Pose determination method, transcranial magnetic therapeutic apparatus, electronic equipment and readable storage medium

Abstract

The invention discloses a pose determination method of a stimulation device, a transcranial magnetic therapeutic apparatus, electronic equipment and a readable storage medium, and belongs to the field of medical image processing. The pose determination method of the stimulation device comprises the following steps: constructing a head convex hull matched with the head shape of a subject according to scalp point cloud of the subject; obtaining a plane closest to the target in the head convex hull according to the target information of the subject and the head convex hull; and determining a navigation position for guiding the arrangement position of the stimulation device and a stimulation direction of the stimulation device according to the nearest plane and the target spot. According to the pose determination method of the stimulation device, the transcranial magnetic therapeutic apparatus, the electronic equipment and the readable storage medium provided by the invention, the navigation position for guiding the arrangement position of the stimulation device and the stimulation direction of the stimulation device can be automatically calculated, that is, the pose of the stimulation device can be automatically calculated, so that the burden of a regulator is relieved, and the working efficiency is improved. Meanwhile, the regulation and control efficiency and the regulation and control effect are improved.

Description

Technical Field

[0001] This invention relates to the field of medical image processing, and in particular to a method for determining the pose of a stimulation device, a transcranial magnetic stimulation device, an electronic device, and a readable storage medium. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a technique that uses pulsed magnetic fields to generate electrical currents in localized areas of the cerebral cortex to temporarily activate or inhibit that cortex. Specifically, it utilizes time-varying pulsed magnetic fields applied to the central nervous system (primarily the brain) to alter the membrane potential of cortical nerve cells, inducing currents that affect brain metabolism and neural electrical activity, thereby triggering a series of physiological and biochemical responses. During regulation, it is usually necessary to find the most suitable stimulation location and angle on the scalp based on the specific stimulation area of ​​the cerebral cortex. Because different stimulation targets and different head shapes of subjects vary, the ability to find a suitable stimulation location and angle greatly affects the regulatory effect of TMS on patients.

[0003] Among the existing solutions, some rely on the subjective judgment of the controller to select the scalp application point, which involves a large subjective factor and lacks objectivity; others directly calculate the nearest point on the scalp to the target as the application point, which may result in large errors in the target navigation process. Summary of the Invention

[0004] To address at least one of the aforementioned problems and deficiencies in the prior art, the present invention provides a method for determining the pose of a stimulation device, a transcranial magnetic stimulation (TMS) device, an electronic device, and a readable storage medium. The technical method is as follows:

[0005] According to one aspect of the present invention, a method for determining the pose of a stimulation device is provided. The pose determination method includes the following steps:

[0006] A head convex hull matching the subject's head shape is constructed based on the subject's head contour point cloud.

[0007] Based on the target point information of the subject and the head convex hull, obtain the plane closest to the target point in the head convex hull;

[0008] The navigation position of the guiding stimulation device and the stimulation direction of the stimulation device are determined based on the nearest plane and the target point.

[0009] Specifically, based on the target point information of the subject and the head convex hull, the plane closest to the target point in the head convex hull is obtained, including:

[0010] The distances from the target point to all planes in the head convex hull are obtained based on the target point location of the subject.

[0011] Based on the distance from the target point to all planes in the head convex hull, obtain the nearest plane and the plane information of the nearest plane that is closest to the target point.

[0012] Preferably, the target point is any point outside the plane.

[0013] The expression for the distance d from the target point to each of the planes in the head convex hull is:

[0014]

[0015] In the formula, a represents the component of the normal vector of the corresponding plane in all the planes along the X-axis in the 3D coordinate system of the head contour point cloud, b represents the component of the normal vector of the corresponding plane in all the planes along the Y-axis in the 3D coordinate system of the head contour point cloud, c represents the component of the normal vector of the corresponding plane in all the planes along the Z-axis in the 3D coordinate system of the head contour point cloud, and x... T The y-coordinate represents the target point's coordinates on the X-axis in the three-dimensional coordinate system of the head contour point cloud. T The z-coordinate represents the target point's position on the Y-axis in the three-dimensional coordinate system of the head contour point cloud. T The coordinates of the target point on the Z-axis in the three-dimensional coordinate system of the head contour point cloud are represented by D, and D represents the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the corresponding plane in all the planes and the magnitude of the normal vector of the corresponding plane.

