Accurate positioning system and method for stimulation position of transcranial magnetic stimulation device

Abstract

The invention relates to the technical field of nerve regulation and control, and discloses a stimulation position accurate positioning system and method of a transcranial magnetic stimulation device, and the method comprises the steps: collecting a two-dimensional head image of a brain patient, constructing a head three-dimensional model of the brain patient, and determining a target stimulation target of the brain patient; identifying face key points of the brain patient, constructing a face coordinate system of the brain patient, and creating a coordinate transformation matrix of the face coordinate system; performing alignment processing on the transcranial magnetic stimulation device and the target stimulation target spot to obtain an alignment result; according to the alignment result and the coordinate transformation matrix, setting a positioning tracking system of the transcranial magnetic stimulation device and a self-adaptive adjustment mechanism of a stimulation position; and in combination with the coordinate transformation matrix, a self-adaptive adjustment mechanism and a positioning tracking system, executing stimulation position positioning processing of the transcranial magnetic stimulation device to obtain a positioning result. According to the invention, accurate positioning of the transcranial magnetic stimulation position can be realized, and the treatment effect is improved.

Description

Technical Field

[0001] The present invention relates to a system and method for accurately positioning the stimulation position of a transcranial magnetic stimulation device, and belongs to the technical field of neural regulation. Background Art

[0002] A transcranial magnetic stimulation device is a non-invasive brain function regulation device that stimulates neurons by transmitting magnetic pulses to specific areas of the brain, thereby improving brain function. With the rapid progress of neuroscience, electromagnetics, and medical imaging technology, transcranial magnetic stimulation technology has emerged and has been widely used in clinical practice. In order to ensure the effectiveness of transcranial magnetic stimulation treatment and patient safety, while taking into account individual differences and the diversity of diseases, achieving precise positioning of the stimulation position has become an important means to promote the advancement of transcranial magnetic stimulation technology.

[0003] Traditional transcranial magnetic stimulation positioning mainly uses the surface positioning method to determine the stimulation area by measuring the specific position of surface landmarks. However, this method may not be able to recognize the differences in individual anatomical structures, such as the shape of the skull, resulting in inaccurate positioning of the transcranial magnetic stimulation position, thereby affecting the therapeutic effect of transcranial magnetic stimulation. Summary of the invention

[0004] The present invention provides a stimulation position precise positioning system for a transcranial magnetic stimulation device, the main purpose of which is to improve the precise positioning of the transcranial magnetic stimulation position and improve the treatment effect.

[0005] To achieve the above-mentioned purpose, the present invention provides a stimulation position accurate positioning system of a transcranial magnetic stimulation device, comprising: an image acquisition module, a three-dimensional model construction module, a coordinate system generation module, a position control module and a stimulation position positioning module;

[0006] The image acquisition module is used to obtain a brain patient to be treated and the corresponding disease type, acquire a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image;

[0007] The three-dimensional model construction module is used to construct a three-dimensional head model of the brain patient based on the classified brain tissue image, determine the target stimulation target of the brain patient according to the three-dimensional head model and the disease type, and identify the transcranial magnetic stimulation device of the brain patient based on the target stimulation target.

[0008] The coordinate system generating module is used to analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct the facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system;

[0009] The position control module is used to identify the stimulation position of the transcranial magnetic stimulation device according to the coordinate transformation matrix, align the transcranial magnetic stimulation device with the target stimulation target based on the stimulation position to obtain an alignment result, set a positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix, and set an adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system;

[0010] The stimulation position positioning module is used to combine the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning tracking system to perform stimulation position positioning processing of the transcranial magnetic stimulation device to obtain a positioning result.

[0011] Optionally, constructing the three-dimensional head model of the brain patient based on the classified brain tissue image includes:

[0012] identifying a two-dimensional image sequence of the classified brain tissue image;

[0013] reconstructing a brain tissue surface model of the brain patient based on the two-dimensional image sequence;

[0014] Creating a solid model of the brain tissue surface model, and performing mesh generation processing on the solid model to generate a mesh;

[0015] Generating a finite element model of the brain tissue of the brain patient according to the divided grid;

[0016] Based on the brain tissue finite element model, defining brain tissue material properties of the brain patient;

[0017] Analyzing the simulation effect of the brain tissue finite element model according to the brain tissue material properties;

[0018] Based on the simulation effect, a three-dimensional head model of the brain patient is constructed.

[0019] Optionally, determining the target stimulation point of the brain patient according to the three-dimensional head model and the disease type includes:

[0020] identifying the anatomical structure of the head of the brain patient according to the three-dimensional head model;

[0021] Based on the head anatomical structure, extracting the abnormal brain tissue structure corresponding to the disease type;

[0022] identifying the symptom manifestations of the brain patient according to the disease type;

[0023] Based on the symptoms, analyzing the brain functions associated with the abnormal brain tissue structure;

[0024] identifying a signal transmission pathway of the abnormal brain tissue structure according to the associated brain function;

[0025] Based on the signal transmission pathway, analyzing the associated neural pathways of the abnormal brain tissue structure;

[0026] Based on the associated neural pathways, the target stimulation target of the brain patient is determined.

[0027] Optionally, analyzing the facial behavior change pattern of the brain patient includes:

[0028] Collecting facial images of the brain patient, and extracting facial behavior features of the brain patient based on the facial images;

[0029] identifying the facial movement trajectory of the brain patient according to the facial behavior characteristics;

[0030] extracting classified facial expressions of the brain patient based on the facial movement trajectory;

[0031] analyzing emotional context corresponding to the classified facial expressions;

[0032] According to the emotional background, identifying the associated nerves corresponding to the classified facial expressions, and determining the functional factors of the associated nerves;

[0033] Based on the functional factors and the associated nerves, analyzing the formation reasons of the classified facial expressions;

[0034] The facial behavior change pattern of the brain patient is analyzed based on the formation causes, the classified facial expressions and the emotional background.

[0035] Optionally, identifying key facial points of the brain patient according to the facial behavior change pattern includes:

[0036] identifying facial action components of the brain patient according to the facial behavior change pattern;

[0037] analyzing the facial expression of the brain patient based on the facial action components;

[0038] Identifying the combined action components of the facial expression and analyzing the action intensity of the combined action components;

[0039] identifying the degree of facial muscle deformation of the brain patient according to the intensity of the movement;

[0040] Extracting facial feature points of the brain patient, and identifying the position changes of the facial feature points based on the degree of facial muscle deformation;

[0041] According to the site changes, the facial key points of the brain patient are identified.

