A multimodal transcranial magnetic stimulation control system and its control method

Abstract

This invention relates to the field of magnetic stimulation technology, and discloses a multimodal transcranial magnetic stimulation control system and its control method, including a main control unit, a first coil control module, and a second coil control module; the first coil control module includes a first coil L1, a first control circuit, and a second control circuit; the second coil control module includes a second coil L2 and a third control circuit. This invention improves the circuit loops for single-coil stimulation and dual-coil stimulation in transcranial magnetic stimulation devices, enabling single-coil stimulation to rapidly generate and switch to dual-pulse stimulation, and enabling precise coordination of the stimulation timing for dual-coil stimulation.

Description

Technical Field

[0001] This invention relates to the field of magnetic stimulation technology, and in particular to a multimodal transcranial magnetic stimulation control system and its control method. Background Technology

[0002] Current clinical applications of transcranial magnetic stimulation (TMS) face limitations due to key requirements stemming from the stringent demands of various neuromodulation paradigms for precise pulse timing control and flexible stimulation patterns, such as:

[0003] Short-interval intracortical inhibition (SICI): requires the sequential release of two paired pulses through a single stimulation coil. The first is a subthreshold conditioned stimulus (CS), and after an interval of approximately 1–6 ms, a second suprathreshold test stimulus (TS) is given.

[0004] Long-interval intracortical inhibition (LICI): requires the sequential release of two paired pulses through a single stimulation coil, both of which are suprathreshold stimuli. The first is a suprathreshold conditioned stimulus (CS), and the second suprathreshold test stimulus (TS) is given after an interval of approximately 50–200 ms.

[0005] Interhemispheric inhibition (IHI): This requires the release of paired pulses through two different stimulation coils, which act on the left and right motor cortices of the human body respectively. Both are suprathreshold stimuli. The first is the suprathreshold conditioned stimulus (CS), and the second suprathreshold test stimulus (TS) is given after an interval of about 6 to 50 ms.

[0006] These neuromodulation paradigms all require assessment of neurological function by measuring the amplitude changes and latency of motor evoked potentials (MEPs) induced by test stimuli (TS). However, currently available transcranial magnetic stimulation (TMS) devices generally lack precise and flexible timing control capabilities, making it difficult to reliably achieve rapid dual-pulse stimulation with extremely short intervals (e.g., 1–6 ms in SICI) on a single stimulation coil, rapid switching of dual-pulse stimulation with specific long intervals (e.g., LICI) on a single stimulation coil, and coordinated stimulation with precise timing between dual stimulation coils (e.g., IHI). This leads to difficulties in effectively inducing target neural responses, thus affecting the effectiveness of MEP-based clinical assessments. Summary of the Invention

[0007] The purpose of this invention is to improve the circuit circuits of single-coil stimulation and dual-coil stimulation in transcranial magnetic stimulation devices, so that single-coil stimulation can quickly generate and switch dual-pulse stimulation, and dual-coil stimulation can accurately coordinate the timing of stimulation, thereby providing a multimodal transcranial magnetic stimulation control system and its control method.

[0008] To achieve the above-mentioned objectives, the embodiments of the present invention provide the following technical solutions:

[0009] A multimodal transcranial magnetic stimulation control system includes a main control unit, a first coil L1, a second coil L2, and a first control circuit, a second control circuit, and a third control circuit respectively connected to the main control unit;

[0010] The first control circuit includes a first high-voltage power supply, a first drive unit, and a first component unit; the first component unit is connected to the first high-voltage power supply and the first drive unit respectively.

[0011] The second control circuit includes a second high-voltage power supply, a second drive unit, and a second component unit; the second component unit is connected to the second high-voltage power supply and the second drive unit respectively.

[0012] The third control circuit includes a third high-voltage power supply, a third drive unit, and a third component unit; the third component unit is connected to the third high-voltage power supply and the third drive unit respectively.

[0013] The first coil L1 is connected to the first high-voltage power supply, the first component unit, the second high-voltage power supply, and the second component unit, respectively; the second coil L2 is connected to the third high-voltage power supply and the third component unit, respectively.

[0014] Furthermore, the first component unit includes an energy storage capacitor C1, a unidirectional thyristor plus diode D1, and a bidirectional thyristor D2; the energy storage capacitor C1 is connected to the first high-voltage power supply and the second high-voltage power supply respectively; the first terminal of the unidirectional thyristor plus diode D1 is connected to the first terminal of the energy storage capacitor C1, and the second terminal of the unidirectional thyristor plus diode D1 is connected to the first terminal K1 of the bidirectional thyristor D2; the second terminal K2 of the bidirectional thyristor D2 is connected to the second terminal of the first coil L1; the first terminal of the first coil L1 is connected to the second terminal of the energy storage capacitor C1; the control electrode G1A of the unidirectional thyristor plus diode D1 and the control electrodes G1 and G2 of the bidirectional thyristor D2 are both connected to the first driving unit.

[0015] Furthermore, the second component unit includes an energy storage capacitor C2, a unidirectional thyristor plus diode D3, and a bidirectional thyristor D4; the energy storage capacitor C2 is connected to the first high-voltage power supply and the second high-voltage power supply respectively; the first end of the unidirectional thyristor plus diode D3 is connected to the second end of the energy storage capacitor C2, and the second end of the unidirectional thyristor plus diode D3 is connected to the first end K3 of the bidirectional thyristor D4; the second end K4 of the bidirectional thyristor D4 is connected to the second end of the first coil L1; the first end of the first coil L1 is also connected to the first end of the energy storage capacitor C2; the control electrode G3A of the unidirectional thyristor plus diode D3 and the control electrodes G3 and G4 of the bidirectional thyristor D4 are both connected to the second driving unit.

[0016] Furthermore, the third component unit includes an energy storage capacitor C8 and a unidirectional thyristor plus diode D5; the energy storage capacitor C8 is connected to the third high-voltage power supply, the first terminal of the unidirectional thyristor plus diode D5 is connected to the first terminal of the energy storage capacitor C8, and the second terminal of the unidirectional thyristor plus diode D5 is connected to the first terminal of the second coil L2; the second terminal of the second coil L2 is connected to the second terminal of the energy storage capacitor C8; the control electrode G5A of the unidirectional thyristor plus diode D5 is connected to the third driving unit.

