Augmented reality accurate transcranial magnetic stimulation system based on voice control

Abstract

The invention discloses a voice control-based augmented reality precise transcranial magnetic stimulation system, which comprises augmented reality equipment, a voice recognition and control module and transcranial magnetic stimulation TMS equipment, and is characterized in that a magnetic resonance structure image of a tested head is projected to a real head, precise intracranial intervention sites are visualized, precise placement of a TMS coil is guided online, and the accuracy of the TMS coil is improved. The accuracy of transcranial magnetic stimulation is effectively improved, and the TMS equipment can be controlled through voice to switch a preset stimulation target, a stimulation mode, stimulation duration and the like according to a testee; the operation platform is transferred from a far-end computer screen to a tested actual head, a transcranial magnetic stimulation practitioner only needs to place a coil according to a visual model, the operation difficulty is greatly reduced, dependence on expensive and non-portable existing neural navigation hardware is reduced, and the transcranial magnetic stimulation system has the advantages of being easy and convenient to operate, portable, movable, low in cost, easy to popularize and suitable for popularization and application. And the use efficiency and the application range of the TMS equipment are greatly improved.

Description

Technical Field

[0001] The present invention relates to augmented reality technology and medical imaging navigation technology, and in particular to augmented reality transcranial magnetic stimulation technology. Background Art

[0002] Transcranial Magnetic Stimulation (TMS) is a non-invasive brain function regulation technology that generates rapidly changing magnetic fields by placing electromagnetic coils on the scalp surface, inducing cortical currents to activate or inhibit brain function. TMS has been widely used in a variety of clinical and scientific fields, including depression, anxiety, Parkinson's disease, chronic pain, and rehabilitation training. However, the efficacy of TMS depends heavily on the accuracy of the stimulation site, especially in the precise positioning of the target, and existing technologies still have many limitations.

[0003] Currently, commonly used TMS positioning methods in clinical practice include the "5cm method" and neuronavigation system positioning methods based on magnetic resonance imaging (MRI) data. MRI-based navigation systems are highly accurate, but they typically require expensive, immovable hardware, such as infrared tracking systems and positioning probes. They are complex to use, require high training costs, and have limited clinical accessibility. Traditional neuronavigation platforms rely on computer screens to display three-dimensional models, requiring operators to frequently switch between real-world operations and screen guidance, increasing learning costs and operational difficulty, hindering widespread application.

[0004] In recent years, augmented reality (AR) technology has been gradually applied in the medical field, demonstrating great potential in surgical planning, medical image visualization, and human-computer interaction. By overlaying virtual images onto real scenes, AR technology can achieve more intuitive and immersive spatial guidance. However, research on the deep integration of AR technology with TMS devices is still in its infancy, particularly in achieving high-precision navigation, simplified operation, and system portability.

[0005] In addition, current TMS systems mostly rely on keyboard, mouse or touch screen operations for interactive control, which cannot meet the needs of "hands-free operation" or rapid switching in clinical or scientific research. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a transcranial magnetic stimulation system that is combined with augmented reality, has high navigation accuracy, is simple to operate and is portable, in view of the common problems of existing TMS navigation systems, such as high cost, complex operation, low visualization, poor portability and lack of intelligent interaction.

[0007] The technical solution adopted by the present invention to solve the above technical problems is an augmented reality precision transcranial magnetic stimulation system based on voice control, which includes an augmented reality device, a voice recognition and control module, and a transcranial magnetic stimulation TMS device; the augmented reality device has a built-in navigation module;

[0008] The navigation module is used to generate and project a coil positioning model based on the three-dimensional head phantom surface based on the MRI data of the subject's head and the coordinates of the target to be stimulated. The coil positioning model based on the three-dimensional head phantom surface includes a three-dimensional skull structure model and a virtual coil model. The navigation module is linked to the TMS device to guide the placement of the actual TMS coil to match the virtual coil model in the coil positioning model based on the three-dimensional head phantom surface. The posture is the position and orientation in three dimensions.

[0009] The voice recognition and control module is used to set the transcranial magnetic stimulation parameters and stimulation mode of the TMS device through the voice control interface.

[0010] The system of the present invention combines and links augmented reality technology with voice recognition technology and TMS equipment, and can complete stimulation parameter adjustment and target switching without external input to the TMS device. Voice recognition technology provides new possibilities for non-contact control of TMS equipment, and AR navigation greatly improves the practicality of the system and the efficiency of human-computer interaction.

