Positioning hood printing data determination method and device for assisting transcranial magnetic stimulation therapy

Abstract

The embodiment of the invention discloses a positioning hood printing data determination method and device for assisting transcranial magnetic stimulation therapy, and the method comprises the steps: carrying out the head surface segmentation and brain region division processing of head MR image data of a target object, and obtaining a head surface structure diagram and a brain region division structure diagram; constructing a head curved surface reference coordinate system based on a preset reference point in the head surface structure diagram; based on the brain region division structure chart, determining intracerebral stimulation target spots, and determining target spot curved surface coordinates of surface target spot positions corresponding to the intracerebral stimulation target spots in the head curved surface reference coordinate system; the method comprises the following steps: constructing a target mapping three-dimensional model, determining 3D printing data for manufacturing an auxiliary positioning head cover based on the target mapping three-dimensional model, manufacturing the auxiliary positioning head cover based on the 3D printing data, and performing target positioning of transcranial magnetic stimulation therapy under the assistance of the personalized auxiliary positioning head cover in families and repeated scenes. And the positioning efficiency, the individual suitability and the universality of the stimulation target spot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transcranial magnetic stimulation therapy, and particularly to a method and device for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy. Background Art

[0002] Transcranial stimulation therapy technology is a treatment technology that stimulates through sound, electricity, magnetism, etc., and is mainly applied in the fields of clinical psychiatry, neurological diseases, and rehabilitation. Among them, repetitive transcranial magnetic stimulation technology (rTMS) is widely used in treatment due to its good curative effect, safety, and convenience. TMS refers to the use of pulsed magnetic fields of different frequencies to act on corresponding brain functional areas after passing through the skull, improving areas with overly high or low brain functions. This technology has technical characteristics such as non-invasive, painless, safe, and low side effects, and has thus been widely applied to various brain diseases. During rTMS treatment, an operator will place an electromagnetic coil on the patient's scalp, and this coil can transmit magnetic pulses to stimulate nerve cells in the area of the brain related to the disease. During the process of placing the coil, different stimulation positions need to be selected for patients with different conditions.

[0003] Currently, the methods for locating stimulation targets in transcranial magnetic stimulation therapy include the following two: The first is the coordinate mapping space method, which maps the standard brain space coordinates (MNI) to the continuous proportional coordinates (CPC) of the standard scalp space. The second is the optical positioning method, which requires the assistance of optical imaging and positioning probes.

[0004] However, the first method requires calculating the optimal scalp position for an individual based on the MNI standard brain coordinate space of a large number of samples in order to obtain the distribution of standard scalp mapping points for guiding the placement of the stimulation device on the physical scalp of the target object, and there are technical problems such as low positioning efficiency and poor individual adaptability. The second method requires expensive optical positioning equipment and supporting probe positioning support, and also requires professional operation training, and there are problems such as high positioning cost and poor versatility. Summary of the Invention

[0005] The present invention provides a method and device for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy, so as to assist in the target positioning of transcranial magnetic stimulation therapy through a personalized auxiliary positioning headgear in the home and repeated scenarios, and improve the positioning efficiency, individual adaptability, and versatility of the stimulation target.

[0006] In a first aspect, an embodiment of the present invention provides a method for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy, and the method includes:

[0007] Obtain the head MR image data corresponding to the target object;

[0008] Perform head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram;

[0009] Based on the preset reference points in the head surface structure diagram, construct a head curved surface reference coordinate system; wherein, the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point;

[0010] Based on the brain region division structure diagram, determine at least one intracranial stimulation target, map the at least one intracranial stimulation target to the head surface structure diagram, and determine the target curved surface coordinates of the corresponding surface target positions of each intracranial stimulation target in the head curved surface reference coordinate system;

[0011] Based on each target curved surface coordinate and the head curved surface reference coordinate system, construct a target mapping three-dimensional model;

[0012] Based on the target mapping three-dimensional model, determine the 3D printing data for manufacturing the auxiliary positioning headgear, so as to manufacture the auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

[0013] In a second aspect, an embodiment of the present invention further provides a device for determining the printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy. The device includes:

[0014] A data acquisition module for acquiring the head MR image data corresponding to the target object;

[0015] An MR data segmentation module for performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram;

[0016] A head coordinate system construction module for constructing a head curved surface reference coordinate system based on the preset reference points in the head surface structure diagram; wherein, the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point;

[0017] A target coordinate determination module for determining at least one intracranial stimulation target based on the brain region division structure diagram, mapping the at least one intracranial stimulation target to the head surface structure diagram, and determining the target curved surface coordinates of the corresponding surface target positions of each intracranial stimulation target in the head curved surface reference coordinate system;

[0018] A target model construction module for constructing a target mapping three-dimensional model based on each target curved surface coordinate and the head curved surface reference coordinate system;

[0019] A 3D printing data determination module, configured to determine 3D printing data for manufacturing an auxiliary positioning headgear based on the target mapping three-dimensional model, so as to manufacture an auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

[0020] The technical solution of the embodiment of the present invention includes: obtaining head MR image data corresponding to a target object; performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram. Furthermore, based on preset reference points in the head surface structure diagram, a head curved surface reference coordinate system is constructed, where the preset reference points include a nasal root reference point in the middle of the eyebrow bone, a left ear root reference point, a right ear root reference point, and an occipital protuberance reference point; based on the brain region division structure diagram, at least one intracerebral stimulation target is determined, the at least one intracerebral stimulation target is mapped onto the head surface structure diagram, and the target curved surface coordinates of the corresponding surface target positions of each intracerebral stimulation target in the head curved surface reference coordinate system are determined. Furthermore, based on each target curved surface coordinate and the head curved surface reference coordinate system, a target mapping three-dimensional model is constructed. Further, based on the target mapping three-dimensional model, 3D printing data for manufacturing an auxiliary positioning headgear is determined, so as to manufacture an auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data. The technical solution of this embodiment can obtain intracerebral structure information adapted to the target object through automatic model construction of the head MR image data, and can also accurately describe the stimulation target through the position coordinates in the head curved surface reference coordinate system to obtain 3D printing data for manufacturing an auxiliary positioning headgear, so that 3D printing technology can be used to print personalized auxiliary positioning headgears for different objects. In the home and repeated scenarios, the personalized auxiliary positioning headgear is used to assist in the target positioning of transcranial magnetic stimulation therapy, improving the positioning efficiency, individual adaptability, and universality of the stimulation target. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the introduced drawings are only the drawings of a part of the embodiments to be described by the present invention, rather than all the drawings. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic flow chart of a method for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy provided by an embodiment of the present invention;

[0023] Figure 2 It is a developed view of the head MR image data involved in an embodiment of the present invention;

[0024] Figure 3Partial schematic diagrams of the head surface structure diagram and the brain region division structure diagram related to the embodiments of the present invention;

[0025] Figure 4 Schematic diagram of the head surface reference coordinate system related to the embodiments of the present invention;

[0026] Figure 5 Schematic diagram of the structure of the target point mapping three-dimensional model related to the embodiments of the present invention;

[0027] Figure 6 Schematic flow chart of another method for determining the positioning headgear printing data for assisting transcranial magnetic stimulation therapy provided by the embodiments of the present invention;