[0017] Furthermore, the first driving unit includes a microcontroller U1, an optocoupler U4, an optocoupler U5, a transistor Q1, and a transistor Q2;

[0018] The RA2 pin of the microcontroller U1 is connected to the base of transistor Q1, sending a drive signal ICDCLK1 to transistor Q1. The source of transistor Q1 is grounded, and the drain of transistor Q1 is connected to the CAT pin of optocoupler U4. The VO2 pin of optocoupler U4 is connected to the control electrode G1A of unidirectional thyristor plus diode D1. The VO1 pin of optocoupler U4 is connected to the control electrode G1 of bidirectional thyristor D2. The VSS pin of optocoupler U4 is connected to the first terminal K1 of bidirectional thyristor D2.

[0019] The RA0 pin of the microcontroller U1 is connected to the base of transistor Q2, and sends a drive signal ICDDAT1 to transistor Q1. The source of transistor Q2 is grounded, and the drain of transistor Q2 is connected to the CAT pin of optocoupler U5. The VO2 and VO1 pins of optocoupler U5 are connected to the control electrode G2 of bidirectional thyristor D2, respectively. The VSS pin of optocoupler U3 is connected to the second terminal K2 of bidirectional thyristor D2.

[0020] Furthermore, the second driving unit includes a microcontroller U2, an optocoupler U6, an optocoupler U7, a transistor Q3, and a transistor Q4;

[0021] The RA2 pin of the microcontroller U2 is connected to the base of transistor Q3, sending a drive signal ICDCLK2 to transistor Q3; the source of transistor Q3 is grounded, and the drain of transistor Q3 is connected to the CAT pin of optocoupler U6; the VO2 pin of optocoupler U6 is connected to the control electrode G3A of unidirectional thyristor plus diode D3; the VO1 pin of optocoupler U6 is connected to the control electrode G3 of bidirectional thyristor D4; the VSS pin of optocoupler U6 is connected to the first terminal K3 of bidirectional thyristor.

[0022] The RA0 pin of the microcontroller U2 is connected to the base of transistor Q4, and sends a drive signal ICDDAT2 to transistor Q4. The source of transistor Q4 is grounded, and the drain of transistor Q4 is connected to the CAT pin of optocoupler U7. The VO2 and VO1 pins of optocoupler U7 are connected to the control electrode G4 of bidirectional thyristor D4, respectively. The VSS pin of optocoupler U7 is connected to the second terminal K4 of bidirectional thyristor D4.

[0023] Furthermore, the third driving unit includes a microcontroller U3, an optocoupler U8, and a transistor Q5; the RA2 pin of the microcontroller U3 is connected to the base of the transistor Q5, and sends a driving signal ICDCLK3 to the transistor Q5; the source of the transistor Q5 is grounded, and the drain of the transistor Q5 is connected to the CAT pin of the optocoupler U8; the VO2 pin of the optocoupler U8 is connected to the control electrode G5A of the unidirectional thyristor and diode D5.

[0024] A control method for a multimodal transcranial magnetic stimulation control system includes the following steps:

[0025] The first coil L1 is used to achieve single-coil paired stimulation with an interval of 1 to 6 ms;

[0026] The first coil L1 is used to achieve single-coil paired stimulation with an interval of 50-200ms;

[0027] The first coil L1 and the second coil L2 are used to achieve paired stimulation of two coils with an interval of 6 to 50 ms.

[0028] The first coil L1 is used to achieve single-coil four-pulse stimulation with intervals of T1, T2 and T3 in sequence;

[0029] The first coil L1 and the second coil L2 are used to achieve single-coil paired stimulation and double-coil paired stimulation combination stimulation.

[0030] Furthermore, the step of achieving single-coil paired stimulation with an interval of 1-6 ms through the first coil L1 specifically includes:

[0031] The microcontroller U1 receives the interrupt trigger signal from the main control unit and outputs a 20μs drive signal ICDCLK1. Transistor Q1 and optocoupler U4 are turned on, driving optocoupler U4 to output a high level to the control electrode G1A of unidirectional thyristor plus diode D1 and the control electrode G1 of bidirectional thyristor D2. The unidirectional thyristor in unidirectional thyristor plus diode D1 and the first unidirectional thyristor in bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit, thereby realizing the first high voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform.

[0032] When the voltage of the energy storage capacitor C1 drops to 0V, the microcontroller U1 outputs the drive signal ICDDAT1 synchronously at the zero-crossing switching point every 100μs. Transistor Q2 and optocoupler U5 are turned on, driving optocoupler U5 to output a high level to the control electrode G2 of the bidirectional thyristor D2. The diode in the unidirectional thyristor D1 and the second unidirectional thyristor in the bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 is charged through the reverse circuit, thereby realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform.

[0033] The drive signal sequence of the main control unit is spaced 1 to 6 ms apart, and discharges the first coil L1 N times to form N positive and negative pulse waveforms.

[0034] Furthermore, the step of achieving paired stimulation of dual coils with an interval of 6-50 ms through the first coil L1 and the second coil L2 includes:

[0035] The microcontroller U1 receives the interrupt trigger signal from the main control unit and outputs a 20μs drive signal ICDCLK1. Transistor Q1 and optocoupler U4 are turned on, driving optocoupler U4 to output a high level to the control electrode G1A of unidirectional thyristor plus diode D1 and the control electrode G1 of bidirectional thyristor D2. The unidirectional thyristor in unidirectional thyristor plus diode D1 and the first unidirectional thyristor in bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit, thereby realizing the first high voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform.

[0036] When the voltage of the energy storage capacitor C1 drops to 0V, the microcontroller U1 outputs the drive signal ICDDAT1 synchronously at the zero-crossing switching point every 100μs. Transistor Q2 and optocoupler U5 are turned on, driving optocoupler U5 to output a high level to the control electrode G2 of the bidirectional thyristor D2. The diode in the unidirectional thyristor D1 and the second unidirectional thyristor in the bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 is charged through the reverse circuit, thereby realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform.

[0037] The main control unit sends an interrupt trigger signal to the microcontroller U3 every 6~50ms. The microcontroller U3 outputs the drive signal ICDCLK3, which turns on transistor Q5 and optocoupler U8. The optocoupler U8 is driven to output a high level to the control electrode G5A of the unidirectional thyristor and diode D5. The unidirectional thyristor in the unidirectional thyristor and diode D5 is turned on. At this time, the energy storage capacitor C8 discharges 2000V to the second coil L2 through the forward circuit, thereby realizing the discharge of the third high voltage power supply to the second coil L2 and generating a magnetic stimulation positive peak current waveform.