[0016] Furthermore, the planar information of the nearest plane includes the components of the normal vector of the nearest plane in the X-axis, Y-axis and Z-axis directions in the three-dimensional coordinate system of the head contour point cloud, respectively, and the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the corresponding plane among all the planes and the magnitude of the normal vector of the corresponding plane.

[0017] Specifically, determining the navigation position of the guiding stimulation device and the stimulation direction of the stimulation device based on the nearest plane and the target point includes:

[0018] The navigation position is determined based on the components of the normal vector of the nearest plane in the X, Y, and Z axes of the head contour point cloud 3D coordinate system, the coordinates of the target point in the head contour point cloud 3D coordinate system, and the product of the distance from the origin of the head contour point cloud 3D coordinate system to the nearest plane and the magnitude of the normal vector of the nearest plane.

[0019] The navigation position is connected to the target point by a line, and the stimulation direction is the vector direction of the line connecting the navigation position and the target point.

[0020] Specifically, the vector of the line connecting the navigation position to the target point is equivalent to the normal vector of the nearest plane.

[0021] Preferably, the coordinates T of the navigation position s (x s ,y s ,z s The calculation expression for ) is:

[0022] x s =x T -a s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )]

[0023] y s =y T -b s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )]

[0024] z s =Z T -c s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )]

[0025] In the formula, a sb represents the component of the normal vector of the nearest plane in the X-axis direction of the head contour point cloud 3D coordinate system. s c represents the component of the normal vector of the nearest plane in the Y-axis direction of the head contour point cloud 3D coordinate system. s The component of the normal vector of the nearest plane in the Z-axis direction of the head contour point cloud 3D coordinate system is represented by x. T The y-coordinate represents the target point's coordinates on the X-axis in the three-dimensional coordinate system of the head contour point cloud. T The z-coordinate of the target point on the Y-axis in the three-dimensional coordinate system represents the coordinates of the target point. T D represents the coordinates of the target point on the Z-axis in the three-dimensional coordinate system of the head contour point cloud. s This represents the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the nearest plane and the magnitude of the normal vector of the nearest plane.

[0026] Specifically, when the stimulation device is a stimulation coil, the central axis of the stimulation coil and the line connecting the navigation position and the target point coincide.

[0027] Preferably, the navigation location is on or outside the head contour;

[0028] When navigating using a medical navigation system for a stimulation device, the navigation location, the stimulation direction, and the stimulation device are all visualized in the visualization interface of the medical navigation system.

[0029] In the visualization interface, guided by the medical navigation system, the center point of the visualized stimulation device is aligned with the visualized navigation position, and the stimulation direction of the visualized stimulation device is aligned with the visualized stimulation direction.

[0030] According to another aspect of the present invention, a transcranial magnetic stimulation (TMS) device is provided. The TMS device includes:

[0031] Stimulation device;

[0032] The main body, to which the stimulation device is connected, includes a processor and a readable storage medium storing a program or instructions, which the processor executes to perform the navigation pose determination method and / or instructions transmitted by the medical navigation system described above; and a display module connected to the processor to visualize the stimulation device and the navigation position and stimulation direction obtained according to the navigation pose determination method described above.

[0033] According to another aspect of the present invention, an electronic device is provided. The electronic device includes a memory and at least one processor, the memory being communicatively connected to the at least one processor, the memory storing a program or instructions, which, when executed by the at least one processor, enable the electronic device to implement the navigation pose determination method described in any of the preceding claims.

[0034] According to another aspect of the present invention, a readable storage medium is provided, wherein,

[0035] The readable storage medium stores a program or instructions that, when executed by a processor, perform the navigation pose determination method described in any of the preceding claims.

[0036] The method for determining the pose of the stimulation device, the transcranial magnetic stimulation device, the electronic device, and the readable storage medium according to embodiments of the present invention have at least one of the following advantages:

[0037] (1) The method for determining the position of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention can automatically calculate the navigation position that guides the placement of the stimulation device and the stimulation direction of the stimulation device, that is, can automatically calculate the position of the stimulation device, thereby reducing the burden on the controller and improving the control efficiency and control effect.

