Transcranial magnetic stimulation coil positioning device and its positioning method

Abstract

The present invention discloses a transcranial magnetic stimulation coil positioning device and its positioning method. The device includes a positioning caliper and a coil fixing bracket. The positioning caliper includes a first graduated straight ruler and a second graduated straight ruler. The first graduated straight ruler is hinged to the second graduated straight ruler. A positioning marking member is slidably provided on the first graduated straight ruler and the second graduated straight ruler. An angle ruler is provided on the first graduated straight ruler, and an indicating portion is provided at the end of the second graduated straight ruler. The coil fixing bracket includes a positioning plate, the positioning plate is provided with a connecting ear, the connecting ear is connected with an adjusting rod, and a graduated portion is provided on the adjusting rod. The method includes: pasting a marker on the scalp and imaging it on a magnetic resonance image to determine the stimulation target point, the imaging marker point, and the adjusting rod contact point; determining the spatial position relationship between the contact point and the marker point and the extended length of the adjusting rod; using the positioning caliper to mark the contact point on the scalp; and making the adjusting rod correspond to and contact the contact point. The operation is simpler and more convenient, and the stability of the coil during the treatment process is good.

Description

Technical Field

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

[0002] At present, the navigation device for neuroimage-guided transcranial magnetic stimulation (TMS) is a dedicated infrared induction navigation system, which is expensive, occupies a large area, and has complex operations, resulting in an extended treatment process and a high learning cost for operators. During the treatment process, the patient's head movement is likely to cause the displacement of the transcranial magnetic stimulation figure-eight coil, and it is necessary to re-find the target point. Moreover, the currently used transcranial magnetic stimulation target positioning ruler device has complex operations, inconvenient adjustment and positioning, and insufficient accuracy. Therefore, it is very important to design a transcranial magnetic stimulation figure-eight coil positioning and fixing device and a target positioning device with simpler operations and lower implementation costs. Summary of the Invention

[0003] The purpose of the present invention is to provide a transcranial magnetic stimulation coil positioning device and a positioning method thereof, with lower costs, simpler operations, and better stability.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A transcranial magnetic stimulation coil positioning device includes a positioning gauge and a coil fixing bracket;

[0006] The positioning gauge includes 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 identifier. A second positioning identifier is slidably arranged on the first scale ruler, and a third positioning identifier is slidably arranged on the second scale ruler. An angle ruler is arranged on the first scale ruler, and the angle ruler and the second positioning identifier are respectively arranged on both sides of the first positioning identifier. An indicating portion adapted to the angle ruler is arranged at the end of the second scale ruler;

[0007] The coil fixing bracket includes a positioning plate fixedly connected to the transcranial magnetic stimulation coil. At least three connecting ears protruding outside the transcranial magnetic stimulation coil are arranged at the edge of the positioning plate. An adjusting rod is threadedly connected to the connecting ear, and a scale portion adapted to the connecting ear is arranged on the adjusting rod.

[0008] Further, the first positioning identifier includes a first positioning rod and a threaded knob. Through holes are opened at the scale starting points 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.

[0009] Further, both the second positioning identification member and the third positioning identification member 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 perforation for a ruler, and a threaded locking hole. A locking knob is connected to the threaded locking hole, and the threaded locking hole communicates with the perforation for the ruler.

[0010] Further, a silica gel soft 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.

[0011] Further, the first scale ruler, the second scale ruler, the angle ruler, and the indicating portion 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 portion are integrally formed.

[0012] The present invention also discloses a positioning method based on the above transcranial magnetic stimulation coil positioning device, including the following steps:

[0013] S1. Paste two imaging markers on the scalp of the subject and image them on the magnetic resonance image to determine the scalp stimulation target point, the imaging marker point, and the adjusting rod contact point;

[0014] S2. Determine the spatial position relationship between the adjusting rod contact point and the imaging marker point, and the extended length of the adjusting rod;

[0015] S3. Based on the connection line of the two imaging markers, and based on the spatial position relationship between the adjusting rod contact point and the imaging marker point obtained in step S2, use a positioning caliper to mark at least three adjusting rod contact points on the scalp of the subject;

[0016] S4. Set the extended length of the adjusting rod based on the extended length of the adjusting rod obtained in step S2, and operate the coil fixing bracket to make the adjusting rod correspond to and contact the contact points marked in step S3, so that the transcranial magnetic stimulation coil contacts and is tangent to the scalp stimulation target point.