[0038] When the voltage of the energy storage capacitor C8 drops to 0V, the diode in the unidirectional thyristor and diode D5 turns on. At this time, the energy storage capacitor C8 is charged through the reverse circuit, completing the charging of the energy storage capacitor C8 and generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform.

[0039] The drive signal sequence of the main control unit is spaced 6~50ms apart each time, and discharges the first coil L1 and the second coil L2 multiple times in sequence to form multiple positive and negative pulse waveforms.

[0040] Compared with existing technologies, the beneficial effects of this invention are as follows: By improving the circuitry of single-coil and dual-coil stimulation in transcranial magnetic stimulation devices, this invention enables single-coil stimulation to rapidly generate and switch to dual-pulse stimulation, and dual-coil stimulation to precisely coordinate the timing of stimulation. This system can achieve single-coil paired stimulation, dual-coil paired stimulation, single-coil four-pulse stimulation, and multi-pulse stimulation with arbitrary timing combinations at different time intervals, and is suitable for various neural modulation paradigms. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the system modules of the present invention;

[0043] Figure 2 This is a schematic diagram of the first microcontroller circuit in the first driving unit of the present invention;

[0044] Figure 3 This is a schematic diagram of the second microcontroller circuit in the second driving unit of the present invention;

[0045] Figure 4 This is a schematic diagram of the third microcontroller circuit in the third driving unit of the present invention;

[0046] Figure 5This is a schematic diagram of the optocoupler circuit in the first driving unit of the present invention;

[0047] Figure 6 This is a schematic diagram of the optocoupler circuit in the second driving unit of the present invention;

[0048] Figure 7 This is a schematic diagram of the optocoupler circuit in the third driving unit of the present invention;

[0049] Figure 8 This is a pulse timing diagram of paired stimulation of a single coil according to the present invention;

[0050] Figure 9 This is a pulse timing diagram of the single-coil four-pulse stimulation of the present invention;

[0051] Figure 10 This is a schematic diagram of the MEP evaluation of the present invention;

[0052] Figure 11 This is a schematic diagram of the main control unit of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0054] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance, or suggesting any such actual relationship or order between these entities or operations. Additionally, the terms "connected," "linked," etc., can refer to a direct connection between elements or an indirect connection via other elements.

[0055] Example 1:

[0056] This invention is achieved through the following technical solutions, such as... Figure 1As shown, a multimodal transcranial magnetic stimulation control system includes a main control unit, a first coil control module, and a second coil control module; the first coil control module includes a first coil L1, a first control circuit, and a second control circuit; the second coil control module includes a second coil L2 and a third control circuit.

[0057] Please see Figure 1 The first control circuit includes a first high-voltage power supply, a first driving unit, and a first component unit. The first component unit includes an energy storage capacitor C1, a unidirectional thyristor plus a diode D1, and a bidirectional thyristor D2. The first terminal of the energy storage capacitor C1 is connected to the first high-voltage power supply, and the second terminal of the energy storage capacitor C1 is connected to both the first and second high-voltage power supplies. The unidirectional thyristor plus diode D1 is composed of a unidirectional thyristor and a diode connected in reverse parallel. The anode of the unidirectional thyristor and the cathode of the diode are connected together to form the first terminal of D1, which is connected to the first terminal of the energy storage capacitor C1. The cathode of the unidirectional thyristor and the anode of the diode are connected together to form the second terminal of D2. The two ends are connected to the first end K1 of the bidirectional thyristor D2; the bidirectional thyristor D2 is composed of a first unidirectional thyristor and a second unidirectional thyristor connected in reverse parallel, wherein the anode of the first unidirectional thyristor and the cathode of the second unidirectional thyristor are connected to form the first end K1 of D2, and the cathode of the first unidirectional thyristor and the anode of the second unidirectional thyristor are connected to form the second end K2 of D2, which is connected to the second end of the first coil L1; the first end of the first coil L1 is connected to the second end of the energy storage capacitor C1; the control electrode G1A of the unidirectional thyristor in D1, the control electrode G1 of the first unidirectional thyristor in D2, and the control electrode G2 of the second unidirectional thyristor in D2 are all connected to the first driving unit.

[0058] Furthermore, the first control circuit also includes resistors R1 and R2, capacitors C3 and C4; the first end of resistor R1 is connected to the first end of unidirectional thyristor plus diode D1, the second end of resistor R1 is connected to the first end of capacitor C3, and the second end of capacitor C3 is connected to the second end of unidirectional thyristor plus diode D1; the first end of resistor R2 is connected to the first end K1 of bidirectional thyristor D2, the second end of resistor R2 is connected to the first end of capacitor C4, and the second end of capacitor C4 is connected to the second end K2 of bidirectional thyristor D2.

[0059] Please see Figure 2 and Figure 5The first driving unit includes a PIC16F1823 microcontroller U1, optocouplers U4 and U5, transistor Q1, and transistor Q2. The RA2 pin of the microcontroller U1 is connected to the base of transistor Q1, sending a drive signal ICDCLK1 to transistor Q1. The source of transistor Q1 is grounded, and the drain of transistor Q1 is connected to the CAT pin of optocoupler U4. The VO2 pin of optocoupler U4 is connected to the control electrode G1A of the unidirectional thyristor and diode D1. The VO1 pin of optocoupler U4 is connected to the control electrode G1 of the first unidirectional thyristor in bidirectional thyristor D2. The VSS pin of optocoupler U4 is connected to the first terminal K1 of bidirectional thyristor D2.

[0060] The RA0 pin of the microcontroller U1 is connected to the base of transistor Q2, and sends a drive signal ICDDAT1 to transistor Q1. The source of transistor Q2 is grounded, and the drain of transistor Q2 is connected to the CAT pin of optocoupler U5. The VO2 and VO1 pins of optocoupler U5 are respectively connected to the control electrode G2 of the second unidirectional thyristor in bidirectional thyristor D2. The VSS pin of optocoupler U3 is connected to the second terminal K2 of bidirectional thyristor D2.

