Y-shaped coil positioning method and system for transcranial magnetic stimulation therapy

Abstract

The invention discloses a Y-shaped coil positioning method and system used in transcranial magnetic stimulation therapy, and relates to the technical field of medical robot navigation, and the method comprises the steps: firstly building a coordinate system of a Y-shaped coil, and planning an initial target pose; then rotating and optimizing the coil attitude by taking the stimulation target point as a center, so that signed distances between a plurality of pairs of symmetrical key points preset on the coil and the scalp three-dimensional model are equal, thereby obtaining an optimized pose; and finally, the mechanical arm is controlled to carry the coil to move to the pose, the contact force and the torque are monitored through a six-degree-of-freedom force sensor, and a flexible shaft preset in a mechanical arm tool coordinate system is adjusted, so that the coil is actually and tightly attached to the scalp. The technical problem that a traditional single-working-face coil positioning method cannot ensure that the double working faces of the Y-shaped coil are evenly and stably attached to the irregular scalp curved surface is solved, accurate positioning of the treatment target spot is achieved, and the treatment effect of transcranial magnetic stimulation is improved.

Description

Technical Field

[0001] This invention relates to the field of medical robot navigation technology, and in particular to a Y-type coil positioning method and system for transcranial magnetic stimulation therapy. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a non-invasive neuromodulation technique for the brain that has been widely used in the clinical treatment of various mental illnesses, such as depression and anxiety. The effectiveness of TMS is closely related to the precise localization of the stimulation target. Therefore, achieving precise contact between the coil and the scalp, and ensuring accurate delivery of stimulation energy to the target brain region, are key to improving the efficacy of TMS.

[0003] Currently, most TMS robot navigation systems on the market are designed for traditional single-faced coils (such as circular coils and figure-eight coils). Their positioning methods are typically based on the principle that "the coil plane is tangent to the local curved surface of the scalp." For example, in existing patents (such as CN2022102348131), the system finds the scalp position closest to a preset target point as the stimulation point, and makes the coil center point, stimulation point, and target point collinear, while simultaneously making the coil plane parallel to the scalp section at the stimulation point. Similarly, another patent (CN2024109936400) proposes mapping individualized target points to the nearest scalp position and setting the coil to a posture tangent to the scalp at that point. These methods are relatively mature for coils with a single, flat working surface and can achieve good positioning consistency.

[0004] However, with the continuous evolution of clinical needs, Y-shaped (butterfly-shaped) coils have gradually gained attention. Compared with traditional figure-eight coils, Y-shaped coils, due to their special geometric configuration, have stronger magnetic field penetration and a wider stimulation coverage, effectively targeting deep or hard-to-reach brain regions. However, Y-shaped coils have two non-coplanar working surfaces, and the scalp is an irregular curved surface. If the traditional single-working-surface positioning strategy is continued, making only one plane tangent to the scalp, it is difficult to ensure that both working surfaces are well-fitted to the scalp. This can easily lead to coil tilting, uneven contact, or local suspension, thus affecting the uniformity of magnetic field distribution and stimulation accuracy, ultimately reducing the therapeutic effect.

[0005] Therefore, the existing technology lacks a positioning method that can adapt to the multi-working-surface structure of the Y-type coil and achieve uniform and stable fit with the irregular scalp surface. This has become a key technical bottleneck restricting the widespread application of the Y-type coil in precision TMS treatment. Summary of the Invention

[0006] Therefore, embodiments of the present invention provide a Y-type coil positioning method and system for transcranial magnetic stimulation therapy, which solves the problem that the traditional single-working-plane coil positioning method in the prior art cannot guarantee uniform contact between the Y-type coil and the irregular scalp surface.

[0007] To address the aforementioned technical problems, embodiments of the present invention provide a method for positioning a Y-type coil in transcranial magnetic stimulation therapy, the method comprising the following steps:

[0008] Step S1, Preliminary Planning: Establish the coil coordinate system of the Y-shaped coil, and plan the initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system;

[0009] Step S2, Posture Optimization: Based on the initial target pose, the posture of the Y-shaped coil is rotated and adjusted with the target stimulation point as the center, so that the signed distance between the preset multiple pairs of key points on the Y-shaped coil and the three-dimensional model of the patient's scalp satisfies the preset symmetry and equality condition, thereby obtaining the optimized target pose.

