Nerve regulation and control real-time positioning system, treatment equipment and storage medium
By constructing a multi-coordinate system and fixing the position of the reflective sphere locator, combined with depth camera and point cloud registration technology, the problem of long real-time point cloud registration for neuromodulation therapy equipment was solved, achieving efficient and accurate navigation and positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SICHUAN UNIV
- Filing Date
- 2026-01-04
- Publication Date
- 2026-04-17
AI Technical Summary
Existing neuromodulation therapy equipment takes a long time and has significant delays during real-time point cloud registration, which affects the efficiency and accuracy of navigation operations.
By employing a multi-coordinate system construction method and fixing the position with a reflective sphere locator, combined with depth camera and point cloud registration technology, rapid registration and real-time navigation and positioning are achieved, reducing redundant calculations and improving computational efficiency.
It achieves accuracy and stability in navigation and positioning, improves computational efficiency by approximately 40%, and reduces data processing time per frame, making it suitable for real-time navigation in neuromodulation therapy devices.
Smart Images
Figure CN121867945A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of transcranial magnetic stimulation or ultrasound device treatment technology, specifically relating to a real-time positioning system for neuromodulation, treatment equipment and storage medium. Background Technology
[0002] Neuromodulation therapy is a modern medical technique that uses physical or chemical means to target and regulate neuronal excitability and neural circuit conduction. It aims to improve central nervous system dysfunction and is widely used in the rehabilitation of diseases such as stroke, Parkinson's disease, and depression. Its non-invasive approach avoids surgical risks, allows for repeated treatments, and is gradually becoming an important direction for precision treatment of brain diseases.
[0003] Transcranial magnetic stimulation (TMS) utilizes short-duration, high-intensity magnetic field pulses to penetrate the skull, inducing electrical currents in the cortex, regulating neuronal excitability, and improving motor, cognitive, and emotional functions. It has been used for post-stroke motor disorders and depression. Ultrasound therapy, on the other hand, uses the mechanical effects of low-intensity focused ultrasound waves to achieve precise stimulation of deep brain regions at the millimeter level, targeting deep structures such as the thalamus and hippocampus, showing potential in the treatment of Alzheimer's disease, disorders of consciousness, and epilepsy. These two methods complement each other, providing diverse options for individualized neurorehabilitation.
[0004] In existing technologies, there are two main methods for positioning and navigation of neuromodulation therapy devices (such as transcranial magnetic stimulation devices or ultrasound devices): The first method is based on an NDI camera, which has high positioning accuracy, but the registration process is too cumbersome and complicated. The process of manually selecting registration points for two-dimensional slices may produce errors due to the operator's experience.
[0005] The second method uses real-time point cloud registration for navigation and positioning, automating the registration process and making it convenient and quick. The drawback is that real-time point cloud registration for each frame is time-consuming, resulting in noticeable latency for the user during navigation.
[0006] Therefore, there is an urgent need in this field to develop new transcranial magnetic stimulation navigation and positioning methods and systems to solve the problems of high time consumption and long delay in real-time point cloud registration. Summary of the Invention
[0007] To address the problems of existing technologies, this invention provides a real-time positioning system for neural modulation, a treatment device, and a storage medium.
[0008] A real-time positioning system for neural modulation, comprising: The first coordinate system module is configured to construct a first coordinate system with the detection image of the subject as a reference, and obtain the three-dimensional head model of the subject in the first coordinate system and the coordinates of the target point to be treated in the first coordinate system. The second coordinate system module is configured to construct a second coordinate system with reference to the three-dimensional model of the treatment device, and obtain the coordinates of the stimulation point of the treatment device and the preset coordinate value b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system. The position of the reflective ball locator ② is fixed relative to the position of the treatment device. The third coordinate system module is configured to construct a third coordinate system with the depth camera as a reference, and obtain the head point cloud data of the subject in the third coordinate system, the coordinate values of the reflective point pairs of the reflective ball locator ①, and the coordinate values of the reflective point pairs of the reflective ball locator ②. The registration module is configured to, during the registration process, register the subject's head point cloud in the third coordinate system and the subject's head model point cloud in the first coordinate system to obtain the registration transformation matrix from the third coordinate system to the first coordinate system; then multiply the coordinate value of the headband locator ① captured in the third coordinate system by the registration transformation matrix to obtain the registration coordinate value of the headband locator ① in the first coordinate system, thus completing the registration. The navigation module is configured to, during the navigation process, take the reflective point of the reflective ball locator ① as the target, calculate the transformation matrix between the third coordinate system and the first coordinate system in real time, and calculate the third coordinate system information; then register the first coordinate system information to the third coordinate system; and take the reflective point of the reflective ball locator ② as the target, calculate the transformation matrix between the third coordinate system and the second coordinate system in real time, and calculate the third coordinate system information; then register the second coordinate system information to the third coordinate system.
