Visual space adjustment system

Abstract

The application discloses a visual space adjustment system. The visual space adjustment system comprises a transcranial magnetic stimulation therapeutic instrument, a camera, a camera adjustment holder for fixing and adjusting the camera, and an upper computer in communication with the camera and the camera adjustment holder, wherein the upper computer is provided with a readable storage medium, the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to realize a visual space adjustment method, which comprises the following steps: step S1, first adjusting the camera based on space change data of a first target object relative to the camera, and obtaining first space data of the camera; and step S2, second adjusting the camera based on the first space data of the camera and second space data of a second target object.

Description

[0001] This application is a divisional application of the invention patent application entitled "Vision Spatial Adjustment System and Method, and Readable Storage Medium", filed on June 24, 2022, with application number 2022107251876. Technical Field

[0002] This invention relates to the field of medical devices, and in particular to a visual spatial adjustment system. Background Technology

[0003] In recent years, surgical navigation devices have been widely used in the medical equipment field. Specifically, the most important factor in ensuring the accuracy of visual navigation devices is the field of view and accuracy of the visual camera in the system application scenario.

[0004] In the application scenarios of surgical robots, there are two ways to adjust the field of view and accuracy of visual navigation devices.

[0005] One approach involves adjusting the patient's posture and position to be easily captured by the spatial camera, based on the equipment's layout. However, this adjustment process requires constantly moving the patient's body to adjust its position and angle. This can exacerbate the patient's physical pain and psychological stress during treatment, resulting in a poor treatment experience.

[0006] Another approach is to use a spatial camera with a large capture range. This method allows for capturing the spatial information feedback device worn by the patient over a wider area. However, the optimal capture angle and range for any spatial camera based on visual principles are fixed. Beyond this range, the accuracy of spatial positioning information decreases.

[0007] Therefore, how to ensure that the patient's spatial information feedback device is in the optimal position for capturing space and angle while providing a better treatment experience is an urgent problem to be solved. Summary of the Invention

[0008] To address at least one of the aforementioned problems and deficiencies in the prior art, embodiments of the present invention provide a visual spatial adjustment system. This system allows the field of view of a spatial camera to be adjusted to the optimal spatial position and angle for the patient without requiring adjustments to the patient's body position and posture, thereby ensuring both the accuracy of the captured spatial information and a positive treatment experience.

[0009] One object of the present invention is to provide a visual space adjustment system.

[0010] According to one aspect of the present invention, a visual spatial adjustment system is provided, wherein,

[0011] The visual space adjustment system includes:

[0012] A transcranial magnetic stimulation (TMS) therapy device, wherein the TMS therapy device includes a stimulation coil;

[0013] Camera;

[0014] A camera pan / tilt head used for fixing and adjusting a camera;

[0015] A host computer that communicates with the camera and the camera's pan-tilt unit respectively, the host computer being configured to:

[0016] Based on the spatial change data of the first target object relative to the camera, the camera is adjusted in the first way, and the first spatial data of the camera is obtained.

[0017] The camera is adjusted a second time based on the first spatial data of the camera and the second spatial data of the second target.

[0018] The second adjustment to the camera based on the camera's first spatial data and the second spatial data of the second target further includes:

[0019] Based on the first spatial data and the second spatial data, the relative positional relationship between the camera and the second target object is obtained;

[0020] Compare the relationship between the relative positional relationship and the spatial threshold, and make a second adjustment to the camera based on the relationship.

[0021] The first target object includes supporting equipment or auxiliary equipment.

[0022] The visual space adjustment system according to the present invention has at least one of the following advantages:

[0023] (1) The visual space adjustment system of the present invention allows the optimal field of view and field of view accuracy to be obtained by adjusting the space camera, thereby ensuring the accuracy of the captured spatial information;

[0024] (2) The visual space adjustment system of the present invention allows the patient’s body position and posture to be adjusted without adjusting the patient’s body position and posture in order to obtain the best visual field range and visual field accuracy. Therefore, it can avoid the poor treatment experience caused by adjusting the patient’s body position and posture.

[0025] (3) The visual space adjustment system of the present invention adjusts the field of view and field of view accuracy of the camera based on the patient's spatial data, thus eliminating the limitations of the camera's own optimal capture angle and range to a certain extent.

[0026] (4) The visual space adjustment system of the present invention can obtain the position and posture of the patient's body in real time, and adjust the spatial camera based on the position and posture to obtain the best field of view and field of view accuracy, thus realizing the real-time adjustment process. Attached Figure Description

[0027] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A visual space adjustment method according to an embodiment of the present invention is shown;

[0029] Figure 2 Show Figure 1 The method for obtaining spatial change data in the visual space adjustment method shown;

[0030] Figure 3 Show Figure 1 The detailed process of step S2 in the visual space adjustment method shown;

[0031] Figure 4 A visual space adjustment system according to an embodiment of the present invention is shown. Detailed Implementation

[0032] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0033] In an embodiment of the present invention, a visual space adjustment method is provided. For example... Figure 1 As shown, the visual space adjustment method includes the following steps:

[0034] Step S1: Based on the spatial change data of the first target object relative to the camera, perform a first adjustment on the camera and obtain the first spatial data of the camera;

[0035] Step S2: Make a second adjustment to the camera based on the first spatial data of the camera and the second spatial data of the second target.