[0010] Step S3, Flexible Positioning: Control the robotic arm with the Y-shaped coil installed at its end to move to the optimized target pose; under the monitoring of the six-degree-of-freedom force sensor set at the end of the robotic arm, adjust the axis that is pre-set to be flexible in the tool coordinate system of the robotic arm so that the Y-shaped coil actually contacts the patient's scalp and achieves a close fit.

[0011] Preferably, the method for establishing the coil coordinate system of the Y-shaped coil in step S1 includes:

[0012] The origin of the coordinate system is the midpoint of the boundary line between the two working surfaces of the Y-shaped coil. ;

[0013] The direction opposite to the direction of the coil handle, as described above, is taken as the positive direction of the X-axis of the coordinate system.

[0014] Make the Y-axis of the coordinate system parallel to the line connecting the centers of the two working surfaces; define the direction pointing to the inside of the Y-shaped coil as the positive direction of the Z-axis of the coordinate system, and then determine the positive direction of the Y-axis according to the right-hand rule.

[0015] Preferably, the method for planning the initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system in step S1 includes:

[0016] Ignoring the characteristic that the Y-type coil has two working surfaces, the coil coordinate system is regarded as the coordinate system of a single working surface coil, and the planning is carried out by making the coil plane tangent to the local area of ​​the scalp corresponding to the target stimulation point.

[0017] Preferably, the multiple pairs of key points in step S2 include at least a first pair of key points (A1, A2) and a second pair of key points (B1, B2), wherein:

[0018] The first pair of key points (A1, A2) are selected from two working surfaces and are symmetrical about the XZ plane of the coil coordinate system;

[0019] The second pair of key points (B1, B2) are calculated based on at least four initial points that are symmetric about the YZ plane of the coil coordinate system.

[0020] Preferably, the second pair of key points (B1, B2) are obtained by taking the midpoint of the corresponding line connecting the two initial points (M1, M2) located on the same working surface and farthest apart in the X-axis direction, and the other two initial points (N1, N2) located at the corresponding positions on another working surface.

[0021] Preferably, the preset symmetry and equality condition is: the first pair of key points (A1, A2) are each equal to the signed distance of the scalp 3D model, and the second pair of key points (B1, B2) are each equal to the signed distance of the scalp 3D model.

[0022] Preferably, the rotation adjustment in step S2 specifically involves: using the target stimulation point as the rotation center, and within a preset rotation range and rotation step size, performing a rotation search around the X and Y axes of the coil coordinate system until a coil posture that satisfies the symmetry and equality condition is found.

[0023] Preferably, in step S3, the tool coordinate system at the end of the robotic arm coincides with the coil coordinate system, and the pre-set flexible axial direction includes at least translational degrees of freedom along the Z-axis of the tool coordinate system, and rotational degrees of freedom around the X-axis and Y-axis of the tool coordinate system.

[0024] Preferably, in step S3, the method of adjusting the pre-set flexible axis in the robotic arm tool coordinate system to make the Y-shaped coil actually contact the patient's scalp and achieve a close fit includes:

[0025] The contact force and torque data are read in real time by the six-degree-of-freedom force sensor, and the torque components (Mx,My) around the X and Y axes are made close to zero as the adjustment target.

[0026] This invention also provides a Y-coil positioning system for transcranial magnetic stimulation (TMS) therapy. This system is used to implement the aforementioned Y-coil positioning method for TMS therapy, specifically including:

[0027] The preliminary planning module is used to establish the coil coordinate system of the Y-shaped coil and plan the initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system.

[0028] The posture optimization module is used to rotate and adjust the posture of the Y-shaped coil around the target stimulation point based on the initial target posture, so that the signed distance between the preset multiple pairs of key points on the Y-shaped coil and the three-dimensional model of the patient's scalp satisfies the preset symmetry equality condition, thereby obtaining the optimized target posture.

