Method, system and device for positioning stimulation coil and treatment target, and storage medium

Abstract

The invention discloses a method, a system and equipment for positioning a stimulation coil and a treatment target, and a storage medium. The method for positioning the stimulation coil and the treatment target comprises the following steps: acquiring a target treatment target coordinate and a human brain model; based on a preset conversion algorithm, converting the coordinates of the target treatment target into positioning coordinates, and mapping the positioning coordinates into a human brain model; based on the preset generation condition, the preset stimulation coil model is arranged at the positioning coordinate, and the position relation information of the stimulation coil model and the origin of the coordinate system of the human brain model is calculated, so that the accurate positioning of the treatment target spot is realized, the position relation information of the stimulation coil is provided for the user for reference, the error is reduced, and the treatment efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power electronic converter control, and particularly to a positioning method, system, device and storage medium for a stimulation coil and a treatment target. Background Art

[0002] In the fields of neuromodulation and treatment, especially in the field of transcranial magnetic stimulation (TMS) treatment, the distribution areas of different regions in the cerebral cortex are relatively small. Therefore, it is particularly important to calculate the accurate treatment positions for different diseases.

[0003] TMS can regulate nerve activity by using a magnetic field to stimulate specific regions of the brain, and is used to treat neurological diseases such as depression, anxiety, and Parkinson's disease. A TMS device usually includes a coil, and the high-intensity magnetic field generated by the coil can penetrate the skull and act on the cerebral cortex.

[0004] In the field of biomedical engineering, inaccurate treatment positions will lead to problems such as "poor efficacy" and "ineffective treatment". In order to ensure the treatment effect of the TMS device, it is necessary to strictly control the placement position and posture of the treatment coil to ensure that the magnetic field focus accurately stimulates the target cortical region.

[0005] The existing technical solutions are: 1. Determine the treatment position by visual inspection according to the doctor's experience; 2. Determine the approximate treatment position by using a ruler; 3. Determine the position by using a universal positioning cap printed with brain functional regions;

[0006] However, there are large errors in the positioning and fixing of the treatment target in the existing technical implementation schemes. Moreover, even if a positioning cap is used, it cannot adapt to the skull shapes of different people, and thus cannot accurately find the treatment target. Summary of the Invention

[0007] The purpose of the present invention is to propose a positioning method, system, device and storage medium for a stimulation coil and a treatment target in view of the technical problems existing in the background art.

[0008] To achieve the above technical purpose, the technical scheme adopted by the present invention is as follows:

[0009] The first implementation manner of the first aspect of the present invention provides a positioning method for a stimulation coil and a treatment target, which includes SOGI and a positive and negative phase sequence switching and selection unit. The positioning method for the stimulation coil and the treatment target includes:

[0010] S101. Obtain the coordinates of the target treatment target and the human brain model;

[0011] S102. Based on a preset conversion algorithm, convert the coordinates of the target treatment target into positioning coordinates, and map the positioning coordinates to the human brain model;

[0012] S103. Place the preset stimulation coil model at the positioning coordinates based on the preset generation conditions, and calculate the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

[0013] Optionally, in the second implementation manner of the first aspect of the present invention, the target treatment target coordinates are MNI coordinates.

[0014] Optionally, in the third implementation manner of the first aspect of the present invention, the human brain model is a brain model obtained by three-dimensional reconstruction based on magnetic resonance imaging.

[0015] Optionally, in the fourth implementation manner of the first aspect of the present invention, the conversion algorithm includes a homogeneous transformation matrix algorithm.

[0016] Optionally, in the fifth implementation manner of the first aspect of the present invention, the generation conditions include that the focus direction of the stimulation coil model points to the positioning coordinates, and the stimulation surface of the stimulation coil model is tangent to the skull skin surface at the contact point.