[0036] The visual space adjustment method of the present invention performs a first adjustment (i.e., coarse adjustment) on the camera based on spatial change data of a first target object (e.g., a support device or other auxiliary device for supporting a patient, including a treatment chair, treatment bed, physiotherapy bed, or medical bed, etc.) relative to the camera, and performs a second adjustment (i.e., fine adjustment) on the camera based on the first spatial data of the camera obtained after coarse adjustment and the second spatial data of the second target object (e.g., the head of a patient lying on the treatment bed), thereby obtaining the desired visual space. In other words, the visual space adjustment method of the present invention allows for the acquisition of optimal field of view and field of view accuracy by adjusting the first target object (e.g., the support device) and the spatial camera (e.g., coarse and fine adjustments), thereby ensuring the accuracy of the captured spatial information.

[0037] The visual space adjustment method of the present invention allows for adjusting only the position and posture of the camera to obtain the optimal field of view and accuracy, without having to adjust the position and posture of the patient's body, thereby avoiding a poor treatment experience caused by adjusting the position and posture of the patient's body.

[0038] Moreover, the visual space adjustment method of the present invention adjusts the field of view and field of view accuracy of the camera based on the spatial data of the target object, rather than relying entirely on the parameters of the camera itself, thus eliminating the limitations of the camera's own optimal capture angle and range to a certain extent.

[0039] The following description will use the treatment bed as an example. The principles for adjusting other support devices or auxiliary devices are the same or similar to those for adjusting the treatment bed, and will not be elaborated on here.

[0040] In an embodiment, such as Figure 2 As shown, the method for obtaining the spatial change data includes the following steps:

[0041] Obtain the initial spatial data of the camera. In one example, the initial spatial data of the camera includes the initial coordinates and initial pitch angle of the camera. Specifically, construct a reference coordinate system O-XYZ, which is a spatial rectangular coordinate system (e.g., a Cartesian coordinate system) established with the support device supporting the camera as the origin O; obtain the initial position coordinates (x1, y1, z1) and initial pitch angle δ1 of the camera in the reference coordinate system O-XYZ, and the initial position coordinates (x1, y1, z1) of the patient's head in the reference coordinate system O-XYZ. 11 ,y 11 ,z 11 ) and initial pitch angle δ 11However, those skilled in the art should understand that the origin of the reference coordinate system in the embodiments of the present invention is not limited to this, and other positions (such as the center of the camera or the location of the camera's focus) can be set as the origin of the reference coordinate system as needed.

[0042] Construct a first target object coordinate system K-PMN for the treatment bed. This first target object coordinate system is a spatial rectangular coordinate system (e.g., a Cartesian coordinate system) established with the free end of the left armrest of the treatment bed as the origin K. The P-axis is the horizontal axis, the M-axis is the vertical axis, and the N-axis is the vertical axis.

[0043] First transformation data is acquired for spatial transformation between the camera and the first target object. In one example, the first transformation data is the transformation relationship between the camera and the first target object, which includes a first transformation matrix S. For example, the first transformation matrix S can realize the transformation between the camera spatial data in the reference coordinate system O-XYZ and the first target object spatial data in the first target object coordinate system K-PMN.

[0044] In one example, the first transformation matrix S is obtained by:

[0045] Acquire the initial spatial data of the camera in the reference coordinate system O-XYZ. The initial spatial data includes the camera's coordinates and pitch angle (x1, y1, z1, δ1) in the reference coordinate system, where x1, y1, and z1 are the position coordinates of the camera on the X-axis, Y-axis, and Z-axis of the reference coordinate system O-XYZ, respectively, and δ1 is the initial pitch angle of the camera.

[0046] The third spatial data of the treatment bed in the first target object coordinate system K-PMN is obtained. For example, the origin of the first target object coordinate system is the free end of the left armrest or the center of the left armrest of the treatment bed. However, those skilled in the art will understand that the first target object coordinate system in the embodiments of the present invention can also select other points as the origin as needed. The process of obtaining the third spatial data is as follows: the patient lies on the treatment bed in a standard state, that is, the patient lies on the treatment bed in an initial state, such as the state when the treatment bed is facing upwards, or the state after automatic adjustment based on memory, etc.; the coordinates and pitch angles (p1, m1, n1, α1) of the patient's head in the first target object coordinate system K-PMN are obtained, where p1, m1, and n1 are the position coordinates of the patient's head on the P-axis, M-axis, and N-axis of the first target object coordinate system, respectively, and α1 is the initial pitch angle of the patient's head. That is, the third spatial data of the first target object in the first target object coordinate system is obtained by obtaining the spatial data of the patient's head located on the treatment bed. Of course, those skilled in the art should understand that the first target object may also include the patient's head. In this case, the coordinates and pitch angles of the patient's head in the treatment bed coordinate system are obtained.