[0029] The flexible positioning module is used to control the movement of the robotic arm with the Y-shaped coil installed at its end to the optimized target pose. Under the monitoring of the six-degree-of-freedom force sensor set at the end of the robotic arm, the Y-shaped coil is made to actually contact the patient's scalp and achieve a close fit by adjusting the axis that is pre-set to be flexible in the tool coordinate system of the robotic arm.

[0030] As can be seen from the above technical solutions, this invention application has the following beneficial effects:

[0031] First, this invention achieves adaptive and uniform fit between the Y-shaped coil and the irregular scalp surface. It establishes a dedicated coordinate system for the dual-working-surface structure of the Y-shaped coil and defines multiple pairs of spatially symmetrical key points. During the virtual planning phase, the coil posture is optimized by rotating around the stimulation target point, ensuring that the signed distances between each pair of key points and the 3D scalp model are equal. This optimization strategy actively seeks a symmetrical fit between the dual working surfaces and the scalp surface, fundamentally overcoming the inherent limitations of traditional single-working-surface positioning methods (which only pursue tangency on a single plane) in adapting to the geometric characteristics of the Y-shaped coil, thus guaranteeing fit uniformity at the algorithmic level.

[0032] Secondly, it improves the robustness, accuracy, and safety of the positioning system. This invention employs a progressive strategy of "virtual optimization first, followed by physical compliant fine-tuning." After model-based pose optimization, contact information is fed back in real time through a six-dimensional force sensor at the end of the robotic arm, and the flexible degrees of freedom such as the Z, RX, and RY axes are actively controlled for adaptive adjustment to eliminate unbalanced torques. This design effectively compensates for errors in medical image reconstruction, robot motion errors, and subtle individual differences in the patient's scalp, ensuring accuracy and reliability throughout the entire process from virtual planning to physical contact, while avoiding potential safety risks caused by rigid contact or improper posture.

[0033] Third, this invention provides a reliable technical guarantee for fully leveraging the clinical advantages of Y-shaped coils. Compared with traditional coils, Y-shaped coils have stronger magnetic field penetration and coverage capabilities. By solving the key bottleneck of precise positioning and fit, this invention enables the coil to be stably and repeatedly placed in the optimal treatment position, ensuring that magnetic field energy can be accurately and efficiently delivered to the target area (especially deep brain regions). This significantly improves the overall efficacy and consistency of transcranial magnetic stimulation therapy, laying a solid foundation for expanding the clinical application of Y-shaped coils in the fields of mental illness and neurorehabilitation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Referring to the drawings will make the features and advantages of the present invention clearer. The drawings are illustrative and should not be construed as limiting the present invention in any way. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0035] Figure 1 This is a flowchart of a Y-type coil positioning method for transcranial magnetic stimulation therapy provided by the present invention;

[0036] Figure 2 This is a schematic diagram of the Y-shaped coil coordinate system in this invention;

[0037] Figure 3 This is a schematic diagram of the working surface and key points of the Y-shaped coil in this invention;

[0038] Figure 4 This is a block diagram of a Y-type coil positioning system for transcranial magnetic stimulation therapy provided by the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] This invention provides a Y-shaped (butterfly-shaped) coil positioning method and system for transcranial magnetic stimulation (TMS) treatment, aiming to solve the technical problems that existing single-working-face coil positioning methods cannot adapt to the multi-working-face structure of Y-shaped coils and cannot ensure uniform and stable fit with irregular scalp curvature, thereby achieving precise positioning of treatment targets and improving the TMS treatment effect.

[0041] Example 1: As Figure 1 As shown, the positioning method provided in this embodiment mainly includes the following three core steps: preliminary planning (S1), attitude optimization (S2), and flexible positioning (S3).

[0042] In step S1, preliminary planning is carried out: a coil coordinate system for the Y-shaped coil is established, and the initial target pose of the Y-shaped coil relative to the patient's head is planned based on this coordinate system.

[0043] First, the patient's medical images (such as MRI or CT scans) are segmented and registered. Using algorithms such as Marching Cubes, the medical image data of the scalp and cerebral cortex are rendered into 3D shapes to generate high-precision triangular mesh models of the scalp and cerebral cortex, providing a foundation for subsequent virtual planning and distance calculations.