[0028] Figure 7 Schematic flow chart of yet another method for determining the positioning headgear printing data for assisting transcranial magnetic stimulation therapy provided by the embodiments of the present invention;

[0029] Figure 8 Schematic diagram of mapping different brain regions in the brain region division structure diagram to the scalp surface structure diagram related to the embodiments of the present invention;

[0030] Figure 9 Schematic diagram of the display of a three-dimensional model of the head related to the embodiments of the present invention;

[0031] Figure 10 Schematic diagram of the structure of a device for determining the positioning headgear printing data for assisting transcranial magnetic stimulation therapy provided by the embodiments of the present invention. Detailed implementation manners

[0032] Before introducing the technical solutions provided by the embodiments of the present invention, the application scenarios of the embodiments of the present invention can be described first. With the development of the brain science plan and the development and maturity of technologies such as computers and electronics, transcranial stimulation therapy has received more and more recognition. Among them, rTMS is widely used in treatment due to its good curative effect and safety and convenience. TMS refers to the action of pulsed magnetic fields of different frequencies on the corresponding brain functional areas after passing through the skull, improving the areas with excessive or insufficient brain functions. Because the generated magnetic signals can penetrate the skull without attenuation to stimulate the brain nerves, it is widely used in the auxiliary diagnosis, treatment, and rehabilitation of neurological and mental diseases. This technology has technical characteristics such as non-invasive, painless, safe, and small side effects. At present, this technology has been successfully used in diseases such as stroke, cognitive impairment, dystonia, Parkinson's disease, insomnia, and anxiety.

[0033] During rTMS treatment, the operator places an electromagnetic coil on the patient's scalp. The coil can transmit magnetic pulses to stimulate the nerve cells in the brain regions related to the disease. Commonly used coils include circular coils, double-cone coils, H-shaped coils, figure-eight coils, etc. The operator can select the corresponding coil according to different stimulation types. However, during the process of placing the coil, the operator needs to refer to the operation guide and brain functional regions to select different stimulation positions for patients with different conditions. However, due to the differences in the intracranial conditions of each person, if precise stimulation of the intracranial brain corresponding to the brain functional region positions in the head is required, a reliable and convenient reference and positioning method is needed.

[0034] There are currently the following several related reference and positioning technologies: (1) Coordinate mapping space type: Map the standard brain space coordinates (MNI) to the continuous proportional coordinates (CPC) of the standard scalp space. This approach requires calculating the individual optimal scalp positions for the MNI standard brain coordinate space of hundreds of samples in advance, obtaining the scalp mapping point distributions of all participants according to the conversion from MNI coordinates to CPC coordinates, and defining this expectation as the best scalp position at the group level to guide the placement of the device on the physical scalp of new participants. (2) Optical positioning type: Use optical imaging and positioning probes to position the human position points from MR images to the corresponding actual physical space. The advantages are accurate positioning and high precision; however, currently, most devices are expensive and have poor portability, and are not easily applicable to the grass-roots community environment and home personal operation treatment scenarios.

[0035] The main problems of the above technologies include: In the coordinate mapping space type technology: (1) It is necessary to collect hundreds of samples in advance for spatial coordinate calculation; (2) Subsequently, the subjects need to wear a customized CPC coordinate cap as the positioning of the stimulation points; (3) Since the expected positions of the position points of the pre-prepared samples are used as the reference, there is a lack of more individualized and precise target distance definition. For the optical positioning type: (1) It requires expensive optical positioning equipment and supporting probe positioning support, and also requires professional operation training. (2) This device is not convenient to move and portable. In the case of tight medical resources in large hospitals, it is not suitable for spreading to grass-roots hospitals for use to relieve the pressure of resource allocation;

[0036] In addition, the prior art also has the following objective drawbacks: (1) The operation speed of mapping brain regions to the three-dimensional scalp is relatively slow and lacks efficiency; brain imaging technologies such as MRI generate high-resolution and high-dimensional data. Converting this data into three-dimensional scalp coordinates that can be used for non-invasive brain stimulation (NIBS) requires a large amount of computing resources. This conversion involves complex spatial transformations and possible interpolation calculations, which are computationally intensive operation tasks if the full-brain data is directly used. (2) Currently, there is a lack of dynamic measurable distance position localization for brain region annotation and corresponding markers in different individuals: There are significant individual differences in the anatomical structure and function of the human brain. This makes it complicated to directly apply a standardized brain region localization method to all individuals. For example, even when using a unified brain atlas (such as the MNI standard brain map) for annotation, the differences between individuals may lead to actual deviations in the marked positions. (3) There is a lack of intuitive human surface result display when presenting the positioning target and performing the stimulation operation, and the positioning requires observing structural image data for positioning. Current neuromodulation devices often lack the ability to convert complex neuroimaging data into an easily understandable visual representation in real time. This means that even during actual operation, doctors and technicians need to convert between abstract data and the actual head position of the patient. Precise brain region localization requires advanced technical support and professional training of the operator. Without sufficient training and experience, it may be difficult to correctly interpret the imaging data and apply it to actual operation.

[0037] In response to the above problem description, we propose a new strategy for rapid brain region mapping and intuitive target positioning on the human surface. It provides personalized positioning solutions for different individuals, and the portable auxiliary positioning headgear is more suitable for the application scenario, thereby improving the positioning accuracy of transcranial stimulation therapy, reducing the influence of positioning errors, and improving the treatment effect.

[0038] Embodiment 1

[0039] Figure 1 FIG. is a schematic flowchart of a method for determining print data of a positioning headgear for assisting transcranial magnetic stimulation therapy provided by an embodiment of the present invention. This embodiment is applicable to the situation where an auxiliary positioning device needs to be made for transcranial magnetic stimulation therapy. This method can be executed by a simulation device, and the device can be implemented in the form of software and / or hardware. The hardware can be an electronic device such as a mobile terminal, a PC terminal, or a server, etc.

[0040] As Figure 1 shown, the method for determining print data of the positioning headgear for assisting transcranial magnetic stimulation therapy includes:

[0041] S110. Obtain the head MR image data corresponding to the target object.

[0042] Among them, the target object can be any patient who needs to be treated with transcranial magnetic stimulation. The head MR image data refers to the head imaging data obtained by scanning the cranium of the target object using Magnetic Resonance Imaging (MRI) technology.

[0043] In this embodiment, the head MR image data corresponding to the target object can be pre-shot and stored in the database. When it is necessary to determine the positioning hood printing data of the target object, it can be obtained from the database.

[0044] Exemplarily, when shooting the head MR image data corresponding to the target object, the target object can be guided to the shooting room and scanned according to the requirements of the radiologist. The doctor will adjust the position of the target object according to the head part to be scanned to ensure the accuracy of the scan. In this way, MR structural image data can be obtained, and these data can be used as standard data for subsequent brain region segmentation and stimulation point positioning reference.

[0045] S120. Perform head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram.

[0046] Before introducing this step, the basic concepts of brain regions and brain region division can be explained first. The encephalic region is a region in the brain with specific functions. These regions are divided according to different functions and have a fine connection and information exchange mechanism with each other. Brain region division refers to classifying and labeling different regions of the brain according to their functions to better understand the role of each region in brain function.