[0047] Based on the initial spatial data of the camera in the reference coordinate system O-XYZ and the third spatial data of the first target object in the first target object coordinate system, a first transformation matrix S is obtained. This yields the relationship between the camera's coordinates and pitch angle in the reference coordinate system and the first target object's coordinates and pitch angle in the first target object coordinate system. This allows for the determination of the position and attitude correspondence between the camera and the first target object, enabling the acquisition of camera change information based on changes in the first target object, thus facilitating camera position adjustment. For example, the first transformation matrix S = (p1,m1,n1,α1) / (x... 11 ,y 11 ,z 11 ,δ 11 ).

[0048] Those skilled in the art will understand that the patient's head can be used as a reference to obtain the transformation relationship between the first target coordinate system and the reference coordinate system. Of course, any part or component of the treatment bed, any part of the patient, any marker placed on the treatment bed, or any marker placed on the patient can also be used as a reference to obtain the transformation relationship between the first target coordinate system and the reference coordinate system.

[0049] The treatment bed is adjusted to obtain the adjusted spatial data of the first target object. The patient lies on the treatment bed in a comfortable position according to their own body sensation; the user (e.g., a doctor) uses the treatment bed's auxiliary equipment to fix the patient on the treatment bed; the user adjusts the rotation and pitch angles of the treatment bed according to the patient's body sensation to achieve the most comfortable position for the patient, thus completing the adjustment of the treatment bed. After the adjustment is completed, the spatial data of the treatment bed is obtained, such as the coordinates of the patient's head and pitch angle (p2, m2, n2, α2) in the first target object coordinate system K-PMN, where p2, m2, and n2 are the adjusted position coordinates of the patient's head on the P-axis, M-axis, and N-axis of the first target object coordinate system, respectively, and α2 is the adjusted pitch angle of the patient's head.

[0050] Based on the first transformation data, a first spatial transformation is performed on the adjusted spatial data to obtain the transformation data of the first target object. In one example, the transformation data includes transformed coordinates and transformed pitch angles. The adjusted spatial data represents the position and posture of the patient in a relatively comfortable state, so the transformation data obtained after the first spatial transformation corresponds to the position and posture of the camera when the patient is in a comfortable state. That is, the transformation data is the first spatial data of the treatment bed in the camera's reference coordinate system O-XYZ after the first adjustment. Of course, those skilled in the art will understand that when the patient's head is used as a reference, the transformation data is the adjusted coordinates and pitch angle of the patient's head in the reference coordinate system O-XYZ. That is, the adjustment amount of the treatment bed in the reference coordinate system O-XYZ is obtained by the change in the coordinates and pitch angle of the patient's head in the reference coordinate system O-XYZ, thereby obtaining the amount of adjustment required for the camera. For example, the first transformation data is the first transformation matrix S, and the spatial data of the patient's head after adjustment in the first target object coordinate system K-PMN is (p2,m2,n2,α2). Then, the coordinates and pitch angle of the patient's head in the reference coordinate system O-XYZ, i.e., the transformed data (x... 21 ,y 21 ,z 21 ,δ 21 ) = (p2,m2,n2,α2) / S, that is, the coordinates of the patient's head are (x 21 ,y 21 ,z 21 The patient's head tilt angle is δ. 21 .

[0051] Based on the transformed data and the camera's initial spatial data, spatial change data of the first target object relative to the camera is obtained. This spatial change data provides first adjustment information or coarse adjustment information for the camera, allowing for camera adjustment. In one example, the spatial change data includes a first coordinate change between the transformed coordinates and the initial coordinates, and a first pitch angle change between the transformed pitch angle and the initial pitch angle. For example, the spatial change data of the patient's head in the reference coordinate system is (x... 21 -x 11 ,y 21 -y 11 ,z 21 -z 11 ,δ 21 -δ 11 (x) 21 -x 11 ,y 21 -y 11 ,z 21 -z 11 ) represents the first coordinate change (Δx1, Δy1, Δz1), (δ) 21 -δ 11 Let Δδ1 be the first pitch angle change. Therefore, the camera can be coarsely adjusted based on the first coordinate change and the first pitch angle change so that the coarsely adjusted camera has the first spatial data (x2, y2, z2, δ2), for example (x2, y2, z2, δ2) = (x1 + Δx1, y1 + Δy1, z1 + Δz1, δ1 + Δδ1).

[0052] In one example, the camera can be adjusted based on the first coordinate change (Δx1, Δy1, Δz1) and the first pitch angle change Δδ1. Alternatively, it can be adjusted based on the obtained adjusted coordinate position (x2, y2, z2) and pitch angle δ2, as long as the relative positional relationship between the first target object and the camera remains unchanged before and after the first adjustment.

[0053] In one example, before the patient is positioned on the treatment bed, the treatment bed can be adjusted to a better or optimal position within the camera's field of view, or the camera can be adjusted to a better or optimal position within the treatment bed's field of view. This first adjustment is performed after the patient is secured on the treatment bed. This ensures that after the first adjustment, the treatment bed remains in a better or optimal position within the camera's field of view, thus guaranteeing that the patient is at least in a better position within the camera's field of view after the first adjustment. This design reduces the computational load of the second adjustment, requiring only a small amount of adjustment to achieve the optimal position within the camera's field of view.