[0044] Secondly, establish a dedicated coordinate system for the Y-shaped coil. For example... Figure 2 As shown, the specific method for establishing this is as follows:

[0045] The origin of the coil coordinate system is taken as the center of the boundary line between the two working surfaces (P1 surface and P2 surface) of the Y-shaped coil. .

[0046] The direction opposite to the direction of the coil handle, as described above, is defined as the positive direction of the X-axis of the coordinate system.

[0047] Make the Y-axis of the coordinate system parallel to the line connecting the centers of the two working surfaces.

[0048] The direction pointing towards the inside of the Y-shaped coil (i.e., roughly towards the patient's scalp) is defined as the positive direction of the Z-axis of the coordinate system.

[0049] According to the right-hand rule, the positive direction of the Y-axis is uniquely determined from the already defined X-axis and Z-axis. Thus, the Y-shaped coil coordinate system is complete. Creation complete.

[0050] Next, initial target pose planning is performed. In this step, the characteristic of the Y-shaped coil having two working planes is temporarily ignored; only the established coil coordinate system is used. The coordinate system is considered as a typical single-faceted coil (its XY plane is usually virtualized as the working surface). A target stimulation point is selected on the reconstructed cerebral cortex model. A mature single-faceted coil target pose planning method is employed, for example, to make the virtual "coil plane" (i.e., the XY coordinate plane) tangent to the local scalp region corresponding to the target point, and to ensure that the coil center point, scalp stimulation point, and target point satisfy a specific spatial relationship (e.g., collinearity), thereby calculating the initial target pose (including position and orientation) of the Y-shaped coil relative to the patient's head model. This initial pose provides a reasonable starting point for subsequent optimization.

[0051] In step S2, posture optimization: Based on the initial target pose, the posture of the Y-shaped coil is rotated and adjusted with the target stimulation point as the center, so that the signed distance between the preset multiple pairs of key points on the Y-shaped coil and the three-dimensional model of the patient's scalp satisfies the preset symmetry equality condition, thereby obtaining the optimized target pose.

[0052] Since the initial plan did not take into account the issue of the two working surfaces fitting together, this step involves rotational adjustment to ensure that the two working surfaces of the coil can fit symmetrically and evenly close to the scalp surface.

[0053] First, multiple pairs of key points are defined on the Y-shaped coil to evaluate the fit symmetry. For example... Figure 3 As shown, it includes at least:

[0054] 1. First pair of key points (A1, A2): Select two points on the two working surfaces P1 and P2 of the Y-shaped coil that are farthest apart in the Y-axis direction of the coil coordinate system and symmetrical about the XZ plane, and denote them as A1 (on the P1 surface) and A2 (on the P2 surface).

[0055] 2. The second pair of key points (B1, B2): Select four initial points on two working surfaces P1 and P2 that are farthest apart along the X-axis of the coil coordinate system and symmetrical about the YZ plane: M1 and M2 on surface P1, and N1 and N2 on surface P2. Then, take the midpoint of the line connecting M1 and N1 as B1, and the midpoint of the line connecting M2 and N2 as B2. B1 and B2 constitute the second pair of key points.

[0056] Next, the signed distances between these keypoints and the 3D scalp model are calculated. The signed distance is defined as follows: when a keypoint is inside the scalp model, the distance is negative; when it is outside, the distance is positive. The signed distances from points to the triangular facet model can be efficiently calculated using methods such as vtkCellLocator from the VTK library combined with IntersectWithLine and FindClosestPoint. Let the signed distances between points A1, A2, B1, and B2 and the scalp model be... , , , .

[0057] Then, using the target stimulation point obtained in step S1 as the rotation center, and the X and Y axes of the coil coordinate system under the initial target pose as rotation axes, the coil pose is optimized and searched. The rotation range around the X and Y axes is set (e.g., ...). and ) and rotation step size ( , During the search process, spatial transformations (such as using VTK's vtkTransform and vtkMatrix4x4) are used to calculate the new coordinates of each key point after the coil rotation, and the signed distance between the key point and the scalp is recalculated.

