Head acupuncture precise registration positioning system based on 10-20 electroencephalogram system electrode placement position

Abstract

The application relates to the technical field of medical devices and particularly discloses a head needle precise registration and positioning system based on electrode placement positions of a 10-20 electroencephalogram system, which comprises the following modules: a first coordinate registration module, which establishes an electronic head model three-dimensional model based on physical positioning results of all anatomical reference points in a 10-20 electroencephalogram system electrode distribution map by means of an electronic head model and a positioning probe; a second coordinate registration module, which registers 10-20 electroencephalogram system electrode distribution data marked in the electronic head model three-dimensional model with traditional head needle partition data, and determines the coordinates of a target treatment area in the electronic head model three-dimensional model; and a physical positioning module, which guides an operator to position the physical position range of the target treatment area by means of the positioning probe based on the probe coordinate values of the positioning probe in the electronic head model three-dimensional model and the coordinate range of the target treatment area in the electronic head model three-dimensional model, so that the precision of head needle treatment is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a scalp needle precise registration and positioning system based on the placement position of electrodes of the 10-20 EEG system. Background Technology

[0002] In traditional Chinese medicine (TCM) acupuncture, scalp acupuncture is an important treatment method widely used to treat various diseases, including neurological and cerebrovascular diseases. Accurate scalp acupuncture point localization is crucial for improving treatment efficacy and reducing adverse reactions. However, traditional scalp acupuncture localization methods face numerous challenges. The placement of 10-20 EEG electrodes has been widely applied and standardized in EEG research, relying on clear anatomical landmarks for electrode localization, demonstrating high scientific rigor and accuracy. Introducing the technology related to 10-20 EEG electrode placement into scalp acupuncture localization holds promise for providing new ideas and methods for precise registration and localization. By utilizing the localization principles and related technologies of this system, the location of scalp acupuncture points on the head can be determined more precisely, improving the accuracy and reliability of scalp acupuncture treatment. With the deepening research into the mechanisms of acupuncture treatment and the pursuit of precision in treatment by modern medicine, the precise registration and localization system for scalp acupuncture based on the 10-20 EEG electrode placement has broad development prospects. It will not only help improve the clinical efficacy of TCM acupuncture treatment but also promote the integration of TCM acupuncture with modern medical technology, facilitating the international development of TCM acupuncture.

[0003] However, traditional scalp acupuncture location relies primarily on the doctor's experience and a vague judgment of surface landmarks, lacking precise quantitative standards. Location results can vary significantly between different doctors, making it difficult to guarantee consistency and accuracy in treatment. Current technology struggles to establish a close link between scalp acupuncture points and precise anatomical coordinates, making it impossible to accurately pinpoint acupuncture point locations in the three-dimensional space of the head. Furthermore, the lack of effective tools and methods to guide doctors in precise location in real time means that in practice, doctors can only rely on general impressions and tactile sensations to locate acupuncture points, increasing the possibility of location errors and affecting the effectiveness and safety of scalp acupuncture treatment.

[0004] Therefore, this invention proposes a scalp needle precise registration and positioning system based on the placement positions of 10-20 EEG system electrodes. Summary of the Invention

[0005] This invention provides a precise registration and positioning system for scalp acupuncture based on the placement of 10-20 EEG system electrodes. Utilizing an electronic head model with built-in pressure sensors and a position tracking module, along with a handheld positioning probe, the system physically locates anatomical reference points on the 10-20 EEG system electrode distribution map, establishing a three-dimensional electronic head model of the patient. This provides an intuitive and accurate head model foundation for subsequent precise positioning. The 10-20 EEG system electrode distribution data is overlaid and registered with traditional scalp acupuncture zoning data within the three-dimensional electronic head model to determine the coordinate range of the target treatment area. This achieves the fusion of different positioning systems, improving the accuracy and scientific rigor of the positioning. Based on the coordinate values ​​of the positioning probe in the three-dimensional electronic head model and the coordinate range of the target treatment area, the system guides the operator to precisely locate the physical position of the target treatment area on the patient's scalp. This helps the operator quickly and accurately find the scalp acupuncture treatment location, effectively improving the accuracy of scalp acupuncture treatment, reducing treatment deviations that may be caused by inaccurate positioning, enhancing treatment efficacy, and providing reliable positioning assurance for scalp acupuncture treatment.

[0006] This invention provides a scalp pin precise registration and positioning system based on the placement positions of 10-20 EEG system electrodes, comprising:

[0007] The first coordinate registration module is used to establish a three-dimensional model of the patient's electronic head model based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map using an electronic head model with built-in pressure sensor and position tracking module that fits the patient's head and the operator's handheld positioning probe.

[0008] The second coordinate registration module is used to overlay and register the 10-20 EEG system electrode distribution data marked in the 3D model of the electronic head mold with the traditional scalp acupuncture zoning data to determine the coordinate range of the target treatment area input by the operator in the 3D model of the electronic head mold.

[0009] The physical positioning module is used to guide the operator to locate the physical location of the target treatment area on the patient's scalp based on the probe coordinates of the positioning probe in the 3D model of the electronic head model and the coordinate range of the target treatment area in the 3D model of the electronic head model in real time.

[0010] Optionally, the first coordinate registration module includes:

[0011] The contact signal acquisition submodule is used to acquire the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map by the operator's handheld positioning probe and the pressure sensor in the electronic head mold that fits the patient's head.

[0012] The digital coordinate transformation submodule is used to convert the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point in real time into digital coordinates based on the position tracking module in the electronic head mold, so as to obtain the digital coordinates of all anatomical reference points.

[0013] The 3D model creation submodule is used to create a 3D model of the patient's electronic head based on the digital coordinates of all anatomical reference points.

[0014] Optionally, the second coordinate registration module includes:

[0015] The first coordinate marking submodule is used to mark the distribution positions of all electrodes of the 10-20 EEG system in the 3D model of the electronic head model as the electrode distribution data of the 10-20 EEG system;

[0016] The partition overlay and registration submodule is used to overlay and register the 10-20 EEG system electrode distribution data with the traditional partition data of the scalp acupuncture needles based on a standardized coordinate system to obtain the overlay and registration results.

[0017] The coordinate registration retrieval submodule is used to determine the coordinate range of the target treatment area in the electronic head model 3D model based on the position representation of the target treatment area in the traditional scalp acupuncture partition data input by the operator and the superimposed registration results.

[0018] Optionally, the partition overlay registration submodule includes:

[0019] The first coordinate representation unit is used to determine the position of all anatomical reference points in the three-dimensional model of the electronic head model, and based on the position of all anatomical reference points in the three-dimensional model of the electronic head model, to determine the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system and the 10-20 EEG system electrode distribution data in the three-dimensional model of the electronic head model. Based on the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system in the three-dimensional model of the electronic head model, to determine the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system.

[0020] The grid partitioning quantization unit is used to determine the quantized grid partitioning in the standardized coordinate system based on the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system.

[0021] The second coordinate representation unit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are superimposed and registered to obtain the superimposed registration result.

[0022] Optionally, the second coordinate representation unit includes:

[0023] The overlay registration subunit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are overlaid and registered to obtain the first overlay registration result.

[0024] The anatomical feature extraction subunit is used to collect the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks on the patient's scalp through a positioning probe, convert the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks into digital coordinates, and obtain the digital coordinates of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks.

[0025] The offset calculation subunit is used to calculate the actual spatial offset between each individual anatomical landmark and each anatomical reference point based on the digital coordinates of all individual anatomical landmarks of the basic layer and the individual anatomical landmarks of the functional association layer and the digital coordinates of all anatomical reference points. It also compares each spatial offset with the corresponding theoretical offset extracted from the 3D model of the electronic head model to obtain the basic offset difference and the functional offset difference, respectively.

[0026] The layered registration correction subunit is used to perform layered correction on the first overlay registration result based on all basic offset differences and functional offset differences to obtain the overlay registration result.

[0027] Optionally, the hierarchical registration correction subunit includes:

[0028] The global registration correction subunit is used to fit all basic offset differences using the least squares method to generate a global coordinate system correction factor. Based on the global coordinate system correction factor, the first stacking registration result is corrected to obtain the second stacking registration result.