[0038] (2) The method for determining the pose of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention avoid the uncontrollability caused by manual selection of the action point and the disadvantages of using the nearest point to the target as the action point, resulting in poor action point position and long time consumption for selecting the action point. It provides a highly robust and efficient action point selection method.

[0039] (3) The method for determining the position of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention can avoid the disadvantage that when the action point planned based on the nearest point falls on the scalp depression due to individual differences in the head shape of the subject, the center point of the stimulation device cannot be close to the planned action point, which leads to an increase in the error of the position of the stimulation device.

[0040] (4) The method for determining the position of the stimulation device, the transcranial magnetic stimulation device, the electronic device and the readable storage medium provided by the present invention eliminate the risk of the action point falling on the depression of the scalp by processing the scalp with a convex hull, and at the same time reduce the error of the placement of the stimulation device. Attached Figure Description

[0041] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0042] Figure 1This is a flowchart of a method for determining the pose of a stimulation device according to an embodiment of the present invention;

[0043] Figure 2 yes Figure 1 A schematic diagram showing the navigation location;

[0044] Figure 3 yes Figure 1 A schematic diagram of the scalp dot cloud of the subject shown;

[0045] Figure 4A yes Figure 3 The diagram shows the connection of the head convex hull constructed based on the subject's scalp point cloud.

[0046] Figure 4B yes Figure 3 The diagram shown is a planar schematic of the head convex hull constructed based on the subject's scalp point cloud. Detailed Implementation

[0047] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0048] See Figure 1 The flowchart illustrates a method for determining the pose of a stimulation device according to an embodiment of the present invention. Combined with... Figure 2 As shown, the pose determination method includes the following steps:

[0049] A head convex hull matching the subject's head shape is constructed based on the subject's head contour point cloud.

[0050] Based on the target point information of the subject and the head convex hull, obtain the plane 2 that is closest to the target point 1 in the head convex hull;

[0051] The navigation position 3 and the stimulation direction of the stimulation device are determined based on the nearest plane and target point.

[0052] In one example, the head includes all parts and organs of the human body above the neck (i.e., the cervical spine), such as the skull and face. The skull includes the skull bones, scalp, brain, etc., and the face includes facial skin, all sensory organs (e.g., eyes, ears, nose, tongue, etc.), and the mouth, etc. The target point is located outside the head bulge.

[0053] In one example, the pose determination method for the stimulation device provided by the present invention can also determine its navigation position and stimulation direction based on target points on, for example, limbs, organs (e.g., lungs, liver, etc.), skin, etc.

[0054] In one example, the stimulation device can be an O-shaped magnetic stimulation coil, an 8-shaped magnetic stimulation coil, or a sham stimulation coil for experiments. In one example, the stimulation device can also be a transcranial magnetic therapy instrument, and the navigation position is the position for guiding the arrangement of the magnetic stimulation coil in the transcranial magnetic therapy instrument.

[0055] In one example, the stimulation device is provided with a medical navigation system. Of course, those skilled in the art can understand that the stimulation device and the medical navigation system can be respectively set as two devices, and they can be connected when in use.

[0056] The medical navigation system is a medical assistance system that can match the anatomical structures (such as brain anatomical structures) in the medical images of the subject with the body of the subject (such as the brain) to identify the anatomical positions of the organs of the subject in real time.

[0057] In one example, the medical navigation system has a visualization model of the stimulation device that matches the stimulation device, a real-time image of the subject's head, or a visualized head model that matches the subject's head. The navigation position for guiding the arrangement of the stimulation device can also be visualized in the medical navigation system, for example, presented in the form of points or crosses. The stimulation direction for guiding the arrangement of the stimulation device can also be visualized in the medical navigation system, for example, presented in the form of arrows.

[0058] The medical navigation system has a camera that can track the stimulation device and the subject's head in real time. Before use, calibrate the stimulation device with the visualization model of the stimulation device, and calibrate the subject's head with the visualized head model, so as to enable the camera to track the position of the stimulation device and the position of the subject's head in real time, and visualize their corresponding positions in the medical navigation system in real time. That is to say, when the position of the stimulation device and / or the subject's head changes, the position of the visualization model in the medical navigation system will also change accordingly, achieving real-time linkage between them.