[0047] Brain region division mainly involves different parts of the brain and their respective functions. The brain can be divided into multiple functional areas, and each area has its specific function. For example: Cerebral cortex: Controls logical thinking, including the neocortex in the forebrain, which is further divided into four main regions: the frontal lobe, parietal lobe, occipital lobe, and temporal lobe. Left and right hemispheres: The left hemisphere is mainly responsible for functions such as language, reasoning, logical analysis, calculation, memory, and reading; the right hemisphere controls emotions, intuition, vision, perception, art, music rhythm, image memory, and body coordination. Thalamus: Undertakes functions such as nerve reflexes, muscle coordination, and body balance in humans. Spinal cord: Controls subconscious personal behaviors of the human body, such as heart rate and breathing. Specific regions and functions of brain region division Frontal lobe: Involved in higher cognitive functions and voluntary motor control, such as reasoning, planning, emotion processing, problem-solving, and the execution of certain language and actions. Parietal lobe: Processes the perception of touch, pressure, temperature, and pain, and is also involved in the regulation of spatial attention and the understanding of complex movements and labor skills. Occipital lobe: Serves as the main center for visual stimuli and is responsible for analyzing and processing visual information from the eyes. Temporal lobe: Mainly processes auditory stimuli, including language and certain aspects of memory. Diencephalon: Includes parts such as the thalamus and hypothalamus. Although diencephalon lesions usually do not have typical characteristics, it plays an important role in brain functions. Cerebellum: Responsible for maintaining body balance, regulating muscle tone, and coordinating voluntary movements. Brainstem: Includes the medulla oblongata, pons, and midbrain, and controls various life-sustaining functions, such as breathing, heartbeat, and digestion. In this embodiment, dividing the brain regions of the target object can help doctors better diagnose and treat nervous system diseases. For example, for patients with brain injuries or diseases, doctors can formulate specific transcranial magnetic stimulation treatment plans by locating the damaged brain regions.

[0048] In this embodiment, for the development schematic diagram of the head MR image data, refer to Figure 2 , Figure 2 (A) is the cross-sectional development image of the head MR image data, Figure 2 (B) is the coronal development image of the head MR image data, Figure 2 (C) is the sagittal development image of the head MR image data. Taking Figure 2 (A) as an example, the grayish-white developed area within the skull in the figure corresponds to the intracranial brain of the target object; the grayish-white developed area surrounding the intracranial brain corresponds to the surface of the target object's head. The head surface structure diagram is a three-dimensional image used to represent the head surface structure. The brain region division structure diagram is a three-dimensional image used to represent the different brain region structures within the intracranial brain.

[0049] In this embodiment, the head MR image data includes brain MR image data corresponding to the intracranial brain of the target object and head surface MR image data corresponding to the head surface of the target object. By performing data recognition on the head MR image data, the head surface MR image data and the brain MR image data can be obtained. Furthermore, brain region recognition processing can be performed on the brain MR image data to obtain the brain region labels corresponding to each voxel in the brain MR image data, and a brain region division structure diagram can be constructed based on these brain region labels. By performing image calculations such as threshold segmentation, erosion, and exclusive OR on the surface MR image data, a head surface structure diagram including a scalp surface structure diagram and a facial structure diagram can be obtained.

[0050] Exemplarily, partial schematic diagrams of the head surface structure diagram and the brain region division structure diagram of the target object are shown in Figure 3 . As Figure 3 shown, the structure diagram including a plurality of concave and convex curved surfaces in the figure is the brain region division structure diagram. In particular, in order to enhance the difference between different brain regions, different rendering colors can be configured for different brain regions in the brain region division structure diagram. Figure 3 The structure wrapped outside the head surface structure diagram in

[0051] S130. Based on the preset reference points in the head surface structure diagram, a head curved surface reference coordinate system is constructed.

[0052] Among them, the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point.

[0053] In this embodiment, the purpose of constructing the head curved surface reference coordinate system is to accurately describe the position information of the stimulation target point through the head curved surface reference coordinate system. On the basis of obtaining the scalp surface structure diagram, it is easy to determine the position coordinates of the nasal root part in the middle of the eyebrow bone, the left ear root part, the right ear root part, and the external occipital protuberance part of the target object in the scalp surface structure diagram. Based on this, the position coordinates corresponding to these parts can be respectively determined as the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point. Furthermore, the coordinate axes and the coordinate origin can be determined according to these reference points to obtain the head curved surface reference coordinate system for describing the position of the surface target point.

[0054] More specifically, the connection curve between the nasal root reference point in the middle of the eyebrow bone and the external occipital protuberance reference point can be defined as the first curved surface coordinate axis; the connection curve between the left ear root reference point and the right ear root reference point can be defined as the second curved surface coordinate axis; the intersection point between the first curved surface coordinate axis and the second curved surface coordinate axis can be defined as the coordinate origin; the head curved surface reference coordinate system is composed of the first curved surface coordinate axis, the second curved surface coordinate axis, and the coordinate origin.

[0055] In this embodiment, refer to the schematic diagram of the head surface reference coordinate system Figure 4 . The positions of the reference points of the nasal root in the middle of the superciliary ridge, the reference point of the left ear root, the reference point of the right ear root, and the reference point of the external occipital protuberance in the target object are as shown in Figure 4 . The reference point of the nasal root in the middle of the superciliary ridge and the reference point of the external occipital protuberance can be connected, and the curve determined thereby is defined as the first surface coordinate axis; the reference point of the left ear root and the reference point of the right ear root are connected, and the curve determined thereby is defined as the second surface coordinate axis; thus, the point where these two coordinate axes intersect at the top of the head is used as the coordinate origin. Then, on the first surface coordinate axis and the second surface coordinate axis, scale lines can be generated according to the surface distance. Based on this, the position distance of any positioned target point can be determined by their distances from these two reference coordinate axes, and the head surface reference coordinate system for describing the position of the surface target point is obtained.

[0056] S140. Based on the brain region division structure diagram, determine at least one intracranial stimulation target point, map the at least one intracranial stimulation target point onto the head surface structure diagram, and determine the target surface coordinates of the corresponding surface target point of each intracranial stimulation target point in the head surface reference coordinate system.

[0057] Among them, the intracranial stimulation target point can be the target intracranial stimulation target point marked by professionals on the brain region division structure diagram. The surface target point position refers to the position information of the intracranial stimulation target point mapped onto the head surface structure diagram. The target surface coordinates refer to the coordinates of the surface target point position in the head surface reference coordinate system. It can be understood that the surface target point position of the intracranial stimulation target point mapped onto the scalp surface structure diagram can be described by the target surface coordinates in the pre-constructed head surface reference coordinate system.

[0058] Specifically, on the basis of obtaining the brain region division structure diagram, a doctor can mark one or more marked areas on the brain region division structure diagram, and these marked areas are the intracranial stimulation target points. Thus, these intracranial stimulation target points can be mapped onto the scalp surface structure diagram. In this embodiment, since the intracranial stimulation target point corresponds to the inside of the brain of the target object, the operator cannot accurately determine the position of the preset intracranial stimulation target point corresponding to the scalp surface of the target object. The at least one intracranial stimulation target point can be mapped onto the scalp surface structure diagram. In this way, the operator can intuitively and accurately determine the scalp stimulation target point.