[0029] The local registration correction subunit is used to generate a local region enhancement correction factor based on the functional offset difference of all functions and the functional positioning requirements of the pin partition, and to correct the second overlay registration result based on the local region enhancement correction factor to obtain the overlay registration result.

[0030] Optionally, the physical positioning module includes:

[0031] The proximity distance determination submodule is used to take the minimum distance between the probe coordinates of the positioning probe in the 3D model of the electronic head model and all boundary coordinates within the coordinate range of the target treatment area in the 3D model of the electronic head model as the current proximity distance.

[0032] The proximity determination submodule is used to determine the real-time proximity based on the ratio of the current proximity distance to the preset distance if the current proximity distance is less than the preset distance.

[0033] The positioning guidance submodule is used to guide the operator to accurately locate the physical location of the target treatment area on the patient's scalp using a positioning probe, based on the real-time proximity setting of the prompt signal intensity.

[0034] Optionally, the physical positioning module includes:

[0035] The probe attitude sensing submodule is used to collect the probe's three-dimensional tilt angle, moving speed, and spatial orientation data in real time as the probe's current attitude data.

[0036] The surface feature analysis submodule is used to obtain the scalp surface feature parameters of the target treatment area in the 3D model of the electronic head model;

[0037] The path planning submodule is used to plan the optimal approach path from the current position of the positioning probe to the center of the target treatment area based on the probe's current posture data, the surface feature parameters of the target treatment area, and the preset obstacle avoidance rules. The optimal approach path includes the horizontal movement trajectory, the vertical tilt angle change curve, and the contact force control curve.

[0038] The visualization guidance submodule is used to overlay the optimal approach path onto the patient's head as a dynamic guide line using AR projection. At the same time, it displays the deviation angle between the current posture of the positioning probe and the optimal current posture determined based on the optimal approach path on the display screen in real time.

[0039] Optionally, the physical positioning module also includes:

[0040] The pressure feedback value acquisition submodule is used to acquire the pressure feedback value of the positioning probe in real time.

[0041] The contact status safety monitoring submodule is used to trigger an alarm and output pressure adjustment suggestions when the latest probe pressure feedback value exceeds the preset safety pressure feedback value.

[0042] Optionally, it also includes:

[0043] The transcranial magnetic stimulation control module is used to determine the magnetic field stimulation parameters of the target treatment area when the treatment method is transcranial magnetic stimulation. Based on the physical location range of the target treatment area on the patient's scalp, it controls the alignment of the center of the magnetic stimulation coil with the physical center of the target treatment area and then operates based on the magnetic field stimulation parameters of the target treatment area.

[0044] The beneficial effects of this invention compared to existing technologies are as follows: By utilizing an electronic head model with a built-in pressure sensor and position tracking module, along with a handheld positioning probe, anatomical reference points in the 10-20 EEG system electrode distribution map are physically located, establishing a three-dimensional electronic head model of the patient. This provides an intuitive and accurate head model foundation for subsequent precise positioning. The 10-20 EEG system electrode distribution data is overlaid and registered with traditional scalp acupuncture zoning data in the three-dimensional electronic head model to determine the coordinate range of the target treatment area. This achieves the fusion of different positioning systems, improving the accuracy and scientific rigor of the positioning. Based on the coordinate values ​​of the positioning probe in the three-dimensional electronic head model and the coordinate range of the target treatment area, the operator is guided to accurately locate the physical position of the target treatment area on the patient's scalp. This helps the operator quickly and accurately find the scalp acupuncture treatment location, effectively improving the accuracy of scalp acupuncture treatment, reducing treatment deviations that may be caused by inaccurate positioning, enhancing treatment effects, and providing reliable positioning assurance for scalp acupuncture treatment.

[0045] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0046] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0047] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0048] Figure 1 This is a schematic diagram of a scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the functional sub-modules contained in the first coordinate registration module in an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the functional sub-modules contained in the second coordinate registration module in an embodiment of the present invention. Detailed Implementation

[0051] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0052] refer to Figure 1This invention provides an embodiment of a scalp pin precise registration and positioning system based on the placement positions of 10-20 EEG system electrodes, including:

[0053] The first coordinate registration module is used to establish a three-dimensional model of the patient's electronic head model based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map using an electronic head model with built-in pressure sensor and position tracking module that fits the patient's head and the operator's handheld positioning probe.

[0054] The second coordinate registration module is used to overlay and register the 10-20 EEG system electrode distribution data marked in the 3D model of the electronic head mold with the traditional scalp acupuncture zoning data to determine the coordinate range of the target treatment area input by the operator in the 3D model of the electronic head mold.

[0055] The physical positioning module is used to guide the operator to locate the physical location of the target treatment area on the patient's scalp based on the probe coordinates of the positioning probe in the 3D model of the electronic head model and the coordinate range of the target treatment area in the 3D model of the electronic head model in real time.

[0056] In this embodiment, an electronic head mold with a built-in pressure sensor and position tracking module is fitted to the patient's head.

[0057] The electronic head mold is a digital positioning carrier adapted to the shape of the patient's head, not a physical "shell" covering the patient's scalp. It has built-in pressure sensors and a position tracking module. The pressure sensor is used to sense the contact state between the probe and the head mold to ensure positioning accuracy, and can also monitor the pressure distribution between the head mold and the patient's scalp. The position tracking module uses preset positioning technology to capture the three-dimensional spatial position of the positioning probe on the surface of the electronic head mold in real time, and converts it into electrode area coordinates in the 10-20 EEG system to achieve positioning and navigation.

[0058] The core function of an electronic head mold is to establish a standardized spatial coordinate system for the head, and its shape typically follows two design approaches:

[0059] Flexible fit frame: This may use a lightweight, adjustable flexible support, such as a medical silicone frame or a malleable plastic frame, which is fixed around the patient's head only through key anatomical reference points. The frame itself does not directly cover the scalp treatment area, but only serves as a physical reference for the positioning system.

[0060] Virtual digital head model: Combining the patient's 3D head scan data or a general human head model, a virtual head model matching the patient's head shape is generated in the software. The physical hardware only interacts with the patient's head through positioning probes and a few reference point sensors, without the need for a physical shell to cover the scalp.

[0061] The common feature of the two designs is that the physical part of the electronic head mold is only used for positioning and fixing, and does not cover the scalp area that needs to be treated with scalp acupuncture. The scalp in the treatment area is always exposed, leaving space for subsequent acupuncture operations.

[0062] Alternatively, navigation can be performed first, followed by obstacle removal (or barrier-free design). The system's operational logic is "location first, treatment later," or "no overlap or interference between the location and treatment areas." The specific process ensures the following: Location Phase: After the electronic head mold is fixed by the reference point, the operator holds the positioning probe and moves it above or close to the scalp but not into the scalp. The system uses the probe's position sensing technology to obtain the coordinates in real time, completing the precise marking of the target acupuncture point. After positioning, if the electronic head mold has a small amount of frame structure that may obstruct the treatment area, it can be temporarily removed or adjusted to a non-treatment area. If it is a virtual digital head mold, no physical removal is required. The operator directly inserts the acupuncture needles on the exposed scalp according to the positioning marks (or software navigation guidance). At this time, the physical part of the electronic head mold has avoided the treatment path and will not hinder the acupuncture operation.

[0063] In this embodiment, the operator uses a positioning probe to physically locate all anatomical reference points in a 10-20 EEG system electrode distribution map:

[0064] The operator holds the positioning probe and, following the software prompts, gently touches the anatomical reference points on the 10-20 EEG electrode distribution map in sequence, such as the root of the nose, external occipital protuberance, and bilateral preauricular points. The positioning probe has a built-in signal transmission unit and trigger unit. When in contact, the pressure sensor detects the pressure signal, triggering the position tracking module to record the coordinates, thereby obtaining the physical positioning results of all anatomical reference points on the scalp.