[0059] When using the medical navigation system to navigate the position and pose (including position and direction) of the stimulation device placed on the head contour 4 (for example, the scalp) of the subject, real-time visual guidance can be carried out through the visualization model of the stimulation device, the real-time image of the head, or the visualized head model, the dot-shaped navigation position, and the stimulation direction guided by the arrow in the medical navigation system.

[0060] The navigation position 3 can be on the head contour 4 (for example, the scalp), or outside the head contour 4 (as shown). The navigation position can be visualized in the visualization interface of the medical navigation system. The visualization interface can be displayed through a display device, such as a display screen or a projection screen. Figure 2

[0061] ​When navigating through the medical navigation system, the navigation position, the stimulation direction, and the stimulation device are all displayed in the visualization interface of the medical navigation system. In the visualization interface, guided by the medical navigation system, the center point of the visualized stimulation device (i.e., the visualization model of the stimulation device) is aligned with the visualized navigation position, and the stimulation direction of the visualized stimulation device (i.e., the visualization model of the stimulation device) is aligned with the visualized stimulation direction. Because the navigation position, stimulation direction, subject's head, and stimulation device can be visualized and matched in real time in the visualization interface, the stimulation device can be guided to accurately approach the navigation position regardless of whether the navigation position is on the subject's head contour 4 (e.g., scalp) to achieve accurate placement. This avoids the increased positional error of the stimulation device placement caused by only determining the point of action of the stimulation device on the scalp and the point of action being in a depression on the subject's scalp, which would result in inaccurate alignment with the planned point of action.

[0062] like Figure 2 As shown, when using existing technology to calculate the nearest point 5 on the subject's scalp as the application point of the stimulation device, the nearest point 5 is located exactly in the depression of the scalp along the head contour 4, making it impossible for the stimulation device to get close, thus resulting in a large pose error during navigation. However, the navigation position obtained using the stimulation device pose determination method provided by this invention, although not on the scalp, can coincide with the center point of the stimulation device in real-time space through the guidance of the medical navigation system, ensuring the accuracy of the stimulation device's placement.

[0063] Combination Figures 3-4B As shown, a head convex hull matching the subject's head shape was constructed based on the subject's head contour point cloud. Because the head contour point cloud preserves the individual differences of the subjects, and the shape of the head convex hull matches the subject's head shape, the resulting head convex hull also possesses the individual specificity of the subject (e.g., ...). Figure 4A and Figure 4B As shown in the figure, this makes the navigation position and stimulus direction obtained in the subsequent calculations individual-specific, reduces the error of navigation position and stimulus direction, and ensures the regulatory effect in the process of stimulating and regulating the subject's brain.

[0064] For example, the subject's scalp point cloud is obtained from the subject's head structural image data. This involves converting the head structural image data into head contour point cloud data. Those skilled in the art will understand that any existing method can be used to convert structural image data into point cloud data, and these methods will not be elaborated upon here.

[0065] like Figure 4BAs shown, the convex hull of the subject's head is constructed based on the subject's head contour point cloud, and the information of the head convex hull is saved. The information of the head convex hull includes the coordinates of the point cloud of the same plane that constitutes the head convex hull, the coordinates of each vertex (or inflection point) that constitutes the same plane, the number of vertices (or inflection points) of the same plane, and the number of planes in the head convex hull. Of course, those skilled in the art will also understand that the coordinates and planes belonging to the facial point cloud in the head convex hull information can be filtered and deleted based on the coordinate information of the facial point cloud to ensure that the obtained navigation position is not located on the subject's face.

[0066] Methods for constructing the convex hull of a subject's head based on the head contour point cloud include brute force and incremental methods. The brute force method includes the following steps: enumerating all combinations of three points in the head contour point cloud; identifying a plane using these three points; determining if all other points are on one side of this plane; if so, retaining these three points; after traversing all point combinations, the retained points form the convex hull of the point cloud. The incremental method includes the following steps: initially, randomly selecting three non-collinear points in the head contour point cloud as initial points; then selecting a point that is not coplanar with these three points as a fourth point; using these four points to form an initial 3D convex hull. Iterating through the remaining points in the head contour point cloud, if a point is inside the convex hull, it is ignored; if a point is outside the convex hull, a new convex hull is formed by combining the new point with the existing points, and the points inside the new convex hull are deleted, until all points have been traversed. Those skilled in the art will understand that existing technologies can be used to replace the above two methods, as long as it is possible to construct the head convex hull from the head contour point cloud.