[0042] Optionally, constructing a facial coordinate system of the brain patient according to the facial key points includes:

[0043] Acquiring a facial color image of the brain patient and a corresponding depth image thereof;

[0044] Identify the feature point coordinates of the facial key points in the facial color image, and extract the depth values ​​of the facial key points in the depth image;

[0045] Identify the three-dimensional coordinates of the feature point coordinates and the depth value;

[0046] Extracting facial geometric features of the brain patient based on the three-dimensional coordinates;

[0047] identifying a frontal view of the face of the brain patient according to the facial geometric features and the three-dimensional coordinates;

[0048] Locating position parameters of the facial key points in the facial frontal view, and determining facial coordinate axes of the facial frontal view based on the position parameters;

[0049] A facial coordinate system of the brain patient is constructed according to the facial coordinate axes and the three-dimensional coordinates.

[0050] Optionally, creating a coordinate transformation matrix of the facial coordinate system according to the facial key points includes:

[0051] According to the facial key points, identifying the axis vector and the coordinate origin corresponding to the facial coordinate system;

[0052] Convert the axis vector into a unit vector, and construct a rotation matrix of the facial coordinate system based on the unit vector;

[0053] Extracting a reference coordinate system corresponding to the facial coordinate system, and identifying the coordinate position of the coordinate origin in the reference coordinate system;

[0054] Based on the coordinate position, determining a translation vector of the facial coordinate system;

[0055] A coordinate transformation matrix of the facial coordinate system is created according to the rotation matrix and the translation vector.

[0056] Optionally, setting a positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix includes:

[0057] Extracting the target brain region corresponding to the transcranial magnetic stimulation device according to the alignment result;

[0058] Setting a perception network for the transcranial magnetic stimulation device, and identifying the real-time position of the transcranial magnetic stimulation device based on the perception network;

[0059] According to the coordinate transformation matrix, identifying the coordinate system relationship between the transcranial magnetic stimulation device and the target brain area;

[0060] Analyzing an acceptable deviation distance between the transcranial magnetic stimulation device and the target brain area;

[0061] Calculating the position deviation rate between the real-time position and the target brain area according to the acceptable deviation distance;

[0062] Based on the position deviation rate and the coordinate system relationship, setting a tracking coordinate system of the transcranial magnetic stimulation device, and constructing a transformation matrix of the tracking coordinate system;

[0063] A positioning and tracking system of the transcranial magnetic stimulation device is set according to the tracking coordinate system and the transformation matrix.

[0064] Optionally, the setting of the adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system includes:

[0065] Based on the positioning and tracking system, identifying the current spatial coordinates of the transcranial magnetic stimulation device;

[0066] Determining the three-dimensional coordinates of the target area corresponding to the transcranial magnetic stimulation device according to the current spatial coordinates;

[0067] Based on the three-dimensional coordinates of the target area, setting an offset feedback mechanism of the transcranial magnetic stimulation device;

[0068] extracting a tracking coordinate system corresponding to the transcranial magnetic stimulation device according to the offset feedback mechanism;

[0069] Based on the tracking coordinate system, determining the misalignment distance between the current spatial coordinates and the three-dimensional coordinates of the target area;

[0070] An adaptive adjustment mechanism of the transcranial magnetic stimulation device is set according to the misalignment distance and the offset feedback mechanism.

[0071] A method for accurately locating the stimulation position of a transcranial magnetic stimulation device, characterized in that the method comprises:

[0072] Acquire a brain patient to be treated and the corresponding disease type, collect a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image;

[0073] constructing a three-dimensional head model of the brain patient based on the classified brain tissue image, determining a target stimulation point of the brain patient according to the three-dimensional head model and the disease type, and identifying a transcranial magnetic stimulation device for the brain patient based on the target stimulation point;

[0074] Analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct a facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system;

[0075] According to the coordinate transformation matrix, identifying the stimulation position of the transcranial magnetic stimulation device, based on the stimulation position, aligning the transcranial magnetic stimulation device with the target stimulation target to obtain an alignment result, according to the alignment result and the coordinate transformation matrix, setting a positioning and tracking system of the transcranial magnetic stimulation device, and based on the positioning and tracking system, setting an adaptive adjustment mechanism of the stimulation position;

[0076] In combination with the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning and tracking system, the stimulation position positioning processing of the transcranial magnetic stimulation device is performed to obtain a positioning result.

[0077] The embodiment of the present invention performs image segmentation processing on the two-dimensional head image to obtain a classified brain tissue image, which can accurately identify and distinguish different brain tissues, thereby achieving more accurate targeted stimulation in transcranial magnetic stimulation; in addition, the embodiment of the present invention constructs a three-dimensional head model of the brain patient based on the classified brain tissue image, which can accurately locate the target stimulation area in the brain, avoid stimulation of non-target areas, reduce side effects, and improve the safety and effectiveness of treatment; further, the embodiment of the present invention identifies the facial key points of the brain patient according to the facial behavior change pattern, which can provide a basis for the precise positioning of transcranial magnetic stimulation, improve the targeting and effectiveness of treatment, and construct the facial coordinate system of the brain patient through the facial key points, which can more accurately determine the position of the stimulation electrode to ensure that the stimulation energy is transmitted to the target brain area, and also help to customize the treatment plan for each patient, improving the targeting and effectiveness of treatment; Secondly, the embodiment of the present invention performs alignment processing on the transcranial magnetic stimulation device and the target stimulation target based on the stimulation position to obtain an alignment result, which can provide data support for setting the automatic position calibration mechanism of the transcranial magnetic stimulation device, so as to set the positioning tracking system and adaptive adjustment mechanism of the transcranial magnetic stimulation device, monitor the position of the transcranial magnetic stimulation device in real time, ensure that the transcranial magnetic stimulation device can be accurately placed in the predetermined position during each treatment, reduce the error of artificial placement and adjustment of the transcranial magnetic stimulation device, and improve the accuracy and efficiency of treatment; finally, the embodiment of the present invention performs the stimulation position positioning processing of the transcranial magnetic stimulation device by combining the coordinate transformation matrix, the adaptive adjustment mechanism and the positioning tracking system to obtain a positioning result, which can ensure the accurate movement and positioning of the transcranial magnetic stimulation device in space, thereby achieving the consistency and reliability of precise stimulation of specific brain areas, and significantly improving the accuracy and treatment effect of transcranial magnetic stimulation treatment. Therefore, the stimulation position precise positioning system and method of the transcranial magnetic stimulation device provided by the embodiment of the present invention can improve the precise positioning of the transcranial magnetic stimulation position and improve the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 A functional module diagram of a stimulation position accurate positioning system of a transcranial magnetic stimulation device provided by one embodiment of the present invention;

[0079] Figure 2 A schematic diagram of a flow chart of a method for accurately locating a stimulation position of a transcranial magnetic stimulation device provided in one embodiment of the present invention;

[0080] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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. 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.

[0082] In addition, the step sequence in the following method embodiments is only an example and not a strict limitation.