[0009] Preferably, the treatment device is a transcranial magnetic stimulation device or an ultrasound therapy device, and the detection image is a resting-state 3DT1 structural image of magnetic resonance imaging.
[0010] Preferably, the first coordinate system module is configured to construct a first coordinate system with the detection image of the subject as a reference, perform three-dimensional reconstruction, obtain a three-dimensional head model a1 of the subject in the first coordinate system, and obtain the coordinates a2 of the target point to be treated in the first coordinate system; The second coordinate system module is configured to construct a second coordinate system with reference to the three-dimensional model of the treatment device, obtain the stimulation point coordinates b1 of the stimulation point of the treatment device in the second coordinate system; and obtain the preset coordinate values b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system according to the position of the preset reflective ball locator ②, wherein the position of the reflective ball locator ② is fixed relative to the position of the treatment device.
[0011] Preferably, during the registration process: The third coordinate system module is configured to construct a third coordinate system with the depth camera as a reference; by taking pictures of the subject's face and the reflective ball locator ① with the depth camera, the subject's head point cloud data a1' and the coordinate values a3' of the reflective point pair of the reflective ball locator ① are obtained in the third coordinate system. The registration module is configured to, in the registration process, calculate the head point cloud data a1' and the three-dimensional head model a1 through point cloud registration to obtain the registration transformation matrix m1, and then multiply the coordinate value a3' of the headband locator ① captured in the third coordinate system by the registration transformation matrix m1 to obtain the registration coordinate value a3 of the headband locator ① in the first coordinate system, thus completing the registration. Preferably, in the navigation process: The third coordinate system module is configured to: capture images of the reflective ball locator ① using a depth camera to obtain the coordinate values t1 of the reflective point pair of the reflective ball locator ① in the third coordinate system; and capture images of the reflective ball locator ② using a depth camera to obtain the coordinate values t2 of the reflective point pair of the reflective ball locator ② in the third coordinate system. The navigation module is configured to calculate the transformation matrix m3 of the coordinate value t1 and the registered coordinate value a3 in real time, and to calculate the transformation matrix m4 of the coordinate value t2 and the preset coordinate value b2 in real time; to obtain the coordinates a2' of the target point to be treated in the third coordinate system by multiplying the coordinates a2 of the target point to be treated by the transformation matrix m3; and to obtain the coordinates b1' of the stimulation point in the third coordinate system by multiplying the coordinates b1 of the stimulation point by the transformation matrix m4.
[0012] Preferably, in the first coordinate system module, the coordinates of the target point to be treated in the first coordinate system are obtained by calculating the target point to be treated in the medical magnetic resonance image or by selecting the target point to be treated on the three-dimensional head model.
[0013] The present invention also provides a treatment device, which integrates the above-mentioned real-time positioning system for neuromodulation.
[0014] Preferably, the treatment device is a transcranial magnetic stimulation device or an ultrasound therapy device; The treatment device includes stimulation points and a depth camera.
[0015] The present invention also provides a computer-readable storage medium having stored thereon a computer program for implementing the above-described real-time positioning system for neural modulation.
[0016] In this invention, the serial numbers "first," "second," and "third," as well as the symbols "a1," "a2," "a3," "a1'," "a2'," "a3'," "b1," "b2," "b1'," "t1," "t2," "m1," "m3," and "m4," are used only as serial numbers for descriptive purposes, to distinguish specific terms, and are not intended to limit the importance, function, or role of these features. The use of these serial numbers is for ease of understanding and explanation of the technical solution of this invention and does not represent any form of priority or functional difference. Those skilled in the art should understand that the use of these serial numbers is for simplification and does not constitute any limitation on the scope of protection of this invention.