[0061] Furthermore, please continue to see Figure 5 The first driving module also includes resistors R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, and R20; capacitors C11, C12, C13, and C14; diode D8; and diode D9. The first terminal of resistor R11 is connected to a 5V power supply, and the second terminal of resistor R11 is connected to the AN pin of optocoupler U4. The first terminal of capacitor C11 is grounded, and the second terminal of capacitor C11 is connected to the CAT pin of optocoupler U4. The first terminal of resistor R10 is connected to the RA2 pin of microcontroller U1, and the second terminal of resistor R10 is connected to the base of transistor Q1 and the second terminal of resistor R14. One end of resistor R14 is connected to ground; the first end of resistor R12 is connected to the VO2 pin of optocoupler U4, and the second end of resistor R12 is connected to the control electrode G1A of the unidirectional thyristor in the unidirectional thyristor and diode D1; the first end of resistor R13 is connected to the VO1 pin of optocoupler U4, and the second end of resistor R13 is connected to the control electrode G1 of the first unidirectional thyristor in bidirectional thyristor D2; the first end of capacitor C12 is connected to the VO2 and VO1 pins of optocoupler U4 respectively, the second end of capacitor C12 is connected to the first end of resistor R15, the second end of resistor R15 and the anode of diode D8 are connected to the VSS pin of optocoupler U4 respectively, and the cathode of diode D8 is connected to the second end of resistor R13.

[0062] The first end of resistor R16 is connected to a 5V power supply, and the second end of resistor R16 is connected to the AN pin of optocoupler U5; the first end of capacitor C13 is grounded, and the second end of capacitor C13 is connected to the CAT pin of optocoupler U5; the first end of resistor R17 is connected to the RA0 pin of microcontroller U1, and the second end of resistor R17 is connected to the base of transistor Q2 and the first end of resistor R18, and the second end of resistor R18 is grounded; the first end of resistor R19 is connected to the VO2 and VO1 pins of optocoupler U5, and the second end of resistor R19 is connected to the control electrode G2 of the second unidirectional thyristor in bidirectional thyristor D2; the first end of capacitor C14 is connected to the VO2 and VO1 pins of optocoupler U5, and the second end of capacitor C14 is connected to the first end of resistor R20; the second end of resistor R20 and the anode of diode D9 are connected to the VSS pin of optocoupler U5, and the cathode of diode D9 is connected to the second end of resistor R19.

[0063] Please see Figure 1 The second control circuit includes a second high-voltage power supply, a second drive unit, and a second component unit. The second component unit includes an energy storage capacitor C2, a unidirectional thyristor plus a diode D3, and a bidirectional thyristor D4. The first terminal of the energy storage capacitor C2 is connected to both the first and second high-voltage power supplies, and the second terminal of the energy storage capacitor C2 is connected to the second high-voltage power supply. The unidirectional thyristor plus diode D3 is composed of a unidirectional thyristor and a diode connected in reverse parallel. The anode of the unidirectional thyristor and the cathode of the diode are connected together to form the first terminal of D3, which is connected to the second terminal of the energy storage capacitor C2. The cathode of the unidirectional thyristor and the anode of the diode are connected together to form the second terminal of D4. The first terminal K3 of the bidirectional thyristor D4 is connected to the second terminal K3 of the first coil L1. The bidirectional thyristor D4 is composed of a third unidirectional thyristor and a fourth unidirectional thyristor connected in reverse parallel. The anode of the third unidirectional thyristor and the cathode of the fourth unidirectional thyristor are connected together to form the first terminal K3 of D4. The cathode of the third unidirectional thyristor and the anode of the fourth unidirectional thyristor are connected together to form the second terminal K4 of D4, which is connected to the second terminal of the first coil L1. The first terminal of the first coil L1 is also connected to the first terminal of the energy storage capacitor C2. The control electrode G3A of the unidirectional thyristor in D3, the control electrode G3 of the third unidirectional thyristor in D4, and the control electrode G4 of the fourth unidirectional thyristor in D4 are all connected to the second driving unit.

[0064] Furthermore, the second control circuit also includes resistors R3 and R4, capacitors C5 and C6; the first end of resistor R3 is connected to the first end of unidirectional thyristor plus diode D3, the second end of resistor R3 is connected to the first end of capacitor C5, and the second end of capacitor C5 is connected to the second end of unidirectional thyristor plus diode D3; the first end of resistor R4 is connected to the first end K3 of bidirectional thyristor D4, the second end of resistor R4 is connected to the first end of capacitor C6, and the second end of capacitor C6 is connected to the second end K4 of bidirectional thyristor D4.

[0065] Please see Figure 3 and Figure 6 The second driving unit includes a PIC16F1823 microcontroller U2, optocouplers U6 and U7, transistor Q3, and transistor Q4. The RA2 pin of the microcontroller U2 is connected to the base of transistor Q3, sending a drive signal ICDCLK2 to transistor Q3. The source of transistor Q3 is grounded, and its drain is connected to the CAT pin of optocoupler U6. The VO2 pin of optocoupler U6 is connected to the control electrode G3A of a unidirectional thyristor and diode D3. The VO1 pin of optocoupler U6 is connected to the control electrode G3 of the third unidirectional thyristor in bidirectional thyristor D4. The VSS pin of optocoupler U6 is connected to the first terminal K3 of the bidirectional thyristor.

[0066] The RA0 pin of the microcontroller U2 is connected to the base of transistor Q4, and sends a drive signal ICDDAT2 to transistor Q4. The source of transistor Q4 is grounded, and the drain of transistor Q4 is connected to the CAT pin of optocoupler U7. The VO2 and VO1 pins of optocoupler U7 are respectively connected to the control electrode G4 of the fourth unidirectional thyristor in bidirectional thyristor D4. The VSS pin of optocoupler U7 is connected to the second terminal K4 of bidirectional thyristor D4.