[0083] In fact, the server-side device deployed by the precise positioning system of the stimulation position of the transcranial magnetic stimulation device may be composed of one or more devices. The precise positioning system of the stimulation position of the above-mentioned transcranial magnetic stimulation device can be implemented as: a business instance, a virtual machine, and a hardware device. For example, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device can be implemented as a business instance deployed on one or more devices in the cloud node. In simple terms, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device can be understood as a software deployed on the cloud node, which is used to provide the precise positioning service of the stimulation position of the transcranial magnetic stimulation device to each user terminal. Alternatively, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device can also be implemented as a virtual machine deployed on one or more devices in the cloud node. The virtual machine is installed with application software for managing each user terminal. Alternatively, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device can also be implemented as a server composed of many hardware devices of the same or different types, and one or more hardware devices are set to provide the precise positioning service of the stimulation position of the transcranial magnetic stimulation device to each user terminal.

[0084] In terms of implementation, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device and the user end are adapted to each other. That is, the precise positioning system of the stimulation position of the transcranial magnetic stimulation device is an application installed on the cloud service platform, and the user end is a client that establishes a communication connection with the application; or the precise positioning system of the stimulation position of the transcranial magnetic stimulation device is implemented as a website, and the user end is implemented as a web page; or the precise positioning system of the stimulation position of the transcranial magnetic stimulation device is implemented as a cloud service platform, and the user end is implemented as a small program in the instant messaging application.

[0085] Reference Figure 1 , is a functional module diagram of a stimulation position precise positioning system of a transcranial magnetic stimulation device provided in one embodiment of the present invention.

[0086] The stimulation position accurate positioning system 100 of the transcranial magnetic stimulation device of the present invention can be set in a cloud server. In terms of implementation, it can be used as one or more service devices, or it can be installed as an application on the cloud (for example, a server, server cluster, etc. for accurate positioning of the stimulation position of the transcranial magnetic stimulation device), or it can also be developed as a website. According to the functions implemented, the stimulation position accurate positioning system 100 of the transcranial magnetic stimulation device includes an image acquisition module 101, a three-dimensional model construction module 102, a coordinate system generation module 103, a position control module 104, and a stimulation position positioning module 105.

[0087] In the embodiment of the present invention, in the tracking of the precise positioning of the stimulation position based on the transcranial magnetic stimulation device, each of the above modules can be independently implemented and called with other modules. The call here can be understood as that a certain module can connect to multiple modules of another type and provide corresponding services to the multiple modules connected to it. In the precise positioning system of the stimulation position of the transcranial magnetic stimulation device provided by the embodiment of the present invention, the scope of application of the precise positioning architecture of the stimulation position of the transcranial magnetic stimulation device can be adjusted by adding modules and directly calling them without modifying the program code, so as to achieve cluster-type horizontal expansion, so as to achieve the purpose of quickly and flexibly expanding the precise positioning system of the stimulation position of the transcranial magnetic stimulation device. In practical applications, the above modules can be set in the same device or different devices, or they can be set in virtual devices, such as service instances in cloud servers.

[0088] The following describes the various components and specific workflow of the stimulation position precise positioning system of the transcranial magnetic stimulation device in conjunction with specific embodiments.

[0089] The image acquisition module 101 is used to obtain a brain patient to be treated and the corresponding disease type, acquire a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image.

[0090] The embodiments of the present invention can provide data support for the subsequent intelligently controlled brain stimulation treatment by obtaining brain patients to be treated and their corresponding disease types. The brain patients refer to people suffering from brain diseases or brain dysfunctions, such as depression patients, and the disease types refer to the specific disease categories suffered by the brain patients, such as epilepsy.

[0091] Optionally, the disease type corresponding to the brain patient may be acquired by using imaging examination, such as CT examination.

[0092] Furthermore, the embodiment of the present invention can identify the target point of the brain patient by acquiring a two-dimensional head image of the brain patient, wherein the two-dimensional head image refers to a head image displayed on a single plane, such as a CT image.

[0093] Optionally, the two-dimensional head image acquisition of the brain patient can be acquired through magnetic resonance imaging.

[0094] The embodiment of the present invention performs image segmentation processing on the two-dimensional head image to obtain a classified brain tissue image, which can accurately identify and distinguish different brain tissues, thereby achieving more accurate targeted stimulation in transcranial magnetic stimulation. The classified brain tissue image refers to an image obtained by classifying and labeling different brain tissue areas in a brain image through image segmentation technology.

[0095] As an embodiment of the present invention, the image segmentation processing of the two-dimensional head image to obtain a classified brain tissue image includes: performing image correction processing on the two-dimensional head image to obtain a corrected image; identifying non-brain tissue in the corrected image, and performing elimination processing on the non-brain tissue to obtain a non-brain tissue elimination result; based on the non-brain tissue elimination result, performing image segmentation processing on the corrected image to obtain a segmented brain tissue image; analyzing the brain tissue type in the segmented brain tissue image, and performing classification and labeling processing on the brain tissue type to obtain a classified brain tissue image.

[0096] Among them, the image correction processing refers to the process of eliminating or reducing various unevenness and artifacts generated in the imaging process of the two-dimensional head image, the corrected image refers to the image after the image correction processing, the non-brain tissue refers to the part that does not belong to the brain structure in the brain image, such as scalp, muscle, etc., the non-brain tissue elimination result refers to the image after the non-brain tissue elimination processing, the image segmentation processing refers to the process of separating different brain tissues in the image into independent areas, the segmented brain tissue image refers to the image after the image segmentation processing, and the brain tissue type refers to different types of tissues in the brain, such as gray matter, white matter and cerebrospinal fluid, etc.

[0097] Optionally, the image correction processing of the two-dimensional head image can be implemented using a non-uniformity correction algorithm, such as the N3 algorithm. The non-brain tissue elimination processing can be obtained by a threshold segmentation method. Based on the non-brain tissue elimination result, the image segmentation processing of the corrected image can be implemented using a watershed algorithm. The classification and labeling processing of the brain tissue type can be performed by a support vector machine.

[0098] The three-dimensional model construction module 102 is used to construct a three-dimensional head model of the brain patient based on the classified brain tissue image, determine the target stimulation target of the brain patient according to the three-dimensional head model and the disease type, and identify the transcranial magnetic stimulation device of the brain patient based on the target stimulation target.

[0099] The embodiment of the present invention constructs a three-dimensional head model of the brain patient based on the classified brain tissue image, so as to accurately locate the target stimulation area in the brain, avoid stimulation of non-target areas, reduce side effects, and improve the safety and effectiveness of treatment. The three-dimensional head model refers to a virtual model created using three-dimensional modeling technology that can accurately represent the structure of the human head.

[0100] As an embodiment of the present invention, constructing a three-dimensional model of the head of the brain patient based on the classified brain tissue images includes: identifying a two-dimensional image sequence of the classified brain tissue images; reconstructing a brain tissue surface model of the brain patient based on the two-dimensional image sequence; creating a solid model of the brain tissue surface model; performing meshing processing on the solid model to generate a mesh; generating a brain tissue finite element model of the brain patient based on the mesh; defining the brain tissue material properties of the brain patient based on the brain tissue finite element model; analyzing the simulation effect of the brain tissue finite element model based on the brain tissue material properties; and constructing a three-dimensional model of the head of the brain patient based on the simulation effect.