[0017] Further, in step S2, determining the spatial position relationship between the adjusting rod contact point and the imaging marker point includes:

[0018] X1. Use the Euclidean distance formula to calculate the Euclidean distance between the adjusting rod contact point 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, and (X s , Y s , Z s ) is the three-dimensional coordinate of the adjusting rod contact point of the coil fixing bracket;

[0019] X2. Use the dot product formula of spatial vectors to calculate the included angle between the contact point of the adjusting rod and the line connecting the two imaging marker points.

[0020] Further, in step S2, determining the extended length of the adjusting rod includes:

[0021] Y1. Extract the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculate the surface normal vector of the scalp stimulation target through the local surface fitting method, and determine the tangent direction of the transcranial magnetic stimulation coil;

[0022] Y2. Taking the scalp stimulation target as the reference point, make the normal vector of the transcranial magnetic stimulation coil coincide with the scalp surface normal vector, and establish the spatial equation of the plane of the transcranial magnetic stimulation coil in the standard posture:

[0023] a(x - x0) + b(y - y0) + c(z - z0) = 0

[0024] In the formula, (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;

[0025] Y3. Use the spatial rotation matrix to transform the coil plane in the standard posture to the target section plane, and the transformation formula is:

[0026] P' = R × P + T

[0027] 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 this 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);

[0028] Y4. Extract the scalp surface point data from the image data obtained in step S1, use the B-spline surface fitting algorithm to perform three-dimensional surface fitting on the discrete points, and establish the surface equation S(u, v) for calculating the curvature and normal vector of any point;

[0029] Y5. Use the partial derivatives of the surface equation to calculate the normal vector of each contact point of the adjusting rod:

[0030] n = S u × S v / |S u × S v |

[0031] In the formula, S u 、S v represent the tangent vectors of the surface in the u and v directions;

[0032] Y6. Based on the R matrix and T vector obtained in step Y3, combined with the position and direction constraints of multiple adjusting rods, establish a system of nonlinear equations, and solve for the extension length of each adjusting rod through a numerical optimization algorithm.

[0033] Further, the position and direction constraints of the adjusting rod include: the direction of the adjusting rod is consistent with the scalp normal vector, the length of the adjusting rod is within the adjustable range, the relative position between the adjusting rods remains unchanged, and the coil plane is tangent to the scalp at the target point.

[0034] Further, step S3 specifically includes:

[0035] Z1. Press the first positioning marker against the center of the corresponding left imaging marker, and slide the second positioning marker on the first scale ruler to press it against the center of the right imaging marker;

[0036] Z2. Based on the Euclidean distance between an adjusting rod contact point obtained in step S2 and the left imaging marker and the included angle between the line connecting the adjusting 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 indicating part points to the value corresponding to the included angle on the angle ruler. The contact point between the third positioning marker and the subject's scalp is an actually determined adjusting rod contact point, and paste a marker;

[0037] Z3. Repeat the above step Z2 multiple times to obtain at least three actually determined adjusting rod contact points on the subject's scalp.

[0038] The present invention has the following advantages:

[0039] 1. Using a positioning ruler and a coil fixing bracket can achieve faster and more accurate targeting of the target point, with low cost, simpler and more convenient operation, and easy to master.

[0040] 2. After setting the coil fixing bracket, multiple support points are added to the patient's head, and the coil has good stability during the treatment process. Description of the Drawings

[0041] Figure 1 is a schematic structural diagram of a positioning gauge.

[0042] Figure 2 is a schematic structural diagram of the first positioning marker.

[0043] Figure 3 is a schematic structural diagram of the second positioning marker and the third positioning marker.

[0044] Figure 4 is a schematic structural diagram of the coil fixing bracket.

[0045] In the figure, 1 - first scale straight ruler, 2 - second scale straight ruler, 3 - angle ruler, 4 - indicating part, 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 - straight ruler perforation, 16 - locking knob, 17 - silicone soft pad, 18 - operating head. Detailed implementation manners

[0046] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0047] 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 claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0048] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0049] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "install", "connect", and "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] Refer to Figures 1-4 As shown, an embodiment of the present invention is:

[0053] A transcranial magnetic stimulation coil positioning device, comprising a positioning gauge and a coil fixing bracket;

[0054] The positioning gauge includes a first scale straight ruler 1 and a second scale straight ruler 2. The scale starting points on the first scale straight ruler 1 and the second scale straight ruler 2 are hinged through a first positioning identifier. A second positioning identifier is slidably arranged on the first scale straight ruler 1, and a third positioning identifier is slidably arranged on the second scale straight ruler 2. An angle ruler 3 is arranged on the first scale straight ruler 1. The angle ruler 3 and the second positioning identifier are respectively arranged on both sides of the first positioning identifier. An indicating portion 4 adapted to the angle ruler 3 is arranged at the end of the second scale straight ruler 2;

[0055] The coil fixing bracket includes a positioning plate 6 fixedly connected to the transcranial magnetic stimulation coil 5. At least three connecting ears 7 protruding outside the transcranial magnetic stimulation coil 5 are arranged at the edge of the positioning plate 6. An adjusting rod 8 is threadedly connected to the connecting ear 7, and a scale portion 9 adapted to the connecting ear is arranged on the adjusting rod 8.