[0065] In this embodiment, the positioning probe is a key tool in the scalp needle precise registration and positioning system, with a built-in signal transmission unit and triggering unit (including a pressure sensor). It can move on the surface of the electronic head mold or the patient's scalp area, interacting with the electronic head mold's position tracking module through signal transmission and outputting position signals in real time. During positioning, the pressure sensor detects the contact pressure between the probe and the head mold or scalp; when a preset threshold is reached, a positioning confirmation signal is triggered to assist in precise positioning.

[0066] In this embodiment, the 10-20 EEG system electrode distribution map shows that electrode localization is based on clear anatomical landmarks, a method that has been widely used and standardized in the field of EEG research. The electrode positions in the map have a clear correspondence with functional areas of the cerebral cortex, and the positions of each electrode are determined by anatomical reference points (such as the root of the nose, external occipital protuberance, and preauricular point) and the "10% / 20% interval rule".

[0067] In this embodiment, the anatomical reference points mainly include the nasal root, external occipital protuberance, left preauricular point, and right preauricular point. The nasal root, located at the junction of the frontal and nasal bones, is an important reference point for determining the positions of electrodes in the anteroposterior direction. The external occipital protuberance, located on the midline at the back of the head, together with the nasal root, defines the anteroposterior line of the head, used to determine the midline electrode positions. The left and right preauricular points are located in the depressions at the root of the zygomatic bone in front of the tragus on both sides, and the line connecting them is used to determine the lateral electrode positions. After these reference points are determined, the positions of various electrodes in the 10-20 EEG system can be determined by the lines connecting them and their corresponding proportional relationships.

[0068] In this embodiment, the patient's electronic head model is constructed as follows: First, the contact signal acquisition submodule acquires the contact signal input on the electronic head model when the positioning probe contacts each anatomical reference point. Then, the digital coordinate transformation submodule converts the signal into digital coordinates. Finally, a three-dimensional model containing the patient's head shape and the relative positions between all anatomical reference points is constructed based on these digital coordinates.

[0069] In this embodiment, the distribution data of the 10-20 EEG system electrodes marked in the three-dimensional model of the electronic head model is obtained by marking the distribution locations of all electrodes of the 10-20 EEG system in the three-dimensional model of the electronic head model.

[0070] In this embodiment, the traditional scalp acupuncture zoning data includes traditional zoning information in scalp acupuncture therapy, such as the frontal zone, parietal zone, temporal zone, occipital zone, etc., as well as relevant data on specific acupoints or treatment areas within each zone.

[0071] In this embodiment, the target treatment area input by the operator refers to the scalp acupuncture treatment area selected by the operator in the system software interface according to the patient's condition and treatment needs, such as the "language area" or "motor area," or by directly inputting the name of the scalp acupuncture point, such as "forehead midline" or "anterior oblique line of the parietotemporal region." Based on this input, the system matches the corresponding 10-20 coordinate range of the area and highlights the boundary of the target area on the electronic head model 3D model to guide subsequent positioning operations.

[0072] In this embodiment, the positioning probe's coordinates within the 3D model of the electronic head mold are acquired in real time. As the positioning probe moves on the 3D model, the electronic head mold's position tracking module captures its 3D spatial position in real time using a preset positioning technology. Combined with an established standardized 3D coordinate system, the probe's physical position is converted into digital coordinates, i.e., the real-time acquired probe coordinate values. These coordinate values ​​are synchronized to the display screen in real time to determine the positional relationship between the probe and the target treatment area, guiding the operator in positioning.

[0073] In this embodiment, the physical location range of the target treatment area on the patient's scalp is determined by the real-time acquisition of the probe coordinates in the electronic head model and the coordinate range of the target treatment area in the electronic head model. This guides the operator to determine the actual corresponding location range on the patient's scalp using the probe. Once this range is determined, the operator can perform scalp acupuncture treatment or other related operations within this range.

[0074] refer to Figure 2 To establish a 3D model of the patient's electronic head and provide a foundational model for subsequent localization, a first coordinate registration module is proposed, including:

[0075] The contact signal acquisition submodule is used to acquire the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map by the operator's handheld positioning probe and the pressure sensor in the electronic head mold that fits the patient's head.

[0076] The digital coordinate transformation submodule is used to convert the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point in real time into digital coordinates based on the position tracking module in the electronic head mold, so as to obtain the digital coordinates of all anatomical reference points.

[0077] The 3D model creation submodule is used to create a 3D model of the patient's electronic head based on the digital coordinates of all anatomical reference points.

[0078] In this embodiment, based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map by the operator holding the positioning probe and the pressure sensor in the electronic head mold that fits the patient's head, the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point is obtained:

[0079] The operator holds a positioning probe and sequentially touches various anatomical reference points on the 10-20 EEG electrode distribution map, such as the root of the nose, external occipital protuberance, and preauricular point. When the positioning probe contacts the physical location of each anatomical reference point, the electronic head mold, which fits snugly against the patient's head and contains built-in pressure sensors, detects the pressure change generated by the probe's contact and generates a corresponding electrical signal. This signal is the contact signal input to the electronic head mold. Simply put, the positioning probe contacts the anatomical reference points, and the pressure sensors in the electronic head mold acquire the signal representing this contact action. For example, when the probe touches the anatomical reference point corresponding to the root of the nose, the pressure sensor detects the pressure and outputs a contact signal, indicating that the probe has made contact with that point.

[0080] In this embodiment, the position tracking module in the electronic head mold converts the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point into digital coordinates in real time, thereby obtaining the digital coordinates of all anatomical reference points:

[0081] The position tracking module in the electronic head mold receives contact signals acquired and output by the pressure sensor. This module employs specific technologies, such as electromagnetic tracking and optical tracking. Based on these contact signals, and combined with its spatial perception capabilities and an established spatial reference system (such as positional relationships related to the 10-20 EEG system), it can convert the probe position information corresponding to the contact signal into digital coordinates in real time. For example, the contact signal generated when the probe contacts the external occipital protuberance, an anatomical reference point, is converted into digital coordinate values ​​(x, y, z) in a specific coordinate system. By repeating this conversion operation for each anatomical reference point, the digital coordinates of all anatomical reference points can be obtained.

[0082] In this embodiment, a three-dimensional electronic head model of the patient is established based on the digital coordinates of all anatomical reference points:

[0083] Using specialized modeling algorithms and techniques, these digital coordinates are used as the basis for spatial positioning to determine the location of each anatomical reference point in three-dimensional space. Based on these discrete anatomical reference point locations, a continuous three-dimensional model representing the shape and structure of the patient's head is then constructed. For example, using computer graphics techniques, the digital coordinate information of each anatomical reference point is processed to generate a three-dimensional model resembling the shape of the patient's head; this model is the patient's electronic head model.

[0084] refer to Figure 3 To achieve the integration of different positioning systems and accurate coordinate positioning of the target area, a second coordinate registration module is proposed, including:

[0085] The first coordinate marking submodule is used to mark the distribution positions of all electrodes of the 10-20 EEG system in the 3D model of the electronic head model as the electrode distribution data of the 10-20 EEG system;

[0086] The partition overlay and registration submodule is used to overlay and register the 10-20 EEG system electrode distribution data with the traditional partition data of the scalp acupuncture needles based on a standardized coordinate system to obtain the overlay and registration results.

[0087] The coordinate registration retrieval submodule is used to determine the coordinate range of the target treatment area in the electronic head model 3D model based on the position representation of the target treatment area in the traditional scalp acupuncture partition data input by the operator and the superimposed registration results.

[0088] In this embodiment, the operator will input the area to be treated with scalp acupuncture into the system based on factors such as the patient's condition. This area may be the "language area" or a specific acupoint such as the "anterior oblique line of the parietal and temporal region." These are the target treatment areas. Traditional scalp acupuncture zoning data contains the location information of various areas and acupoints in traditional Chinese medicine scalp acupuncture therapy, representing their positions on the head in a specific way.

[0089] The system overlays and registers 10-20 EEG electrode distribution data with traditional scalp acupuncture zone data. Through a series of operations, such as first determining a standardized coordinate system, mapping both types of data to this system, and then performing coordinate transformation and overlay, the overlay registration result is obtained. This result demonstrates the correspondence between traditional scalp acupuncture zone data and the 10-20 EEG electrode distribution data within the same coordinate system.