[0059] Exemplarily, for each intracranial stimulation target point, the nearest neighbor algorithm can be used to find the closest point on the scalp surface structure diagram. For example, the Euclidean distance between the intracranial stimulation target point and each point on the scalp surface structure diagram can be calculated, and the target scalp surface point with the smallest distance is selected as the surface target point position of the intracranial stimulation target point on the scalp surface structure diagram. For example, the schematic diagram of the surface target point of a certain intracranial stimulation target point on the scalp surface structure diagram is as shown in Figure 3as shown by the spheres in []. Specifically, the accuracy of the mapping can be verified at the end to ensure that each point on the scalp surface corresponds to the corresponding position of the brain target points that have been mapped, and different colors are used for representation.

[0060] In this embodiment, for patients who need to repeatedly treat a fixed position, repeatedly performing brain stimulation positioning operations is a time-consuming and laborious task. Therefore, in order to reduce the cost of repeated use, a wearable head positioning indicator cover (i.e., a cranial magnetic stimulation treatment auxiliary positioning headgear) can be developed according to the target surface coordinates corresponding to the brain stimulation target points and the head surface reference coordinate system.

[0061] Based on this, on the basis of obtaining the target mapping surface map, the target surface coordinates corresponding to each preset brain stimulation target point can be obtained to provide a data basis for the subsequent production of the transcranial magnetic stimulation treatment auxiliary positioning headgear according to these target surface coordinates.

[0062] S150. Based on each target surface coordinate and the head surface reference coordinate system, construct a target mapping three-dimensional model.

[0063] Among them, the target mapping three-dimensional model is a three-dimensional model obtained by performing modeling processing on the coordinate axes of the head surface reference coordinate system and each target surface coordinate.

[0064] In this embodiment, for the structural schematic diagram of the target mapping three-dimensional model, see Figure 5 , and this target mapping three-dimensional model is used to characterize the shape structure of the 3D printed personalized conformal frame. The coordinate axes of the head surface reference coordinate system can be used as the main frame to construct a hemispherical shell model. On the basis of the shell model, according to the two coordinate axes in the shell model and the positions of each target surface coordinate, determine the position of the target stimulation target relative to the shell model, and construct a connection model from the shell model to the target stimulation target. On the connection model, a cavity with a preset shape can be set at the position of the target stimulation target. Based on this, the target mapping three-dimensional model can be obtained.

[0065] Specifically, continue to refer to Figure 5 , and a first fixing model corresponding to the root of the nose in the middle of the eyebrow bone, a second fixing model corresponding to the left ear root, a third fixing model corresponding to the right ear root, and a fourth fixing model corresponding to the root of the nose in the middle of the eyebrow bone can be added to the target mapping three-dimensional model. Based on this, the finally produced transcranial magnetic stimulation treatment auxiliary positioning headgear includes a first fixing device corresponding to the root of the nose in the middle of the eyebrow bone, a second fixing device corresponding to the left ear root, a third fixing device corresponding to the right ear root, and a fourth fixing device corresponding to the root of the nose in the middle of the eyebrow bone.

[0066] S160. Based on the target mapping three-dimensional model, determine the 3D printing data for manufacturing the auxiliary positioning hood, and manufacture the auxiliary positioning hood for transcranial magnetic stimulation therapy based on the 3D printing data.

[0067] Among them, the 3D printing data refers to the digital model file used in the 3D printing process. These data are usually obtained by converting the data format of the target mapping model, containing the three-dimensional geometric information of the object, and guiding the 3D printer on how to build the object layer by layer. The 3D printing data can be files in formats such as STL and OBJ, which contain information such as the geometric shape, size, and material properties of the object.

[0068] In this embodiment, based on the obtained target mapping model, the target mapping model can be converted into 3D printing data for manufacturing the auxiliary positioning hood for transcranial magnetic stimulation therapy. Thus, a personalized auxiliary positioning hood for transcranial magnetic stimulation therapy can be manufactured for the target object. In particular, during the subsequent treatment process of the target object, as long as the treatment plan remains unchanged, the subject only needs to wear the indicating hood to perform the positioning of the stimulation point.

[0069] It can be understood that given the current shortage of medical resources and the increasing number of patients with rTMS needs, doctors can remotely guide patients to use it in a home scenario after the patient's treatment plan and stimulation target are stable. However, in grass-roots and home scenarios, there is often a lack of guidance from optical devices and real-time tracking devices. Therefore, after the patient's treatment plan and stimulation target are stable, the method of retaining fixed stimulation position points can be adopted. By manufacturing the auxiliary positioning hood for transcranial magnetic stimulation therapy, it can help the target object perform the positioning operation, facilitate the target object to operate according to the fixed stimulation points, and can improve the treatment efficiency and reduce the pressure on medical resources.

[0070] The technical solution of the embodiment of the present invention includes: obtaining the head MR image data corresponding to the target object; performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram. Further, based on the preset reference points in the head surface structure diagram, a head surface reference coordinate system is constructed, where the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point; based on the brain region division structure diagram, at least one intracranial stimulation target is determined, and the at least one intracranial stimulation target is mapped onto the head surface structure diagram to determine the target surface coordinates of the corresponding surface target positions of each intracranial stimulation target in the head surface reference coordinate system. Further, based on each target surface coordinate and the head surface reference coordinate system, a target mapping three-dimensional model is constructed. Furthermore, based on the target mapping three-dimensional model, 3D printing data for manufacturing an auxiliary positioning headgear is determined, so as to manufacture an auxiliary positioning headgear for transcranial magnetic stimulation treatment based on the 3D printing data. The technical solution of this embodiment can obtain the intracranial structure information adapted to the target object through automatic model construction of the head MR image data, and can also accurately describe the stimulation target through the position coordinates in the head surface reference coordinate system to obtain the 3D printing data for manufacturing the auxiliary positioning headgear, so that the 3D printing technology can be used to print personalized auxiliary positioning headgears for different objects. In the home and repeated scenarios, the personalized auxiliary positioning headgear is used to assist in the target positioning of transcranial magnetic stimulation treatment, improving the positioning efficiency, individual adaptability, and universality of the stimulation target.

[0071] Embodiment 2

[0072] Figure 6 FIG. is a schematic diagram of a method for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation treatment provided by an embodiment of the present invention. On the basis of the foregoing embodiment, S120 is further refined, and the specific implementation manner can refer to the technical solution of this embodiment. The same or corresponding technical terms as those in the above embodiment will not be described herein again.

[0073] As Figure 6 shown, the method specifically includes the following steps:

[0074] S210. Obtain the head MR image data corresponding to the target object.

[0075] S220. Perform head surface segmentation processing on the head MR image data to obtain head surface MR image data and brain MR image data.

[0076] In this embodiment, the head MR image data includes brain MR image data corresponding to the intracranial brain of the target object and head surface MR image data corresponding to the head surface of the target object. By performing head surface segmentation processing on the head MR image data, for example, algorithms such as threshold segmentation, erosion, and exclusive OR can be used to obtain the head surface MR image data and the brain MR image data.

[0077] S230. Determine the head surface structure diagram based on the head surface MR image data.

[0078] In this embodiment, model construction processing can be performed on the head surface MR image data to obtain a head surface structure diagram corresponding to the target object.

[0079] S240. Perform brain region division processing on the brain MR image data to obtain the brain region label value corresponding to each voxel in the brain MR image data.