[0017] This invention provides a system and method for navigation and positioning in neuromodulation therapy. The key feature of this invention is the introduction of a reflective sphere locator ① fixed relative to the subject's head. After initial registration (i.e., calculating the position coordinates of the registered reflective sphere locator ①), subsequent navigation and positioning only require using the point-to-point coordinates of the reflective sphere locator ① as a reference to calculate the transformation matrix for coordinate system transformation, thus achieving navigation and positioning of the target points to be treated. If the subject's head posture changes, the system only needs to recalculate the transformation matrix for one point of the reflective sphere locator ① to complete the re-navigation and positioning of all target points to be treated (without recalculating the entire facial point cloud of the subject). Therefore, the navigation and positioning of this invention combines accuracy, stability, and high computational efficiency. Compared to existing real-time point cloud registration methods, this invention's system can improve the processing efficiency of each frame of data by approximately 40%. Therefore, this invention has excellent application prospects in neuromodulation therapy.
[0018] Obviously, based on the above description of the present invention, and according to common technical knowledge and conventional methods in the field, various other modifications, substitutions or alterations can be made without departing from the basic technical concept of the present invention.
[0019] The following detailed embodiments further illustrate the above-described content of the present invention. However, this should not be construed as limiting the scope of the present invention to the following examples. All technologies implemented based on the above-described content of the present invention fall within the scope of the present invention. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation
[0021] It should be noted that the algorithms for data acquisition, transmission, storage and processing steps not specifically described in the embodiments, as well as the hardware structures and circuit connections not specifically described, can all be implemented using content already disclosed in the prior art.
[0022] Example 1: Real-time positioning system for neural modulation This embodiment provides a real-time positioning system for neuromodulation. The system of this embodiment can be used with various instruments for neuromodulation therapy. For example, the treatment device can be a transcranial magnetic stimulation device or an ultrasound therapy device. In this case, the detection image used in positioning and navigation is a 3DT1 structure image of magnetic resonance at rest.
[0023] The system in this embodiment specifically includes: The first coordinate system module is configured to construct a first coordinate system with the detection image of the subject as a reference, and obtain the three-dimensional head model of the subject in the first coordinate system and the coordinates of the target point to be treated in the first coordinate system. The second coordinate system module is configured to construct a second coordinate system with reference to the three-dimensional model of the treatment device, and obtain the coordinates of the stimulation point of the treatment device and the preset coordinate value b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system. The position of the reflective ball locator ② is fixed relative to the position of the treatment device. The third coordinate system module is configured to construct a third coordinate system with the depth camera as a reference, and obtain the head point cloud data of the subject in the third coordinate system, the coordinate values of the reflective point pairs of the reflective ball locator ①, and the coordinate values of the reflective point pairs of the reflective ball locator ②. The registration module is configured to, during the registration process, register the subject's head point cloud in the third coordinate system and the subject's head model point cloud in the first coordinate system to obtain the registration transformation matrix from the third coordinate system to the first coordinate system; then multiply the coordinate value of the headband locator ① captured in the third coordinate system by the registration transformation matrix to obtain the registration coordinate value of the headband locator ① in the first coordinate system, thus completing the registration. The navigation module is configured to, during the navigation process, take the reflective point of the reflective ball locator ① as the target, calculate the transformation matrix between the third coordinate system and the first coordinate system in real time, and calculate the third coordinate system information; then register the first coordinate system information to the third coordinate system; and take the reflective point of the reflective ball locator ② as the target, calculate the transformation matrix between the third coordinate system and the second coordinate system of the treatment device in real time, and calculate the third coordinate system information; then register the second coordinate system information to the third coordinate system.
[0024] The steps for using the above system to implement a real-time localization system for neural modulation (e.g.) Figure 1 As shown below: Step A1, the first coordinate system module executes: A first coordinate system is constructed using the test image of the subject as a reference, and three-dimensional reconstruction is performed to obtain the three-dimensional head model a1 of the subject in the first coordinate system; and the target point to be treated is selected on the test image or the three-dimensional head model to obtain the coordinates a2 of the target point to be treated in the first coordinate system. Step A2, the second coordinate system module executes: The equipment manufacturer provides a 3D model file of the treatment equipment and a simulation file of the treatment target area. A second coordinate system is constructed with the 3D model of the treatment equipment as a reference. The coordinates b1 of the stimulation point of the treatment equipment in the second coordinate system are obtained. According to the position of the preset reflective ball locator ②, the preset coordinate values b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system are obtained. The position of the reflective ball locator ② is fixed relative to the position of the treatment equipment.