[0067] Based on the subject's target point information and the head convex hull, the plane closest to target point 1 within the head convex hull is obtained, including:

[0068] The distances from target point 1 to all planes in the head convex hull are obtained based on the target point location of the subject.

[0069] Based on the distances from target point 1 to all planes in the head convex hull, obtain the nearest plane 2 and the plane information of the nearest plane 2 that are closest to target point 1.

[0070] The target point coordinates of the subject are transformed into the three-dimensional space of the subject's head contour point cloud, thus obtaining the coordinate position (x, y) of the subject's target point 1 in the three-dimensional coordinate system of the head contour point cloud. T ,y T ,z T ).

[0071] Calculate the distance d from target point 1 of the subject to each plane in the head convex hull. The expression for the distance d from target point 1 to each plane in the head convex hull is:

[0072]

[0073] In equation (1), a represents the component of the normal vector of the corresponding plane in all planes along the X-axis in the 3D coordinate system of the head contour point cloud, b represents the component of the normal vector of the corresponding plane in all planes along the Y-axis in the 3D coordinate system of the head contour point cloud, c represents the component of the normal vector of the corresponding plane in all planes along the Z-axis in the 3D coordinate system of the head contour point cloud, and x T This represents the coordinates of target point 1 on the X-axis in the 3D coordinate system of the head contour point cloud, y T This represents the Y-axis coordinate of target point 1 in the 3D coordinate system of the head contour point cloud, z. T Let D represent the coordinates of target point 1 on the Z-axis in the 3D coordinate system of the head contour point cloud. Let D represent the product of the distance from the origin to any point on the plane and the magnitude of the plane's normal vector (a, b, c), including the product of the distance from the origin of the head contour point cloud 3D coordinate system to the corresponding plane among all the planes and the magnitude of the plane's normal vector (a, b, c). The distance from the origin of the head contour point cloud 3D coordinate system to the corresponding plane among all the planes is the length of the perpendicular line drawn from the origin to the corresponding plane, i.e., the minimum length from the origin to the corresponding plane.

[0074] Compare the distances from target point 1 to each plane. For example, sort the distances to each plane to obtain the shortest distance. The plane corresponding to the shortest distance is the nearest plane. Of course, those skilled in the art can also perform a comparison each time they calculate, retain the shorter distance among the pairwise distances, and use it as a reference value for the next distance comparison. This process is repeated iteratively to calculate and compare the shortest distance.

[0075] The plane information of the nearest plane 2 includes the components of the normal vector of the nearest plane in the X-axis, Y-axis and Z-axis directions in the 3D coordinate system of the head contour point cloud, and the product of the distance from the origin of the 3D coordinate system of the head contour point cloud to the corresponding plane among all the planes and the magnitude of the normal vector (a,b,c) of the corresponding plane.

[0076] For example, the origin of the 3D coordinate system of the head contour point cloud can be set to the upper left corner of the point cloud image, the X-axis direction is the horizontal direction of the point cloud image, the Y-axis direction is the vertical direction of the point cloud image, and the Z-axis direction is perpendicular to the X and Y axes. The convex hull of the head constructed from the head point cloud retains its 3D space; that is, the coordinate system of the head convex hull is also the 3D coordinate system of the head point cloud. Assuming the coordinates of the three vertices (or inflection points) forming the same plane in the head convex hull are A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3), calculate the component a of the normal vector of this plane in the X-axis direction of the head contour point cloud 3D coordinate system: a = (y3 - y1) × (z3 - z1) - (z2 - z1) × (y3 - y1), and the component b of the normal vector of this plane in the Y-axis direction of the head contour point cloud 3D coordinate system: b = (x3 - y1) × (z3 - z1) - (z2 - z1) × (y3 - y1). -x1)×(z2-z1)-(x2-x1)×(z3-z1), where c is the component of the normal vector of this plane in the Z-axis direction of the head contour point cloud 3D coordinate system, c = (x2-x1)×(y3-y1)-(x3-x1)×(y2-y1), and D is the product of the distance from the origin of the head contour point cloud 3D coordinate system to the corresponding plane among all the planes and the magnitude of the normal vector of the corresponding plane, D = -(ax1+by1+cz1). Then, the calculation result is substituted into... In the middle. When the distance d is determined to be the shortest distance, its corresponding plane is the nearest plane 2, and the three component values ​​of the normal vector of the nearest plane 2 and the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the corresponding plane among all the planes and the modulus D of the normal vector of the corresponding plane are recorded. Those skilled in the art will understand that the three component values ​​a, b, c and the product D can also be calculated and substituted into the expression.