[0017] Optionally, in the sixth implementation manner of the first aspect of the present invention, step S103 further includes:

[0018] Judge whether the position relationship between the stimulation coil model and the human brain model meets the generation conditions;

[0019] If it does not meet the generation conditions, issue a warning corresponding to the non - compliance with the corresponding conditions and give a hint of the correct position;

[0020] If it meets the generation conditions, directly calculate the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

[0021] The first implementation manner of the second aspect of the present invention provides a positioning system for a stimulation coil and a treatment target, including:

[0022] An information acquisition module for acquiring target treatment target coordinates and a human brain model;

[0023] A conversion module for converting the target treatment target coordinates into positioning coordinates based on a preset conversion algorithm and mapping the positioning coordinates into the human brain model;

[0024] A calculation module for placing the preset stimulation coil model at the positioning coordinates based on the preset generation conditions and calculating the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

[0025] The first implementation of the third aspect of the present invention provides a positioning device for a stimulation coil and a treatment target. The positioning device for the stimulation coil and the treatment target includes: a memory and at least one processor. Instructions are stored in the memory, and the memory and the at least one processor are interconnected by a circuit;

[0026] The at least one processor invokes the instructions in the memory to cause the positioning device for the stimulation coil and the treatment target to execute the positioning method for the stimulation coil and the treatment target as described in any one of the first aspects of the present invention.

[0027] The first implementation of the fourth aspect of the present invention provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the positioning method for the stimulation coil and the treatment target as described in any one of the first aspects of the present invention above.

[0028] Compared with the prior art, the present invention has the following beneficial technical effects: by obtaining the coordinates of the target treatment target and the human brain model; based on a preset conversion algorithm, converting the coordinates of the target treatment target into positioning coordinates and mapping the positioning coordinates onto the human brain model; based on a preset generation condition, placing a preset stimulation coil model at the positioning coordinates and calculating the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model, realizing the precise positioning of the treatment target, and providing the position relationship information of the stimulation coil for the user to refer to, reducing errors and effectively improving the treatment efficiency. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the first embodiment of the positioning method for the stimulation coil and the treatment target in the embodiment of the present invention;

[0030] Figure 2 It is a schematic diagram of the sixth embodiment of the positioning method for the stimulation coil and the treatment target in the embodiment of the present invention;

[0031] Figure 3 It is a schematic diagram of an embodiment of the positioning system for the stimulation coil and the treatment target in the embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of an embodiment of the positioning device for the stimulation coil and the treatment target in the embodiment of the present invention;

[0033] Figure 5 It is a 3D diagram of the human brain model in the embodiment of the present invention;

[0034] Figure 6 It is a usage state diagram of the human brain model and the stimulation coil model in the embodiment of the present invention. Detailed Embodiments

[0035] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0037] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or a specific connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may 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 through specific situations.

[0038] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to Figure 1 - Figure 2 and Figure 5 - Figure 6 , the method for positioning the stimulating coil and the treatment target in the embodiments of the present invention includes:

[0039] S101. Obtain the coordinates of the target treatment target and the human brain model;

[0040] In this embodiment, the coordinates of the target treatment target are MNI coordinates. Among them, the MINI coordinates are the values of the standardized brain coordinate system, so that the brain structures of different individuals can be compared and positioned in a unified coordinate system. The human brain model is the brain model obtained through three-dimensional (MRI) reconstruction based on magnetic resonance imaging.

[0041] S102. Based on a preset conversion algorithm, convert the coordinates of the target treatment target into positioning coordinates and map the positioning coordinates onto the human brain model;

[0042] In this embodiment, the target treatment target of the MNI coordinates cannot be directly applied to the human brain model, and parameters need to be converted into data that can be used by the human brain model. Among them, the conversion algorithm includes the homogeneous transformation matrix algorithm:

[0043] (1)

[0044] For example, the target treatment target coordinates are taken as (Mx, My, Mz):

[0045] (2)

[0046] Among them, through "Formula (1)", the rotation amount and translation amount between the two coordinate systems R and p are converted into the homogeneous transformation matrix T0 for transformation calculation, and are converted into the positioning coordinates (Mx', My', Mz') through "Formula (2)".