[0090] Based on the location information of the target treatment area input by the operator in the traditional scalp acupuncture zoning data, and the above-mentioned overlay registration results, the system can find the corresponding coordinate range of the target treatment area in the electronic head model's three-dimensional form. For example, if the target treatment area input by the operator is the "language area," the overlay registration results can reveal the position of the "language area" in the correspondence between the traditional scalp acupuncture zoning data and the electrode distribution of the 10-20 EEG system. This allows the system to determine its specific coordinate range in the electronic head model's three-dimensional form, such as x, y, and z within a certain range in a three-dimensional coordinate system. For instance, the boundaries of the scalp acupuncture "language area" can be precisely located using the positions of electrodes such as F7 and T3 of the 10-20 EEG system, avoiding mapping errors caused by the blurring of the "anterior fontanelle."

[0091] To achieve accurate overlay and registration of two types of partitioned data in the same coordinate system, a partition overlay and registration submodule is proposed, including:

[0092] The first coordinate representation unit is used to determine the position of all anatomical reference points in the three-dimensional model of the electronic head model, and based on the position of all anatomical reference points in the three-dimensional model of the electronic head model, to determine the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system and the 10-20 EEG system electrode distribution data in the three-dimensional model of the electronic head model. Based on the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system in the three-dimensional model of the electronic head model, to determine the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system.

[0093] The grid partitioning quantization unit is used to determine the quantized grid partitioning in the standardized coordinate system based on the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system.

[0094] The second coordinate representation unit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are superimposed and registered to obtain the superimposed registration result.

[0095] In this embodiment, based on the positions of all anatomical reference points in the three-dimensional model of the electronic head mold, the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system, as well as the 10-20 EEG system electrode distribution data, are determined in the three-dimensional model of the electronic head mold.

[0096] The positions of anatomical reference points, such as the nasal root, external occipital protuberance, left preauricular point, and right preauricular point, in the 3D model of the electronic head mold have been determined through preliminary operations. Based on this positional information, the system selects the midpoint of the line connecting the nasal root and the external occipital protuberance, or the midpoint of the line connecting the two preauricular points, or a combination of both, as the origin. The direction from the nasal root to the external occipital protuberance is determined as the anterior-posterior coordinate axis, the direction of the line connecting the two preauricular points is determined as the lateral coordinate axis, and the direction perpendicular to these two directions is determined as the up-down coordinate axis. Simultaneously, based on the positions of the anatomical reference points and the distribution patterns of the 10-20 EEG system electrodes, the corresponding positions of the 10-20 EEG system electrode distribution data in the 3D model of the electronic head mold are determined. For example, if the nasal root is located at one coordinate value and the external occipital protuberance at another, after determining the origin and coordinate axis directions based on this, the approximate distribution positions of electrodes such as Fz and Cz in the model can be found as the 10-20 EEG system electrode distribution data.

[0097] In this embodiment, based on the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system in the three-dimensional model of the electronic head mold, the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system is determined:

[0098] With the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system, each electrode position in the 10-20 EEG system electrode distribution data can find its corresponding coordinate value in this coordinate system. For example, according to the "10% / 20% interval rule" of the 10-20 EEG system, taking the distance from the root of the nose to the external occipital protuberance as the benchmark, if the Fz electrode is located at a position 20% from the root of the nose to the external occipital protuberance, in the established standardized coordinate system, combined with the coordinate axis directions and the origin coordinates, the specific (x, y, z) coordinate value of the Fz electrode in this coordinate system can be calculated, thus transforming all 10-20 EEG system electrode distribution data into a coordinate representation in the standardized coordinate system.

[0099] In this embodiment, the quantized grid partitioning in the standardized coordinate system is determined based on the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system:

[0100] Based on the coordinate representation of the 10-20 EEG system electrode distribution data in a standardized coordinate system, the system uses these electrode positions as a reference to divide the quantization grid into zones. For example, based on the distance between electrodes, grids are divided in the standardized coordinate system at certain proportions, such as 10% or 20% intervals. These grids constitute the quantization grid zones, each corresponding to a specific coordinate range. The electrode spacing of the 10-20 EEG system (10% / 20%) provides a natural unit of measurement for the quantization grid of the pin zones; for example, each 20% interval corresponds to a secondary pin point, enabling the grid partitioning accuracy to reach the millimeter level.

[0101] In this embodiment, the coordinate representation of the traditional scalp acupuncture partition data in the standardized coordinate system is determined based on the positions of all anatomical reference points in the traditional partition data:

[0102] Traditional scalp acupuncture zoning data includes location information for various zones such as the frontal, parietal, and temporal regions, as well as acupoints. By describing the location of anatomical reference points within this data and combining them with an established standardized coordinate system, the various regions and acupoints in the traditional scalp acupuncture zoning data are mapped to this coordinate system. For example, given the relative positional relationship between a certain acupoint in a traditional scalp acupuncture zone and anatomical reference points such as the root of the nose and the external occipital protuberance, the coordinates of the acupoint in the standardized coordinate system are calculated based on the coordinates of these anatomical reference points and their relative positional relationships. This determines the coordinate representation of the traditional scalp acupuncture zoning data in the standardized coordinate system, thus achieving the fusion of traditional scalp acupuncture zoning data and the standardized coordinate system.

[0103] To refine the first overlay registration result and obtain a more accurate overlay registration result, a second coordinate representation unit is proposed, including:

[0104] The overlay registration subunit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are overlaid and registered to obtain the first overlay registration result.

[0105] The anatomical feature extraction subunit is used to collect the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks on the patient's scalp through a positioning probe, convert the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks into digital coordinates, and obtain the digital coordinates of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks.

[0106] The offset calculation subunit is used to calculate the actual spatial offset between each individual anatomical landmark and each anatomical reference point based on the digital coordinates of all individual anatomical landmarks of the basic layer and the individual anatomical landmarks of the functional association layer and the digital coordinates of all anatomical reference points. It also compares each spatial offset with the corresponding theoretical offset extracted from the 3D model of the electronic head model to obtain the basic offset difference and the functional offset difference, respectively.

[0107] The layered registration correction subunit is used to perform layered correction on the first overlay registration result based on all basic offset differences and functional offset differences to obtain the overlay registration result.

[0108] In this embodiment, the coordinate representation of the traditional pin partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are superimposed and registered to obtain the first superimposed registration result:

[0109] In this process, based on the coordinate range and positional relationship between the two in the coordinate system, the various regions of the traditional scalpel partition are made to correspond to the quantized grid partition. For example, the forehead region in the traditional scalpel partition has a specific coordinate range in the standardized coordinate system, which is matched with the corresponding grid in the quantized grid partition to obtain the preliminary superposition effect, which is the first superposition registration result.

[0110] In this embodiment, the basic layer personalized anatomical landmarks refer to relatively stable and easily identifiable basic anatomical features on the patient's scalp, such as the highest point of the eyebrow ridge, the parietal tuberosity, the mastoid process of the temporal bone, and the point adjacent to the occipital tuberosity. These landmarks are universally present on the heads of different individuals and their positions are relatively fixed, serving as a basic reference for determining the overall position and shape of the head.

[0111] In this embodiment, personalized anatomical landmarks at the functional association layer are used. These anatomical landmarks have specific associations with brain functional areas and are of great significance for accurately locating scalp acupuncture treatment areas. These include surface projection points based on the F3 / F4 electrodes (corresponding to the frontal lobe motor area) and T3 / T4 electrodes (corresponding to the temporal lobe language area) of the 10-20 EEG system, as well as landmarks related to the patient's pathological characteristics (such as surface offset reference points for the motor area corresponding to the hemiplegic side after stroke). By identifying these personalized anatomical landmarks at the functional association layer, scalp acupuncture treatment areas related to brain function can be more accurately determined, improving the targeting and accuracy of treatment.

[0112] In this embodiment, the physical locations of all basal layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks on the patient's scalp are collected using positioning probes:

[0113] The operator uses a positioning probe to sequentially locate and contact all the personalized anatomical landmarks of the basic and functionally related layers on the patient's scalp. The probe's built-in sensors and other devices detect its contact with these landmarks and record the physical location information at the moment of contact. For example, when the probe contacts the highest point of the brow ridge, its exact position on the patient's scalp can be determined. This process is repeated to collect the physical positions of all relevant landmarks, preparing for subsequent conversion into digital coordinates.

