Method and device for controlling transcranial magnetic robot

Abstract

The invention provides a control method and device for a transcranial magnetic robot. The control method comprises the steps that whether the current pressure borne by a transcranial magnetic stimulation racket at the tail end of a robot arm of the transcranial magnetic robot is zero or not is monitored; if the current pressure is not zero, determining a current control strategy of the transcranial magnetic robot according to a relationship between the current pressure and a preset pressure threshold range; and controlling the mechanical arm of the transcranial magnetic robot to move according to the current control strategy. Therefore, the movement of the mechanical arm is adjusted according to the current pressure borne by the transcranial magnetic stimulation racket, so that the transcranial magnetic stimulation racket is ensured not to be separated from the target spot and be tightly attached to the to-be-attached part of the patient, and the treatment experience of the patient is improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a control method and device for a transcranial magnetic robot. Background Art

[0002] Navigated Transcranial Magnetic Stimulation (nTMS), a non-invasive neuromodulation technology, has shown significant potential in the treatment of neuropsychiatric disorders such as depression, Parkinson's disease, and chronic pain in recent years. Its core principle is to precisely locate target brain areas using a neuronavigation system and stimulate neuronal activity using the alternating magnetic field generated by a transcranial magnetic stimulation (TMS) coil. Traditional nTMS systems typically rely on a robotic arm carrying the TMS coil, which is moved to the target location using a pre-set path planning process.

[0003] However, traditional transcranial magnetic navigation therapy involves the robotic arm moving in position mode to a designated location for treatment. Once at the designated location, the robotic arm joints are locked and unable to move until new instructions are issued to the robotic arm. This makes the treatment experience uncomfortable for the patient; on the other hand, because the robotic arm remains in that position when not in use, it can easily deviate from the target during treatment. Furthermore, during treatment, if the patient moves while the robotic arm remains stationary, the transcranial magnetic stimulation pad can become detached from the patient's intended attachment area, thus affecting the treatment.

[0004] Therefore, how to control the movement of the transcranial magnetic robot's robotic arm to ensure that the transcranial magnetic stimulation beat does not deviate from the target and is closely attached to the patient's part to be fitted is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a control method and device for a transcranial magnetic robot, which adjusts the movement of the robotic arm according to the current pressure exerted on the transcranial magnetic stimulation beater, thereby ensuring that the transcranial magnetic stimulation beater does not deviate from the target point and is closely attached to the patient's part to be fitted, thereby improving the patient's treatment experience.

[0006] The present invention provides a method for controlling a transcranial magnetic robot, the method comprising:

[0007] monitoring whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero;

[0008] If it is not zero, determining the current control strategy of the transcranial magnetic robot according to the relationship between the current pressure and the preset pressure threshold range;

[0009] The movement of the robotic arm of the transcranial magnetic robot is controlled according to the current control strategy.

[0010] Optionally, the relationship between the current pressure and the preset pressure threshold range includes:

[0011] The current pressure is within the pressure threshold range, or the current pressure is higher than the upper pressure limit value in the pressure threshold range, or the current pressure is lower than the lower pressure limit value in the pressure threshold range.

[0012] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is within the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to stop moving.

[0013] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

[0014] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is lower than the lower limit value of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to move forward a preset step length along the normal direction of the current end posture.

[0015] Optionally, the upper pressure limit and the lower pressure limit in the pressure threshold range are determined by the following formula:

[0016] F w1 =F t *(1+K)

[0017] F w2 =F t *(1-K)

[0018] Among them, F w1 is the upper limit of pressure, F w2 is the lower limit of pressure, F t is the predetermined initial pressure threshold; K is the fluctuation coefficient.

[0019] Optionally, when the current pressure of the transcranial magnetic stimulation beat is zero, the control method further includes:

[0020] The mechanical arm of the transcranial magnetic robot is controlled to move in a predetermined direction so that the transcranial magnetic stimulation beat reaches the target position.

[0021] The present application also provides a control device for a transcranial magnetic robot, the control device comprising:

[0022] A monitoring module, used to monitor whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero;

[0023] a determination module, configured to determine a current control strategy of the transcranial magnetic robot based on a relationship between the current pressure and a preset pressure threshold range if the current pressure is not zero;

[0024] The first control module is used to control the movement of the mechanical arm of the transcranial magnetic robot according to the current control strategy.

[0025] Optionally, the relationship between the current pressure and the preset pressure threshold range includes:

[0026] The current pressure is within the pressure threshold range, or the current pressure is higher than the upper pressure limit value in the pressure threshold range, or the current pressure is lower than the lower pressure limit value in the pressure threshold range.