[0025] Step A3: Registration is performed before treatment. The purpose of this step is to obtain the registration transformation matrix from the third coordinate system to the first coordinate system by registering the subject's head point cloud in the third coordinate system and the subject's head model point cloud in the first coordinate system. Then, the coordinate values of the headband locator ① captured in the third coordinate system are multiplied by the registration transformation matrix to obtain the registered coordinate values of the headband locator ① in the first coordinate system, thus completing the registration. In the system, the third coordinate system module performs the following: constructing a third coordinate system with the depth camera as a reference; taking pictures of the subject's face and the reflective ball locator ① with the depth camera, and obtaining the subject's head point cloud data a1' and the coordinate values a3' of the reflective point pair of the reflective ball locator ① in the third coordinate system; The registration module is executed by calculating the head point cloud data a1' and the three-dimensional head model a1 through point cloud registration to obtain the registration transformation matrix m1. Then, the coordinate value a3' of the headband locator ① captured in the third coordinate system is multiplied by the registration transformation matrix m1 to obtain the registration coordinate value a3 of the headband locator ① in the first coordinate system, thus completing the registration. Step A4: Navigation and positioning during treatment.
[0026] In the system, the third coordinate system module performs the following: by taking a picture of the reflective ball locator ① with a depth camera, the coordinate values t1 of the reflective point pair of the reflective ball locator ① in the third coordinate system are obtained; by taking a picture of the reflective ball locator ② with a depth camera, the coordinate values t2 of the reflective point pair of the reflective ball locator ② in the third coordinate system are obtained. The navigation module performs the following operations: real-time calculation of the transformation matrix m3 between the coordinate value t1 and the registered coordinate value a3, and real-time calculation of the transformation matrix m4 between the coordinate value t2 and the preset coordinate value b2; multiplying the coordinates of the target point a2 to be treated by the transformation matrix m3 to obtain the coordinates of the target point a2' in the third coordinate system; and multiplying the coordinates of the stimulation point b1 by the transformation matrix m4 to obtain the coordinates of the stimulation point b1' in the third coordinate system.
[0027] During treatment, the treatment device is moved by observing the navigation interface, so that the coordinates of the stimulation point b1' are close to the coordinates of the target point a2' to complete the navigation.
[0028] The above process constitutes a complete and precise positioning procedure. Steps A1-A3 only need to be executed once at the start of the program; only step A4 needs to be repeated during real-time treatment. Existing real-time point cloud registration methods require frame-by-frame point cloud registration when calculating the transformation matrix m3 from the MRI 3D reconstructed head model to the third coordinate system in step A4, taking approximately 60 milliseconds per frame. However, using this embodiment, calculating the transformation matrix m3 takes only about 1 millisecond. Therefore, the real-time navigation interface of this embodiment can reduce the time consumption by approximately 60ms per frame. Furthermore, even if the subject's head moves or their pose changes, this embodiment still does not need to repeat steps A1-A3; it only needs to recalculate the transformation matrix m4 in step A4 to update the navigation positioning information. Therefore, the navigation system and method of this embodiment have the advantages of accurate and stable navigation, high computational efficiency, and low navigation latency.
[0029] Example 2 Treatment Equipment This embodiment provides a treatment device for neuromodulation therapy, which can be a transcranial magnetic stimulation device or an ultrasound therapy device. The treatment device integrates the real-time neuromodulation positioning system of Embodiment 1. Other components of the treatment device in this embodiment (e.g., stimulation points, depth camera) can be implemented using reference technologies.
[0030] As can be seen from the above embodiments, the present invention provides a system and method for navigation and positioning in neuromodulation therapy, which has the advantages of accuracy, stability, high computational efficiency and low navigation latency, and has good application prospects.