[0080] In this embodiment, the specific implementation methods for performing brain region division processing on the brain MR image data may include at least the following two:

[0081] The first one is to input the brain MR image data into a pre-trained brain segmentation model for brain region division processing to obtain the brain region label value corresponding to each voxel in the brain MR image data.

[0082] Specifically, multiple to-be-segmented sample images with annotation information can be obtained. For example, after registering multiple to-be-segmented sample images using common software such as FreeSurfer, their corresponding annotation information can be quickly obtained. Then, based on these paired images and segmentation samples, the to-be-trained brain segmentation model (for example, it can be a neural network model) is trained to obtain a segmentation model with excellent performance. In this way, a more accurate and rapid brain segmentation result can be obtained by means of the trained brain segmentation model. When applying this brain segmentation model, the brain MR image data can be input into the brain segmentation model, and the brain segmentation model can output the brain region label value corresponding to each voxel in the brain MR image data.

[0083] Another one is to perform brain region division processing on the brain MR image data based on the multi-atlas algorithm to obtain the brain region label value corresponding to each voxel in the brain MR image data. The specific implementation method of this method may include the following steps:

[0084] S1. Obtain the reference brain MR image data corresponding to at least one reference object and the reference brain region division result corresponding to the reference brain MR image data.

[0085] Among them, the reference object refers to the object for which brain region segmentation processing has been completed. The reference brain region segmentation result is the reference brain region label value corresponding to each voxel in the reference brain MR image data.

[0086] In this embodiment, for each reference object, the corresponding reference brain MR image data and the corresponding reference brain region segmentation result are determined in advance, and these data contents can be obtained here.

[0087] S2. Perform registration processing on the brain MR image data and each reference brain MR image data to determine the registration transformation matrix.

[0088] In this embodiment, the processing process for each reference brain MR image data is the same. Here, any one of the reference brain MR image data is taken as an example for illustration. The multi-atlas method mainly uses the method of registration. The purpose is to find a transformation T (i.e., the registration transformation matrix) such that the reference brain MR image data I source can be aligned with the brain MR image data I target Then, the standard brain region segmentation template (i.e., the reference brain region segmentation result corresponding to the reference brain MR image data) can be correspondingly transformed onto the brain MR image data of the target object, and the corresponding brain region segmentation result can be obtained, which is the brain region segmentation result of the target object.

[0089] More specifically, the mathematical representation of registration is achieved by minimizing the difference between the reference brain MR image data and the brain MR image data. The formula is expressed as:

[0090] T * = argmin T ||T(I source ) - I target ||

[0091] T in the formula can be a rigid transformation (including rotation and translation), an affine transformation (including rotation, translation, scaling, and shear), or a more complex non-linear transformation. The optimization process can be achieved through different measurement methods. For example, it can be achieved by minimizing the squared difference, mutual information, etc. between the reference brain MR image data and the brain MR image data.

[0092] S3. Based on the registration transformation matrix and the reference brain region segmentation result, determine the brain region label value corresponding to each voxel in the brain MR image data.

[0093] In this embodiment, based on the obtained registration transformation matrix, the reference brain region division result is processed through the registration transformation matrix, and the obtained result is the brain region segmentation result of the brain MR image data of the target object. The specific representation form of this brain region segmentation result is the brain region label value corresponding to each voxel in the brain MR image data.

[0094] Specifically, if there are reference brain MR image data corresponding to multiple reference objects, the processing results of each reference object can be averaged to obtain the final brain region segmentation result.

[0095] In this embodiment, the atlas method or a deep learning segmentation model is used to obtain the brain region segmentation results of different users. Based on the positional relationship between the outermost annotation of the brain region segmentation result and the scalp layer, a fast search algorithm is used to find the brain region label closest to the scalp position points, and then the mapping from the brain region segmentation result to the head can be quickly calculated.

[0096] S250. Construct a head surface reference coordinate system based on the preset reference points in the head surface structure diagram; wherein, the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point.

[0097] S260. Based on the brain region division structure diagram, determine at least one intracranial stimulation target, map the at least one intracranial stimulation target onto the head surface structure diagram, and determine the target surface coordinates of the corresponding surface layer targets of each intracranial stimulation target in the head surface reference coordinate system.

[0098] S270. Construct a target mapping three-dimensional model based on the target surface coordinates and the head surface reference coordinate system.

[0099] S280. Based on the target mapping three-dimensional model, determine the 3D printing data for manufacturing the auxiliary positioning headgear, so as to manufacture the auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

[0100] In the technical solution of the embodiment of the present invention, when determining the head surface structure diagram and the brain region division structure diagram, first, the head surface of the head MR image data is segmented to obtain the head surface MR image data and the brain MR image data; then, based on the head surface MR image data, the head surface structure diagram is determined; at the same time, the brain region of the brain MR image data is divided to obtain the brain region label value corresponding to each voxel in the brain MR image data; thus, based on the brain MR image data and the brain region label values of each voxel, the brain region division structure diagram is determined. The technical solution of this embodiment can customize and optimize the unique brain structure of the target object, and quickly and efficiently obtain the head surface structure diagram and the brain region division structure diagram of the target object through image segmentation technology and brain region division technology.

[0101] Example 3

[0102] Figure 7 As a schematic diagram of a method for determining printed data of a positioning headgear for assisting transcranial magnetic stimulation therapy provided by an embodiment of the present invention, on the basis of the foregoing embodiment, an automated model construction is performed on the head MR image data and the head depth point cloud data of a target object, and a fused head model adapted to the target object can be obtained. This model can represent both the head texture information of the target object and the intracranial structure information. For specific implementation manners, reference may be made to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiment will not be elaborated herein.

[0103] As Figure 7 shown, the method specifically includes the following steps:

[0104] S310. Obtain the head MR image data corresponding to the target object.

[0105] S320. Perform head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram.

[0106] More specifically, the head surface structure diagram includes a scalp surface layer structure diagram and a facial structure diagram. The three-dimensional image corresponding to the hemispherical head surface that wraps the intracranial brain can be called the scalp surface layer structure diagram; the three-dimensional image representing the facial structure of the target object is called the facial structure diagram.

[0107] S3301. Obtain the head depth point cloud data corresponding to the target object to reconstruct a head three-dimensional model corresponding to the target object based on the head depth point cloud data.

[0108] Among them, the head depth point cloud data refers to the point cloud data of the head surface of the target object obtained by a depth sensor in three-dimensional space. These data usually contain the coordinate information of each point on the head surface in three-dimensional space, as well as possible other attributes, such as color information and reflection intensity information. The head three-dimensional model refers to a three-dimensional stereoscopic image model of the head created by three-dimensional reconstruction technology. The head three-dimensional model can be composed of a large number of meshes, and each mesh can be called a "Mesh".

[0109] In this embodiment, the head depth point cloud data corresponding to the target object can be pre-shot and stored in a database. When it is necessary to preview the brain structure image of the target object, it can be obtained from the database. When collecting the head depth point cloud data corresponding to the target object, a depth camera is mainly used to shoot the head depth point cloud data. Specifically, the target object should be kept static, and the depth camera captures the depth information of the head by emitting and receiving infrared light, and this data is the head depth point cloud data. Preferably, the depth camera can scan the head of the target object from multiple angles to obtain omnidirectional depth data.