[0058] The goal of optimization is to make the distances from each pair of keypoints to the scalp equal, that is, to satisfy the condition of symmetry equality. and The process involves using traversal or optimization algorithms (such as gradient descent or exhaustive search) to find the optimal combination of rotation angles around the X and Y axes that best satisfies the condition (e.g., minimizes the sum of squared differences). This step ultimately outputs an optimized target pose that, while ensuring target alignment, makes the two working surfaces of the coil more symmetrically and evenly aligned with the scalp surface.

[0059] In step S3, flexible positioning: the robotic arm with the Y-shaped coil installed at its end is controlled to move to the optimized target pose; under the monitoring of the six-degree-of-freedom force sensor set at the end of the robotic arm, the Y-shaped coil is made to actually contact the patient's scalp and achieve a close fit by adjusting the axis that is pre-set to be flexible in the tool coordinate system of the robotic arm.

[0060] First, spatial registration between the robot system and the imaging space needs to be completed to ensure that the movement of the robotic arm in the physical space can accurately correspond to the patient's head imaging model.

[0061] Next, the robotic arm is controlled to move with the Y-shaped coil to the optimized target pose calculated in step S2. The tool coordinate system at the end of the robotic arm should be set to the same coordinate system as the coil of the Y-shaped coil. coincide.

[0062] To achieve a safe and adaptive fit to a real scalp, a "flexible" strategy is introduced into the robotic arm control. Specifically, the Z-axis translational degree of freedom, as well as the rotational degrees of freedom about the X-axis (RX) and Y-axis (RY) in the tool coordinate system, are set as flexible axes. Flexible axes allow the robot to compliantly move along these directions under certain resistance or control strategies.

[0063] The robotic arm is equipped with a six-degree-of-freedom force / torque sensor to monitor in real time the forces (Fx, Fy, Fz) and torques (Mx, My, Mz) generated in three directions when the coil comes into contact with the scalp.

[0064] The positioning and bonding process is as follows:

[0065] 1. The robotic arm first precisely reaches the target pose along rigid axes (translation along X, Y, Z and rotation around the Z axis).

[0066] 2. Then, control the robotic arm to slowly move towards the scalp along the flexible Z-axis until the force sensor detects that the normal contact force Fz has reached a preset safety threshold, ensuring that the coil is compacted rather than suspended.

[0067] 3. During the contact process, due to slight irregularities in the scalp surface or errors in pose calculation, undesirable contact torques Mx and My may occur. The control system uses Mx=0 and My=0 as adjustment targets, and actively or passively releases the rotational degrees of freedom around the flexible axes RX and RY, allowing the coil posture to make slight adaptive adjustments around the contact point, eliminating unbalanced torques, thereby ensuring that the two working surfaces of the Y-shaped coil can achieve full, stable, and tight contact with the irregular scalp surface.

[0068] Example 2: Figure 4 As shown, the present invention provides a Y-coil positioning system for transcranial magnetic stimulation (TMS) therapy. This system is used to implement the Y-coil positioning method for TMS therapy described in Embodiment 1 above, specifically including:

[0069] The preliminary planning module 100 is used to establish the coil coordinate system of the Y-shaped coil and plan the initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system.

[0070] The posture optimization module 200 is used to rotate and adjust the posture of the Y-shaped coil around the target stimulation point based on the initial target posture, so that the signed distance between the preset multiple pairs of key points on the Y-shaped coil and the three-dimensional model of the patient's scalp satisfies the preset symmetry and equality condition, thereby obtaining the optimized target posture.

[0071] The flexible positioning module 300 is used to control the movement of a robotic arm with a Y-shaped coil installed at its end to the optimized target pose. Under the monitoring of a six-degree-of-freedom force sensor at the end of the robotic arm, the Y-shaped coil is brought into actual contact with the patient's scalp and achieves close contact by adjusting the axis that is pre-set to be flexible in the tool coordinate system of the robotic arm.