[0067] Furthermore, please continue to see Figure 6The second driving module also includes resistors R21, R22, R23, R24, R25, R26, R27, R28, R29, R30, and R31; capacitors C15, C16, C17, and C18; diodes D10 and D11. The first end of resistor R21 is connected to a 5V power supply, and the second end of resistor R21 is connected to the AN pin of optocoupler U6. The first end of capacitor C15 is grounded, and the second end of capacitor C15 is connected to the CAT pin of optocoupler U6. The first end of resistor R22 is connected to the RA2 pin of microcontroller U2, and the second end of resistor R22 is connected to the base of transistor Q3 and the first end of resistor R23. One end of resistor R23 is connected to ground; the first end of resistor R24 ​​is connected to the VO2 pin of optocoupler U6, and the second end of resistor R24 ​​is connected to the control electrode G3A of the unidirectional thyristor in the unidirectional thyristor and diode D3; the first end of resistor R25 is connected to the VO1 pin of optocoupler U6, and the second end of resistor R25 is connected to the control electrode G3 of the third unidirectional thyristor in bidirectional thyristor D4; the first end of capacitor C16 is connected to the VO2 and VO1 pins of optocoupler U6 respectively, the second end of capacitor C16 is connected to the first end of resistor R26, the second end of resistor R26 and the anode of diode D10 are connected to the VSS pin of optocoupler U6 respectively, and the cathode of diode D10 is connected to the second end of resistor R26.

[0068] The first end of resistor R27 is connected to a 5V power supply, and the second end of resistor R26 is connected to the AN pin of optocoupler U7. The first end of capacitor C17 is grounded, and the second end of capacitor C17 is connected to the CAT pin of optocoupler U7. The first end of resistor R28 is connected to the RA0 pin of microcontroller U2, and the second end of resistor R28 is connected to the base of transistor Q4 and the first end of resistor R29, which is grounded. The first end of resistor R30 is connected to the VO2 and VO1 pins of optocoupler U7, and the second end of resistor R30 is connected to the control electrode G4 of the fourth unidirectional thyristor in triac D4. The first end of capacitor C18 is connected to the VO2 and VO1 pins of optocoupler U7, and the second end of capacitor C18 is connected to the first end of resistor R31. The second end of resistor R31 and the anode of diode D11 are connected to the VSS pin of optocoupler U7, and the cathode of diode D11 is connected to the second end of resistor R30. It is easily understood that the second driving unit and the first driving unit are identical in hardware structure.

[0069] Please see Figure 1The third control circuit includes a third high-voltage power supply, a third drive unit, and a third component unit. The third component unit includes an energy storage capacitor C8 and a unidirectional thyristor plus a diode D5. The first and second terminals of the energy storage capacitor C8 are respectively connected to the third high-voltage power supply. The unidirectional thyristor plus diode D5 is composed of a unidirectional thyristor and a diode connected in reverse parallel. The anode of the unidirectional thyristor and the cathode of the diode are connected together to form the first terminal of D5, which is connected to the first terminal of the energy storage capacitor C8. The cathode of the unidirectional thyristor and the anode of the diode are connected together to form the second terminal of D5, which is connected to the first terminal of the second coil L2. The second terminal of the second coil L2 is connected to the second terminal of the energy storage capacitor C8. The control electrode G5A of one of the unidirectional thyristors in D5 is connected to the third drive unit.

[0070] Please see Figure 4 and Figure 7 The third driving unit includes a PIC16F1823 microcontroller U3, an optocoupler U8, and a transistor Q5; the RA2 pin of the microcontroller U3 is connected to the base of the transistor Q5, and sends a driving signal ICDCLK3 to the transistor Q5; the source of the transistor Q5 is grounded, and the drain of the transistor Q5 is connected to the CAT pin of the optocoupler U8; the VO2 pin of the optocoupler U8 is connected to the control electrode G5A of the unidirectional thyristor and diode D5.

[0071] Furthermore, please continue to see Figure 7 The third driving unit further includes resistors R32, R33, R34, R35, and capacitor C19; the first end of resistor R32 is connected to power supply V5, and the second end of resistor R32 is connected to the AN pin of optocoupler U8; the first end of capacitor C19 is grounded, and the second end of capacitor C19 is connected to the CAT pin of optocoupler U8; the first end of resistor R33 is connected to the RA2 pin of microcontroller U3, the second end of microcontroller U3 is connected to the base of transistor Q5 and the first end of resistor R34, and the second end of resistor R34 is grounded; the first end of resistor R35 is connected to the VO2 pin of optocoupler U8, and the second end of resistor R35 is connected to the control electrode G5A of unidirectional thyristor plus diode D5.

[0072] The main control unit includes a control chip U0 with model number STM32F103.

[0073] This solution also discloses a control method for a multimodal transcranial magnetic stimulation control system, used to introduce the functional control principles of various neuromodulation paradigms of the control system:

[0074] (1) Short-interval intracortical inhibition (SICI) is achieved by single-coil paired stimulation with an interval of 1 to 6 ms through the first coil L1. Specifically, the RA4 pin of the microcontroller U1 in the first driving unit receives the interrupt trigger signal of the control chip U0, and the RA2 pin outputs a 20 μs driving signal ICDCLK1 (i.e., a high-level pulse signal). The transistor Q1 and the optocoupler U4 are turned on in succession. The VO2 and VO1 pins of the driving optocoupler U4 output a high level to the control electrode G1A of the unidirectional thyristor plus diode D1 and the control electrode G1 of the bidirectional thyristor D2, so that the unidirectional thyristor in D1 and the first thyristor in D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit. The forward circuit is C1→a→D1→D2→b→c→L1→d→C1, thereby realizing the first high voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform.

[0075] When the voltage of the energy storage capacitor C1 drops to 0V, the discharge current I in the forward circuit reaches its maximum value I_peak. Due to the circuit impedance, the I_peak discharge current gradually decreases to zero, and the unidirectional thyristor in D1 and the first unidirectional thyristor in D2 naturally turn off. Since the energy in the first coil L1 needs to be released, L1 will try to maintain the current flow, thereby generating a reverse electromotive force Vp. The microcontroller U1 uses a timer to time the signal. At 100μs intervals, at the zero-crossing switching point, the RA0 pin of the microcontroller U1 synchronously outputs a drive signal ICDDAT1 (i.e., a high-level pulse signal). Transistor Q2 and optocoupler U5 are then turned on successively. The VO1 pin of optocoupler U5 outputs a high level to the control electrode G2 of the bidirectional thyristor D2, causing the second unidirectional thyristor in D2 to conduct. At this time, the energy storage capacitor C1 is charged through a reverse loop. The reverse loop is L1→c→b→D2→D1→a→C1→d→L1, thus realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetically stimulated negative peak current waveform. The entire process forms as follows: Figure 8 The positive and negative pulse waveforms are shown.