[0056] Refer to Figure 4 As shown, the connecting ear 7 in this embodiment is specifically 5. Refer to Figure 2 As shown, the first positioning identifier includes a first positioning rod 11 and a threaded knob 12. Through holes are opened at the scale starting points on the first scale straight ruler 1 and the second scale straight ruler 2. The screw portion of the threaded knob 12 passes through the through holes of the first scale straight ruler 1 and the second scale straight ruler 2 and is threadedly connected to the upper end of the first positioning rod 11. Specifically, a gasket 10 is further arranged between the first scale straight ruler 1 and the second scale straight ruler 2.

[0057] Refer to Figure 1 、 3As shown, both the second positioning identifier and the third positioning identifier 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. A straight ruler perforation 15 is provided on the slider 13. A threaded locking hole is provided on the slider 13, and a locking knob 16 is connected to the threaded locking hole. The threaded locking hole communicates with the straight ruler perforation 15.

[0058] The first positioning rod 11 and the second positioning rod 14 should have a certain height, and the lower end is a tapered structure with a smaller size to facilitate positioning and marking on the scalp of the subject and improve the positioning accuracy. The coil fixing bracket is made of plastic material to reduce the weight and facilitate operation. A silica gel soft pad 17 is provided at the front end of the adjusting rod 8, and an operation head 18 is provided at the rear end. Refer to Figure 4 As shown, the positioning plate 6 is fixed to the operation side of the transcranial magnetic stimulation coil 5 to facilitate hand-held operation. The starting point of the scale portion 9 on the adjusting rod 8 is located in the middle of the adjusting rod. The specific position is the contact point position between the adjusting rod 8 and the connecting ear 7 when the silica gel soft pad at the front end of the adjusting rod 8 is flush with the stimulation side of the transcranial magnetic stimulation coil 5.

[0059] In the existing transcranial magnetic stimulation, the middle joint between the patient's head and the stimulation side of the transcranial magnetic stimulation coil is tangent, and other parts of the transcranial magnetic stimulation coil are suspended. When the patient shakes, the coil is extremely likely to be displaced. After setting the coil fixing bracket in this application, 5 silica gel soft pads at the end of the adjusting rod are added to contact the patient's scalp, making the coil not easily displaced.

[0060] For ease of operation and observation, the first scale ruler 1, the second scale ruler 2, the angle ruler 3, and the indicating portion 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 portion 3 are integrally formed.

[0061] Based on the positioning method of the above-mentioned transcranial magnetic stimulation coil positioning device, it includes the following steps:

[0062] S1. Paste two imaging markers (M1, M2) on the scalp of the subject and image them on the magnetic resonance image to determine the scalp stimulation target, the imaging marker points, and the adjusting rod contact points;

[0063] 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, performs binary processing on the scalp segmentation map, extracts the external connected region of the scalp through connected component 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 generate a visualization image. In this application, the adjusting rod contact point refers to the contact point between the silica gel soft pad at the front end of the adjusting rod and the scalp of the subject.

[0064] S2. Determine the spatial position relationship between the contact point of the adjusting rod and the imaging marker point, and the extended length of the adjusting rod;

[0065] Among them, determining the spatial position relationship between the contact point of the adjusting rod and the imaging marker point includes:

[0066] X1. The system uses the Euclidean distance formula to calculate the Euclidean distance between the contact point of the adjusting rod and the imaging marker point. The distance formula is:

[0067] In the formula, (X i , Y i , Z i ) are the coordinates of the i-th imaging marker point, and (X s , Y s , Z s ) are the three-dimensional coordinates of the contact point of the adjusting rod of the coil fixing bracket.

[0068] X2. Use the dot product formula of spatial vectors to calculate the included angle between the contact point of the adjusting rod and the line connecting the two imaging marker points.

[0069] Let M1 be the left imaging marker point, M2 be the right imaging marker point, T1 be the contact point of the adjusting rod, and the included angle of ∠ TIMIM2 be θ.