[0027] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is within the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to stop moving.

[0028] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

[0029] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is lower than the lower limit value of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to move forward a preset step length along the normal direction of the current end posture.

[0030] Optionally, the upper pressure limit and the lower pressure limit in the pressure threshold range are determined by the following formula:

[0031] F w1 =F t *(1+K)

[0032] F w2 =F t *(1-K)

[0033] Among them, F w1 is the upper limit of pressure, F w2 is the lower limit of pressure, F t is the predetermined initial pressure threshold; K is the fluctuation coefficient.

[0034] Optionally, the control device further includes a second control module, wherein the second control module is configured to:

[0035] When the current pressure on the transcranial magnetic stimulation beater is zero, the mechanical arm of the transcranial magnetic robot is controlled to move in a predetermined direction so that the transcranial magnetic stimulation beater reaches a target position.

[0036] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the control method described above are performed.

[0037] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method described above are executed.

[0038] An embodiment of the present application provides a control method and device for a transcranial magnetic robot, the control method comprising: monitoring whether the current pressure exerted on the transcranial magnetic stimulation beater at the end of the transcranial magnetic robot's robotic arm is zero; if it is not zero, determining the current control strategy of the transcranial magnetic robot based on the relationship between the current pressure and a preset pressure threshold range; and controlling the movement of the robotic arm of the transcranial magnetic robot according to the current control strategy.

[0039] Thus, compared with the existing technical solutions, the technical solution of the present application has the following advantages:

[0040] 1. Compared with the clinical use of manual handheld transcranial magnetic stimulation paddles for transcranial magnetic stimulation, the transcranial magnetic stimulation navigation system mentioned in this application can greatly reduce the workload of therapists. By using a robotic arm instead of manual treatment, the workload of therapists can be greatly reduced, reducing a large amount of labor costs.

[0041] 2. Compared with fixed-position treatment, the control method mentioned in this application can realize navigation tracking. When the patient deviates from the treatment position, compared with the traditional fixed-position treatment method, the control method mentioned in this application can realize real-time update of the position, so that the patient can re-enter a reasonable treatment position even if he deviates from the treatment position.

[0042] 3. For the traditional transcranial magnetic stimulation navigation system, the technical solution of the present application can ensure that when the patient resists the operation of the robotic arm by, for example, raising his head or sitting up straight, the robotic arm can avoid the patient's resistance while ensuring that the transcranial magnetic stimulation beater is always close to the patient's head, thereby achieving continuous and precise treatment and avoiding the problem of discontinuous transcranial magnetic stimulation.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A flow chart of a control method of a transcranial magnetic robot provided in an embodiment of the present application;

[0046] Figure 2 This is one of the structural schematic diagrams of a control device of a transcranial magnetic robot provided in an embodiment of the present application;

[0047] Figure 3 This is a second structural diagram of a control device of a transcranial magnetic robot provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0050] First, let’s introduce the terms involved in this application:

[0051] A transcranial magnetic robot, also known as a transcranial magnetic-assisted therapy robot, is a medical device that combines transcranial magnetic stimulation (TMS) and robotics technology. It is primarily used for non-invasive brain neuromodulation and treatment. By precisely locating target brain areas and modulating neuronal activity using magnetic field pulses, it has important applications in areas such as mental illness and neurorehabilitation.

[0052] A transcranial magnetic stimulation (TMS) coil refers to the electromagnetic coil (often referred to as a "TMS coil") that generates magnetic field pulses in a transcranial magnetic stimulation (TMS) device. Its function is to generate magnetic field pulses and, by placing them against the patient's head, transmit magnetic field energy to the targeted brain area. The distance and angle between the coil and the head directly affect the stimulation effect. If the coil is not placed against the head, the magnetic field energy will be attenuated, resulting in ineffective or off-target stimulation.

[0053] The robotic arm of the transcranial magnetic robot is the core component used to precisely position and dynamically adjust the transcranial magnetic stimulation (TMS) coil. Its primary function is to ensure the TMS coil remains firmly in contact with the patient's head and to track head movements in real time during treatment, ensuring that magnetic field pulses precisely target the target brain area.