[0101] Among them, the two-dimensional image sequence refers to a series of continuous brain cross-sectional images obtained from a medical imaging device, the brain tissue surface model refers to a three-dimensional geometric model reflecting the outer surface or internal structure surface of the brain, the solid model refers to a three-dimensional solid model containing the inner and outer surfaces of the brain structure, the meshing process refers to the process of dividing the body model into a finite number of small components, the meshing refers to a network composed of many small components, the brain tissue finite element model refers to a mathematical model constructed based on the finite element method for simulating the biomechanical properties and responses of brain tissue, the brain tissue material properties refer to various physical and biomechanical properties of brain tissue, such as density, elastic modulus, etc., and the simulation effect refers to the response effect of the brain tissue in the brain tissue finite element model to external force or internal stress, such as the distribution of internal stress of the brain tissue when it is subjected to external force.

[0102] Optionally, based on the two-dimensional image sequence, the reconstruction of the brain tissue surface model of the brain patient can be achieved using Mimics software, the solid model creation of the brain tissue surface model can be obtained through CAD software, such as SolidWorks software, the meshing processing of the solid model can be achieved using finite element analysis software, such as ANSYS software, and according to the material properties of the brain tissue, the simulation effect analysis of the brain tissue finite element model can be determined by numerical simulation of the finite element model.

[0103] Furthermore, the embodiments of the present invention can help doctors more accurately locate diseased brain areas, achieve more precise treatment, improve treatment effects and reduce side effects by determining the target stimulation targets of the brain patient based on the three-dimensional head model and the disease type. The target stimulation targets refer to specific brain areas accurately selected by doctors during transcranial magnetic stimulation treatment based on the patient's three-dimensional head model and disease type.

[0104] As an embodiment of the present invention, determining the target stimulation target of the brain patient based on the three-dimensional head model and the disease type includes: identifying the head anatomical structure of the brain patient based on the three-dimensional head model; extracting the abnormal brain tissue structure corresponding to the disease type based on the head anatomical structure; identifying the symptom manifestations of the brain patient based on the disease type; analyzing the associated brain functions of the abnormal brain tissue structure based on the symptom manifestations; identifying the signal transmission pathway of the abnormal brain tissue structure based on the associated brain functions; analyzing the associated neural pathways of the abnormal brain tissue structure based on the signal transmission pathway; and determining the target stimulation target of the brain patient based on the associated neural pathways.

[0105] Among them, the head anatomical structure refers to the spatial arrangement and morphological characteristics of the bones, muscles, blood vessels, nerves and other tissues and organs that constitute the human head; the abnormal brain tissue structure refers to the abnormal changes in the morphology, structure or function of brain tissue caused by disease or injury; the symptom manifestation refers to the clinical symptoms manifested by brain patients due to disease, such as movement disorders, cognitive disorders, etc.; the associated brain function refers to the brain function related to the abnormal brain tissue structure, such as motor control function; the signal transmission pathway refers to the pathway for transmitting signals between neurons in the brain, including nerve fiber bundles, synaptic connections, etc.; the associated neural pathway refers to a series of neural networks related to specific brain functions or symptom manifestations.

[0106] Optionally, the extraction of abnormal brain tissue structure corresponding to the disease type based on the head anatomical structure can be achieved by using brain network analysis methods, such as brain network topological property analysis method; the identification of brain patient's symptom manifestation based on the disease type can be determined by clinical diagnosis; the analysis of associated brain function of the abnormal brain tissue structure based on the symptom manifestation can be achieved by using electroencephalogram; the identification of signal transmission pathway of the abnormal brain tissue structure based on the associated brain function can be obtained by functional magnetic resonance imaging.

[0107] The embodiment of the present invention can identify the transcranial magnetic stimulation device of the brain patient based on the target stimulation target, so as to understand the stimulation position of the target stimulation target and the transcranial magnetic stimulation device. The transcranial magnetic stimulation device refers to a device used in transcranial magnetic stimulation (TMS) technology, such as a double-cone coil, an H-shaped coil, etc.

[0108] Optionally, the identification of the transcranial magnetic stimulation device of the brain patient based on the target stimulation target can be determined by an optical navigation system.

[0109] The coordinate system generating module 103 is used to analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct the facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system.

[0110] By analyzing the facial behavior change pattern of the brain patient, the embodiment of the present invention can more accurately understand the patient's response to stimulation, thereby adjusting the stimulation parameters and achieving more precise neural regulation. The facial behavior change pattern refers to the pattern of the patient's facial expression and muscle movement, such as smiling.

[0111] As an embodiment of the present invention, the analysis of the facial behavior change pattern of the brain patient includes: collecting facial images of the brain patient, and extracting facial behavior features of the brain patient based on the facial images; identifying facial movement trajectories of the brain patient according to the facial behavior features; extracting classified facial expressions of the brain patient based on the facial movement trajectories; analyzing the emotional background corresponding to the classified facial expressions; identifying associated nerves corresponding to the classified facial expressions according to the emotional background, and determining functional factors of the associated nerves; analyzing the formation causes of the classified facial expressions based on the functional factors and the associated nerves; analyzing the facial behavior change pattern of the brain patient according to the formation causes, the classified facial expressions and the emotional background.

[0112] Among them, the facial image refers to a visual record of an individual's face captured by a camera device, the facial behavior feature refers to a feature extracted from a facial image that is related to an individual's emotion, expression or behavior, such as the raising of eyebrows, the facial movement trajectory refers to a sequence of position changes of facial feature points over a period of time, such as the corners of the eyes, the corners of the mouth, the tip of the nose, etc., the classified facial expression refers to the classification of facial expressions or behaviors into predefined emotion categories, such as happiness, sadness, anger, surprise, etc., the emotional background refers to the emotional state or emotional environment of an individual in a specific situation, such as in a happy emotional background, the patient is more likely to show a positive expression, the associated nerve refers to the brain neural structure related to a specific facial expression or emotional state, such as the cingulate gyrus, amygdala, etc., the functional factor refers to the physiological and psychological role played by the brain neural structure related to a specific facial expression or emotional state, such as the cingulate cortex is selective for pain processing, and the formation cause refers to the internal and external factors that lead to a specific facial expression or emotional state, such as the generation of emotional facial behavior is related to the activity of a specific area in the brain.

[0113] Optionally, the facial behavior feature extraction of the brain patient based on the facial image can be obtained through a convolutional neural network model, the facial movement trajectory recognition of the brain patient based on the facial behavior features can be achieved using a 3D CNN network, the emotional background analysis corresponding to the classified facial expressions can be obtained through a sentiment analysis method of natural language processing technology, and the associated neural recognition corresponding to the classified facial expressions based on the emotional background can be achieved using event-related potential technology.