[0011] Specifically, the navigation module generates a coil positioning model based on the three-dimensional head model surface in the following manner:

[0012] Obtain the subject's head MRI data and perform preprocessing;

[0013] Generating a three-dimensional skull structure model of the subject based on the preprocessed MRI data, wherein the three-dimensional skull structure model includes a three-dimensional skull surface model and a three-dimensional skull cortex model;

[0014] The intracranial cortical site to be stimulated is determined on the three-dimensional intracranial cortical model according to the coordinates of the target site to be stimulated; and the surface intervention point corresponding to the TMS coil is determined on the corresponding three-dimensional extracranial surface model to form a target point mapping relationship;

[0015] The optimal posture of the TMS coil on the subject's head surface is calculated based on the surface intervention point, and a virtual coil model in the optimal posture is generated on the three-dimensional head structure model to form a coil positioning model based on the three-dimensional head model surface.

[0016] The present invention visualizes the intracranial cortical intervention site and extracranial stimulation position by acquiring and three-dimensionally modeling magnetic resonance images of the subject's head, and uses augmented reality technology to superimpose and align the three-dimensional model with the actual head to guide the tester to achieve precise placement of the TMS coil.

[0017] Specifically, the navigation module guides the placement of the real TMS coil through visual guidance or voice prompts; and gives a confirmation prompt when the posture of the real TMS coil matches the virtual coil model.

[0018] Furthermore, it also includes a subject information database for storing the subject's personal information and individualized transcranial magnetic stimulation parameters and stimulation modes.

[0019] The subject information database is built into the TMS device; or, it is external to the TMS device and wirelessly communicates with the TMS device and the augmented reality device through a wireless communication interface.

[0020] Specifically, the voice control interface of the voice recognition and control module sets the transcranial magnetic stimulation parameters and stimulation mode of the TMS device by calling the subject information database; or, the voice control interface of the voice recognition and control module receives real-time setting commands to set the transcranial magnetic stimulation parameters and stimulation mode of the TMS device.

[0021] Specifically, the voice recognition and control module is also used for the voice control interface to input the coordinates of the target point to be stimulated into the augmented reality device.

[0022] The present invention projects the magnetic resonance structural image of the subject's head onto the real head, visualizes the precise intracranial intervention site, and guides the precise placement of the transcranial magnetic stimulation coil online, effectively improving the accuracy of transcranial magnetic stimulation. It can also switch the subject's session, switch the preset stimulation targets, switch the stimulation mode, and switch the stimulation duration through voice control; the operating platform is transferred from the remote computer screen to the subject's actual head. The transcranial magnetic stimulation implementer only needs to place the coil according to the visualized model, which greatly reduces the difficulty of operation and reduces the dependence on expensive and non-portable existing neuronavigation hardware.

[0023] The beneficial effect of the present invention is that the TMS system that combines augmented reality, voice control and navigation positioning has the characteristics of efficient, portable and low-cost precise TMS positioning, which improves the accuracy, ease of operation and system accessibility of transcranial magnetic stimulation intervention, and is suitable for a wider range of application scenarios such as hospitals, scientific research institutions and remote intervention scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described in conjunction with the accompanying drawings, which are for illustrative purposes only and do not constitute a limitation of the present invention.

[0025] Figure 1 This is a schematic diagram of the system structure of the voice-controlled augmented reality precision transcranial magnetic stimulation system;

[0026] Figure 2 It is a schematic diagram of the system processing process;

[0027] Figure 3 Schematic diagram of system effect;

[0028] Figure 4 Schematic diagram for the construction of a three-dimensional skull model and determination of intervention sites;

[0029] Figure 5 Schematic diagram of the TMS coil positioning process guided by the augmented reality device;

[0030] Figure 6 The operation flow chart of the system. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and beneficial effects of the present invention more clear, the present invention is described in detail below with reference to specific embodiments.