[0076] Throughout the process, the peak voltage and withstand voltage of the energy storage capacitor C1 are almost twice the charging voltage (i.e., 4000V) applied to the reverse circuit and the second high-voltage power supply circuit (C2→e→D3→D4→f→c→L1→d→C2). Generally, a single thyristor has a current withstand of 400A and a voltage withstand of only about 2000V, which is insufficient. Therefore, this solution uses a unidirectional thyristor and a bidirectional thyristor connected in series to solve the voltage withstand problem. To balance the thyristor's voltage withstand, this solution also connects the thyristor in series with two 1MΩ resistors for voltage division, and the thyristor also absorbs the pulse spike voltage through a parallel RC circuit. When the microcontroller U1 outputs drive signals ICDCLK1 and ICDDAT1, the second drive unit does not output drive signals ICDCLK2 and ICDDAT2. Therefore, D3 and D4 connected to the second high-voltage power supply are in a cutoff state, preventing reverse voltage from L1 from flowing back to the second high-voltage power supply. Finally, the voltage is dissipated from the negative peak value through the circuit impedance and released to 0. This time, the first high-voltage power supply completes the first pulse discharge circuit control of the first coil L1, and at the same time realizes the power isolation and anti-drainage of the first high-voltage power supply and the second high-voltage power supply.

[0077] like Figure 8 As shown, the control chip U0 sets a timer of 1~6ms, which is the interval between single-shot double pulses. Control chip U0 sends an interrupt trigger signal to the microcontroller U2 of the second drive unit. The control method of the second drive unit is the same as that of the first drive unit, and its working principle is the same. Through the control of the second drive unit, a second high-voltage power supply is generated to discharge the first coil L1 and the first coil L1 charges the energy storage capacitor C2, thus forming positive and negative pulse waveforms. This completes the second pulse discharge circuit control of the second high-voltage power supply to the first coil L1. According to the sequence of drive signals output by control chip U0, the first coil L1 can be discharged N times, meeting the needs of clinical SICI.

[0078] (2) Similarly, the principle of long-interval intracortical inhibition (LICI) is the same as that of SICI, both of which achieve paired stimulation through a single coil L1. The difference is that the interval between the interrupt trigger signal issued by the control chip U0 is 50 to 200 ms.

[0079] (3) Interhemispheric inhibition (IHI) is achieved by pairing stimulation of two coils with an interval of 6 to 50 ms through the first coil L1 and the second coil L2. The first coil L1 is discharged to the positive circuit where C1 is located by the first high voltage power supply or to the positive circuit where C2 is located by the second high voltage power supply. The second coil L2 is discharged to the positive circuit where C8 is located by the third high voltage power supply. Since the discharge working principle of the circuit where C1 is located and the circuit where C2 is located has been introduced in (1), the functional principle of the two coils is introduced here by discharging the circuit where C1 is located to L1. The principle of the circuit where C2 is located is the same, so it will not be repeated here. Specifically, in the first driving unit, the microcontroller U1 receives the interrupt trigger signal from the control chip U0. The RA2 pin of the microcontroller U1 outputs a 20μs driving signal ICDCLK1 (i.e., a high-level pulse signal). The transistor Q1 and the optocoupler U4 are turned on in succession. The VO2 and VO1 pins of the driving optocoupler U4 output a high level to the control electrode G1A of the unidirectional thyristor plus diode D1 and the control electrode G1 of the first unidirectional thyristor in the bidirectional thyristor D2, so that the unidirectional thyristor in D1 and the first unidirectional thyristor in D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit. The forward circuit is C1→a→D1→D2→b→c→L1→d→C1, thereby realizing the first high-voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform.

[0080] When the voltage of the energy storage capacitor C1 drops to 0V, the discharge current I in the discharge circuit reaches its maximum value I_peak. Due to the circuit impedance, the I_peak discharge current gradually decreases to zero, and the unidirectional thyristor in D1 and the first unidirectional thyristor in D2 naturally turn off. Since the energy in the first coil L1 needs to be released, L1 will try to maintain the current flow, thereby generating a reverse electromotive force Vp. At this time, the microcontroller U1 uses a timer to count down. At the zero-crossing switching point, the RA0 pin of the microcontroller U1 synchronously outputs the drive signal ICDDAT1 (i.e., a high-level pulse signal). Transistor Q2 and optocoupler U5 are turned on in succession. The VO1 pin of the optocoupler U5 outputs a high level to the control electrode G2 of the second unidirectional thyristor in the bidirectional thyristor D2, so that the second unidirectional thyristor in D2 is turned on. At this time, the energy storage capacitor C1 is charged through the reverse circuit. The reverse circuit is L1→c→b→D2→D1→a→C1→d→L1, thereby realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetic stimulation negative peak current waveform. The whole process forms positive and negative pulse waveforms.

[0081] The control chip U0 sets the timer to 6~50ms, which is the interval between double beats and double pulses. The control chip U0 sends an interrupt trigger signal to the microcontroller U3 of the third drive unit. The RA2 pin of the microcontroller U3 outputs the drive signal ICDCLK3 (i.e., a high-level pulse signal). The transistor Q5 and the optocoupler U8 are turned on in succession. The VO2 pin of the optocoupler U8 outputs a high level to the control electrode G5A of the unidirectional thyristor and diode D5, so that D5 is forward turned on. At this time, the energy storage capacitor C8 discharges 2000V to the second coil L2 through the forward circuit. The forward circuit is C8→g→D5→L2→h→C8, so the second coil L2 is magnetically stimulated, generating a magnetic stimulation forward peak current waveform.

[0082] When the voltage of the energy storage capacitor C8 drops to 0V, D5 is cut off in the forward direction and conducts in the reverse direction. At this time, the energy storage capacitor C8 is charged through the reverse circuit. The reverse circuit is L2→D5→g→C8→h→L2, which completes the charging of the energy storage capacitor C8 by the second coil L2, generating a magnetic stimulation negative peak current waveform. The whole process forms positive and negative pulse waveforms.

[0083] According to the sequence of drive signals output by the control chip U0, the first coil L1 and the second coil L2 can be discharged alternately N times to meet the needs of clinical IHI.