[0077] In the middle, record the spatial equation obtained after substituting.

[0078] The navigation position 3 and the stimulation direction of the stimulation device are determined based on the nearest plane 2 and target point 1, including:

[0079] Based on the components of the normal vector of the nearest plane 2 in the X, Y, and Z directions of the head contour point cloud in the 3D coordinate system (for example, as described below (a) s ,b s ,c s The coordinates of target point 1 in the three-dimensional coordinate system of the head contour point cloud (e.g., as described below, (x...) T ,y T ,z s The product of the distance from the origin of the head contour point cloud 3D coordinate system to the nearest plane 2 and the magnitude of the normal vector of the nearest plane (e.g., D as described below). s) Determine navigation location 3;

[0080] Connect navigation position 3 to target point 1 with a line. The stimulus direction is the vector direction of the line connecting navigation position 3 and target point 1. The vector of the line connecting navigation position 3 and target point 1 is equivalent to the normal vector of the nearest plane.

[0081] Coordinates T of navigation position 3 s (x s ,y s ,z s The calculation expression for ) is:

[0082] x s =x T -a s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 (2);

[0083] y s =y T -b s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 (3);

[0084] z s =z T -c s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2(4);

[0085] In equations (2)-(4), a s b represents the component of the normal vector of the nearest plane 2 in the X-axis direction of the head contour point cloud 3D coordinate system. s c represents the component of the normal vector of the nearest plane 2 in the Y-axis direction of the head contour point cloud 3D coordinate system. s The x-axis represents the component of the normal vector of the nearest plane 2 in the Z-axis direction of the head contour point cloud 3D coordinate system. T This represents the coordinates of target point 1 on the X-axis in the 3D coordinate system of the head contour point cloud, y T This represents the coordinates of target point 1 on the Y-axis in a three-dimensional coordinate system, z. T D represents the coordinates of target point 1 on the Z-axis in the 3D coordinate system of the head contour point cloud. s This represents the distance from the origin of the 3D coordinate system of the head contour point cloud to the nearest plane 2 and the normal vector (a) of the nearest plane 2. s ,b s ,c s ) of the model.

[0086] Among them, a s b s c s and D s The calculation method is completely consistent with the calculation methods and principles of a, b, c, and D detailed above, and will not be repeated here. The recorded information of the nearest plane 2 includes the components a of the normal vector of the nearest plane 2 in the X-axis, Y-axis, and Z-axis directions in the three-dimensional coordinate system of the head contour point cloud. s b s c s and the distance from the origin of the head contour point cloud 3D coordinate system to the nearest plane 2 and the normal vector (a) of the nearest plane 2. s ,b s ,c s ) of model D s The vector connecting navigation position 3 to target point 1 is taken as (i.e., equivalent to) the normal vector of the nearest plane (a). s ,b s ,c s When the stimulation device is a stimulation coil, the central axis of the stimulation coil and the line connecting the navigation position 3 and the target point 1 coincide, so that the center point of the stimulation surface of the stimulation coil coincides with the navigation position 3.

[0087] In one example, a transcranial magnetic stimulation (TMS) device is provided according to another embodiment of the present invention. The TMS device (not shown) includes:

[0088] Stimulation device;

[0089] The main body includes a stimulation device connected to it, a processor and a readable storage medium stored in the main body, the readable storage medium storing programs or instructions, and instructions transmitted by the navigation pose determination method and / or medical navigation system in any of the above examples when executed by the processor; and a display module connected to the processor to visualize the navigation position and stimulation direction obtained by the stimulation device and the navigation pose determination method in any of the above examples.