[0054] In an embodiment, such as Figure 3 As shown, step S2 further includes:

[0055] Based on the first spatial data and the second spatial data, the relative positional relationship between the camera and the second target object is obtained. The first spatial data is the spatial data of the camera after coarse adjustment, and the second spatial data is the spatial data of the current second target object (e.g., a patient's body part, including the patient's head). Therefore, the relative relationship between the first and second spatial data (e.g., the difference between the two spatial data) can represent the relative positional relationship between the camera and the second target object (e.g., the patient's head) in the current state. The relationship between the relative positional relationship and a spatial threshold is compared, and the camera is adjusted a second time according to the relationship. The spatial threshold represents the preset or desired positional relationship between the camera and the second target object set to achieve the optimal field of view and accuracy. By comparing the relationship between the relative positional relationship and the spatial threshold, the difference between the current position and orientation of the camera and the desired position and orientation of the camera can be obtained, and a second adjustment (fine adjustment) is performed based on the difference to achieve the desired visual space. The desired visual space has the optimal field of view and accuracy, and the desired visual space is the optimal position within the camera's field of view as described above.

[0056] To better illustrate how the first and second adjustments ensure the second target object remains in its optimal position within the camera's field of view in real time, thereby guaranteeing the accuracy of the spatial information captured by the camera in real time, the following example, using a patient's head as the second target object, will demonstrate how the camera can more accurately track and capture the patient's head in real time. The methods for real-time tracking and capturing other parts of the patient's body are based on the same or similar principles as the method for real-time tracking and capturing the patient's head, and will not be elaborated upon here.

[0057] Furthermore, the method for obtaining the second spatial data includes the following steps:

[0058] The second target object is registered to establish a mapping relationship between it and the visualized target object model. In one example, the second target object is a patient's head, and correspondingly, the visualized target object model includes a visualized head model. During the registration process, localization tools (such as probes) can be used to associate the patient's head with the visualized head model.

[0059] Furthermore, during the registration process, the patient can wear a detection device on their head to acquire information about their head. The detection device includes optical tracking components to allow information about the patient's head to be captured by a signal acquisition device (e.g., a camera). For example, the detection device can be a head-mounted device. In one example, the detection device includes 4-8 (preferably 4-6) optical tracking components and a first support for the optical tracking components. The optical tracking components may include a reflective sphere that reflects infrared light. The signal acquisition device can receive the infrared light reflected by the reflective sphere, thereby acquiring information about the patient's head (e.g., position coordinates and pitch angle).

[0060] Specifically, the process of establishing the mapping relationship includes the following steps:

[0061] In the coordinate system of the visualized head model, the positions of at least one (e.g., one, two, or more) first reference points are marked; the position information of at least one first reference point in the camera coordinate system is obtained in real time, preferably using a positioning tool; the obtained position information is transformed to the initial head posture coordinate system under the camera; the mapping relationship is determined using the position information transformed to the initial head posture coordinate system under the camera and the positions of at least one first reference point. The mapping relationship can be a mapping matrix W that spatially transforms the head information in the camera coordinate system to the head information in the visualized head model coordinate system. In one example, the mapping matrix W is a posture matrix. In one example, the head information includes the position coordinates and pitch angle of the patient's head.

[0062] Based on the mapping relationship, the subspace data of the second target object in the space of the visualized target object model is obtained. Construct a second target object coordinate system A-BCD, which is a spatial rectangular coordinate system (e.g., a Cartesian coordinate system) with the center of the head-mounted device on the patient's head under the camera as the origin A, where the B-axis is the horizontal axis, the C-axis is the vertical axis, and the D-axis is the vertical axis. Construct a coordinate system E-FGH for the visualized head model, which is a spatial rectangular coordinate system E-FGH with the top of the visualized head model (e.g., Baihui acupoint) as the origin E, where the F-axis is the horizontal axis, the G-axis is the vertical axis, and the H-axis is the vertical axis. Obtain the fourth spatial data (e.g., position and pitch angle) of the patient's head in the second target object coordinate system A-BCD under the camera. Based on the fourth spatial data and the mapping relationship, obtain the sub-space data of the second target object in the space of the visualized target object model, that is, the coordinates and pitch angles (f1, g1, h1, η1) in the coordinate system E-FGH of the visualized head model. For example, the coordinates of the patient's head in the second target coordinate system A-BCD are (b1,c1,d1,β1), where β1 is the pitch angle of the patient's head under the camera. The mapping matrix for converting the spatial information in the second target coordinate system A-BCD to the coordinate system E-FGH of the visualized head model is W. Then the subspace data is (f1,g1,h1,η1) = (b1,c1,d1,β1) × W.

[0063] In one example, the spatial data of the patient's head in the second object coordinate system under the camera can also be obtained through the following steps:

[0064] Provides a spatial transformation matrix K' that transforms spatial information from the first target object coordinate system K-PMN to the camera coordinate system;

[0065] Provides a spatial transformation matrix A' that transforms spatial information in the camera coordinate system to the second target object coordinate system A-BCD in the camera coordinate system;

[0066] The patient head spatial data (p2,m2,n2,α2) obtained in the first adjustment is multiplied by the spatial transformation matrix K' and the spatial transformation matrix A' in sequence to obtain the spatial data (b1,c1,d1,β1) of the patient head in the second target object coordinate system under the camera.