[0084] like Figure 10 As shown, this system can achieve test and conditional stimulation using a single coil L1, or it can achieve test and conditional stimulation using two coils L1 and L2. The MEP module acquires electrical signals from the central nervous system to the hand. For example, with a pulse interval of 1ms, the amplitude of the effective electrical signal generated in the hand by the first pulse (a complete positive and negative pulse waveform) acting on the brain is recorded as V1, with a latency of T1. The amplitude of the effective electrical signal generated in the hand by the second pulse (a complete positive and negative pulse waveform) acting on the brain is recorded as V2, with a latency of T2. The clinical effect is evaluated by calculating T2-T1 and (1-V2 / V1)×100%. Other neural modulation paradigms can also be evaluated in the same way.

[0085] (4) Four-pulse stimulation of a single coil: such as Figure 9As shown, the first driving unit drives and controls G1A, G1, and G2, and the first high-voltage power supply discharges the first coil L1 to generate the first pulse waveform at an interval of T1. The second driving unit drives and controls G3A, G3, and G4, and the second high-voltage power supply discharges the first coil L1 to generate the second pulse waveform at an interval of T2. The first driving unit drives and controls G1A, G1, and G2, and the first high-voltage power supply discharges the first coil L1 to generate the third pulse waveform at an interval of T3. The second driving unit drives and controls G3A, G3, and G4, and the second high-voltage power supply discharges the first coil L1 to generate the fourth pulse waveform, thus realizing four-pulse stimulation of a single coil.

[0086] (5) Multi-pulse stimulation with arbitrary timing combination: The first high voltage power supply and the second high voltage power supply discharge pulses to the first coil L1 in pairs. After an arbitrary time interval, the third high voltage power supply is switched to discharge the second coil L2, realizing the combination stimulation of single coil pair stimulation and double coil pair stimulation.

[0087] Furthermore, such as Figure 1 and Figure 11 As shown, the main control unit is also connected to a host computer, a water pump, a flow sensor, a temperature sensor, and a chiller. The temperature sensor is used to detect the coil's operating temperature; the chiller and water pump work to cool the coil; and the flow sensor is used to detect the water pump's flow rate.

[0088] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multimodal transcranial magnetic stimulation control system, characterized in that, It includes a main control unit, a first coil L1, a second coil L2, and a first control circuit, a second control circuit, and a third control circuit that are respectively connected to the main control unit; The first control circuit includes a first high-voltage power supply, a first driving unit, and a first component unit. The first component unit includes an energy storage capacitor C1, a unidirectional thyristor plus diode D1, and a bidirectional thyristor D2. The first driving unit includes a microcontroller U1, an optocoupler U4, and an optocoupler U5. The energy storage capacitor C1 is connected to the first high-voltage power supply and the second high-voltage power supply, respectively. The first terminal of the unidirectional thyristor plus diode D1 is connected to the first terminal of the energy storage capacitor C1, and the second terminal of the unidirectional thyristor plus diode D1 is connected to the first terminal K1 of the bidirectional thyristor D2. The second terminal K2 of the bidirectional thyristor D2 is connected to the second terminal of the first coil L1. The first terminal of the first coil L1 is connected to the second terminal of the energy storage capacitor C1. The microcontroller U1 is connected to the optocoupler U4 and the optocoupler U5, respectively. The optocoupler U4 is connected to the control electrode G1A of the unidirectional thyristor plus diode D1 and the control electrode G1 of the bidirectional thyristor D2, respectively. The optocoupler U5 is connected to the control electrode G2 of the bidirectional thyristor D2. The second control circuit includes a second high-voltage power supply, a second drive unit, and a second component unit. The second component unit includes an energy storage capacitor C2, a unidirectional thyristor plus diode D3, and a bidirectional thyristor D4. The second drive unit includes a microcontroller U2, an optocoupler U6, and an optocoupler U7. The energy storage capacitor C2 is connected to both the first and second high-voltage power supplies. The first terminal of the unidirectional thyristor plus diode D3 is connected to the second terminal of the energy storage capacitor C2, and the second terminal of the unidirectional thyristor plus diode D3 is connected to the first terminal K3 of the bidirectional thyristor D4. The second terminal K4 of the bidirectional thyristor D4 is connected to the second terminal of the first coil L1. The first terminal of the first coil L1 is also connected to the first terminal of the energy storage capacitor C2. The microcontroller U2 is connected to both optocouplers U6 and U7. The optocoupler U6 is connected to the control electrode G3A of the unidirectional thyristor plus diode D3 and the control electrode G3 of the bidirectional thyristor D4. The optocoupler U7 is connected to the control electrode G4 of the bidirectional thyristor D4. The third control circuit includes a third high-voltage power supply, a third drive unit, and a third component unit. The third component unit includes an energy storage capacitor C8 and a unidirectional thyristor plus diode D5. The energy storage capacitor C8 is connected to the third high-voltage power supply. The first terminal of the unidirectional thyristor plus diode D5 is connected to the first terminal of the energy storage capacitor C8, and the second terminal of the unidirectional thyristor plus diode D5 is connected to the first terminal of the second coil L2. The second terminal of the second coil L2 is connected to the second terminal of the energy storage capacitor C8. The control electrode G5A of the unidirectional thyristor plus diode D5 is connected to the third drive unit.

2. The multimodal transcranial magnetic stimulation control system according to claim 1, characterized in that, The first driving unit shown also includes transistor Q1 and transistor Q2; The RA2 pin of the microcontroller U1 is connected to the base of transistor Q1, sending a drive signal ICDCLK1 to transistor Q1. The source of transistor Q1 is grounded, and the drain of transistor Q1 is connected to the CAT pin of optocoupler U4. The VO2 pin of optocoupler U4 is connected to the control electrode G1A of unidirectional thyristor plus diode D1. The VO1 pin of optocoupler U4 is connected to the control electrode G1 of bidirectional thyristor D2. The VSS pin of optocoupler U4 is connected to the first terminal K1 of bidirectional thyristor D2. The RA0 pin of the microcontroller U1 is connected to the base of transistor Q2, and sends a drive signal ICDDAT1 to transistor Q1. The source of transistor Q2 is grounded, and the drain of transistor Q2 is connected to the CAT pin of optocoupler U5. The VO2 and VO1 pins of optocoupler U5 are connected to the control electrode G2 of bidirectional thyristor D2, respectively. The VSS pin of optocoupler U5 is connected to the second terminal K2 of bidirectional thyristor D2.