[0114] Furthermore, the embodiments of the present invention can provide a basis for the precise positioning of transcranial magnetic stimulation by identifying the facial key points of the brain patient according to the facial behavior change pattern, thereby improving the targetedness and effectiveness of treatment. The facial key points refer to the characteristic points on the patient's face, such as eyes, nose, etc.

[0115] As an embodiment of the present invention, the identifying facial key points of the brain patient according to the facial behavior change pattern includes: identifying facial action components of the brain patient according to the facial behavior change pattern; analyzing the facial expression of the brain patient based on the facial action components; identifying the combined action components of the facial expression, and analyzing the action intensity of the combined action components; identifying the degree of facial muscle deformation of the brain patient according to the action intensity; extracting facial feature points of the brain patient, and identifying the position changes of the facial feature points based on the facial muscle deformation degree; identifying the facial key points of the brain patient according to the position changes.

[0116] Among them, the facial movement components refer to the various components of the muscle movement of the brain patient's facial movements, such as cheek lifting, the facial expression refers to the external expression of emotions and emotional states conveyed by the movement and change of facial muscles, the combined action component refers to the combination of multiple facial action components, such as the combination of inner eyebrow lifting and outer eyebrow lifting can express a surprised expression, the action intensity refers to the degree of movement of the facial action components, the facial muscle deformation degree refers to the degree of stretching, contraction or other morphological changes of the facial muscles under specific emotions or expressions, the facial feature points refer to specific landmarks on the human face, such as the corners of the eyes, the tip of the nose, the corners of the mouth, etc., and the site change refers to the position change of the facial feature points when different expressions or action units are activated.

[0117] Optionally, the identification of facial action components of the brain patient based on the facial behavior change pattern can be obtained through 3D facial scanning technology, the action intensity analysis of the combined action components can be achieved using surface electromyography, and the identification of the position changes of the facial feature points based on the degree of facial muscle deformation can be obtained through a motion estimation algorithm, such as the Lucas-Kanade method.

[0118] The embodiment of the present invention constructs the facial coordinate system of the brain patient according to the facial key points, so as to more accurately determine the position of the stimulation electrode to ensure that the stimulation energy is transmitted to the target brain area. It also helps to customize the treatment plan for each patient and improve the targeted treatment and effect. The facial coordinate system refers to a reference framework for describing and locating the spatial position of facial feature points.

[0119] As an embodiment of the present invention, constructing the facial coordinate system of the brain patient based on the facial key points includes: acquiring a facial color image of the brain patient and a corresponding depth image thereof; identifying feature point coordinates of the facial key points in the facial color image, and extracting depth values ​​of the facial key points in the depth image; identifying three-dimensional coordinates of the feature point coordinates and the depth values; extracting facial geometric features of the brain patient based on the three-dimensional coordinates; identifying a frontal facial view of the brain patient based on the facial geometric features and the three-dimensional coordinates; locating position parameters of the facial key points in the frontal facial view, and determining facial coordinate axes of the frontal facial view based on the position parameters; and constructing the facial coordinate system of the brain patient based on the facial coordinate axes and the three-dimensional coordinates.

[0120] Among them, the facial color image refers to a color photo of the face of a brain patient captured by an image acquisition device, the depth image refers to an image captured synchronously with the color image and showing the distance of each pixel from the image acquisition device, the feature point coordinates refer to the position coordinates of the facial key points identified in the color image, the depth value refers to the value in the depth image corresponding to the feature point coordinates in the color image, the three-dimensional coordinates refer to the position of the point in three-dimensional space calculated using the image acquisition device model by combining the two-dimensional coordinates and depth values ​​of the feature points, the facial geometric features refer to the shape and structural features of the face, such as the size of the eyes, the frontal facial view refers to the visual image obtained when observing the face of a brain patient from the front, the position parameters refer to the position parameters of the facial key points relative to the view center or other reference points in the frontal facial view, and the facial coordinate axes refer to the coordinate axes determined based on the position parameters of the facial key points in the frontal facial view.

[0121] Optionally, the facial color image of the brain patient and its corresponding depth image can be acquired through a depth camera, the feature point coordinates recognition of the facial key points in the facial color image can be implemented using the 68-point model of dlib, the facial geometric feature extraction of the brain patient based on the three-dimensional coordinates can be determined by a structured light scanner, the facial front view recognition of the brain patient based on the facial geometric features and the three-dimensional coordinates can be implemented using a stereo vision system, the facial coordinate axes of the facial front view based on the position parameters can be determined using the three-dimensional coordinates of the centers of both eyes and the nose, and the three-dimensional coordinate recognition of the feature point coordinates and the depth value can be determined by a camera model.

[0122] Furthermore, the embodiment of the present invention creates a coordinate transformation matrix of the facial coordinate system based on the facial key points, and can perform personalized adjustments based on the facial geometric features of each patient to ensure that the stimulation energy is delivered to the target brain area and maintain the continuity and effectiveness of the stimulation. The coordinate transformation matrix refers to a method for realizing coordinate transformation from one coordinate system to another.

[0123] As an embodiment of the present invention, creating a coordinate transformation matrix of the facial coordinate system based on the facial key points includes: identifying the axis vector and the coordinate origin corresponding to the facial coordinate system based on the facial key points; converting the axis vector into a unit vector, and constructing a rotation matrix of the facial coordinate system based on the unit vector; extracting a reference coordinate system corresponding to the facial coordinate system, and identifying the coordinate position of the coordinate origin in the reference coordinate system; determining the translation vector of the facial coordinate system based on the coordinate position; and creating a coordinate transformation matrix of the facial coordinate system based on the rotation matrix and the translation vector.

[0124] Among them, the axis vector refers to the vector that defines the direction of the facial coordinate system, the coordinate origin refers to the reference point of the facial coordinate system, such as the tip of the nose, the unit vector refers to a vector with a length of 1, the rotation matrix refers to a rotation matrix composed of three unit vectors as column vectors, the reference coordinate system refers to the target coordinate system to which the facial coordinate system is to be converted during the coordinate conversion process, the coordinate position refers to the specific position of the origin of the facial coordinate system in the reference coordinate system, usually expressed as three coordinate values ​​(x, y, z), and the translation vector refers to a vector that describes the movement of the origin of the facial coordinate system from the origin of the reference coordinate system to its position in the reference coordinate system.

[0125] Optionally, based on the facial key points, the identification of the axis vector corresponding to the facial coordinate system can be determined by measuring the relative positions between the facial key points, the coordinate origin corresponding to the facial coordinate system can be realized by utilizing the geometric center of the facial feature points, the reference coordinate system corresponding to the facial coordinate system can be extracted by acquiring the camera coordinate system, and the conversion of the axis vector into a unit vector can be realized by normalizing each axis vector.