[0114] In this embodiment, the physical locations of all personalized anatomical landmarks in the basic layer and the personalized anatomical landmarks in the functionally related layer are converted into digital coordinates to obtain the digital coordinates of all personalized anatomical landmarks in the basic layer and the personalized anatomical landmarks in the functionally related layer:

[0115] Using the position tracking module and related algorithms in the electronic head mold, the physical location information of personalized anatomical landmarks in the basic and functionally related layers, collected by the positioning probe, is transformed into digital coordinates in a standardized coordinate system. Similar to the previous coordinate transformation of anatomical reference points, each personalized anatomical landmark has a corresponding (x, y, z) coordinate value.

[0116] In this embodiment, based on the digital coordinates of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks and the digital coordinates of all anatomical reference points, the actual spatial offset between each basic layer personalized anatomical landmark and functional association layer personalized anatomical landmark and each anatomical reference point is calculated: using the acquired digital coordinates of the basic layer and functional association layer personalized anatomical landmarks and the digital coordinates of the anatomical reference points, the actual spatial offset between them is calculated through spatial geometric operations, for example, using a three-dimensional spatial distance formula.

[0117] In this embodiment, the theoretical offset refers to the ideal spatial offset between the basal layer personalized anatomical landmarks and the functional association layer personalized anatomical landmarks and the anatomical reference point, as set in a standard head model or based on general anatomical principles. These theoretical offsets are pre-set reference values, derived from a large amount of normal human anatomical data or standard anatomical models. For example, in a standard head model, the distance between the highest point of the brow ridge and Nz is 45mm.

[0118] In this embodiment, each spatial offset is compared with the corresponding theoretical offset extracted from the 3D model of the electronic head mold to obtain the basic offset difference and the functional offset difference, respectively:

[0119] The actual spatial offset between each basic layer's personalized anatomical landmark and its anatomical reference point is calculated and then subtracted from the theoretical offset extracted from the electronic head model's 3D model to obtain the basic offset difference. Similarly, the actual spatial offset between the personalized anatomical landmark and its anatomical reference point in the functional association layer is compared with the corresponding theoretical offset to obtain the functional offset difference. For example, if the actual spatial offset between the highest point of the brow ridge and the root of the nose is 50mm and the theoretical offset is 48mm, then the basic offset difference is 50-48=2mm.

[0120] To further refine and obtain accurate overlay registration results, and to achieve fine-grained global and local corrections to the overlay registration results, a hierarchical registration correction subunit is proposed, including:

[0121] The global registration correction subunit is used to fit all basic offset differences using the least squares method to generate a global coordinate system correction factor. Based on the global coordinate system correction factor, the first stacking registration result is corrected to obtain the second stacking registration result.

[0122] The local registration correction subunit is used to generate a local region enhancement correction factor based on the functional offset difference of all functions and the functional positioning requirements of the pin partition, and to correct the second overlay registration result based on the local region enhancement correction factor to obtain the overlay registration result.

[0123] In this embodiment, the least squares method is used to fit all the basic offset differences to generate a global correction factor for the coordinate system:

[0124] In this example, all the baseline offset differences represent the discrepancies between the individual's basic head anatomy and the standard anatomy. Fitting these baseline offset differences using the least squares method aims to find a function or combination of parameters that minimizes the sum of the squares of these differences. This combination of parameters is the global coordinate system correction factor, reflecting the degree and direction of adjustment required at the global level to accommodate the individual's basic head anatomy differences. For example, given multiple baseline offset differences between individualized anatomical landmarks and anatomical reference points, a set of values ​​or parameters that can comprehensively correct these differences can be calculated using the least squares method, serving as the global correction factor.

[0125] Assume that in the 3D model of the electronic head mold, we have already obtained the basic offset differences between multiple base layer personalized anatomical landmarks and anatomical reference points. For example, there are three base layer personalized anatomical landmarks A, B, and C, and their offset differences from their corresponding anatomical reference points in each axis of 3D space are as follows:

[0126] Point A: Offset 3 mm on the x-axis, 2 mm on the y-axis, and −1 mm on the z-axis.

[0127] Point B: Offset by −2 mm on the x-axis, 4 mm on the y-axis, and 3 mm on the z-axis.

[0128] Point C: Offset 4 mm on the x-axis, -3 mm on the y-axis, and 2 mm on the z-axis.

[0129] The global registration correction sub-unit uses the least squares method to fit these data to generate a global coordinate system correction factor. The goal of the least squares method is to find a set of corrections (Δx, Δy, Δz) that minimizes the sum of the squares of all offset differences.

[0130] Let the corrections be Δx (x-axis direction), Δy (y-axis direction), and Δz (z-axis direction). For each point, construct the following equation:

[0131] For point A: (x A1 +Δx−x A2 )=3, (y A1 +Δy−y A2 )=2,(z A1 +Δz−z A2 )=−1.

[0132] For point B: (x B1 +Δx−x B2 )=−2,(y B1 +Δy−y B2 )=4,(z B1 +Δz−z B2 =3.

[0133] For point C: (x C1 +Δx−x C2 )=4, (y C1 +Δy−y C2 )=−3,(z C1 +Δz−z C2 =2.

[0134] Through mathematical calculations using the least squares method (which involves complex matrix operations, simplified here), let's assume we ultimately obtain Δx = 1 mm, Δy = 1 mm, and Δz = 1 mm. These three values ​​constitute the global correction factor for the coordinate system, indicating that the x-axis, y-axis, and z-axis directions all need to be shifted by 1 mm throughout the entire three-dimensional coordinate system.

[0135] In this embodiment, the first superposition registration result is corrected based on the global coordinate system correction factor to obtain the second superposition registration result:

[0136] After obtaining the global correction factor for the coordinate system, it is applied to the first overlay registration result. Based on the global correction factor, the coordinate values ​​in the first overlay registration result are adjusted accordingly. For example, if the global correction factor indicates a need for a certain overall movement along the x-axis, then the x-values ​​of all relevant coordinates in the first overlay registration result are adjusted accordingly, resulting in a second overlay registration result that better matches the individual's basic head anatomy, making the registration more accurate. For a specific scalp pin traditional partition coordinate (X, Y, Z) in the first overlay registration result, after correction based on this global correction factor, the new coordinates become (X+1, Y+1, Z+1), thus obtaining the second overlay registration result.

[0137] In this embodiment, a local region enhancement correction factor is generated based on all functional offset differences and the functional positioning requirements of the pin partition:

[0138] Functional offset differences reflect the actual versus theoretical deviations between personalized anatomical landmarks and reference points associated with functional brain regions. Different scalp acupuncture areas have varying functional localization requirements, such as the motor and language areas, each with different precision requirements. Based on these functional offset differences and specific functional localization needs, local region enhancement correction factors are generated. This means that for different functional regions, considering their close connection to brain function and specific precision requirements, the functional offset differences are analyzed and calculated to obtain correction factors specifically used to correct these functional regions. For example, for scalp acupuncture areas related to motor function, a correction factor that more accurately adjusts the region's position is calculated based on its functional offset difference and high-precision localization requirements.

[0139] Taking the motor zone in the scalp acupuncture section as an example, we obtained the functional offset difference between personalized anatomical landmarks and anatomical reference points in the functional association layer related to the motor zone. Assuming three personalized anatomical landmarks D, E, and F related to the motor zone were selected, their offset differences from their corresponding anatomical reference points in each axis of three-dimensional space are as follows:

[0140] Point D: Offset 5 mm on the x-axis, 3 mm on the y-axis, and −2 mm on the z-axis.

[0141] Point E: Offset by −3 mm on the x-axis, 4 mm on the y-axis, and 3 mm on the z-axis.

[0142] Point F: Offset 4 mm on the x-axis, -4 mm on the y-axis, and 2 mm on the z-axis.