[0054] Next, the technical background of this application is introduced:

[0055] Navigated Transcranial Magnetic Stimulation (nTMS), a non-invasive neuromodulation technology, has shown significant potential in the treatment of neuropsychiatric disorders such as depression, Parkinson's disease, and chronic pain in recent years. Its core principle is to precisely locate target brain areas using a neuronavigation system and stimulate neuronal activity using the alternating magnetic field generated by a transcranial magnetic stimulation (TMS) coil. Traditional nTMS systems typically rely on a robotic arm carrying the TMS coil, which is moved to the target location using a pre-set path planning process.

[0056] However, traditional transcranial magnetic navigation therapy involves the robotic arm moving in position mode to a designated location for treatment. Once at the designated location, the robotic arm joints are locked and unable to move until new instructions are issued to the robotic arm. This makes the treatment experience uncomfortable for the patient; on the other hand, because the robotic arm remains in that position when not in use, it can easily deviate from the target during treatment. Furthermore, during treatment, if the patient moves while the robotic arm remains stationary, the transcranial magnetic stimulation pad can become detached from the patient's intended attachment area, thus affecting the treatment.

[0057] Therefore, how to control the movement of the transcranial magnetic robot's robotic arm to ensure that the transcranial magnetic stimulation beat does not deviate from the target and is closely attached to the patient's part to be fitted is a technical problem that needs to be solved urgently.

[0058] Based on this, an embodiment of the present application provides a control method and device for a transcranial magnetic robot, which adjusts the movement of the robotic arm according to the current pressure exerted on the transcranial magnetic stimulation beater, thereby ensuring that the transcranial magnetic stimulation beater does not deviate from the target point and is closely attached to the patient's part to be fitted, thereby improving the patient's treatment experience.

[0059] See also Figure 1 , Figure 1 This is a flow chart of a control method of a transcranial magnetic robot provided in an embodiment of the present application. Figure 1 As shown in , the control method provided by the embodiment of the present application includes:

[0060] S101. Monitor whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero.

[0061] S102: If it is not zero, determine the current control strategy of the transcranial magnetic robot according to the relationship between the current pressure and the preset pressure threshold range.

[0062] S103: Control the movement of the robotic arm of the transcranial magnetic robot according to the current control strategy.

[0063] The present invention provides a method for controlling a transcranial magnetic robot. The method monitors the current pressure exerted on a transcranial magnetic stimulation (TMS) pad at the end of the robot's arm in real time. The method first determines whether the monitored current pressure is zero. If the monitored current pressure is not zero, the method determines the current control strategy of the transcranial magnetic robot based on the relationship between the current pressure and a preset pressure threshold range. Finally, the robot's arm movement is controlled based on the determined current control strategy. In this way, the robot arm movement is adjusted based on the current pressure exerted on the TMS pad, thereby ensuring that the TMS pad does not deviate from the target and remains in close contact with the patient's area to be attached, thereby improving the patient's treatment experience.

[0064] The following describes the exemplary steps of the embodiment of the present application:

[0065] S101. Monitor whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero.

[0066] In this step, the pressure currently applied to the transcranial magnetic stimulation device at the end of the transcranial magnetic robot's arm is monitored in real time (or periodically), and the monitored current pressure is determined to determine whether the current pressure applied to the transcranial magnetic stimulation device is zero. If the current pressure applied to the transcranial magnetic stimulation device is determined to be zero, step S201 is executed; if the current pressure applied to the transcranial magnetic stimulation device is determined to be non-zero, step S102 is executed.

[0067] Here, in determining the current pressure on the transcranial magnetic stimulation beater at the end of the robotic arm of the transcranial magnetic robot, it can be achieved through the following steps: pre-install a force sensor on the transcranial magnetic stimulation beater, and determine the current pressure on the transcranial magnetic stimulation beater at the end of the robotic arm of the transcranial magnetic robot based on the value feedback from the force sensor.

[0068] In determining the current pressure exerted on the transcranial magnetic stimulation paddle at the end of the transcranial magnetic robot's arm based on the value fed back by the force sensor, the method may specifically include determining the current pressure exerted on the transcranial magnetic stimulation paddle at the end of the transcranial magnetic robot's arm based on the value fed back by the force sensor along the Z axis. The Z axis is generally perpendicular to the direction of the surface of the transcranial magnetic stimulation paddle in contact with the patient's part to be contacted.

[0069] In this step, if the current pressure of the transcranial magnetic stimulation beat on the end of the transcranial magnetic robot's arm is periodically monitored, a monitoring interval must be set in advance. This interval is also the system refresh time.

[0070] In order to ensure the control effect, a shorter monitoring interval is generally set.

[0071] S102: If it is not zero, determine the current control strategy of the transcranial magnetic robot according to the relationship between the current pressure and the preset pressure threshold range.