[0032] like Figure 1 As shown, the transcranial stimulation system includes an augmented reality (AR) headset, a transcranial magnetic stimulation (TMS) device, a speech recognition and control module, and a subject information database. The AR headset is equipped with a matching navigation module. The speech recognition and control module and the subject information database can be integrated into the TMS device or located externally. The subject information database stores the subject's personal information, as well as personalized transcranial magnetic stimulation (TMS) parameters and stimulation patterns. The AR headset's navigation module uses acquired MRI data of the subject's head and the coordinates of the target to be stimulated to generate a coil positioning model based on the surface of a three-dimensional head phantom. The AR headset's display projects this coil positioning model onto the surface of the three-dimensional head phantom to guide the placement of the TMS coil. The navigation module is linked to the TMS device and supports voice control to switch various parameters through the speech recognition and control module. The three-dimensional head phantom is a three-dimensional imaging model that simulates the anatomical structure of the human head. Coil positioning refers to the positioning of the TMS device coil, specifically the transcranial magnetic stimulation coil. Navigation in this solution involves real-time mapping of the coil position to the target brain area on the subject's head. Individualized transcranial magnetic stimulation parameters and stimulation modes are set by calling the database or manually setting through the voice control interface of the voice recognition and control module.

[0033] Optionally, in addition to AR head-mounted devices, mixed reality MR head-mounted devices that can switch between full virtual VR or virtual-reality overlay AR modes can also be used in this scenario.

[0034] Specifically, the system processing steps are as follows: Figure 2 As shown:

[0035] S1. Obtain the subject's head MRI data and preprocess the image to ensure that the image quality meets the modeling accuracy requirements;

[0036] Specifically, the head MRI data uses high-resolution structural magnetic resonance imaging such as T1-weighted MRI to facilitate subsequent three-dimensional modeling and target positioning.

[0037] S2. Generate a three-dimensional skull structure model of the subject based on the preprocessed MRI data. The three-dimensional skull structure model includes a three-dimensional external skull surface model and a three-dimensional internal skull cortex model.

[0038] Specifically, the pre-processed MRI data is processed using existing medical image processing algorithms such as segmentation and surface reconstruction to extract the extracranial scalp surface and cerebral cortex structure, thereby establishing an individualized three-dimensional skull model.

[0039] S3. Mark and determine the intracranial cortical site to be subjected to transcranial magnetic stimulation on the three-dimensional intracranial cortical model, i.e., the target intervention site; and determine the extracranial intervention site on the corresponding three-dimensional extracranial surface model, i.e., the surface intervention point corresponding to the coil, to form a target point mapping relationship;

[0040] Specifically, in combination with clinical or scientific research needs, the stimulation target (intracranial target), i.e., the targeted intervention site, is determined on the three-dimensional intracranial cortical model through preset coordinates, standard template registration, or functional magnetic resonance imaging (fMRI) results. Then, based on the cortex-scalp mapping relationship formed by establishing the three-dimensional extracranial surface model and the three-dimensional intracranial cortical model, the corresponding extracranial stimulation site (skin target), i.e., the extracranial intervention site, is automatically calculated on the three-dimensional extracranial surface model. Figure 4 shown.

[0041] S4. Calculate the optimal posture of the coil on the head surface based on the surface intervention point, and generate a virtual coil model in the optimal posture on the three-dimensional head structure model to form a coil positioning model based on the three-dimensional head model surface for real-time reference; the posture includes placement position and spatial orientation.

[0042] Specifically, based on the coil type and target location, a three-dimensional posture of the standard coil is generated to ensure that the coil placement posture conforms to the direction of the maximum induced current. The coil type used in the embodiment is a figure-8 coil.

[0043] S5. The voice control interface of the voice recognition and control module calls the database or manually sets the individualized transcranial magnetic stimulation parameters and stimulation mode for the TMS device;

[0044] Specifically, the system supports users to set stimulation parameters according to clinical protocols or experimental designs, including but not limited to stimulation frequency, stimulation intensity, stimulation duration and stimulation rhythm; stimulation modes include repetitive transcranial magnetic stimulation (rTMS), intermittent theta burst stimulation (iTBS), etc. Preferably, the individualized transcranial magnetic stimulation parameters and stimulation modes are saved and managed together with the subject information data, facilitating switching and calling.

[0045] S6, display the coil positioning model based on the three-dimensional head model surface on the AR head-mounted display, guide the tester to align the real TMS coil with the virtual coil model, so that the tester can observe the coil position deviation in real time and make dynamic adjustment when placing the real TMS coil, and ensure accurate positioning of the coil in the target stimulation area.