[0090] In one example, the processor is used to execute the navigation pose determination method in any of the above examples to determine the navigation position and stimulus direction. Alternatively, the processor may also execute instructions transmitted by the medical navigation system to display the navigation position and stimulus direction determined by the navigation pose determination method.

[0091] In other words, the navigation pose determination method and the medical navigation system run on different devices. Of course, those skilled in the art will also understand that the navigation pose determination method and the medical navigation system can be stored on the same device, and can also be executed separately or simultaneously by the same device.

[0092] In one example, the stimulation device is a magnetic stimulation coil. In another example, the transcranial magnetic stimulation device also includes a camera, such as a binocular camera.

[0093] In one example, according to another embodiment of the present invention, an electronic device (not shown) is provided. The electronic device includes a memory and at least one processor, the memory being communicatively connected to the at least one processor, the memory storing a program or instructions, which, when executed by the at least one processor, enable the electronic device to implement the navigation pose determination method of any of the above examples.

[0094] Electronic equipment includes devices composed of electronic components such as integrated circuits, transistors, and vacuum tubes, which utilize electronic technology (including software) to function. Electronic equipment includes computers and computer-controlled robots, numerically controlled or programmable control systems, etc.

[0095] In one example, a readable storage medium is provided according to another embodiment of the present invention. In embodiments of the present invention, a “readable storage medium” refers to any medium that participates in providing a program or instructions to a processor for execution. The medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including conductors containing buses. Transmission media can also take the form of acoustic or optical waves, such as acoustic or optical waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0096] The readable storage medium stores a program or instructions that, when executed by a processor, perform the pose determination method for the stimulation device in any of the above examples.

[0097] The method for determining the pose of the stimulation device, the transcranial magnetic stimulation device, the electronic device, and the readable storage medium according to embodiments of the present invention have at least one of the following advantages:

[0098] (1) The method for determining the position of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention can automatically calculate the navigation position that guides the placement of the stimulation device and the stimulation direction of the stimulation device, that is, can automatically calculate the position of the stimulation device, thereby reducing the burden on the controller and improving the control efficiency and control effect.

[0099] (2) The method for determining the pose of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention avoid the uncontrollability caused by manual target selection and the disadvantages of poor target position and long target selection time in the nearest point target selection, and provide a highly robust and efficient target selection method.

[0100] (3) The method for determining the position of the stimulation device, the transcranial magnetic therapy device, the electronic device and the readable storage medium provided by the present invention can avoid the disadvantage that when the target point planned based on the nearest point falls on the scalp depression due to individual differences in the head shape of the subject, the center point of the stimulation device cannot be close to the planned target point, which leads to an increase in the error of the placement of the stimulation device.

[0101] (4) The method for determining the pose of the stimulation device and the readable storage medium provided by the present invention eliminate the risk of the target point falling in the depression of the scalp by processing the scalp through the convex hull, and at the same time reduce the error of the placement of the stimulation device.

[0102] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for determining the pose of a stimulation device, comprising the following steps: A head convex hull matching the subject's head shape is constructed based on the subject's head contour point cloud. Based on the target point information of the subject and the head convex hull, obtain the plane closest to the target point in the head convex hull; The navigation position of the guiding stimulation device and the stimulation direction of the stimulation device are determined based on the nearest plane and the target point.

2. The pose determination method according to claim 1, wherein, Based on the target point information of the subject and the head convex hull, the plane closest to the target point in the head convex hull is obtained, including: The distances from the target point to all planes in the head convex hull are obtained based on the target point location of the subject; and Based on the distance from the target point to all planes in the head convex hull, obtain the nearest plane and the plane information of the nearest plane that is closest to the target point.

3. The pose determination method according to claim 2, wherein, The target point is any point outside the plane. The expression for the distance d from the target point to each of the planes in the head convex hull is: In the formula, a represents the component of the normal vector of the corresponding plane in all the planes along the X-axis in the 3D coordinate system of the head contour point cloud, b represents the component of the normal vector of the corresponding plane in all the planes along the Y-axis in the 3D coordinate system of the head contour point cloud, c represents the component of the normal vector of the corresponding plane in all the planes along the Z-axis in the 3D coordinate system of the head contour point cloud, and x... T The y-coordinate represents the target point's coordinates on the X-axis in the three-dimensional coordinate system of the head contour point cloud. T The z-coordinate represents the target point's position on the Y-axis in the three-dimensional coordinate system of the head contour point cloud. T The coordinates of the target point on the Z-axis in the three-dimensional coordinate system of the head contour point cloud are represented by D, and D represents the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the corresponding plane in all the planes and the magnitude of the normal vector of the corresponding plane.