[0143] The local registration correction subunit considers the functional positioning requirements of the motion zone and assigns weights to the offset differences in each direction. Assuming that the x-axis weight w is set based on clinical experience and the characteristics of the motion zone... x =0.5, y-axis weight w y=0.3, z-axis weight w z =0.2.

[0144] First, calculate the sum of the weighted offset differences in each direction:

[0145] x-axis: (5×0.5)+(−3×0.5)+(4×0.5)=2.5−1.5+2=3 mm.

[0146] y-axis: (3×0.3)+(4×0.3)+(−4×0.3)=0.9+1.2−1.2=0.9 mm.

[0147] z-axis: (−2×0.2)+(3×0.2)+(2×0.2)=−0.4+0.6+0.4=0.6 mm.

[0148] Then, we make proportional adjustments, assuming we want the final correction to be within a reasonable range, such as between -5 and 5. We calculate the sum of the weighted offset differences in these three directions, S = 3 + 0.9 + 0.6 = 4.5 mm.

[0149] Set an adjustment factor k to ensure that the adjusted correction amount is within a reasonable range. Suppose we want to adjust the sum to 3 (this value can be set based on actual needs and experience), then k = 3 ÷ 4.5 = 2 ÷ 3.

[0150] After proportional adjustment, the x-axis correction is 3×k=3×(2÷3)=2 mm, the y-axis correction is 0.9×k=0.9×(2÷3)=0.6 mm, and the z-axis correction is 0.6×k=0.6×(2÷3)=0.4 mm.

[0151] These three values ​​(2, 0.6, 0.4) constitute the local enhancement correction factor for the motion zone.

[0152] In this embodiment, the second overlay registration result is corrected based on the local region enhancement correction factor to obtain the overlay registration result:

[0153] After obtaining the second overlay registration result, it is further corrected using a local region enhancement correction factor. Although the second overlay registration result has undergone global correction, different functional regions may still deviate from their ideal positions. Based on the local region enhancement correction factor, the coordinates of local regions related to the functional localization of the scalp acupuncture zones in the second overlay registration result are readjusted. For example, the coordinates of the motor cortex are fine-tuned based on a specially generated local region enhancement correction factor, ultimately yielding an overlay registration result that considers individual differences in head functional anatomy and the functional localization requirements of the scalp acupuncture zones, achieving a more accurate registration between the scalp acupuncture zones and the 10-20 EEG electrode distribution data.

[0154] For the coordinates (X1, Y1, Z1) of a certain position in the motion region in the second overlay registration result, after correction based on the local region enhancement correction factor, the new coordinates become (X1+2, Y1+0.6, Z1+0.4), thus obtaining the final more accurate overlay registration result.

[0155] To guide operators in accurately locating the target treatment area within the physical location of the patient's scalp, a physical positioning module is proposed, including:

[0156] The proximity distance determination submodule is used to take the minimum distance between the probe coordinates of the positioning probe in the 3D model of the electronic head model and all boundary coordinates within the coordinate range of the target treatment area in the 3D model of the electronic head model as the current proximity distance.

[0157] The proximity determination submodule is used to determine the real-time proximity based on the ratio of the current proximity distance to the preset distance if the current proximity distance is less than the preset distance.

[0158] The positioning guidance submodule is used to guide the operator to accurately locate the physical location of the target treatment area on the patient's scalp using a positioning probe, based on the real-time proximity setting of the prompt signal intensity.

[0159] In this embodiment, the minimum distance between the probe coordinates in the 3D model of the electronic head mold and all boundary coordinates within the coordinate range of the target treatment area in the 3D model of the electronic head mold is calculated in real time: As the probe moves on the 3D model of the electronic head mold, its coordinates are obtained in real time. This real-time coordinate value is then compared with the distances to all boundary coordinates of the target treatment area. For example, the distance between the probe coordinates and each boundary coordinate is calculated using a 3D spatial distance formula. The smallest distance is selected from all calculated distances, as this smallest distance most directly reflects the proximity of the probe to the boundary of the target treatment area.

[0160] In this embodiment, the preset distance is a distance value pre-set in the system. For common scalp acupuncture treatments where extremely high precision is not required, the preset distance might be set to 5 millimeters. For scalp acupuncture treatments involving fine brain functional areas, such as those targeting language or specific limb motor areas, where extremely high positioning accuracy is required, the preset distance might be set to 2 millimeters.

[0161] In this embodiment, the real-time proximity is determined based on the real-time deviation: the real-time proximity can be set to 1 - the real-time deviation.

[0162] In this embodiment, the real-time proximity setting guides the operator to accurately locate the physical position of the target treatment area on the patient's scalp using a positioning probe.

[0163] A higher real-time proximity indicates that the positioning probe is closer to the target treatment area. The system adjusts the intensity of the prompt signal based on this real-time proximity. For example, a real-time proximity of 0.6 results in a medium-intensity prompt signal; a proximity of 0.8 increases the signal intensity. The prompt signal can take the form of sound, flashing lights, etc. By observing changes in the prompt signal intensity, the operator can determine whether they are approaching the target treatment area and to what extent, allowing for more precise operation of the positioning probe and ultimately determining the physical location of the target treatment area on the patient's scalp, achieving accurate positioning of the scalp acupuncture needle.

[0164] To provide operators with visual and precise positioning guidance, a physical positioning module is proposed, including:

[0165] The probe attitude sensing submodule is used to collect the probe's three-dimensional tilt angle, moving speed, and spatial orientation data in real time as the probe's current attitude data.

[0166] The surface feature analysis submodule is used to obtain the scalp surface feature parameters of the target treatment area in the 3D model of the electronic head model;

[0167] The path planning submodule is used to plan the optimal approach path from the current position of the positioning probe to the center of the target treatment area based on the probe's current posture data, the surface feature parameters of the target treatment area, and the preset obstacle avoidance rules. The optimal approach path includes the horizontal movement trajectory, the vertical tilt angle change curve, and the contact force control curve.

[0168] The visualization guidance submodule is used to overlay the optimal approach path onto the patient's head as a dynamic guide line using AR projection. At the same time, it displays the deviation angle between the current posture of the positioning probe and the optimal current posture determined based on the optimal approach path on the display screen in real time.

[0169] In this embodiment, the probe's three-dimensional tilt angle, movement speed, and spatial orientation data are acquired in real time. During operation, the posture sensing unit built into the positioning probe continuously collects its own relevant information. The three-dimensional tilt angle refers to the degree of tilt of the probe relative to the horizontal or vertical direction in three-dimensional space, such as the angle by which the probe deviates from the standard position in the x, y, and z axes, respectively. The movement speed is the distance the probe moves per unit time, reflecting how fast it moves. The spatial orientation data indicates the spatial direction the probe is pointing. These data combined constitute the probe's current posture data.

[0170] In this embodiment, the scalp surface feature parameters of the target treatment area are obtained from the 3D model of the electronic head mold. The 3D model of the electronic head mold stores relevant feature information of the scalp in the target treatment area. These feature parameters are obtained through a dedicated analysis module, including the radius of curvature, which describes the degree of curvature of the scalp surface (the smaller the value, the greater the curvature); the slope reflects the degree of surface tilt; the height of adjacent anatomical protrusions reflects the undulations of the anatomical structures near the target area; and the subcutaneous tissue thickness distribution data shows the thickness variation of the subcutaneous tissue in this area. Furthermore, a dynamic surface adaptation model is generated by combining patient age and individual differences in skull thickness. This model can adjust the influence weight of the surface feature parameters on probe contact stability in real time. For example, patients of different ages have different scalp elasticity and skull thickness, which will affect the stability during probe contact. This model can be adjusted according to individual differences.

[0171] In this embodiment, the preset obstacle avoidance rules are a series of rules pre-defined during the system design phase. The purpose is to ensure that the positioning probe avoids areas that may affect the operation or cause harm as it approaches the target treatment area. For example, it avoids areas with weak skull bones, as operations in these areas may lead to skull damage; it avoids areas with dense blood vessels to prevent needle puncture and potential danger; and it avoids areas where EEG electrodes have already been placed to avoid interference.

[0172] The system uses collision detection algorithms to verify in real time whether the path has any potential interference with non-target anatomical structures, ensuring the safety and accuracy of the localization process. For example, if a path passes through a weak area of ​​the skull during path planning, the system will replan the path according to obstacle avoidance rules.