[0070] (1) Represent M1M2 and M1T1 as vectors:

[0071] vector M1M2 = M2 - M1

[0072] vector M1T1 = T1 - M1

[0073] (2) Calculate the included angle using the vector dot product formula:

[0074] cos(θ) = (vector M1M2 ·vector M1T1 ) / (|vector M1M2 |·|vector M1T1 |)

[0075] θ = arccos((vector M1M2 ·vector M1T1 ) / (|vector M1M2 |·|vector M1T1 |))

[0076] Repeat the above steps multiple times to obtain the spatial position relationships between multiple contact points of the adjusting rod and the imaging marker points.

[0077] Determining the extended length of the adjusting rod includes:

[0078] Y1. Extract the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculate the surface normal vector (n = (a, b, c)) of the scalp stimulation target by the local surface fitting method, and determine the tangent direction of the transcranial magnetic stimulation coil;

[0079] Y2. Taking the scalp stimulation target as the reference point, making the normal vector of the transcranial magnetic stimulation coil coincide with the scalp surface normal vector, and establishing the spatial equation of the plane of the transcranial magnetic stimulation coil in the standard posture:

[0080] a(x - x0) + b(y - y0) + c(z - z0) = 0

[0081] 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 equation represents the ideal position of the transcranial magnetic stimulation coil in the standard posture in space.

[0082] Y3. Using the spatial rotation matrix to transform the coil plane in the standard posture to the target section plane, and the transformation formula is:

[0083] P' = R × P + T

[0084] 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 this point after transformation, R is the rotation matrix for rotating the standard posture to the direction of the normal vector n = (a, b, c), and T is the translation vector for translating 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 the actual space.

[0085] Y4. Extract the scalp surface point data from the image data obtained in step S1, use the B-spline surface fitting algorithm to perform three-dimensional surface fitting on the discrete points, and establish the surface equation S(u, v) for calculating the curvature and normal vector of any point;

[0086] Y5. Calculating the normal vector of each adjusting rod contact point by using the partial derivatives of the surface equation:

[0087] n = S u × S v / |S u × S v |

[0088] In the formula, S u 、S vDenote the tangent vectors of the surface in the u and v directions; the adjusting rod extends along the normal direction to ensure perpendicular contact with the scalp.

[0089] Y6. Based on the R matrix and T vector obtained in step Y3, combined with the position and direction constraints of multiple adjusting rods, establish a system of nonlinear equations, and solve for the extended length of each adjusting rod through a digital optimization algorithm.

[0090] The constraint adjustment includes: the direction of the adjusting rod is consistent with the scalp normal vector ((Q i - P i ) / / n i ), the length of the adjusting rod is within the adjustable range (L min ≤ |Q i - P i | ≤ L max ), the relative positions between the adjusting rods remain unchanged (|Q i - Q j-1 | = d (fixed value), and the coil plane is tangent to the scalp at the target point (determined by the R matrix and T vector).

[0091] Among them, the starting point P i of the adjusting rod 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), the direction n i of the adjusting rod is the scalp surface normal vector, and the length of the support rod is L i .

[0092] The above steps are all realized by running the system software. After obtaining the spatial position relationship between the adjusting rod contact points and the imaging marker points and the extended length parameters of the adjusting rods, the operator only needs to execute the following steps S3 and S4.

[0093] S3. Based on the spatial position relationship between the adjusting rod contact points and the imaging marker points obtained in step S2, with the connection line of the two imaging markers as the reference, use a positioning caliper to mark at least three adjusting rod contact points on the subject's scalp, specifically including:

[0094] Z1. Press the first positioning marker against the center of the corresponding left imaging marker (M1), and slide the second positioning marker on the first scale ruler to press it against the center of the right imaging marker (M2);

[0095] Z2. Based on the Euclidean distance between an adjusting rod contact point obtained in step S2 and the left imaging marker, and the angle between the line connecting the adjusting 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 indicating part points to the value corresponding to the included angle on the angle ruler. The contact point between the third positioning marker and the subject's scalp is an actually determined adjusting rod contact point (T1), and a marker is pasted;

[0096] Z3. Repeat the above Z2 step multiple times to obtain at least three actually determined adjusting rod contact points on the subject's scalp.

[0097] 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 points marked in step S3, so that the transcranial magnetic stimulation coil contacts and is tangent to the scalp stimulation target point, that is: the middle joint on the stimulation side of the transcranial magnetic stimulation coil contacts the target point.