[0126] In an optional embodiment of the present invention, a coordinate transformation matrix of the facial coordinate system is created using the following formula according to the rotation matrix and the translation vector:

[0127]

[0128] Among them, T D3 Represents the coordinate transformation matrix of the facial coordinate system, D 3 R represents the rotation matrix of the facial coordinate system, D 3 t represents the translation vector of the facial coordinate system, Represents the unit vector of the X-axis of the facial coordinate system, Represents the unit vector of the Y axis of the facial coordinate system, Represents the unit vector of the Z axis of the facial coordinate system, Represents the unit vector of the X-axis of the reference coordinate system corresponding to the facial coordinate system, Represents the unit vector of the Y axis of the reference coordinate system corresponding to the facial coordinate system, Represents the unit vector of the Z axis of the reference coordinate system corresponding to the facial coordinate system, (x N ,y N , z N ) represents the coordinates of the origin of the facial coordinate system in the reference coordinate system B.

[0129] The position control module 104 is used to identify the stimulation position of the transcranial magnetic stimulation device according to the coordinate transformation matrix, align the transcranial magnetic stimulation device with the target stimulation target based on the stimulation position to obtain an alignment result, set a positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix, and set an adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system.

[0130] The embodiment of the present invention can ensure that the stimulation energy can be effectively transmitted to the target brain area, reduce stimulation to non-target areas, and thus reduce the risk of side effects by identifying the target stimulation target point and the stimulation position of the transcranial magnetic stimulation device according to the coordinate transformation matrix. The stimulation position refers to the placement position of the transcranial magnetic stimulation device on the scalp.

[0131] Optionally, according to the coordinate transformation matrix, the identification of the target stimulation point and the stimulation position of the transcranial magnetic stimulation device can be achieved by transforming the target point position in the facial coordinate system into the coordinate system where the transcranial magnetic stimulation device is located by utilizing the coordinate transformation matrix.

[0132] Furthermore, the embodiment of the present invention aligns the transcranial magnetic stimulation device with the target stimulation target based on the stimulation position to obtain an alignment result, which can provide data support for setting up an automatic position calibration mechanism for the transcranial magnetic stimulation device, so as to realize the automation and intelligence of the treatment process and reduce human errors. The alignment result refers to the precise information on the spatial relationship between the transcranial magnetic stimulation device and the target stimulation target obtained by measurement or calculation.

[0133] Optionally, the alignment process of the transcranial magnetic stimulation device and the target stimulation point based on the stimulation position can be achieved by using a mechanical control unit, such as a robotic arm.

[0134] The embodiment of the present invention sets the positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix, so as to monitor the position of the transcranial magnetic stimulation device in real time, ensure that the transcranial magnetic stimulation device can be accurately placed in a predetermined position during each treatment, and achieve consistency of treatment. The positioning and tracking system refers to a system for monitoring and adjusting the position of the transcranial magnetic stimulation device relative to the position of the target stimulation target.

[0135] As an embodiment of the present invention, the positioning and tracking system of the transcranial magnetic stimulation device is set according to the alignment result and the coordinate transformation matrix, including: extracting the target brain area corresponding to the transcranial magnetic stimulation device according to the alignment result; setting a perception network of the transcranial magnetic stimulation device, and identifying the real-time position of the transcranial magnetic stimulation device based on the perception network; identifying the coordinate system relationship between the transcranial magnetic stimulation device and the target brain area according to the coordinate transformation matrix; analyzing the acceptable deviation distance between the transcranial magnetic stimulation device and the target brain area; calculating the position deviation rate between the real-time position and the target brain area according to the acceptable deviation distance; setting the tracking coordinate system of the transcranial magnetic stimulation device based on the position deviation rate and the coordinate system relationship, and constructing the transformation matrix of the tracking coordinate system; setting the positioning and tracking system of the transcranial magnetic stimulation device according to the tracking coordinate system and the transformation matrix.

[0136] Among them, the target brain area refers to a specific area in the brain that needs to be stimulated, the perception network refers to a system used to monitor and identify the position of the transcranial magnetic stimulation device, including sensors, cameras, etc., the real-time position refers to the current position of the transcranial magnetic stimulation device during the treatment process, the coordinate system relationship refers to the relative relationship between the coordinate system of the transcranial magnetic stimulation device and the coordinate system of the target brain area, which includes position, direction and possible rotation angle, the position deviation rate refers to the degree of deviation between the real-time position of the transcranial magnetic stimulation device and the expected position of the target brain area, the tracking coordinate system refers to the coordinate system used to track the position of the transcranial magnetic stimulation device relative to the target brain area, the transformation matrix refers to a mathematical matrix used to convert the coordinates of the transcranial magnetic stimulation device into the coordinate system of the target brain area, and the acceptable deviation distance refers to the maximum allowable distance deviation between the center of the transcranial magnetic stimulation device and the target brain area.

[0137] Optionally, the perception network setting of the transcranial magnetic stimulation device can be implemented using sensors and cameras, the acceptable deviation distance analysis between the transcranial magnetic stimulation device and the target brain area can be determined by the safety margin of the non-target area, and the tracking coordinate system setting of the transcranial magnetic stimulation device based on the position deviation rate and the coordinate system relationship can be implemented using the three-dimensional coordinate system of the real-time position of the transcranial magnetic stimulation device.

[0138] In an optional embodiment of the present invention, the position deviation rate between the real-time position and the target brain area is calculated according to the acceptable deviation distance using the following formula:

[0139]

[0140] Among them, k represents the position deviation rate between the real-time position and the target brain area, d represents the acceptable deviation distance between the real-time position and the target brain area, (x′ v , y′ v , z′ v ) represents the spatial coordinates corresponding to the real-time position, (x′ a , y′ a , z′ a ) represents the spatial coordinates corresponding to the target brain area.

[0141] Furthermore, the embodiments of the present invention can ensure the precise alignment of the transcranial magnetic stimulation device with the target brain area by setting up the adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system, reduce the errors caused by manual placement and adjustment of the transcranial magnetic stimulation device, and improve the accuracy and efficiency of treatment. The adaptive adjustment mechanism refers to an automated system for ensuring that the position of the transcranial magnetic stimulation device is precisely aligned with the position of the target brain area during transcranial magnetic stimulation treatment.

[0142] As an embodiment of the present invention, the adaptive adjustment mechanism of the stimulation position is set based on the positioning and tracking system, including: identifying the current spatial coordinates of the transcranial magnetic stimulation device based on the positioning and tracking system; determining the three-dimensional coordinates of the target area corresponding to the transcranial magnetic stimulation device according to the current spatial coordinates; setting an offset feedback mechanism of the transcranial magnetic stimulation device based on the three-dimensional coordinates of the target area; extracting the tracking coordinate system corresponding to the transcranial magnetic stimulation device according to the offset feedback mechanism; determining the misalignment distance between the current spatial coordinates and the three-dimensional coordinates of the target area based on the tracking coordinate system; and setting the adaptive adjustment mechanism of the stimulation position according to the misalignment distance and the offset feedback mechanism.