4. The pose determination method according to claim 2 or 3, wherein, The plane information of the nearest plane includes the components of the normal vector of the nearest plane in the X-axis, Y-axis and Z-axis directions in the three-dimensional coordinate system of the head contour point cloud, and the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the corresponding plane in all planes and the magnitude of the normal vector of the corresponding plane.

5. The pose determination method according to claim 4, wherein, Determining the navigation position of the guiding stimulation device and the stimulation direction of the stimulation device based on the nearest plane and the target point includes: The navigation position is determined based on the components of the normal vector of the nearest plane in the X, Y, and Z axes of the head contour point cloud 3D coordinate system, the coordinates of the target point in the head contour point cloud 3D coordinate system, and the product of the distance from the origin of the head contour point cloud 3D coordinate system to the nearest plane and the magnitude of the normal vector of the nearest plane. The navigation position is connected to the target point by a line, and the stimulation direction is the vector direction of the line connecting the navigation position and the target point.

6. The pose determination method according to claim 5, wherein, The vector of the line connecting the navigation position to the target point is used as the normal vector of the nearest plane.

7. The navigation pose determination method according to claim 5, wherein, The coordinates T of the navigation position s (x s ,y s ,z s The calculation expression for ) is: x s =x T -a s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )] y s =y T -b s *[(a s *x T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )] z s =z T -c s *[(a s *xz T +b s *y T +c s *z T +D s ) / (a s 2 +b s 2 +c s 2 )] In the formula, a s b represents the component of the normal vector of the nearest plane in the X-axis direction of the head contour point cloud 3D coordinate system. s c represents the component of the normal vector of the nearest plane in the Y-axis direction of the head contour point cloud 3D coordinate system. s The component of the normal vector of the nearest plane in the Z-axis direction of the head contour point cloud 3D coordinate system is represented by x. T The y-coordinate represents the target point's coordinates on the X-axis in the three-dimensional coordinate system of the head contour point cloud. T The z-coordinate of the target point on the Y-axis in the three-dimensional coordinate system represents the coordinates of the target point. T D represents the coordinates of the target point on the Z-axis in the three-dimensional coordinate system of the head contour point cloud. s This represents the product of the distance from the origin of the three-dimensional coordinate system of the head contour point cloud to the nearest plane and the magnitude of the normal vector of the nearest plane.

8. The pose determination method according to claim 1, wherein, When the stimulation device is a stimulation coil, the central axis of the stimulation coil and the line connecting the navigation position and the target point coincide.

9. The pose determination method according to claim 1, wherein, The navigation location is either on or outside the head outline; When navigating using a medical navigation system for a stimulation device, the navigation location, the stimulation direction, and the stimulation device are all visualized in the visualization interface of the medical navigation system. In the visualization interface, guided by the medical navigation system, the center point of the visualized stimulation device is aligned with the visualized navigation position, and the stimulation direction of the visualized stimulation device is aligned with the visualized stimulation direction.

10. A transcranial magnetic stimulation (TMS) device, characterized in that, The transcranial magnetic stimulation device includes: Stimulation device; The device comprises a main body, wherein the stimulation device is connected to the main body, the main body having a processor and a readable storage medium storing a program or instructions, wherein the processor executes instructions transmitted by the navigation pose determination method and / or medical navigation system as described in any one of claims 1-9; and a display module connected to the processor for visualizing the stimulation device and the navigation pose determination method as described in any one of claims 1-9, and the stimulation direction.

11. An electronic device, characterized in that, The electronic device includes a memory and at least one processor, the memory being communicatively connected to the at least one processor, the memory storing programs or instructions, and when the programs or instructions are executed by the at least one processor, the electronic device is used to implement the navigation pose determination method as described in any one of claims 1-9.

12. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, perform the navigation pose determination method according to any one of claims 1-9.

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