[0098] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Transcranial magnetic stimulation coil positioning device, characterized in that: It includes a positioning gauge and a coil fixing bracket; The positioning gauge includes 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 identifier. A second positioning identifier is slidably provided on the first scale ruler, and a third positioning identifier is slidably provided on the second scale ruler. An angle ruler is provided on the first scale ruler. The angle ruler and the second positioning identifier are arranged on both sides of the first positioning identifier. An indicating part adapted to the angle ruler is provided at the end of the second scale ruler; The coil fixing bracket includes a positioning plate fixedly connected to the transcranial magnetic stimulation coil. At least three connecting ears protruding outside the transcranial magnetic stimulation coil are provided at the edge of the positioning plate. An adjusting rod is threadedly connected to the connecting ear, and a scale part adapted to the connecting ear is provided on the adjusting rod.

2. The transcranial magnetic stimulation coil positioning device according to claim 1, characterized in that: The first positioning identifier includes a first positioning rod and a threaded knob. Through holes are provided at the scale starting points on the first scale ruler and the second scale ruler. The screw part 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: Both the second positioning identifier and the third positioning identifier include a slider and a second positioning rod. The upper end of the second positioning rod is connected to the slider. A ruler through hole is provided on the slider, and a threaded locking hole is provided on the slider. A locking knob is connected to the threaded locking hole, and the threaded locking hole communicates with the ruler through hole.

4. The transcranial magnetic stimulation coil positioning device according to claim 1, wherein: A silica gel soft 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.

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. The positioning method of the transcranial magnetic stimulation coil positioning device according to any one of claims 1-5, characterized in that: It includes the following steps: S1. Paste two imaging markers on the scalp of the subject and image them on the magnetic resonance image to determine the scalp stimulation target point, the imaging marker point, and the adjusting rod contact point; S2. Determine the spatial position relationship between the adjusting rod contact point and the imaging marker point and the extended length of the adjusting rod; S3. Taking the line connecting the two imaging markers as a reference, based on the spatial position relationship between the adjusting rod contact point and the imaging marker point obtained in step S2, use the positioning gauge to mark at least three adjusting rod contact points on the scalp of the subject; S4. Set the extended length of the adjusting rod based on the extended length of the adjusting rod obtained in step S2. Operate the coil fixing bracket so that the adjusting rod corresponds to and contacts the contact points marked in step S3, and make the transcranial magnetic stimulation coil contact and be tangent to the scalp stimulation target point.

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

8. The positioning method according to claim 6, characterized in that: In step S2, determining the extended length of the adjusting rod includes: Y1. Extract the scalp surface point set of the scalp stimulation target from the image data obtained in step S1, calculate the surface normal vector of the scalp stimulation target by the local surface fitting method, and determine the tangent direction of the transcranial magnetic stimulation coil; Y2. Taking the scalp stimulation target as the reference point, make the normal vector of the transcranial magnetic stimulation coil coincide with the scalp surface normal vector, and establish the spatial equation of the plane of the transcranial magnetic stimulation coil in the standard posture: a(x - x0) + b(y - y0) + c(z - z0) = 0 In the formula, (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) are the direction components of the normal vector; Y3. Use the spatial rotation matrix to transform the coil plane in the standard posture to the target section, and the transformation 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 this 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. Extract the scalp surface point data from the image data obtained in step S1, use the B-spline surface fitting algorithm to perform three-dimensional surface fitting on the discrete points, and establish the surface equation S(u, v) for calculating the curvature and normal vector of any point; Y5. Calculate the normal vector of each adjusting rod contact point using the partial derivative of the surface equation: n = S u × S v / |S u ×S v | where, S u and S v represent the tangent vectors 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, establish a system of nonlinear equations, and solve for the extended length of each adjusting rod through a digital optimization algorithm.

9. The positioning method according to claim 8, characterized in that: The position and direction constraints of the adjusting rod include: the direction of the adjusting rod is consistent with the scalp normal vector, the length of the adjusting rod is within the adjustable range, the relative positions of the adjusting rods remain 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 specific content of step S3 includes: Z1. Press the first positioning marker against the center of the corresponding left imaging marker, and slide the second positioning marker on the first scale ruler to press it against the center of the right imaging marker; Z2. Based on the Euclidean distance between an adjusting rod contact point obtained in step S2 and the left imaging marker and the included angle between the line connecting the adjusting 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 indicating part points to the value corresponding to the included angle on the angle ruler. The contact point of the third positioning marker with the subject's scalp is an actually determined adjusting rod contact point, and a marker is pasted; Z3. Repeat the above step Z2 multiple times to obtain at least three actually determined adjusting rod contact points on the subject's scalp.

Images