[0072] Furthermore, the preliminary planning module 100 is used to execute step S1. Its functions include loading and processing patient medical image data, reconstructing a three-dimensional model of the scalp and brain; providing an interactive interface for determining the target stimulation point; establishing a Y-shaped coil coordinate system according to predefined rules; and calling a single-working-plane coil planning algorithm to calculate the initial target pose of the Y-shaped coil.

[0073] Further, the attitude optimization module 200 is used to execute step S2. Its functions include automatically or semi-automatically identifying or defining key points (A1, A2, B1, B2, etc.) based on the coil geometry model; calculating the signed distance of the key points based on the scalp 3D model; to achieve... and To optimize the target, an optimization algorithm (such as a search algorithm) is used to rotate a coil virtual model around the target point, ultimately outputting optimized target pose data.

[0074] Furthermore, the flexible positioning module 300 is used to execute step S3. Its functions include communicating with the robot controller to convert the optimized target pose into robot motion commands; receiving real-time data from the end effector's six-degree-of-freedom force sensor; implementing a compliant control algorithm to adjust the end effector pose of the robotic arm online by setting specific flexible axes (Z, RX, RY) and based on force / torque feedback (especially Mx, My), driving the Y-shaped coil to safely and adaptively conform to the patient's scalp.

[0075] In addition, the system may also include a data storage and management module (not shown in the figure): used to store patient image data, models, planning parameters, optimization results, treatment logs, etc.

[0076] The system's modules work together to achieve fully automated and precise positioning throughout the entire process, from virtual planning and posture optimization to physical bonding.

[0077] This embodiment provides a Y-coil positioning system for transcranial magnetic stimulation (TMS) therapy, which implements the aforementioned Y-coil positioning method for TMS therapy. Therefore, the specific implementation of the Y-coil positioning system for TMS therapy can be found in the preceding embodiment section of the Y-coil positioning method for TMS therapy. For example, the preliminary planning module 100, the posture optimization module 200, and the flexible positioning module 300 are respectively used to implement steps S1, S2, and S3 in the aforementioned Y-coil positioning method for TMS therapy. Therefore, the specific implementation can be referred to the descriptions of the corresponding embodiments. To avoid redundancy, further details are omitted here.

[0078] In summary, this invention creatively solves the challenge of precise fit of Y-shaped coils on multi-faceted, irregular curved surfaces through a three-stage progressive strategy of "preliminary planning - posture optimization - flexible positioning." First, by establishing a dedicated coordinate system and utilizing a mature single-face method to obtain an initial solution, the basic feasibility of the method and its compatibility with existing technologies are ensured. Second, by defining symmetrical key points and optimizing rotation with the goal of equal signed distances, active optimization is performed in virtual space, enabling the two working faces to achieve a symmetrical fit beforehand, overcoming the limitations of traditional methods that only consider a single plane. Finally, flexible positioning using a robotic arm based on six-dimensional force feedback is introduced, allowing for real-time fine-tuning during the physical contact stage to compensate for model errors and individual differences, ensuring the actual effectiveness and safety of the final fit. This method and system significantly improve the positioning accuracy and fit stability of Y-shaped coils in TMS therapy, providing a reliable technical guarantee for leveraging their deep stimulation advantages and possessing significant clinical practical value.

[0079] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A Y-shaped coil positioning method for transcranial magnetic stimulation therapy, characterized by, The method comprises the following steps: Step S1, preliminary planning: establishing a coil coordinate system of the Y-shaped coil, and planning an initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system; Step S2, pose optimization: on the basis of the initial target pose, rotating and adjusting the pose of the Y-shaped coil with the target stimulation target point as the center, so that the signed distances between the plurality of pairs of key points pre-set on the Y-shaped coil and the patient's scalp three-dimensional model satisfy a pre-set symmetric equal condition, thereby obtaining an optimized target pose; Step S3, flexible positioning: controlling the mechanical arm with the Y-shaped coil mounted at the end to move to the optimized target pose; under the monitoring of a six-degree-of-freedom force sensor arranged at the end of the mechanical arm, by adjusting the pre-set flexible axial direction in the tool coordinate system of the mechanical arm, the Y-shaped coil is actually contacted with the patient's scalp and reaches a close-fitting state.

2. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 1, wherein, The method for establishing the coil coordinate system of the Y-shaped coil in the step S1 comprises: The midpoint of the junction line of the two working faces of the Y-shaped coil is taken as the origin of the coordinate system ; Taking the opposite direction of the handle direction of the coil as the positive direction of the X-axis of the coordinate system; Making the Y-axis of the coordinate system parallel to the connecting line between the centers of the two working surfaces; defining the direction pointing to the inside of the Y-shaped coil as the positive direction of the Z-axis of the coordinate system, and then determining the positive direction of the Y-axis according to the right-hand rule.

3. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 1, wherein, The method for planning the initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system in the step S1 comprises: Ignoring the characteristic that the Y-shaped coil has two working surfaces, regarding the coil coordinate system as the coordinate system of a single working surface coil, and planning in a manner that the coil plane is tangent to the local region of the scalp corresponding to the target stimulation target point.

4. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 1, wherein, The plurality of pairs of key points in the step S2 at least include a first pair of key points (A1, A2) and a second pair of key points (B1, B2), wherein: The first pair of key points (A1, A2) are selected from the two working surfaces and are symmetric about the XZ plane of the coil coordinate system; The second pair of key points (B1, B2) are calculated based on at least four initial points symmetric about the YZ plane of the coil coordinate system.

5. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 4, wherein, The second pair of key points (B1, B2) are respectively obtained by taking the midpoints of the corresponding connecting lines of two initial points (M1, M2) located on the same working surface and farthest in the X-axis direction, and another two initial points (N1, N2) located at corresponding positions on the other working surface.

6. The Y-coil positioning method for transcranial magnetic stimulation therapy according to claim 1 or 4, wherein The pre-set symmetric equal condition is that the signed distances of the first pair of key points (A1, A2) to the scalp three-dimensional model are equal respectively, and the signed distances of the second pair of key points (B1, B2) to the scalp three-dimensional model are equal respectively.

7. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 1, wherein, The rotation adjustment in the step S2 is specifically: taking the target stimulation target point as the rotation center, performing rotation search around the X-axis and the Y-axis of the coil coordinate system under a pre-set rotation range and rotation step, until the coil pose satisfying the symmetric equal condition is found.

8. The Y-shaped coil positioning method for transcranial magnetic stimulation therapy according to claim 1, wherein, In the step S3, the tool coordinate system at the end of the mechanical arm coincides with the coil coordinate system, and the pre-set flexible axial direction at least includes the translational degree of freedom along the Z-axis of the tool coordinate system, and the rotational degrees of freedom around the X-axis and the Y-axis of the tool coordinate system.

9. The Y-coil positioning method for transcranial magnetic stimulation therapy according to claim 1 or 8, wherein, The method for making the Y-shaped coil actually contact and closely fit the patient's scalp by adjusting the axis in the mechanical arm tool coordinate system, which is set to be flexible in the step S3, comprises: The six-degree-of-freedom force sensor is used to read the contact force and torque data in real time, and the adjustment target is that the torque components (Mx, My) around the X and Y axes approach zero.

10. A Y-coil positioning system for use in transcranial magnetic stimulation therapy, characterized by The system is used to realize the Y-shaped coil positioning method in the transcranial magnetic stimulation treatment according to any one of claims 1 to 9, and specifically comprises: A preliminary planning module is configured to establish a coil coordinate system of the Y-shaped coil, and plan an initial target pose of the Y-shaped coil relative to the patient's head based on the coordinate system; An attitude optimization module is configured to rotate and adjust the attitude of the Y-shaped coil with the target stimulation target point as the center on the basis of the initial target pose, so that the signed distance between the plurality of pairs of key points preset on the Y-shaped coil and the three-dimensional model of the patient's scalp satisfies the preset symmetric and equal condition, thereby obtaining an optimized target pose; A flexible positioning module is configured to control the mechanical arm with the Y-shaped coil installed at the end to move to the optimized target pose, and under the monitoring of the six-degree-of-freedom force sensor arranged at the end of the mechanical arm, the Y-shaped coil is made to actually contact and closely fit the patient's scalp by adjusting the axis in the mechanical arm tool coordinate system, which is set to be flexible.

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