[0173] In this embodiment, based on the probe's current posture data, the surface feature parameters of the target treatment area, and preset obstacle avoidance rules, the optimal approach path from the current position of the positioning probe to the center of the target treatment area is planned:

[0174] The system comprehensively considers multiple factors to plan this path. The probe's current posture data determines its current state and movable direction; the surface feature parameters of the target treatment area affect the stability and feasibility of the probe's approach; and preset obstacle avoidance rules ensure path safety. For example, if the scalp curvature radius of the target treatment area is small, it indicates a large curvature, and path planning needs to consider how to adapt to this curvature while avoiding surrounding areas with weak skull bones and dense blood vessels. By comprehensively analyzing these factors, the system calculates an optimal path from the current position of the positioning probe to the center of the target treatment area, ensuring a safe and optimal approach to the target.

[0175] In this embodiment, the horizontal movement trajectory describes the path of the positioning probe on a horizontal plane within the planned optimal approach path. It is the projection of the path onto a two-dimensional plane (typically a plane parallel to the ground), represented by a sequence of coordinate points. For example, the trajectory formed by connecting the points sequentially passed horizontally from the current position of the positioning probe reflects the changes in the probe's direction and distance of movement in the horizontal direction, helping the operator understand how the probe approaches the center of the target treatment area on the horizontal plane.

[0176] In this embodiment, the vertical tilt angle variation curve illustrates how the vertical tilt angle of the positioning probe changes over time or distance traveled during the optimal approach path. Because the scalp surface of the target treatment area has different slopes and curvatures, the vertical tilt angle of the probe needs continuous adjustment to reach the target stably and accurately. The vertical tilt angle variation curve uses time or distance traveled on the horizontal axis and the vertical tilt angle on the vertical axis, visually presenting the dynamic change of the probe's vertical angle during approach, guiding the operator to adjust the probe angle according to the curve. For example, when approaching an area with a larger scalp slope, the curve will show the corresponding angle adjustment trend.

[0177] In this embodiment, a contact force control curve is used to guide the change in pressure when the probe contacts the scalp. Considering factors such as subcutaneous tissue thickness distribution and avoiding harm to the patient, the pressure exerted by the probe on the scalp during approach to the target treatment area needs to be appropriately controlled. The curve uses time or distance traveled on the horizontal axis and contact force on the vertical axis, demonstrating how the contact force should gradually change from the moment the probe begins to approach the scalp until final positioning is achieved, ensuring effective positioning while maintaining patient safety and comfort. For example, the force gradually increases to a certain level as the probe approaches the scalp, remains stable during the critical positioning phase, and is appropriately reduced when positioning is finally completed.

[0178] In this embodiment, the optimal approach path is superimposed on the patient's head as a dynamic guide line using an AR projection method. Simultaneously, the deviation angle between the current orientation of the positioning probe and the optimal current orientation determined based on the optimal approach path is displayed in real time on the screen.

[0179] Using augmented reality (AR) technology, the planned optimal approach path is projected directly onto the patient's actual head position as a dynamic guide line. This allows the operator to visually see how the probe should move to reach the center of the target treatment area. Simultaneously, the display shows the real-time deviation angle between the probe's current posture and the optimal posture determined based on the optimal approach path. The probe's current posture is its actual state, comprised of three-dimensional tilt angle, movement speed, and spatial orientation, while the optimal posture is the ideal state it should achieve at the current position according to the planned path. For example, if the optimal approach path requires a 30-degree tilt angle, while the actual current tilt angle is 35 degrees, the display will show a deviation angle of 5 degrees. In this way, the operator can adjust the probe's posture in a timely manner, operating more accurately according to the optimal approach path and achieving precise positioning.

[0180] To ensure the safety of the positioning process by triggering an alarm and outputting pressure adjustment suggestions when the pressure exceeds a preset safety value, a physical positioning module is proposed, which also includes:

[0181] The pressure feedback value acquisition submodule is used to acquire the pressure feedback value of the positioning probe in real time.

[0182] The contact status safety monitoring submodule is used to trigger an alarm and output pressure adjustment suggestions when the latest probe pressure feedback value exceeds the preset safety pressure feedback value.

[0183] In this embodiment, the pressure feedback value of the positioning probe is obtained in real time: the positioning probe has a built-in pressure sensor. During operation, the sensor continuously senses the pressure between the probe and the contact surface (such as an electronic head mold or the patient's scalp) and converts the pressure signal into measurable values ​​such as electrical signals, i.e., the pressure feedback value.

[0184] In this embodiment, a preset safety pressure feedback value is defined as a pressure standard pre-set during system design based on factors such as human physiological characteristics, scalp acupuncture operation procedures, and equipment safety. This value represents the safe upper limit of pressure applied by the probe during scalp acupuncture positioning and treatment, and may be set to 20 Newtons.

[0185] In this embodiment, an alarm is triggered and pressure adjustment suggestions are output: when the positioning probe pressure feedback value acquired by the system in real time exceeds the preset safe pressure feedback value, the system will immediately activate the alarm mechanism. The alarm can be triggered by an audible alarm, such as a loud beep, or by displaying a prominent warning message on the screen to attract the operator's attention. Simultaneously, the system will output pressure adjustment suggestions based on the exceeded pressure feedback value, combined with pre-set algorithms and empirical data. For example, if the pressure exceeds the safe value by a small amount, the operator is advised to slightly reduce the applied force; if the exceedance is significant, the operator may be advised to immediately stop the operation and readjust the probe position and force application method to ensure the operation is performed within a safe range, guaranteeing patient safety and positioning accuracy.

[0186] To achieve precise control in transcranial magnetic stimulation therapy, the following additional measures are proposed:

[0187] The transcranial magnetic stimulation control module is used to determine the magnetic field stimulation parameters of the target treatment area when the treatment method is transcranial magnetic stimulation. Based on the physical location range of the target treatment area on the patient's scalp, it controls the alignment of the center of the magnetic stimulation coil with the physical center of the target treatment area and then operates based on the magnetic field stimulation parameters of the target treatment area.

[0188] In this embodiment, transcranial magnetic stimulation (TMS) is a treatment method that uses a time-varying magnetic field to act on the cerebral cortex, generating induced currents that affect neural electrical activity. It is a non-invasive neuromodulation technique commonly used to treat neurological disorders, such as depression and Parkinson's disease. A magnetic field is generated by a specific magnetic stimulation coil, which can penetrate the scalp and skull to act on the neural tissue inside the brain, regulating neuronal excitability and thus improving nervous system function.

[0189] In this embodiment, the magnetic field stimulation parameters for the target treatment area are determined. These parameters include magnetic field strength, stimulation frequency, and pulse width. Magnetic field strength determines the intensity of the effect on neural tissue; for example, different magnetic field strengths are required for diseases of varying severity or different treatment targets. Stimulation frequency affects the excitation rhythm of neurons; high-frequency stimulation may enhance neuronal excitability, while low-frequency stimulation may inhibit it. Pulse width relates to the duration of each stimulation. Determining these parameters requires comprehensive consideration of factors such as the patient's condition, the brain function corresponding to the target treatment area, and previous clinical research data.

[0190] Suppose we consider a patient with moderate depression, targeting the left dorsolateral prefrontal cortex, a brain region closely related to mood regulation. Previous clinical research data indicates that higher magnetic field strength is effective in improving symptoms in this brain region for moderate depression, but excessively high strength may cause side effects. Considering the patient's moderate condition and the desire for effective symptom improvement while minimizing side effects, and based on the fact that clinical studies have shown magnetic field strengths for this brain region to be concentrated between 1.5 and 2 Tesla, a magnetic field strength of 1.8 Tesla was ultimately determined. Regarding stimulation frequency, research has found that higher frequencies (such as 10 Hz) can enhance neuronal excitability and have a positive therapeutic effect on depression. Considering the patient's condition and the function of this brain region, a stimulation frequency of 10 Hz was determined. As for pulse width, clinical studies have shown that stimulation of this brain region in the range of 0.1-0.5 milliseconds is effective. Considering the patient's specific situation, a pulse width of 0.3 milliseconds was determined, thus defining the magnetic field stimulation parameters for the target treatment area for this patient.