[0046] As shown in Figure 5 , the tester sees the superimposed image through the AR device, and the three-dimensional head model is superimposed on the actual head; the AR guides the tester to hold the TMS coil at the virtual TMS coil model generated by the system. The AR device can provide real-time prompts on whether the coil direction and position match the model, such as color prompts and arrow guides.

[0047] After the tester confirms that the coil position and direction meet the requirements, execute the transcranial magnetic stimulation operation, as shown in Figure 3 , the tester superimposes the coil positioning model on the actual head of the subject by wearing the augmented reality device, and the system tracks the position of the TMS coil in the tester's hand in real time and guides it to accurately place it at the target position through visual guidance or voice prompt. When the coil position matches the three-dimensional model, the system gives a confirmation prompt. The operation process of the tester is shown in Figure 6 , including obtaining MRI images; modeling a three-dimensional head model; target point positioning and coil position calculation; generating a virtual coil model; voice setting stimulation parameters; AR device guiding actual coil placement; starting TMS stimulation.

[0048] Preferably, the system supports task operations through voice recognition, such as: "switch subject" - load new head model and parameters; "switch target point" - switch between different stimulation sites; "start stimulation", "pause stimulation", "adjust intensity" - directly control TMS device parameters; "switch mode" - select stimulation types such as single pulse, repetitive stimulation, etc.

Claims

1. A voice-controlled augmented reality precision transcranial magnetic stimulation system, characterized by: It includes an augmented reality device, a voice recognition and control module, and a transcranial magnetic stimulation (TMS) device; the augmented reality device has a built-in navigation module; The navigation module is used to generate and project a coil positioning model based on the three-dimensional head phantom surface based on the MRI data of the subject's head and the coordinates of the target to be stimulated. The coil positioning model based on the three-dimensional head phantom surface includes a three-dimensional skull structure model and a virtual coil model. The navigation module is linked to the TMS device to guide the placement of the actual TMS coil to match the virtual coil model in the coil positioning model based on the three-dimensional head phantom surface. The posture is the position and orientation in three dimensions. The voice recognition and control module is used to set the transcranial magnetic stimulation parameters and stimulation mode of the TMS device through the voice control interface.

2. The system according to claim 1, wherein: The specific method by which the navigation module generates a coil positioning model based on the three-dimensional head model surface is as follows: Obtain the subject's head MRI data and perform preprocessing; Generating a three-dimensional skull structure model of the subject based on the preprocessed MRI data, wherein the three-dimensional skull structure model includes a three-dimensional skull surface model and a three-dimensional skull cortex model; The intracranial cortical site to be stimulated is determined on the three-dimensional intracranial cortical model according to the coordinates of the target site to be stimulated; and the surface intervention point corresponding to the TMS coil is determined on the corresponding three-dimensional extracranial surface model to form a target point mapping relationship; The optimal posture of the TMS coil on the subject's head surface is calculated based on the surface intervention point, and a virtual coil model in the optimal posture is generated on the three-dimensional head structure model to form a coil positioning model based on the three-dimensional head model surface.

3. The system according to claim 1, wherein: The navigation module guides the placement of the real TMS coil through visual guidance or voice prompts; a confirmation prompt is given when the posture of the real TMS coil matches the virtual coil model.

4. The system according to claim 1, wherein: It also includes a subject information database for storing the subject's personal information and individualized transcranial magnetic stimulation parameters and stimulation modes.

5. The system according to claim 4, wherein: The subject information database is built into the TMS device; or, it is external to the TMS device and wirelessly communicates with the TMS device and the augmented reality device through a wireless communication interface.

6. The system according to claim 5, wherein: The voice control interface of the voice recognition and control module sets the transcranial magnetic stimulation parameters and stimulation mode of the TMS device by calling the subject information database; or, the voice control interface of the voice recognition and control module receives real-time setting commands to set the transcranial magnetic stimulation parameters and stimulation mode of the TMS device.

7. The system according to claim 1, wherein: The augmented reality device is an augmented reality (AR) head-mounted device or a mixed reality (MR) head-mounted device.

8. The system according to claim 1, wherein: The transcranial magnetic stimulation parameters and stimulation mode settings of the TMS device are triggered when the placement posture of the real TMS coil matches the virtual coil model.

9. The system according to claim 1, wherein: The voice recognition and control module is also used for the voice control interface to input the coordinates of the target point to be stimulated for the augmented reality device.

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