[0110] Specifically, on the basis of obtaining the head depth point cloud data, the head depth point cloud data can be processed and reconstructed by computer software to obtain the head three-dimensional model corresponding to the target object, and the head three-dimensional model can represent the information of the surface geometry of the target object's head. On the basis of the generated head three-dimensional model, various technical means such as denoising, data completion, surface smoothing, adjusting the resolution of the model, and detail enhancement can be used to optimize the head three-dimensional model to improve the fidelity and practicality of the head three-dimensional model.

[0111] S3302. Map different brain regions and / or at least one intracranial stimulation target in the brain region division structure diagram onto the scalp surface structure diagram to obtain the target mapping surface diagram.

[0112] Among them, the intracranial stimulation target can be the target intracranial stimulation target marked by professionals in the brain region division structure diagram. The target mapping surface diagram is a three-dimensional image obtained after mapping different brain regions and / or intracranial stimulation targets onto the scalp surface structure diagram.

[0113] In this embodiment, since the preset intracranial stimulation target and the brain region division structure diagram correspond to the inside of the target object's brain, the operator cannot accurately determine the position of the preset intracranial stimulation target or different brain regions corresponding to the scalp surface of the target object. The brain region division structure diagram and / or at least one preset intracranial stimulation target can be mapped onto the scalp surface structure diagram, so that the operator can visually and accurately determine the scalp stimulation target. Specifically, if a doctor marks one or more preset intracranial stimulation targets on the brain region division structure diagram, these stimulation targets and different brain regions in the brain region division structure diagram can be mapped onto the scalp surface structure diagram; in addition, if there is no preset intracranial stimulation target marked on the brain region division structure diagram, only different brain regions in the brain region division structure diagram can be mapped onto the scalp surface structure diagram.

[0114] Exemplarily, the nearest neighbor algorithm can be used to map different brain regions in the brain region division structure diagram to the scalp surface structure diagram. Exemplarily, for the schematic diagram of mapping different brain regions in the brain region division structure diagram to the scalp surface structure diagram, see Figure 8 . For each intracranial stimulation target, the nearest neighbor algorithm can also be used to find the closest point on the scalp surface structure diagram.

[0115] S3303. Based on the facial structure diagram, perform alignment and fusion processing on the three-dimensional head model, the brain region division structure diagram, and the target mapping surface diagram to obtain a fused head model corresponding to the target object.

[0116] Among them, the fused head model is a three-dimensional model image obtained by fusing and aligning the three-dimensional head model, the brain region division structure diagram, and the target mapping surface diagram.

[0117] In this embodiment, the facial structure diagram can be first converted into a three-dimensional facial model. Furthermore, perform registration processing on the facial positions of the three-dimensional facial model and the three-dimensional head model to obtain a registration transformation matrix for converting the three-dimensional facial model to the facial position of the three-dimensional head model. Thus, the brain region division structure diagram and the target mapping surface diagram can be respectively subjected to registration transformation processing through the registration transformation matrix. Finally, an aligned and fused image that can display both the detailed texture features of the target object's head and the mapping features of the corresponding brain regions or stimulation targets of the target object can be obtained. This image is the fused head model corresponding to the target object.

[0118] Optionally, the specific implementation method for determining the fused head model corresponding to the target object may include the following steps:

[0119] S1. Convert the facial structure diagram into a three-dimensional facial model.

[0120] In this embodiment, according to the facial structure diagram of the target object, a three-dimensional stereoscopic image model created through three-dimensional reconstruction technology can be obtained. This model is the three-dimensional facial model M mri . The three-dimensional facial model can also be composed of a large number of meshes, and each mesh can be called a "Mesh".

[0121] S2. Perform registration processing on the facial parts of the three-dimensional facial model and the three-dimensional head model to determine the facial registration transformation matrix.

[0122] In this embodiment, the facial part in the three-dimensional head model can be represented as M c , and the three-dimensional facial model M mri can be aligned to the facial part M c in the three-dimensional head model by using a registration algorithm. The transformation matrix obtained thereby is the facial registration transformation matrix.

[0123] S3. Align the brain region division structure diagram and the target mapping surface layer diagram to the three-dimensional head model based on the facial registration transformation matrix to obtain a fused head model corresponding to the target object.

[0124] In this embodiment, the brain region division structure diagram and the target mapping surface layer diagram are aligned and transformed through the facial registration transformation matrix. Thus, the brain region division structure diagram and the target mapping surface layer diagram can be aligned to the three-dimensional head model, and the final overall model obtained is the fused head model corresponding to the target object. This fused head model achieves the effect of aligning the information of the color facial geometry scanned by the camera, the brain region division structure information, and the target mapping structure information. Through the facial registration transformation matrix, the brain region division structure diagram and the target mapping surface layer diagram are aligned to the three-dimensional head model to obtain a fused head model that conforms to the objective body position, improving the matching and usability of the fused head model.

[0125] S3304. Display the fused head model in the target display interface so that the consulting user can determine the target stimulation points for transcranial magnetic stimulation treatment of the target object based on the fused head model.

[0126] In this embodiment, based on obtaining the fused head model, the fused head model can be displayed in the display interface corresponding to the consulting user (i.e., the target display interface). When the consulting user performs transcranial magnetic stimulation treatment on the target object, according to the real-time tracking technology, a simple optical sensor can be used to track the exact position of the stimulation device and display the position of the current position of the stimulation device relative to the fused head model on the target display interface in real time, so that the current position of the stimulation device approaches the surface target point position on the fused head model, and the position coordinates of the current position of the stimulation device in the head surface reference coordinate system can be displayed in real time. At the same time, in order to better observe the position of the stimulation device relative to the surface target point, the function of laser display of the corresponding path can also be added to directly display the stimulation position points on the scalp surface of the fused head model to help the doctor align the stimulation position.

[0127] Specifically, the specific display content of the fused head model can be adjusted according to the user's operation. For example, a schematic diagram of the display of a three-dimensional head model is shown in Figure 9 It is possible to display the three-dimensional head model and the target mapping surface layer diagram of the fused head model in the target display interface, as shown in Figure 9 (A); It is also possible to display the three-dimensional head model and the brain region division structure diagram of the fused head model in the target display interface, as shown in Figure 9 (B).

[0128] S3401. Construct a reference coordinate system for the head surface based on the preset reference points in the head surface structure diagram. The preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point.

[0129] S3402. Based on the brain region division structure diagram, determine at least one intracranial stimulation target, map the at least one intracranial stimulation target onto the head surface structure diagram, and determine the target surface coordinates of the corresponding surface targets of each intracranial stimulation target in the reference coordinate system of the head surface.

[0130] S3403. Construct a three-dimensional model of target mapping based on the target surface coordinates and the reference coordinate system of the head surface.