3. The multimodal transcranial magnetic stimulation control system according to claim 1, characterized in that, The second driving unit also includes transistor Q3 and transistor Q4; The RA2 pin of the microcontroller U2 is connected to the base of transistor Q3, sending a drive signal ICDCLK2 to transistor Q3; the source of transistor Q3 is grounded, and the drain of transistor Q3 is connected to the CAT pin of optocoupler U6; the VO2 pin of optocoupler U6 is connected to the control electrode G3A of unidirectional thyristor plus diode D3; the VO1 pin of optocoupler U6 is connected to the control electrode G3 of bidirectional thyristor D4; the VSS pin of optocoupler U6 is connected to the first terminal K3 of bidirectional thyristor. The RA0 pin of the microcontroller U2 is connected to the base of transistor Q4, and sends a drive signal ICDDAT2 to transistor Q4. The source of transistor Q4 is grounded, and the drain of transistor Q4 is connected to the CAT pin of optocoupler U7. The VO2 and VO1 pins of optocoupler U7 are connected to the control electrode G4 of bidirectional thyristor D4, respectively. The VSS pin of optocoupler U7 is connected to the second terminal K4 of bidirectional thyristor D4.

4. A multimodal transcranial magnetic stimulation control system according to claim 1, characterized in that, The third driving unit includes a microcontroller U3, an optocoupler U8, and a transistor Q5; the RA2 pin of the microcontroller U3 is connected to the base of the transistor Q5, and sends a driving signal ICDCLK3 to the transistor Q5; the source of the transistor Q5 is grounded, and the drain of the transistor Q5 is connected to the CAT pin of the optocoupler U8; the VO2 pin of the optocoupler U8 is connected to the control electrode G5A of the unidirectional thyristor and diode D5.

5. The control method for a multimodal transcranial magnetic stimulation control system according to any one of claims 1-4, characterized in that, Includes the following steps: The first coil L1 is used to achieve single-coil paired stimulation with an interval of 1 to 6 ms; The first coil L1 is used to achieve single-coil paired stimulation with an interval of 50-200ms; The first coil L1 and the second coil L2 are used to achieve paired stimulation of two coils with an interval of 6 to 50 ms. The first coil L1 is used to achieve single-coil four-pulse stimulation with intervals of T1, T2 and T3 in sequence; The first coil L1 and the second coil L2 are used to achieve single-coil paired stimulation and double-coil paired stimulation combination stimulation.

6. The control method for a multimodal transcranial magnetic stimulation control system according to claim 5, characterized in that, The step of achieving single-coil paired stimulation with an interval of 1-6 ms through the first coil L1 specifically includes: The microcontroller U1 receives the interrupt trigger signal from the main control unit and outputs a 20μs drive signal ICDCLK1. Transistor Q1 and optocoupler U4 are turned on, driving optocoupler U4 to output a high level to the control electrode G1A of unidirectional thyristor plus diode D1 and the control electrode G1 of bidirectional thyristor D2. The unidirectional thyristor in unidirectional thyristor plus diode D1 and the first unidirectional thyristor in bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit, thereby realizing the first high voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform. When the voltage of the energy storage capacitor C1 drops to 0V, the microcontroller U1 outputs the drive signal ICDDAT1 synchronously at the zero-crossing switching point every 100μs. Transistor Q2 and optocoupler U5 are turned on, driving optocoupler U5 to output a high level to the control electrode G2 of the bidirectional thyristor D2. The diode in the unidirectional thyristor D1 and the second unidirectional thyristor in the bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 is charged through the reverse circuit, thereby realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform. The drive signal sequence of the main control unit is spaced 1 to 6 ms apart, and discharges the first coil L1 N times to form N positive and negative pulse waveforms.

7. The control method for a multimodal transcranial magnetic stimulation control system according to claim 5, characterized in that, The step of achieving paired stimulation of dual coils with an interval of 6-50ms through the first coil L1 and the second coil L2 includes: The microcontroller U1 receives the interrupt trigger signal from the main control unit and outputs a 20μs drive signal ICDCLK1. Transistor Q1 and optocoupler U4 are turned on, driving optocoupler U4 to output a high level to the control electrode G1A of unidirectional thyristor plus diode D1 and the control electrode G1 of bidirectional thyristor D2. The unidirectional thyristor in unidirectional thyristor plus diode D1 and the first unidirectional thyristor in bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 discharges 2000V voltage to the first coil L1 through the forward circuit, thereby realizing the first high voltage power supply to discharge the first coil L1 and generate a magnetic stimulation positive peak current waveform. When the voltage of the energy storage capacitor C1 drops to 0V, the microcontroller U1 outputs the drive signal ICDDAT1 synchronously at the zero-crossing switching point every 100μs. Transistor Q2 and optocoupler U5 are turned on, driving optocoupler U5 to output a high level to the control electrode G2 of the bidirectional thyristor D2. The diode in the unidirectional thyristor D1 and the second unidirectional thyristor in the bidirectional thyristor D2 are turned on. At this time, the energy storage capacitor C1 is charged through the reverse circuit, thereby realizing the reverse charging of the energy storage capacitor C1 by the first coil L1, generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform. The main control unit sends an interrupt trigger signal to the microcontroller U3 every 6~50ms. The microcontroller U3 outputs the drive signal ICDCLK3, which turns on transistor Q5 and optocoupler U8. The optocoupler U8 is driven to output a high level to the control electrode G5A of the unidirectional thyristor and diode D5. The unidirectional thyristor in the unidirectional thyristor and diode D5 is turned on. At this time, the energy storage capacitor C8 discharges 2000V to the second coil L2 through the forward circuit, thereby realizing the discharge of the third high voltage power supply to the second coil L2 and generating a magnetic stimulation positive peak current waveform. When the voltage of the energy storage capacitor C8 drops to 0V, the diode in the unidirectional thyristor and diode D5 turns on. At this time, the energy storage capacitor C8 is charged through the reverse circuit, completing the charging of the energy storage capacitor C8 and generating a magnetic stimulation negative peak current waveform, forming a positive and negative pulse waveform. The drive signal sequence of the main control unit is spaced 6~50ms apart each time, and discharges the first coil L1 and the second coil L2 multiple times in sequence to form multiple positive and negative pulse waveforms.

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