[0047] S103. Based on the preset generation conditions, place the preset stimulation coil model at the positioning coordinates, and calculate the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

[0048] In this embodiment, the generation conditions include that the focus direction of the stimulation coil model points to the positioning coordinates, and the stimulation surface of the stimulation coil model is tangent to the skull skin surface at the contact point. These conditions are to ensure the correct focusing position of the coil in the magnetic resonance imaging (MRI) device, ensure the geometric correctness of the coil contact surface, and may enhance the energy transfer effect and stability of the coil. These design principles aim to optimize the position and contact surface of the coil to ensure the consistency and accuracy of data during the treatment process, thereby improving the treatment effect and safety. The calculated position relationship information will be output in the form of a homogeneous transformation matrix for external staff to consult. The staff will move the stimulation coil to the corresponding position of the patient's brain according to this homogeneous transformation matrix. Of course, the spatial position of the external stimulation coil entity can be synchronized with the stimulation coil model in the 3D model software, and the same applies to the human brain model. In this way, the staff can also adjust the position directly by observing the movement position of the stimulation coil model in the model software without consulting the homogeneous transformation matrix value, so as to quickly and accurately determine the position of the treatment point.

[0049] Furthermore, step S103 further includes:

[0050] S1031. Judge whether the position relationship between the stimulation coil model and the human brain model meets the generation conditions;

[0051] S1032. If it does not meet the generation conditions, issue a warning corresponding to the non - compliance with the corresponding conditions and give a prompt for the correct position;

[0052] S1033: If the generation conditions are met, directly calculate the position relationship information between the origin of the coordinate systems of the stimulation coil model and the human brain model.

[0053] In this embodiment, although the generation conditions are known, in the model, the position relationship between the stimulation coil model and the human brain model needs to be adjusted manually, but there will still be certain errors in manual adjustment. Therefore, a certain hint needs to be provided in the software. This hint can be in the form of graphics and text, or a highlighted virtual image showing the correct position in the software.

[0054] Specifically, it is achieved by obtaining the target treatment target coordinates and the human brain model; based on a preset conversion algorithm, converting the target treatment target coordinates into positioning coordinates and mapping the positioning coordinates onto the human brain model; based on the preset generation conditions, placing the preset stimulation coil model at the positioning coordinates and calculating the position relationship information between the origin of the coordinate systems of the stimulation coil model and the human brain model, realizing the precise positioning of the treatment target, and providing the position relationship information of the stimulation coil for the user's reference, reducing errors, and effectively improving the treatment efficiency.

[0055] The above describes the positioning method of the stimulation coil and the treatment target in the embodiments of the present invention. Next, the positioning system of the stimulation coil and the treatment target in the embodiments of the present invention will be described. Please refer to Figure 3 , the positioning system of the stimulation coil and the treatment target includes:

[0056] An information acquisition module 201, configured to acquire the target treatment target coordinates and the human brain model;

[0057] A conversion module 202, configured to convert the target treatment target coordinates into positioning coordinates based on a preset conversion algorithm and map the positioning coordinates onto the human brain model;

[0058] A calculation module 203, configured to place the preset stimulation coil model at the positioning coordinates based on the preset generation conditions and calculate the position relationship information between the origin of the coordinate systems of the stimulation coil model and the human brain model.

[0059] Specifically, it is achieved by obtaining the target treatment target coordinates and the human brain model; based on a preset conversion algorithm, converting the target treatment target coordinates into positioning coordinates and mapping the positioning coordinates onto the human brain model; based on the preset generation conditions, placing the preset stimulation coil model at the positioning coordinates and calculating the position relationship information between the origin of the coordinate systems of the stimulation coil model and the human brain model, realizing the precise positioning of the treatment target, and providing the position relationship information of the stimulation coil for the user's reference, reducing errors, and effectively improving the treatment efficiency.

[0060] Among them, the coordinates of the target treatment target are MNI coordinates; the human brain model is a brain model obtained through three-dimensional reconstruction based on magnetic resonance imaging; the conversion algorithm includes a homogeneous transformation matrix algorithm; the generation conditions include that the focal direction of the stimulation coil model points to the positioning coordinates, and the stimulation surface of the stimulation coil model is tangent to the cranial skin surface at the contact point.

[0061] Among them, the calculation module 203 can specifically further execute:

[0062] Judge whether the positional relationship between the stimulation coil model and the human brain model meets the generation conditions;

[0063] If the generation conditions are not met, a warning corresponding to the non-compliance with the corresponding conditions is issued, and a prompt for the correct position is given;

[0064] If the generation conditions are met, the positional relationship information between the origin of the coordinate systems of the stimulation coil model and the human brain model is directly calculated.