[0131] S3404. Based on the three-dimensional model of target mapping, determine the 3D printing data for manufacturing the auxiliary positioning headgear, so as to manufacture the auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

[0132] In the technical solution of the embodiment of the present invention, by acquiring the head MR image data and head depth point cloud data corresponding to the target object, and then reconstructing the head three-dimensional model corresponding to the target object based on the head depth point cloud data. Further, perform head surface segmentation and brain region division processing on the head MR image data to obtain the head surface structure diagram and the brain region division structure diagram. Among them, the head surface structure diagram includes the scalp surface structure diagram and the facial structure diagram. Then, map different brain regions in the brain region division structure diagram and / or at least one preset intracranial stimulation target onto the scalp surface structure diagram to obtain the target mapping surface diagram. The surface target position where the preset intracranial stimulation target is mapped onto the scalp surface structure diagram is described by the target surface coordinates in the pre-constructed reference coordinate system of the head surface. Further, based on the facial structure diagram, perform alignment and fusion processing on the head three-dimensional model, the brain region division structure diagram, and the target mapping surface diagram to obtain the fused head model corresponding to the target object. Thus, the fused head model can be displayed on the target display interface, so that the consulting user can determine the target stimulation target for performing transcranial magnetic stimulation therapy on the target object based on the fused head model. In the technical solution of this embodiment, through the automatic model construction of the head MR image data and head depth point cloud data of the target object, a fused head model adapted to the target object can be obtained. This model can not only represent the head texture information of the target object, but also represent the intracranial structure information, and can also accurately describe the stimulation target through the position coordinates in the reference coordinate system of the head surface. By using this fused head model to assist in the target positioning of transcranial magnetic stimulation therapy, the positioning efficiency, individual adaptability, and universality of the stimulation target are improved.

[0133] Embodiment 4

[0134] Figure 10The structural schematic diagram of a device for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy provided by an embodiment of the present invention. The device includes: a data acquisition module 410, an MR data segmentation module 420, a head coordinate system construction module 430, a target point coordinate determination module 440, a target point model construction module 450, and a 3D printing data determination module 460.

[0135] Among them, the data acquisition module 410 is used to acquire the head MR image data corresponding to the target object;

[0136] The MR data segmentation module 420 is used to perform head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram;

[0137] The head coordinate system construction module 430 is used to construct a head surface reference coordinate system based on the preset reference points in the head surface structure diagram; among them, the preset reference points include the nasal root reference point in the middle of the superciliary arch, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point;

[0138] The target point coordinate determination module 440 is used to determine at least one intracranial stimulation target point based on the brain region division structure diagram, map the at least one intracranial stimulation target point onto the head surface structure diagram, and determine the target surface coordinates of the corresponding surface target positions of each intracranial stimulation target point in the head surface reference coordinate system;

[0139] The target point model construction module 450 is used to construct a target point mapping three-dimensional model based on each target surface coordinate and the head surface reference coordinate system;

[0140] The 3D printing data determination module 460 is used to determine the 3D printing data for manufacturing the auxiliary positioning headgear based on the target point mapping three-dimensional model, so as to manufacture an auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

[0141] On the basis of the above device, optionally, the MR data segmentation module 420 includes:

[0142] The MR image data segmentation unit is used to perform head surface segmentation processing on the head MR image data to obtain head surface MR image data and brain MR image data;

[0143] The head surface determination unit is used to determine the head surface structure diagram based on the head surface MR image data;

[0144] The brain region label determination unit is used to perform brain region division processing on the brain MR image data to obtain the brain region label value corresponding to each voxel in the brain MR image data;

[0145] A brain region division unit, configured to determine a brain region division structure diagram based on the brain MR image data and the brain region label values of each voxel.

[0146] Optionally, based on the above device, the brain region label determination unit includes:

[0147] A model segmentation sub-unit, configured to input the brain MR image data into a pre-trained brain region segmentation model for brain region division processing, so as to obtain the brain region label value corresponding to each voxel in the brain MR image data;

[0148] A multi-atlas segmentation sub-unit, configured to perform brain region division processing on the brain MR image data based on a multi-atlas algorithm, so as to obtain the brain region label value corresponding to each voxel in the brain MR image data.

[0149] Optionally, based on the above device, the multi-atlas segmentation sub-unit is specifically configured to obtain the reference brain MR image data corresponding to at least one reference object and the reference brain region division result corresponding to the reference brain MR image data; wherein, the reference brain region division result is the reference brain region label value corresponding to each voxel in the reference brain MR image data; perform registration processing on the brain MR image data and each reference brain MR image data to determine a registration transformation matrix;

[0150] Based on the registration transformation matrix and the reference brain region division result, determine the brain region label value corresponding to each voxel in the brain MR image data.

[0151] Optionally, based on the above device, the head coordinate system construction module 430 includes:

[0152] A first coordinate axis determination unit, configured to define the connection curve between the middle nasal root reference point of the supraorbital ridge and the inion reference point as the first surface coordinate axis;

[0153] A second coordinate axis determination unit, configured to define the connection curve between the left ear root reference point and the right ear root reference point as the second surface coordinate axis;

[0154] A coordinate origin determination unit, configured to define the intersection point between the first surface coordinate axis and the second surface coordinate axis as the coordinate origin;

[0155] A surface coordinate system determination unit, configured to form a head surface reference coordinate system from the first surface coordinate axis, the second surface coordinate axis, and the coordinate origin.

[0156] Optionally, based on the above device, the positioning headgear printing data determination device further includes:

[0157] A three-dimensional head model construction unit, configured to obtain the head depth point cloud data corresponding to a target object, and reconstruct a three-dimensional head model corresponding to the target object based on the head depth point cloud data;

[0158] A mapped surface graph determination unit, configured to map different brain regions in the brain region division structure graph, and / or at least one of the intracranial stimulation target points to the scalp surface structure graph to obtain a target mapped surface graph;

[0159] A fusion model determination unit, configured to perform alignment and fusion processing on the three-dimensional head model, the brain region division structure graph, and the target mapped surface graph based on the facial structure graph to obtain a fused head model corresponding to the target object;

[0160] A model display unit, configured to display the fused head model on a target display interface, so that a consulting user can determine a target stimulation target point for performing transcranial magnetic stimulation treatment on the target object based on the fused head model.

[0161] Based on the above device, optionally, the fusion model determination unit includes:

[0162] A facial model determination subunit, configured to convert the facial structure graph into a three-dimensional facial model;

[0163] A transformation matrix determination subunit, configured to perform registration processing on the facial parts in the three-dimensional facial model and the three-dimensional head model to determine a facial registration transformation matrix;

[0164] A mapped model determination subunit, configured to align the brain region division structure graph and the target mapped surface graph to the three-dimensional head model based on the facial registration transformation matrix to obtain a fused head model corresponding to the target object.

[0165] The technical solution of the embodiment of the present invention: By obtaining the head MR image data corresponding to the target object; performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram. Furthermore, based on the preset reference points in the head surface structure diagram, a head surface reference coordinate system is constructed, where the preset reference points include the nasal root reference point in the middle of the eyebrow bone, the left ear root reference point, the right ear root reference point, and the external occipital protuberance reference point; based on the brain region division structure diagram, at least one intracranial stimulation target is determined, the at least one intracranial stimulation target is mapped onto the head surface structure diagram, and the target surface coordinates of the corresponding surface layer targets of each intracranial stimulation target in the head surface reference coordinate system are determined. Furthermore, based on each target surface coordinate and the head surface reference coordinate system, a target mapping three-dimensional model is constructed. Further, based on the target mapping three-dimensional model, 3D printing data for manufacturing an auxiliary positioning headgear is determined to manufacture an auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data. The technical solution of this embodiment can obtain the intracranial structure information adapted to the target object by automatically constructing a model for the head MR image data, and can also accurately describe the stimulation target through the position coordinates in the head surface reference coordinate system to obtain the 3D printing data for manufacturing the auxiliary positioning headgear, so that the 3D printing technology can be used to print personalized auxiliary positioning headgears for different objects. Under the use in family and repeated scenarios, the target positioning of transcranial magnetic stimulation therapy is assisted by the personalized auxiliary positioning headgear, which improves the positioning efficiency, individual adaptability, and versatility of the stimulation target.