[0067] Second transformation data is acquired to convert the spatial relationship between the visualized target model and the camera. In one example, the second transformation data includes a second transformation matrix Q that transforms the spatial information in the coordinate system of the visualized target model to the reference coordinate system. For example, the second transformation matrix Q can realize the conversion between the spatial data of the patient's head in the coordinate system E-FGH of the visualized head model and the spatial data of the camera in the reference coordinate system O-XYZ.

[0068] The second spatial data is obtained by performing a second spatial transformation on the subspace data based on the second transformation data. In one example, the second spatial data is data in a reference coordinate system O-XYZ. The second spatial data includes the coordinates of a second target object and the pitch angle of the second target object in the reference coordinate system O-XYZ, that is, the coordinates and pitch angle of the patient's head in the reference coordinate system O-XYZ. For example, the second spatial data includes the coordinates and pitch angle (x3, y3, z3, δ3) in the reference coordinate system O-XYZ, where x3, y3, and z3 are the position coordinates of the patient's head on the X-axis, Y-axis, and Z-axis of the reference coordinate system, respectively, and δ3 is the current pitch angle of the patient's head. The position and attitude (pitch angle) information of the patient's head can be obtained using a detection device worn on the patient's head. For example, the second transformation data is the second transformation matrix Q, which transforms the coordinates and pitch angle (f1, g1, h1, η1) of the patient's head from the E-FGH coordinate system of the visualized head model to the reference coordinate system O-XYZ. The expression for the second spatial data (x3, y3, z3, δ3) of the patient's head in the reference coordinate system O-XYZ is: Second spatial data (x3, y3, z3, δ3) = (f1, g1, h1, η1) / Q. In one example, the relative positional relationship is the distance between the camera and the second target object and the change in the second pitch angle. For example, the relative positional relationship between the camera and the patient's head is the distance l1 between the camera and the patient's head and the change in the second pitch angle Δδ2. The expression for the distance l1 is:

[0069]

[0070] The expression for the second pitch angle change Δδ2 is:

[0071] Δδ2=δ3-δ2

[0072] In the formula, (x3, y3, z3) represents the second spatial coordinates of the patient's head in the reference coordinate system O-XYZ at this time, (x2, y2, z2) represents the first spatial coordinates of the camera in the reference coordinate system O-XYZ after the first adjustment, δ3 represents the pitch angle of the patient's head in the reference coordinate system O-XYZ at this time, and δ2 represents the pitch angle of the camera in the reference coordinate system O-XYZ after the first adjustment.

[0073] In one example, the spatial threshold includes a distance threshold l T and pitch angle threshold δ T The spatial threshold is the difference in distance and pitch angle between the second target and the camera, set to achieve optimal field of view and accuracy.

[0074] Furthermore, the distance l1 between the camera and the second target is compared with the distance threshold l. T To obtain the distance l1 and the distance threshold l T The change in distance between them is Δl=l T -l1; Compare the second pitch angle change Δδ2 with the pitch angle threshold δ T To obtain the second pitch angle change Δδ2 and the pitch angle threshold δ T The third pitch angle change Δδ3=δ T - The camera is then adjusted (fine-tuned) based on the distance change Δl and the third pitch angle change Δδ3.

[0075] In one example, when Δl > 0, it indicates that the patient's head is close to the camera. In this case, the camera should be moved away from the patient's head along the straight line between the camera and the patient's head, adjusting the distance by Δl. When Δl < 0, it indicates that the patient's head is far from the camera. In this case, the camera should be moved closer to the patient's head along the same straight line, adjusting the distance by Δl. .

[0076] In one example, the camera's pitch angle is the angle between the camera and the Z-axis in the reference coordinate system O-XYZ, and the patient's head pitch angle is the angle between the patient's head and the Z-axis in the reference coordinate system O-XYZ, with the Z-axis pointing towards the ground as the positive direction. When Δδ3 > 0, it indicates that the patient's head is located in the upper part of the camera's field of view, and the camera should be rotated in the negative direction of the Z-axis by an angle of Δδ3. When Δδ3 < 0, it indicates that the patient's head is located in the lower part of the camera's field of view, and the camera should be rotated in the positive direction of the Z-axis by an angle of 0. When the Z-axis pointing away from the ground is positive, the adjustment method is the opposite of the method when the Z-axis pointing towards the ground is positive.

[0077] Further, the second adjustment of the camera based on the aforementioned relationship includes the following steps: constructing a straight line between the camera and the second target object; obtaining the coordinates and pitch angle (x4, y4, z4, δ4) of the camera after the second adjustment along the straight line based on the distance change Δl, the third pitch angle change Δδ3, the camera coordinates (x2, y2, z2), and the camera pitch angle δ2. Specifically, based on the distance l1 (i.e., the distance before the second adjustment) between the camera and the second target object (i.e., the patient's head) and the distance change Δl, the distance between the camera and the patient's head after the second adjustment is obtained as l1 + Δl. Furthermore, based on the second spatial coordinates (x3, y3, z3) of the patient's head in the reference coordinate system O-XYZ, the equation for the distance l1 + Δl between the camera and the patient's head after the second adjustment is obtained, expressed as:

[0078]

[0079] Then, the coordinates (x4, y4, z4) of the camera in the reference coordinate system O-XYZ after the second adjustment can be obtained according to the equation of the distance l1+Δl.