[0191] In this embodiment, the magnetic stimulation coil center is aligned with the physical center of the target treatment area on the patient's scalp based on the physical location range of the target treatment area. The operation then proceeds based on the magnetic field stimulation parameters of the target treatment area. The physical location range of the target treatment area on the patient's scalp has already been determined through the previous operation of the scalp acupuncture precise registration and positioning system. Based on this, the center of the magnetic stimulation coil must be accurately aligned with the physical center of the target treatment area. This can be achieved using coordinate information and guidance functions provided by the positioning system. For example, using an electronic head mold 3D model and real-time positioning technology ensures that the magnetic stimulation coil is placed in the correct position. Once the two are precisely aligned, the transcranial magnetic stimulation device is activated according to the pre-determined magnetic field stimulation parameters of the target treatment area. The device generates a corresponding time-varying magnetic field based on the set magnetic field strength, stimulation frequency, and pulse width parameters to stimulate the nerve tissue in the target treatment area to achieve the desired therapeutic effect.

[0192] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of this invention and its equivalents, this invention also intends to include these modifications and variations.

Claims

1. A scalp pin precise registration and positioning system based on the placement positions of 10-20 EEG system electrodes, characterized in that, include: The first coordinate registration module is used to establish a three-dimensional model of the patient's electronic head model based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map using an electronic head model with built-in pressure sensor and position tracking module that fits the patient's head and the operator's handheld positioning probe. The second coordinate registration module is used to overlay and register the 10-20 EEG system electrode distribution data marked in the 3D model of the electronic head mold with the traditional scalp acupuncture zoning data to determine the coordinate range of the target treatment area input by the operator in the 3D model of the electronic head mold. The physical positioning module is used to guide the operator to locate the physical location range of the target treatment area on the patient's scalp based on the probe coordinates of the positioning probe in the 3D model of the electronic head model and the coordinate range of the target treatment area in the 3D model of the electronic head model in real time. The first coordinate registration module includes: The contact signal acquisition submodule is used to acquire the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point based on the physical positioning results of all anatomical reference points in the 10-20 EEG system electrode distribution map by the operator's handheld positioning probe and the pressure sensor in the electronic head mold that fits the patient's head. The digital coordinate transformation submodule is used to convert the contact signal input on the electronic head mold when the positioning probe contacts the physical position of each anatomical reference point in real time into digital coordinates based on the position tracking module in the electronic head mold, so as to obtain the digital coordinates of all anatomical reference points. The 3D model creation submodule is used to create a 3D model of the patient's electronic head based on the digital coordinates of all anatomical reference points. The second coordinate registration module includes: The first coordinate marking submodule is used to mark the distribution positions of all electrodes of the 10-20 EEG system in the 3D model of the electronic head model as the electrode distribution data of the 10-20 EEG system; The partition overlay and registration submodule is used to overlay and register the 10-20 EEG system electrode distribution data with the traditional partition data of the scalp acupuncture needles based on a standardized coordinate system to obtain the overlay and registration results. The coordinate registration retrieval submodule is used to determine the coordinate range of the target treatment area in the electronic head model 3D model based on the position representation of the target treatment area in the traditional scalp acupuncture partition data input by the operator and the superimposed registration results. The partition overlay registration submodule includes: The first coordinate representation unit is used to determine the position of all anatomical reference points in the three-dimensional model of the electronic head model, and based on the position of all anatomical reference points in the three-dimensional model of the electronic head model, to determine the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system and the 10-20 EEG system electrode distribution data in the three-dimensional model of the electronic head model. Based on the origin coordinates and three-dimensional coordinate axis directions of the standardized coordinate system in the three-dimensional model of the electronic head model, to determine the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system. The grid partitioning quantization unit is used to determine the quantized grid partitioning in the standardized coordinate system based on the coordinate representation of the 10-20 EEG system electrode distribution data in the standardized coordinate system. The second coordinate representation unit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are superimposed and registered to obtain the superimposed registration result.

2. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 1, characterized in that, The second coordinate representation unit includes: The overlay registration subunit is used to determine the coordinate representation of the traditional scalp needle partition data in the standardized coordinate system based on the position of all anatomical reference points in the traditional scalp needle partition data. The coordinate representation of the traditional scalp needle partition data in the standardized coordinate system and the quantized grid partition in the standardized coordinate system are overlaid and registered to obtain the first overlay registration result. The anatomical feature extraction subunit is used to collect the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks on the patient's scalp through a positioning probe, convert the physical locations of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks into digital coordinates, and obtain the digital coordinates of all basic layer personalized anatomical landmarks and functional association layer personalized anatomical landmarks. The offset calculation subunit is used to calculate the actual spatial offset between each individual anatomical landmark and each anatomical reference point based on the digital coordinates of all individual anatomical landmarks of the basic layer and the individual anatomical landmarks of the functional association layer and the digital coordinates of all anatomical reference points. It also compares each spatial offset with the corresponding theoretical offset extracted from the 3D model of the electronic head model to obtain the basic offset difference and the functional offset difference, respectively. The layered registration correction subunit is used to perform layered correction on the first overlay registration result based on all basic offset differences and functional offset differences to obtain the overlay registration result.

3. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 2, characterized in that, The hierarchical registration correction subunit includes: The global registration correction subunit is used to fit all basic offset differences using the least squares method to generate a global coordinate system correction factor. Based on the global coordinate system correction factor, the first stacking registration result is corrected to obtain the second stacking registration result. The local registration correction subunit is used to generate a local region enhancement correction factor based on the functional offset difference of all functions and the functional positioning requirements of the pin partition, and to correct the second overlay registration result based on the local region enhancement correction factor to obtain the overlay registration result.

4. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 1, characterized in that, The physical positioning module includes: The proximity distance determination submodule is used to take the minimum distance between the probe coordinates of the positioning probe in the 3D model of the electronic head model and all boundary coordinates within the coordinate range of the target treatment area in the 3D model of the electronic head model as the current proximity distance. The proximity determination submodule is used to determine the real-time proximity based on the ratio of the current proximity distance to the preset distance if the current proximity distance is less than the preset distance. The positioning guidance submodule is used to guide the operator to accurately locate the physical location of the target treatment area on the patient's scalp using a positioning probe, based on the real-time proximity setting of the prompt signal intensity.

5. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 1, characterized in that, The physical positioning module includes: The probe attitude sensing submodule is used to collect the probe's three-dimensional tilt angle, moving speed, and spatial orientation data in real time as the probe's current attitude data. The surface feature analysis submodule is used to obtain the scalp surface feature parameters of the target treatment area in the 3D model of the electronic head model; The path planning submodule is used to plan the optimal approach path from the current position of the positioning probe to the center of the target treatment area based on the probe's current posture data, the surface feature parameters of the target treatment area, and the preset obstacle avoidance rules. The optimal approach path includes the horizontal movement trajectory, the vertical tilt angle change curve, and the contact force control curve. The visualization guidance submodule is used to overlay the optimal approach path onto the patient's head as a dynamic guide line using AR projection. At the same time, it displays the deviation angle between the current posture of the positioning probe and the optimal current posture determined based on the optimal approach path on the display screen in real time.

6. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 4 or 5, characterized in that, The physical positioning module also includes: The pressure feedback value acquisition submodule is used to acquire the pressure feedback value of the positioning probe in real time. The contact status safety monitoring submodule is used to trigger an alarm and output pressure adjustment suggestions when the latest probe pressure feedback value exceeds the preset safety pressure feedback value.

7. The scalp pin precise registration and positioning system based on the placement position of 10-20 EEG system electrodes according to claim 1, characterized in that, Also includes: The transcranial magnetic stimulation control module is used to determine the magnetic field stimulation parameters of the target treatment area when the treatment method is transcranial magnetic stimulation. Based on the physical location range of the target treatment area on the patient's scalp, it controls the alignment of the center of the magnetic stimulation coil with the physical center of the target treatment area and then operates based on the magnetic field stimulation parameters of the target treatment area.

Images