[0065] Above Figure 3 The positioning system of the stimulation coil and the treatment target in the embodiments of the present invention is described in detail from the perspective of modular functional entities. Next, the positioning device of the stimulation coil and the treatment target in the embodiments of the present invention is described in detail from the perspective of hardware processing.

[0066] Figure 4 FIG. is a schematic structural diagram of a positioning device for a stimulation coil and a treatment target provided by an embodiment of the present invention. The positioning device 300 for the stimulation coil and the treatment target may vary greatly due to different configurations or performances, and may include one or more processors (central processing units, CPUs) 310 (for example, one or more processors) and a memory 320, and one or more storage media 330 (for example, one or more mass storage devices) storing application programs 333 or data 332. Among them, the memory 320 and the storage media 330 can be transient storage or persistent storage. The program stored in the storage media 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the positioning device 300 for the stimulation coil and the treatment target. Further, the processor 310 can be set to communicate with the storage media 330 and execute a series of instruction operations in the storage media 330 on the positioning device 300 for the stimulation coil and the treatment target.

[0067] The positioning device 300 based on the stimulation coil and the treatment target may further include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input / output interfaces 360, and / or one or more operating systems 331, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that Figure 4 The structure of the positioning device of the stimulation coil and the treatment target shown does not constitute a limitation on the communication protocol device based on local area network screen mirroring, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0068] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are run on a computer, the computer is caused to execute the steps of the positioning method of the stimulation coil and the treatment target.

[0069] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0070] The above is a positioning method of a stimulation coil and a treatment target or multiple implementation manners provided in combination with specific content, and it is not considered that the specific implementation of the present invention is only limited to these descriptions. Any approximation or similarity to the method and structure of the present invention, or any technical deduction or replacement made under the premise of the inventive concept of the present invention, should be regarded as the protection scope of the present invention.

Claims

1. A method for positioning a stimulation coil and a treatment target, characterized in that: include: S101, obtaining the coordinates of the target treatment point and the human brain model; S102, based on a preset conversion algorithm, converting the target treatment point coordinates into positioning coordinates, and mapping the positioning coordinates into the human brain model; S103. Based on preset generation conditions, place the preset stimulation coil model at the positioning coordinates, and calculate the positional relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

2. A method for positioning a stimulation coil and a treatment target according to claim 1, characterized in that: The target therapeutic target coordinates are MNI coordinates.

3. A method for positioning a stimulation coil and a treatment target according to claim 2, characterized in that: The human brain model is a brain model obtained through three-dimensional reconstruction based on magnetic resonance imaging.

4. A method for positioning a stimulation coil and a treatment target according to claim 3, characterized in that: The conversion algorithm includes a homogeneous transformation matrix algorithm.

5. A method for positioning a stimulation coil and a treatment target according to claim 4, characterized in that: The generation conditions include that the focal direction of the stimulation coil model points to the positioning coordinates, and the stimulation surface of the stimulation coil model is tangent to the surface of the skull skin at the contact point.

6. A method for positioning a stimulation coil and a treatment target according to claim 5, characterized in that: The step S103 further includes: Determining whether the positional relationship between the stimulation coil model and the human brain model meets the generation condition; If the generation condition is not met, a warning corresponding to the non-compliance with the corresponding condition is issued, and a prompt for the correct position is given; If the generation condition is met, the positional relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model is directly calculated.

7. A stimulation coil and treatment target positioning system, characterized in that: include: An information acquisition module, used to obtain the coordinates of the target treatment target and the human brain model; A conversion module, used for converting the target treatment target coordinates into positioning coordinates based on a preset conversion algorithm, and mapping the positioning coordinates into the human brain model; The calculation module is used to place the preset stimulation coil model at the positioning coordinates based on the preset generation conditions, and calculate the position relationship information between the stimulation coil model and the origin of the coordinate system of the human brain model.

8. A device for positioning a stimulation coil and a treatment target, characterized in that: The device for positioning the stimulation coil and the treatment target includes: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the stimulation coil and treatment target positioning device to perform the stimulation coil and treatment target positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for positioning a stimulation coil and a treatment target as described in any one of claims 1 to 6 is implemented.

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