[0072] In this step, if it is determined that the current pressure on the transcranial magnetic stimulation beat at the end of the robotic arm of the monitored transcranial magnetic robot is not zero, the current pressure is compared with the preset pressure threshold range to determine the relationship between the two; then, based on the determined relationship between the current pressure and the preset pressure threshold range, the current control strategy of the transcranial magnetic robot is determined.

[0073] Here, when the relationship between the current pressure and the preset pressure threshold range is different, the determined current control strategy is also different.

[0074] In an optional embodiment, the relationship between the current pressure and the preset pressure threshold range includes: the current pressure is within the pressure threshold range, or the current pressure is higher than the upper pressure limit value in the pressure threshold range, or the current pressure is lower than the lower pressure limit value in the pressure threshold range.

[0075] Here, the pressure threshold range can be preset. The current pressure being within the pressure threshold range means that the current pressure is not higher than the upper pressure limit and is not lower than the lower pressure limit.

[0076] In one embodiment provided in the present application, the upper pressure limit and the lower pressure limit in the pressure threshold range are determined by the following formula:

[0077] F w1 =F t *(1+K)

[0078] F w2 =F t *(1-K)

[0079] Among them, F w1 is the upper limit of pressure, F w2 is the lower limit of pressure, F t is the predetermined initial pressure threshold; K is the fluctuation coefficient.

[0080] F t It can be set through experiments or experience, t The selected value is the pressure value that the patient feels most comfortable with. For example, 3N can be selected.

[0081] The determination of the K value is related to the accuracy of the force sensor.

[0082] Continuing with step S102, when determining the current control strategy of the transcranial magnetic robot based on the relationship between the current pressure and the preset pressure threshold range, there are specifically three cases, as shown below:

[0083] In the first case: when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is within the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to stop moving.

[0084] Here, the mechanical arm of the transcranial magnetic robot is controlled to stop moving, that is, to keep the current posture unchanged, and wait for the reading of the force sensor determined at the next monitoring time.

[0085] In the second case: when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

[0086] Here, the value of the preset step length is related to the movement speed of the robot arm and the monitoring time interval. For example, the preset step length = the movement speed of the robot arm × the monitoring time interval.

[0087] In the third case: when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

[0088] S103: Control the movement of the robotic arm of the transcranial magnetic robot according to the current control strategy.

[0089] In this step, the movement of the robotic arm of the transcranial magnetic robot is controlled according to the movement parameters in the current control strategy.

[0090] Here, it can be one of the three situations mentioned above.

[0091] In another embodiment provided by the present application, when the current pressure of the transcranial magnetic stimulation beat is zero, the control method further includes:

[0092] S201. Control the mechanical arm of the transcranial magnetic robot to move in a predetermined direction so that the transcranial magnetic stimulation beat reaches a target position.

[0093] In this step, the robotic arm of the transcranial magnetic robot is controlled to move in a predetermined direction so that the transcranial magnetic stimulation beat reaches the target position. The robotic arm of the transcranial magnetic robot is controlled to continue moving in the direction of the target position. When the movement is completed, the transcranial magnetic stimulation beat reaches the target position.

[0094] The target position is determined according to the part of the patient to be fitted.

[0095] Thus, compared with the existing technical solutions, the technical solution of the present application has the following advantages:

[0096] 1. Compared with the clinical use of manual handheld transcranial magnetic stimulation paddles for transcranial magnetic stimulation, the transcranial magnetic stimulation navigation system mentioned in this application can greatly reduce the workload of therapists. By using a robotic arm instead of manual treatment, the workload of therapists can be greatly reduced, reducing a large amount of labor costs.

[0097] 2. Compared with fixed-position treatment, the control method mentioned in this application can realize navigation tracking. When the patient deviates from the treatment position, compared with the traditional fixed-position treatment method, the control method mentioned in this application can realize real-time update of the position, so that the patient can re-enter a reasonable treatment position even if he deviates from the treatment position.

[0098] 3. For the traditional transcranial magnetic stimulation navigation system, the technical solution of the present application can ensure that when the patient resists the operation of the robotic arm by, for example, raising his head or sitting up straight, the robotic arm can avoid the patient's resistance while ensuring that the transcranial magnetic stimulation beater is always close to the patient's head, thereby achieving continuous and precise treatment and avoiding the problem of discontinuous transcranial magnetic stimulation.