[0166] The positioning headgear printing data determination device for assisting transcranial magnetic stimulation therapy provided by the embodiment of the present invention can execute the positioning headgear printing data determination method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0167] It should be noted that the various units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiment of the present invention.

[0168] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining printing data of a positioning headgear for assisting transcranial magnetic stimulation therapy, characterized in that, Including: Obtaining head MR image data corresponding to a target object; Performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram; Constructing a head curved surface reference coordinate system based on preset reference points in the head surface structure diagram; wherein, the preset reference points include a nasal root reference point in the middle of the supraorbital ridge, a left ear root reference point, a right ear root reference point, and an external occipital protuberance reference point; Based on the brain region division structure diagram, determining at least one intracranial stimulation target, mapping the at least one intracranial stimulation target onto the head surface structure diagram, and determining the target curved surface coordinates of the corresponding surface target positions of each intracranial stimulation target in the head curved surface reference coordinate system; Constructing a target mapping three-dimensional model based on each of the target curved surface coordinates and the head curved surface reference coordinate system; Based on the target mapping three-dimensional model, determining 3D printing data for manufacturing an auxiliary positioning headgear, so as to manufacture an auxiliary positioning headgear applied to transcranial magnetic stimulation therapy based on the 3D printing data.

2. The method according to claim 1, wherein The performing head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram includes: Performing head surface segmentation processing on the head MR image data to obtain head surface MR image data and brain MR image data; Determining a head surface structure diagram based on the head surface MR image data; Performing brain region division processing on the brain MR image data to obtain a brain region label value corresponding to each voxel in the brain MR image data; Determining a brain region division structure diagram based on the brain MR image data and the brain region label values of each voxel.

3. The method according to claim 2, wherein The performing brain region division processing on the brain MR image data to obtain a brain region label value corresponding to each voxel in the brain MR image data includes: Inputting the brain MR image data into a pre-trained brain segmentation model for brain region division processing to obtain a brain region label value corresponding to each voxel in the brain MR image data; or, Performing brain region division processing on the brain MR image data based on a multi-atlas algorithm to obtain a brain region label value corresponding to each voxel in the brain MR image data.

4. The method according to claim 3, wherein The performing brain region division processing on the brain MR image data based on a multi-atlas algorithm to obtain a brain region label value corresponding to each voxel in the brain MR image data includes: Obtaining reference brain MR image data corresponding to at least one reference object and a reference brain region division result corresponding to the reference brain MR image data; wherein, the reference brain region division result is a reference brain region label value corresponding to each voxel in the reference brain MR image data; Performing registration processing on the brain MR image data and each reference brain MR image data to determine a registration transformation matrix; Determining a brain region label value corresponding to each voxel in the brain MR image data based on the registration transformation matrix and the reference brain region division result.

5. The method according to claim 1, characterized in that, The constructing a head curved surface reference coordinate system based on preset reference points in the head surface structure diagram includes: Define the connection curve between the nasal root reference point in the middle of the supraorbital ridge and the inion reference point as the first surface coordinate axis; Define the connection curve between the left ear root reference point and the right ear root reference point as the second surface coordinate axis; Define the intersection point between the first surface coordinate axis and the second surface coordinate axis as the coordinate origin; The first surface coordinate axis, the second surface coordinate axis, and the coordinate origin constitute the head surface reference coordinate system.

6. The method according to claim 1, characterized in that, The head surface structure diagram includes a scalp surface structure diagram and a facial structure diagram. After performing head surface segmentation and brain region division processing on the head MR image data to obtain the head surface structure diagram and the brain region division structure diagram, the method further includes: Obtain the head depth point cloud data corresponding to the target object, so as to reconstruct the head three-dimensional model corresponding to the target object based on the head depth point cloud data; Map different brain regions in the brain region division structure diagram and / or at least one of the intracranial stimulation target points to the scalp surface structure diagram to obtain the target mapping surface diagram; Based on the facial structure diagram, perform alignment and fusion processing on the head three-dimensional model, the brain region division structure diagram, and the target mapping surface diagram to obtain a fused head model corresponding to the target object; Display the fused head model in the target display interface, so that the consulting user can determine the target stimulation target point for transcranial magnetic stimulation treatment of the target object based on the fused head model.

7. The method according to claim 6, characterized in that The performing alignment and fusion processing on the head three-dimensional model, the brain region division structure diagram, and the target mapping surface diagram based on the facial structure diagram to obtain a fused head model corresponding to the target object includes: Convert the facial structure diagram into a facial three-dimensional model; Perform registration processing on the facial parts in the facial three-dimensional model and the head three-dimensional model to determine the facial registration transformation matrix; Based on the facial registration transformation matrix, align the brain region division structure diagram and the target mapping surface diagram to the head three-dimensional model to obtain a fused head model corresponding to the target object.

8. A positioning hood printing data determination device for assisting transcranial magnetic stimulation therapy, characterized in that, including: A data acquisition module, configured to acquire head MR image data corresponding to a target object; An MR data segmentation module, configured to perform head surface segmentation and brain region division processing on the head MR image data to obtain a head surface structure diagram and a brain region division structure diagram; A head coordinate system construction module, configured to construct a head surface reference coordinate system based on preset reference points in the head surface structure diagram; wherein, the preset reference points include the nasal root reference point in the middle of the supraorbital ridge, the left ear root reference point, the right ear root reference point, and the inion reference point; A target point coordinate determination module, configured to determine at least one intracranial stimulation target point based on the brain region division structure diagram, map the at least one intracranial stimulation target point to the head surface structure diagram, and determine the target surface coordinates of the corresponding surface target positions of each intracranial stimulation target point in the head surface reference coordinate system; A target point model construction module, configured to construct a target point mapping three-dimensional model based on each target surface coordinate and the head surface reference coordinate system; The 3D printing data determination module is used to determine 3D printing data for manufacturing the auxiliary positioning hood based on the target mapping three-dimensional model, so as to manufacture the auxiliary positioning hood applied to transcranial magnetic stimulation treatment based on the 3D printing data.

9. The device according to claim 8, wherein The MR data segmentation module includes: The MR image data segmentation unit is used to perform head surface segmentation processing on the head MR image data to obtain head surface MR image data and brain MR image data; The head surface determination unit is used to determine the head surface structure diagram based on the head surface MR image data; The brain region label determination unit is used to perform brain region division processing on the brain MR image data to obtain the brain region label value corresponding to each voxel in the brain MR image data; The brain region division unit is used to determine the brain region division structure diagram based on the brain MR image data and the brain region label values of each voxel.

10. The device according to claim 9, wherein The brain region label determination unit includes: The model segmentation sub-unit is used to input the brain MR image data into a pre-trained brain region segmentation model for brain region division processing to obtain the brain region label value corresponding to each voxel in the brain MR image data; The multi-atlas segmentation sub-unit is used to perform brain region division processing on the brain MR image data based on the multi-atlas algorithm to obtain the brain region label value corresponding to each voxel in the brain MR image data.

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