[0080] After the second adjustment, the camera's pitch angle δ4 = δ2 + Δδ3. Therefore, the camera's spatial information in the reference coordinate system O-XYZ after the second adjustment, i.e., the camera's coordinates and pitch angle, are (x4, y4, z4, δ4). Through a rough first adjustment and a real-time, fine second adjustment, the patient's head is consistently positioned at the optimal location for both the camera's field of view and its accuracy.

[0081] In embodiments of the present invention, the position and posture of the patient's body (e.g., the patient's head) can be obtained in real time, and coarse and fine adjustments of the camera can be made based on the position and posture to obtain the optimal field of view and field of view accuracy, thus realizing a real-time adjustment process.

[0082] In embodiments of the present invention, a readable storage medium is provided. The readable storage medium stores a program or instructions that, when executed by a processor, implement the visual spatial adjustment method described in any of the above embodiments.

[0083] In embodiments of the present invention, "readable storage medium" refers to any medium that participates in providing a program or instructions to a processor for execution. The medium can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical discs or magnetic disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires, and optical fibers, including conductors containing buses. Transmission media can also take the form of acoustic or optical waves, such as acoustic or optical waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, DVDs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or cartridges, carrier waves as described below, or any other medium from which a computer can read.

[0084] In an embodiment of the present invention, a visual space adjustment system is also provided. Figure 4 A visual spatial adjustment system 100 according to an embodiment of the present invention is shown. The visual spatial adjustment system 100 includes a camera 10, a camera adjustment pan / tilt unit 20, and a host computer 30.

[0085] Camera 10 is used to acquire information about a first target or a second target. For example, camera 10 may include a monocular camera or a binocular camera.

[0086] The camera adjustment pan-tilt unit 20 is used to fix the camera 10 and adjust the camera 10. In one example, the camera adjustment pan-tilt unit 20 is equipped with a motor, which performs the first and second adjustments to the camera.

[0087] In one example, the motors include a first rotary motor, a second rotary motor, a third rotary motor, and a pitch adjustment motor. The three rotary motors are used to adjust the camera's position on the X, Y, and Z axes, respectively. For example, a predetermined first or second coordinate change can be converted into rotational amounts for the three rotary motors, thereby adjusting the three rotary motors based on the rotational amounts. The pitch adjustment motor is used to adjust the pitch angle. For example, the camera's pitch angle can be adjusted using the pitch adjustment motor based on a first or fourth pitch angle change.

[0088] The host computer 30 can communicate with both the camera 10 and the camera pan / tilt unit 20. The host computer 30 is equipped with a readable storage medium as described in the foregoing embodiments. The host computer 30 controls the camera pan / tilt unit 20 via the readable storage medium, and the camera pan / tilt unit 20 adjusts the camera 10 according to the instructions of the host computer 30, for example, performing coarse and fine adjustments on the camera 10. In one example, the host computer 30 includes a computer (e.g., a laptop, desktop computer, etc.), a mobile phone, a tablet, a panel, a touchscreen, etc. In the illustrated example, the host computer 30 is an all-in-one desktop computer that integrates a separate host unit into a display.

[0089] In one example, the camera pan / tilt head 20 includes a support device 22. The support device 22 is used to connect the camera 10 to the camera pan / tilt head 20. For example, the support device 22 extends from the bottom of the camera pan / tilt head 20 in a direction away from the bottom. Specifically, the support device 22 can be an L-shaped support arm.

[0090] In one example, the camera adjustment gimbal 20 also includes a stabilizer 24. The stabilizer 24 is disposed within the support device 22 and is used to prevent camera shake from affecting the quality of the captured image.

[0091] In one example, the visuospatial adjustment system 100 also includes a treatment bed 40 to allow the patient to lie down. The treatment bed 40 includes a base 41, a control unit 42 embedded within the base, a power and communication module 43 located at a first end of the base, a lifting base 44 connected to a second end of the base, and a support plate 45 connected to the lifting base 44. The first and second ends of the base 41 are opposite each other. The control unit 42 is used to control the transcranial magnetic stimulation therapy device 50 (described later) and to control the navigation process. The power and communication module 43 is used to provide power and communicate with other devices. The support plate 45 is for the patient to lie down on. The lifting base 44 is located below the support plate 45 and is used to rotate and tilt the patient positioned on the support plate 45 without the patient being stationary.

[0092] Optionally, the treatment bed 40 also includes a fixation device connected to the support plate 45. The fixation device is used to secure the patient after they lie on the support plate 45. For example, the fixation device may be a Velcro strap or an elastic band with a buckle mechanism.

[0093] Furthermore, the treatment bed 40 also includes a support column 46 connected to the support plate 45. For example, the support column 46 includes a first support arm 462 for supporting the host computer 30 and a second support arm 464 for supporting the camera adjustment pan-tilt head 20. For example, the first support arm 462 and the second support arm 464 extend in a first direction and a second direction perpendicular to the support column 46, respectively, the first direction and the second direction forming an angle, and the first support arm 462 and the second support arm 464 are at different heights in the vertical direction.