[0099] Based on the same inventive concept, a control device corresponding to the control method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0100] See also Figure 2 、 Figure 3 , Figure 2 This is one of the structural diagrams of a control device of a transcranial magnetic robot provided in an embodiment of the present application. Figure 3 This is a second structural diagram of a control device of a transcranial magnetic robot provided in an embodiment of the present application. Figure 2 As shown in , the control device 200 includes:

[0101] A monitoring module 210 is used to monitor whether the current pressure on the transcranial magnetic stimulation beat at the end of the robot arm of the transcranial magnetic robot is zero;

[0102] a determination module 220 for determining a current control strategy of the transcranial magnetic robot based on a relationship between the current pressure and a preset pressure threshold range if the current pressure is not zero;

[0103] The first control module 230 is configured to control the movement of the robotic arm of the transcranial magnetic robot according to the current control strategy.

[0104] Optionally, the relationship between the current pressure and the preset pressure threshold range includes:

[0105] The current pressure is within the pressure threshold range, or the current pressure is higher than the upper pressure limit value in the pressure threshold range, or the current pressure is lower than the lower pressure limit value in the pressure threshold range.

[0106] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is within the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to stop moving.

[0107] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

[0108] Optionally, when the relationship between the current pressure and the preset pressure threshold range is that the current pressure is lower than the lower limit value of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to move forward a preset step length along the normal direction of the current end posture.

[0109] Optionally, the upper pressure limit and the lower pressure limit in the pressure threshold range are determined by the following formula:

[0110] F w1 =F t *(1+K)

[0111] F w2 =F t *(1-K)

[0112] Among them, F w1 is the upper limit of pressure, F w2 is the lower limit of pressure, F t is the predetermined initial pressure threshold; K is the fluctuation coefficient.

[0113] Optional, such as Figure 3 As shown, the control device 200 further includes a second control module 240, and the second control module 240 is configured to:

[0114] When the current pressure on the transcranial magnetic stimulation beater is zero, the mechanical arm of the transcranial magnetic robot is controlled to move in a predetermined direction so that the transcranial magnetic stimulation beater reaches a target position.

[0115] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in FIG, the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0116] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0117] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0118] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0122] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the 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 enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0123] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A control method for a transcranial magnetic robot, characterized in that: The control method includes: monitoring whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero; If it is not zero, determining the current control strategy of the transcranial magnetic robot according to the relationship between the current pressure and the preset pressure threshold range; The movement of the robotic arm of the transcranial magnetic robot is controlled according to the current control strategy.

2. The control method according to claim 1, characterized in that: The relationship between the current pressure and the preset pressure threshold range includes: The current pressure is within the pressure threshold range, or the current pressure is higher than the upper pressure limit value in the pressure threshold range, or the current pressure is lower than the lower pressure limit value in the pressure threshold range.

3. The control method according to claim 2, characterized in that: When the relationship between the current pressure and the preset pressure threshold range is that the current pressure is within the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to stop moving.

4. The control method according to claim 2, characterized in that: When the relationship between the current pressure and the preset pressure threshold range is that the current pressure is higher than the upper limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to retreat a preset step length along the normal direction of the current end posture.

5. The control method according to claim 2, characterized in that: When the relationship between the current pressure and the preset pressure threshold range is that the current pressure is lower than the lower limit of the pressure in the pressure threshold range, the current control strategy of the transcranial magnetic robot is determined to be: controlling the robotic arm of the transcranial magnetic robot to move forward a preset step length along the normal direction of the current end posture.

6. The control method according to claim 2, characterized in that: The upper pressure limit and the lower pressure limit in the pressure threshold range are determined by the following formula: F w1 =F t *(1+K) F w2 =F t *(1-K) Among them, F w1 is the upper limit of pressure, F w2 is the lower limit of pressure, F t is the predetermined initial pressure threshold; K is the fluctuation coefficient.

7. The control method according to claim 1, characterized in that: When the current pressure of the transcranial magnetic stimulation beat is zero, the control method further includes: The mechanical arm of the transcranial magnetic robot is controlled to move in a predetermined direction so that the transcranial magnetic stimulation beat reaches the target position.

8. A control device for a transcranial magnetic robot, characterized in that: The control device comprises: A monitoring module, used to monitor whether the current pressure on the transcranial magnetic stimulation beater at the end of the robot arm of the transcranial magnetic robot is zero; a determination module, configured to determine a current control strategy of the transcranial magnetic robot based on a relationship between the current pressure and a preset pressure threshold range if the current pressure is not zero; The first control module is used to control the movement of the mechanical arm of the transcranial magnetic robot according to the current control strategy.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 7 are executed.

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