Claims
1. A real-time positioning system for neural modulation, characterized in that, include: The first coordinate system module is configured to construct a first coordinate system with the detection image of the subject as a reference, and obtain the three-dimensional head model of the subject in the first coordinate system and the coordinates of the target point to be treated in the first coordinate system. The second coordinate system module is configured to construct a second coordinate system with reference to the three-dimensional model of the treatment device, and obtain the coordinates of the stimulation point of the treatment device and the preset coordinate value b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system. The position of the reflective ball locator ② is fixed relative to the position of the treatment device. The third coordinate system module is configured to construct a third coordinate system with the depth camera as a reference, and obtain the head point cloud data of the subject in the third coordinate system, the coordinate values of the reflective point pairs of the reflective ball locator ①, and the coordinate values of the reflective point pairs of the reflective ball locator ②. The registration module is configured to, during the registration process, register the subject's head point cloud in the third coordinate system and the subject's head model point cloud in the first coordinate system to obtain the registration transformation matrix from the third coordinate system to the first coordinate system; then multiply the coordinate value of the headband locator ① captured in the third coordinate system by the registration transformation matrix to obtain the registration coordinate value of the headband locator ① in the first coordinate system, thus completing the registration. The navigation module is configured to, in the navigation process, take the reflective point of the reflective ball locator ① as the target, calculate the transformation matrix between the third coordinate system and the first coordinate system in real time, and calculate the third coordinate system information: register the first coordinate system information to the third coordinate system; Using the reflective point of the reflective ball locator ② as the target, the transformation matrix between the third coordinate system and the second coordinate system is calculated in real time, and the information of the third coordinate system is obtained: the information of the second coordinate system is registered to the third coordinate system.
2. The real-time positioning system for neural modulation according to claim 1, characterized in that: The treatment device is a transcranial magnetic stimulation device or an ultrasound therapy device, and the detection image is a resting-state 3DT1 structural image of magnetic resonance.
3. The real-time positioning system for neural modulation according to claim 1, characterized in that: The first coordinate system module is configured to construct a first coordinate system with the detection image of the subject as a reference, perform three-dimensional reconstruction, obtain the three-dimensional head model a1 of the subject in the first coordinate system, and obtain the coordinates a2 of the target point to be treated in the first coordinate system. The second coordinate system module is configured to construct a second coordinate system with reference to the three-dimensional model of the treatment device, obtain the stimulation point coordinates b1 of the stimulation point of the treatment device in the second coordinate system; and obtain the preset coordinate values b2 of the reflective point pair of the reflective ball locator ② in the second coordinate system according to the position of the preset reflective ball locator ②, wherein the position of the reflective ball locator ② is fixed relative to the position of the treatment device.
4. The real-time positioning system for neural modulation according to claim 3, characterized in that: During the registration process: The third coordinate system module is configured to construct a third coordinate system with the depth camera as a reference; by taking pictures of the subject's face and the reflective ball locator ① with the depth camera, the subject's head point cloud data a1' and the coordinate values a3' of the reflective point pair of the reflective ball locator ① are obtained in the third coordinate system. The registration module is configured to, during the registration process, calculate the head point cloud data a1' and the three-dimensional head model a1 through point cloud registration to obtain the registration transformation matrix m1, and then multiply the coordinate value a3' of the headband locator ① captured in the third coordinate system by the registration transformation matrix m1 to obtain the registration coordinate value a3 of the headband locator ① in the first coordinate system, thus completing the registration.
5. The real-time positioning system for neural modulation according to claim 3, characterized in that: In the navigation process: The third coordinate system module is configured to: capture images of the reflective ball locator ① using a depth camera to obtain the coordinate values t1 of the reflective point pair of the reflective ball locator ① in the third coordinate system; and capture images of the reflective ball locator ② using a depth camera to obtain the coordinate values t2 of the reflective point pair of the reflective ball locator ② in the third coordinate system. The navigation module is configured to calculate the transformation matrix m3 between the coordinate value t1 and the registered coordinate value a3 in real time, and to calculate the transformation matrix m4 between the coordinate value t2 and the preset coordinate value b2 in real time. By multiplying the coordinates of the target point a2 by the transformation matrix m3, we obtain the coordinates of the target point a2' in the third coordinate system; by multiplying the coordinates of the stimulation point b1 by the transformation matrix m4, we obtain the coordinates of the stimulation point b1' in the third coordinate system.
6. The real-time positioning system for neural modulation according to claim 1, characterized in that: In the first coordinate system module, the coordinates of the target point to be treated in the first coordinate system are obtained by calculating from medical magnetic resonance images or by selecting the target point to be treated on a three-dimensional head model.
7. A treatment device, characterized in that: The treatment device integrates the real-time positioning system for neuromodulation as described in any one of claims 1-6.
8. The treatment device according to claim 7, characterized in that: The treatment device is a transcranial magnetic stimulation device or an ultrasound therapy device; The treatment device includes stimulation points and a depth camera.
9. A computer-readable storage medium, characterized in that, It stores a computer program for implementing the real-time positioning system for neural modulation as described in any one of claims 1-6.