[0094] In one example, the visual-spatial adjustment system 100 also includes a transcranial magnetic stimulation (TMS) device 50 to allow for visual-spatial adjustment during the use of the TMS device 50.

[0095] The transcranial magnetic stimulation (TMS) device 50 includes a stimulation coil 52. The stimulation coil 52 generates a time-varying magnetic field under the influence of rapidly changing current. This time-varying magnetic field further induces a current within the cranium, causing changes in the neuronal modal potential, resulting in either neuronal excitation or inhibition, thus achieving a therapeutic effect. The stimulation coil 52 can be circular, figure-eight shaped, H-shaped, or conical.

[0096] The stimulation coil includes optical tracking components to allow information from the stimulation coil to be captured by a signal acquisition device (e.g., a camera). For example, the stimulation coil includes 4-8 (preferably 4-6) optical tracking components and a second support supporting the optical tracking components. In one example, the optical tracking components and the second support are located on the back of the stimulation coil. The optical tracking components may include a reflective sphere that reflects infrared light. The signal acquisition device is able to receive the infrared light reflected by the reflective sphere, thereby acquiring information from the stimulation coil. In one example, a corresponding point can be selected within the stimulation coil as a first calibration point, and a sticker with a groove can be adhered to it to facilitate the acquisition of information from the stimulation coil.

[0097] The transcranial magnetic stimulation (TMS) device 50 includes a detection device positioned on the patient's head. The detection device allows for the acquisition of information from the patient's head. The detection device includes an optical tracking component to allow information from the patient's head to be captured by a signal acquisition device. In one example, a corresponding point on the patient's head can be selected as a second calibration point, and a recessed sticker can be adhered to facilitate the acquisition of information from the patient's head.

[0098] Optionally, the transcranial magnetic stimulation (TMS) device 50 also includes a probe. The probe can acquire positional information of the stimulation coil and the patient's head. For example, the probe (e.g., the probe tip) can be placed on a first calibration point of the stimulation coil or a second calibration point of the patient's head, and the positional information of the probe can be acquired using a signal acquisition device (e.g., a camera). After conversion, the positional information of the stimulation coil or the patient's head can be indirectly obtained. In one example, the probe includes 4-8 (preferably 4-6) optical tracking components and a third support for supporting the optical tracking components. The optical tracking components may include a reflective sphere that reflects infrared light. The signal acquisition device can receive the infrared light reflected by the reflective sphere, thereby acquiring the probe information.

[0099] In one example, the transcranial magnetic stimulation (TMS) device 50 also includes a fixation mechanism 54 and a movement mechanism 56 located at its bottom. The fixation mechanism 54 is used to secure the TMS device 50 in place. The movement mechanism 56 includes, for example, wheels for moving the TMS device 50 to a suitable position.

[0100] The visual space adjustment system according to the present invention has at least one of the following advantages:

[0101] (1) The visual space adjustment system of the present invention allows the optimal field of view and field of view accuracy to be obtained by adjusting the space camera, thereby ensuring the accuracy of the captured spatial information;

[0102] (2) The visual space adjustment system of the present invention allows the patient’s body position and posture to be adjusted without adjusting the patient’s body position and posture in order to obtain the best visual field range and visual field accuracy. Therefore, it can avoid the poor treatment experience caused by adjusting the patient’s body position and posture.

[0103] (3) The visual space adjustment system of the present invention adjusts the field of view and field of view accuracy of the camera based on the patient's spatial data, thus eliminating the limitations of the camera's own optimal capture angle and range to a certain extent.

[0104] (4) The visual space adjustment system of the present invention can obtain the position and posture of the patient's body in real time, and adjust the spatial camera based on the position and posture to obtain the best field of view and field of view accuracy, thus realizing the real-time adjustment process.

[0105] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A visual spatial adjustment system, characterized in that, The visual space adjustment system includes: A transcranial magnetic stimulation (TMS) therapy device, wherein the TMS therapy device includes a stimulation coil; Camera, the camera being used to collect information about a first target or a second target; A camera pan-tilt head, used to fix and adjust the camera; The host computer is configured to: Based on the spatial change data of the first target object relative to the camera, the camera is adjusted in the first way, and the first spatial data of the camera is obtained. The camera is adjusted a second time based on the first spatial data of the camera and the second spatial data of the second target object. The second adjustment of the camera based on the first spatial data of the camera and the second spatial data of the second target further includes: Based on the first spatial data and the second spatial data, the relative positional relationship between the camera and the second target object is obtained; Compare the relationship between the relative positional relationship and the spatial threshold, and make a second adjustment to the camera based on the relationship. The first target object includes supporting equipment or auxiliary equipment.

