method according to claim 6, characterized in that: In the step S2, determining the spatial position relationship between the contact point of the adjusting rod and the imaging marker point includes: X1. Use the Euclidean distance formula to calculate the Euclidean distance between the contact point of the adjustment rod and the imaging marker point. The distance formula is: In the formula, (X i , Y i , Z i ) is the coordinate of the i-th imaging marker point, (X s , Y s , Z s ) is the three-dimensional coordinate of the contact point of the adjusting rod of the coil fixing bracket; X2. Use the dot product formula of space vectors to calculate the angle between the contact point of the adjustment rod and the line connecting the two imaging marker points.

8. The positioning method according to claim 6, characterized in that: In the step S2, determining the extension length of the adjusting rod includes: Y1, extracting the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculating the surface normal vector of the scalp stimulation target by a local surface fitting method, and determining the tangent direction of the transcranial magnetic stimulation coil; Y2. Take the scalp stimulation target as the reference point, make the normal vector of the transcranial magnetic stimulation coil coincide with the normal vector of the scalp surface, and establish the spatial equation of the transcranial magnetic stimulation coil plane in the standard posture: a(x-x0) + b(y-y0) + c(z-z0) = 0 Where (x0, y0, z0) is the coordinate of the scalp stimulation target, (x, y, z) is the coordinate of any point on the plane, and (a, b, c) is the direction component of the normal vector; Y3. Use the space rotation matrix to transform the coil plane in the standard posture to the target section. The conversion formula is: P' = R × P + T Where P is the coordinate (x, y, z) of any point on the transcranial magnetic stimulation coil in the standard posture, P' is the new coordinate of the point after transformation, R is the rotation matrix that rotates the standard posture to the direction of the normal vector n = (a, b, c), and T is the translation vector that translates the plane to the scalp stimulation target (x0, y0, z0); Y4, extracting scalp surface point data from the image data obtained in step S1, performing three-dimensional surface fitting on discrete points using a B-spline surface fitting algorithm, and establishing a surface equation S(u,v) for calculating the curvature and normal vector of any point; Y5. Use the partial derivative of the surface equation to calculate the normal vector of each adjusting rod contact point: n = S u × S v / |S u ×S v | In the formula, S u , S v Represents the tangent vector of the surface in the u and v directions; Y6. Based on the R matrix and T vector obtained in step Y3, combined with the position and direction constraints of multiple adjusting rods, a nonlinear equation group is established, and the extension length of each adjusting rod is solved by a digital optimization algorithm.

9. The positioning method according to claim 8, characterized in that: The position and direction constraints of the adjustment rod include: the direction of the adjustment rod is consistent with the scalp normal vector, the length of the adjustment rod is within an adjustable range, the relative position between the adjustment rods remains unchanged, and the coil plane is tangent to the scalp at the target point.

10. The positioning method according to claim 7, characterized in that: The S3 step specifically includes: Z1. Place the first positioning mark against the center of the corresponding left imaging mark, and slide the second positioning mark on the first scale ruler to make it against the center of the right imaging mark; Z2, based on the Euclidean distance between an adjustment rod contact point and the left imaging marker obtained in step S2, and the angle between the line connecting the adjustment rod contact point and the left imaging marker and the line connecting the left and right imaging markers, slide the third positioning marker on the second scale ruler to the scale of the Euclidean distance and rotate the second scale ruler so that the indicator points to the value of the corresponding angle on the angle ruler. The contact point between the third positioning marker and the subject's scalp is the actual contact point of the adjustment rod, and the marker is affixed; Z3. Repeat the above step Z2 multiple times to obtain at least three actually determined contact points of the adjustment rod on the subject's scalp.

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