[0143] Among them, the current spatial coordinates refer to the three-dimensional coordinates of the transcranial magnetic stimulation device in space at the beginning of treatment or at any given moment, the three-dimensional coordinates of the target area refer to the three-dimensional coordinates of the target brain area in the patient's head coordinate system, the offset feedback mechanism refers to a system that can monitor the position deviation between the transcranial magnetic stimulation device and the target area, and the misalignment distance refers to the spatial distance between the current spatial coordinates of the transcranial magnetic stimulation device and the three-dimensional coordinates of the target area.

[0144] Optionally, the offset feedback mechanism setting of the transcranial magnetic stimulation device based on the three-dimensional coordinates of the target area can be implemented using a feedback control algorithm, such as a PID controller; based on the tracking coordinate system, the misalignment distance between the current spatial coordinates and the three-dimensional coordinates of the target area can be determined by obtaining the coordinate difference between the current spatial coordinates and the three-dimensional coordinates of the target area; based on the misalignment distance and the offset feedback mechanism, the adaptive adjustment mechanism setting of the stimulation position can be implemented using actuator control.

[0145] The stimulation position positioning module 105 is used to perform the stimulation position positioning processing of the transcranial magnetic stimulation in combination with the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning tracking system to obtain a positioning result.

[0146] The embodiment of the present invention combines the coordinate transformation matrix, the adaptive adjustment mechanism and the positioning tracking system to perform the stimulation position positioning processing of the transcranial magnetic stimulation to obtain a positioning result, which can ensure the accurate movement and positioning of the transcranial magnetic stimulation device in space, thereby achieving the consistency and reliability of precise stimulation of specific brain areas, and significantly improving the accuracy and therapeutic effect of transcranial magnetic stimulation treatment. The stimulation position positioning processing refers to the process of determining and adjusting the exact position of the stimulation coil on the scalp, and the positioning result refers to the precise position of the transcranial magnetic stimulation device determined after the positioning processing.

[0147] The embodiment of the present invention performs image segmentation processing on the two-dimensional head image to obtain a classified brain tissue image, which can accurately identify and distinguish different brain tissues, thereby achieving more accurate targeted stimulation in transcranial magnetic stimulation; in addition, the embodiment of the present invention constructs a three-dimensional head model of the brain patient based on the classified brain tissue image, which can accurately locate the target stimulation area in the brain, avoid stimulation of non-target areas, reduce side effects, and improve the safety and effectiveness of treatment; further, the embodiment of the present invention identifies the facial key points of the brain patient according to the facial behavior change pattern, which can provide a basis for the precise positioning of transcranial magnetic stimulation, improve the targeting and effectiveness of treatment, and constructs the facial coordinate system of the brain patient through the facial key points, which can more accurately determine the position of the stimulation electrode to ensure that the stimulation energy is transmitted to the target brain area, and also helps to customize the treatment plan for each patient, improving the targeting and effectiveness of treatment; again, the present invention The embodiment of the present invention performs alignment processing on the transcranial magnetic stimulation device and the target stimulation target based on the stimulation position to obtain an alignment result, which can provide data support for setting the automatic calibration mechanism of the position of the transcranial magnetic stimulation device, so as to set the positioning tracking system of the transcranial magnetic stimulation device and the adaptive adjustment mechanism of the stimulation position, monitor the position of the transcranial magnetic stimulation device in real time, ensure that the transcranial magnetic stimulation device can be accurately placed at the predetermined position during each treatment, reduce the error of artificial placement and adjustment of the transcranial magnetic stimulation device, and improve the accuracy and efficiency of treatment; finally, the embodiment of the present invention performs the stimulation position positioning processing of the transcranial magnetic stimulation device by combining the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning tracking system to obtain a positioning result, which can ensure the accurate movement and positioning of the transcranial magnetic stimulation device in space, thereby achieving the consistency and reliability of precise stimulation of specific brain areas, and significantly improving the accuracy and treatment effect of transcranial magnetic stimulation treatment. Therefore, the stimulation position precise positioning system and method of the transcranial magnetic stimulation device provided in the embodiment of the present invention can improve the precise positioning of the transcranial magnetic stimulation position and improve the treatment effect.

[0148] like Figure 2 FIG. 2 is a flow chart of a method for accurately locating a stimulation position of a transcranial magnetic stimulation device according to an embodiment of the present invention. In this embodiment, the method for accurately locating a stimulation position of a transcranial magnetic stimulation device includes:

[0149] Acquire a brain patient to be treated and the corresponding disease type, collect a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image;

[0150] constructing a three-dimensional head model of the brain patient based on the classified brain tissue image, determining a target stimulation point of the brain patient according to the three-dimensional head model and the disease type, and identifying a transcranial magnetic stimulation device for the brain patient based on the target stimulation point;

[0151] Analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct a facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system;

[0152] According to the coordinate transformation matrix, identifying the stimulation position of the transcranial magnetic stimulation device, based on the stimulation position, aligning the transcranial magnetic stimulation device with the target stimulation target to obtain an alignment result, according to the alignment result and the coordinate transformation matrix, setting a positioning and tracking system of the transcranial magnetic stimulation device, and based on the positioning and tracking system, setting an adaptive adjustment mechanism of the stimulation position;

[0153] In combination with the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning and tracking system, the stimulation position positioning processing of the transcranial magnetic stimulation device is performed to obtain a positioning result.

[0154] In the several embodiments provided by the present invention, it should be understood that the provided system and method can be implemented in other ways. For example, the system embodiment described above is only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0155] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A system for accurately locating the stimulation position of a transcranial magnetic stimulation device, characterized in that: The precise positioning of the stimulation position of the transcranial magnetic stimulation device of the system includes: an image acquisition module, a three-dimensional model building module, a coordinate system generation module, a position control module and a stimulation position positioning module; The image acquisition module is used to obtain a brain patient to be treated and the corresponding disease type, acquire a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image; The three-dimensional model construction module is used to construct a three-dimensional head model of the brain patient based on the classified brain tissue image, determine the target stimulation target of the brain patient according to the three-dimensional head model and the disease type, and identify the transcranial magnetic stimulation device of the brain patient based on the target stimulation target. The coordinate system generating module is used to analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct the facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system; The position control module is used to identify the stimulation position of the transcranial magnetic stimulation device according to the coordinate transformation matrix, align the transcranial magnetic stimulation device with the target stimulation target based on the stimulation position to obtain an alignment result, set a positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix, and set an adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system; The stimulation position positioning module is used to combine the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning tracking system to perform stimulation position positioning processing of the transcranial magnetic stimulation device to obtain a positioning result.

2. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The step of constructing a three-dimensional head model of the brain patient based on the classified brain tissue image comprises: identifying a two-dimensional image sequence of the classified brain tissue image; reconstructing a brain tissue surface model of the brain patient based on the two-dimensional image sequence; Creating a solid model of the brain tissue surface model, and performing mesh generation processing on the solid model to generate a mesh; Generating a finite element model of the brain tissue of the brain patient according to the divided grid; Based on the brain tissue finite element model, defining brain tissue material properties of the brain patient; Analyzing the simulation effect of the brain tissue finite element model according to the brain tissue material properties; Based on the simulation effect, a three-dimensional head model of the brain patient is constructed.

3. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: Determining the target stimulation point of the brain patient according to the three-dimensional head model and the disease type includes: identifying the anatomical structure of the head of the brain patient according to the three-dimensional head model; Based on the head anatomical structure, extracting the abnormal brain tissue structure corresponding to the disease type; identifying the symptom manifestations of the brain patient according to the disease type; Based on the symptoms, analyzing the brain functions associated with the abnormal brain tissue structure; identifying a signal transmission pathway of the abnormal brain tissue structure according to the associated brain function; Based on the signal transmission pathway, analyzing the associated neural pathways of the abnormal brain tissue structure; Based on the associated neural pathways, the target stimulation target of the brain patient is determined.

4. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The analyzing the facial behavior change pattern of the brain patient comprises: Collecting facial images of the brain patient, and extracting facial behavior features of the brain patient based on the facial images; identifying the facial movement trajectory of the brain patient according to the facial behavior characteristics; extracting classified facial expressions of the brain patient based on the facial movement trajectory; analyzing emotional context corresponding to the classified facial expressions; According to the emotional background, identifying the associated nerves corresponding to the classified facial expressions, and determining the functional factors of the associated nerves; Based on the functional factors and the associated nerves, analyzing the formation reasons of the classified facial expressions; The facial behavior change pattern of the brain patient is analyzed based on the formation causes, the classified facial expressions and the emotional background.

5. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The step of identifying key facial points of the brain patient according to the facial behavior change pattern comprises: identifying facial action components of the brain patient according to the facial behavior change pattern; analyzing the facial expression of the brain patient based on the facial action components; Identifying the combined action components of the facial expression and analyzing the action intensity of the combined action components; identifying the degree of facial muscle deformation of the brain patient according to the intensity of the movement; Extracting facial feature points of the brain patient, and identifying the position changes of the facial feature points based on the degree of facial muscle deformation; According to the site changes, the facial key points of the brain patient are identified.

6. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The step of constructing a facial coordinate system of the brain patient according to the facial key points includes: Acquiring a facial color image of the brain patient and a corresponding depth image thereof; Identify the feature point coordinates of the facial key points in the facial color image, and extract the depth values ​​of the facial key points in the depth image; Identify the three-dimensional coordinates of the feature point coordinates and the depth value; Extracting facial geometric features of the brain patient based on the three-dimensional coordinates; identifying a frontal view of the face of the brain patient according to the facial geometric features and the three-dimensional coordinates; Locating position parameters of the facial key points in the facial frontal view, and determining facial coordinate axes of the facial frontal view based on the position parameters; A facial coordinate system of the brain patient is constructed according to the facial coordinate axes and the three-dimensional coordinates.

7. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The step of creating a coordinate transformation matrix of the facial coordinate system according to the facial key points includes: According to the facial key points, identifying the axis vector and the coordinate origin corresponding to the facial coordinate system; Convert the axis vector into a unit vector, and construct a rotation matrix of the facial coordinate system based on the unit vector; Extracting a reference coordinate system corresponding to the facial coordinate system, and identifying the coordinate position of the coordinate origin in the reference coordinate system; Based on the coordinate position, determining a translation vector of the facial coordinate system; A coordinate transformation matrix of the facial coordinate system is created according to the rotation matrix and the translation vector.

8. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The step of setting a positioning and tracking system of the transcranial magnetic stimulation device according to the alignment result and the coordinate transformation matrix comprises: Extracting the target brain region corresponding to the transcranial magnetic stimulation device according to the alignment result; Setting a perception network for the transcranial magnetic stimulation device, and identifying the real-time position of the transcranial magnetic stimulation device based on the perception network; According to the coordinate transformation matrix, identifying the coordinate system relationship between the transcranial magnetic stimulation device and the target brain area; Analyzing an acceptable deviation distance between the transcranial magnetic stimulation device and the target brain area; Calculating the position deviation rate between the real-time position and the target brain area according to the acceptable deviation distance; Based on the position deviation rate and the coordinate system relationship, setting a tracking coordinate system of the transcranial magnetic stimulation device, and constructing a transformation matrix of the tracking coordinate system; A positioning and tracking system of the transcranial magnetic stimulation device is set according to the tracking coordinate system and the transformation matrix.

9. The stimulation position accurate positioning system of the transcranial magnetic stimulation device according to claim 1, characterized in that: The method of setting the adaptive adjustment mechanism of the stimulation position based on the positioning and tracking system includes: Based on the positioning and tracking system, identifying the current spatial coordinates of the transcranial magnetic stimulation device; Determining the three-dimensional coordinates of the target area corresponding to the transcranial magnetic stimulation device according to the current spatial coordinates; Based on the three-dimensional coordinates of the target area, setting an offset feedback mechanism of the transcranial magnetic stimulation device; extracting a tracking coordinate system corresponding to the transcranial magnetic stimulation device according to the offset feedback mechanism; Based on the tracking coordinate system, determining the misalignment distance between the current spatial coordinates and the three-dimensional coordinates of the target area; An adaptive adjustment mechanism of the transcranial magnetic stimulation device is set according to the misalignment distance and the offset feedback mechanism.

10. A method for accurately locating the stimulation position of a transcranial magnetic stimulation device, characterized in that: The method comprises: Acquire a brain patient to be treated and the corresponding disease type, collect a two-dimensional head image of the brain patient, perform image segmentation processing on the two-dimensional head image, and obtain a classified brain tissue image; constructing a three-dimensional head model of the brain patient based on the classified brain tissue image, determining a target stimulation point of the brain patient according to the three-dimensional head model and the disease type, and identifying a transcranial magnetic stimulation device for the brain patient based on the target stimulation point; Analyze the facial behavior change pattern of the brain patient, identify the facial key points of the brain patient according to the facial behavior change pattern, construct a facial coordinate system of the brain patient according to the facial key points, and create a coordinate transformation matrix of the facial coordinate system; According to the coordinate transformation matrix, identifying the stimulation position of the transcranial magnetic stimulation device, based on the stimulation position, aligning the transcranial magnetic stimulation device with the target stimulation target to obtain an alignment result, according to the alignment result and the coordinate transformation matrix, setting a positioning and tracking system of the transcranial magnetic stimulation device, and based on the positioning and tracking system, setting an adaptive adjustment mechanism of the stimulation position; In combination with the coordinate conversion matrix, the adaptive adjustment mechanism and the positioning and tracking system, the stimulation position positioning processing of the transcranial magnetic stimulation device is performed to obtain a positioning result.

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