2. The visual space adjustment system according to claim 1, characterized in that, The host computer controls the camera's pan-tilt unit via a readable storage medium, and the camera's pan-tilt unit adjusts the camera according to the instructions from the host computer. The host computer communicates with the camera and the camera's pan / tilt unit, respectively. The host computer includes a computer, mobile phone, tablet, panel, and touch screen. The camera pan-tilt unit is connected to the camera via a support device that extends from the bottom of the camera pan-tilt unit away from the bottom. The camera adjustment pan-tilt unit is equipped with a motor, and the camera adjustment pan-tilt unit performs the first adjustment and the second adjustment on the camera through the motor.

3. The visual space adjustment system according to claim 2, characterized in that, The motors include a first rotary motor, a second rotary motor, a third rotary motor, and a pitch adjustment motor. The first, second, and third rotary motors are used to adjust the position of the camera on the X, Y, and Z axes, respectively, while the pitch adjustment motor is used to adjust the pitch angle. The camera adjustment gimbal also includes a stabilizer, which is disposed within the support device and is used to prevent camera shake from affecting the quality of the captured image.

4. The visual space adjustment system according to any one of claims 1-3, characterized in that, The visual space adjustment system also includes a treatment bed, which comprises a base, a control host embedded in the base, a power supply and communication module located at a first end of the base, a lifting base connected to a second end of the base, and a support plate connected to the lifting base. The lifting base is located below the support plate.

5. The visual space adjustment system according to claim 4, characterized in that, The treatment bed also includes a fixing device connected to the support plate and a support column connected to the support plate. The support column includes a first support arm for supporting the host computer and a second support arm for supporting the camera's pan-tilt head. The first support arm and the second support arm extend in a first direction and a second direction, respectively, perpendicular to the support column. The first direction and the second direction form an angle, and the first support arm and the second support arm are at different heights in the vertical direction.

6. The visual space adjustment system according to claim 4, characterized in that, The control host is used to control the transcranial magnetic stimulation therapy device to allow for adjustment of the visual space during the use of the transcranial magnetic stimulation therapy device.

7. The visual space adjustment system according to claim 6, characterized in that, The transcranial magnetic stimulation therapy device also includes a fixing mechanism and a moving mechanism located at its bottom. The fixing mechanism is used to fix the transcranial magnetic stimulation therapy device in place, and the moving mechanism is used to move the transcranial magnetic stimulation therapy device.

8. The visual space adjustment system according to claim 7, characterized in that, The stimulation coil includes an optical tracking component. The transcranial magnetic stimulation therapy device also includes: A detection device, which is disposed on the patient's head, is used to acquire information about the patient's head. A probe that acquires positional information of the stimulation coil and the patient's head.

9. The visual space adjustment system according to claim 1, wherein, The method for obtaining the spatial change data includes the following steps: Acquire the initial spatial data of the camera; Acquire first transformation data for spatial transformation between the camera and the first target object; Adjust the first target object to obtain its adjusted spatial data; Based on the first transformation data, the adjusted spatial data is subjected to a first spatial transformation to obtain the transformation data of the first target object; Based on the converted data and the camera's initial spatial data, the spatial change data of the first target object relative to the camera is obtained.

10. The visual space adjustment system according to claim 9, wherein, The initial spatial data includes the camera's initial coordinates and initial pitch angle. The transformation data includes transformed coordinates and transformed pitch angles; The spatial change data includes the first coordinate change between the transformed coordinates and the initial coordinates, and the first pitch angle change between the transformed pitch angle and the initial pitch angle.

11. The visual space adjustment system according to claim 1, wherein, The method for obtaining the second spatial data includes the following steps: Register the second target object to establish a mapping relationship between the second target object and the visualized target object model; Based on the mapping relationship, obtain the subspace data of the second target object in the space of the visualized target object model; Acquire second transformation data of the spatial transformation between the visualized target model and the camera; The subspace data is subjected to a second spatial transformation based on the second transformation data to obtain the second spatial data.

12. The visual space adjustment system according to claim 1, wherein, The relative positional relationship refers to the distance between the camera and the second target object and the change in the second pitch angle. The spatial threshold represents the preset or desired positional relationship between the camera and the second target object, set to achieve optimal field of view and accuracy. The relationship between the relative positional relationship and the spatial threshold is compared to obtain the difference between the current position and orientation of the camera and the desired position and orientation of the camera. Based on the difference, a second adjustment is made to achieve the desired visual space.

13. The visual space adjustment system according to claim 12, wherein, The desired visual space has the optimal field of view and the optimal field of view accuracy, and the desired visual space is the optimal position within the camera's field of view. The spatial thresholds include a distance threshold and a pitch angle threshold. The first spatial data includes camera coordinates and camera pitch angle. The second spatial data includes the coordinates of the second target and the pitch angle of the second target.

14. The visual space adjustment system according to claim 13, wherein, Compare the distance with the distance threshold to obtain the distance change between the distance and the distance threshold; Compare the second pitch angle change with the pitch angle threshold to obtain a third pitch angle change between the second pitch angle change and the pitch angle threshold; The camera is adjusted a second time based on the distance change and the third pitch angle change.

15. The visual space adjustment system according to claim 14, wherein, Construct a straight line between the camera and the second target object; Based on the distance change and the camera coordinates, the coordinates of the camera after the second adjustment along the straight line are obtained; The camera is adjusted a second time based on the second coordinate change between the adjusted coordinates and the camera coordinates.

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