Transcranial magnetic navigation system

Abstract

The invention provides a transcranial magnetic navigation system, which comprises a mechanical arm, a magnetic navigation system and a control system, the stimulation treatment coil is arranged at the tail end of the mechanical arm and comprises a shell, a coil, a laser ranging module and a reflecting mirror, the coil and the reflecting mirror are adjacently arranged in the shell, the laser ranging module is arranged at the position, away from the coil, in the shell, and the laser ranging module is arranged in the shell. Ranging laser emitted by the laser ranging module is reflected by the reflecting mirror, penetrates through the coil and then is emitted to a user, reflected signals are generated after the ranging laser is reflected by the user, and the reflected signals are returned to the laser ranging module, so that the distance between the coil and the user is determined through the ranging laser and the reflected signals. According to the invention, non-contact accurate measurement of the distance between the stimulation treatment coil and the user is realized, and the measurement process is not interfered by a strong magnetic field generated when the treatment coil works.

Description

Technical Field

[0001] This application relates to the field of transcranial magnetic navigation technology, and more specifically, to a transcranial magnetic navigation system. Background Technology

[0002] Currently, transcranial magnetic stimulation (TMS) navigation systems typically rely on a robotic arm to drive the stimulation coil for positioning and dynamic tracking when achieving precise treatment. However, the risk of collision during treatment urgently needs to be addressed. Existing protective solutions mostly use contact-type airbags or force sensors, which require physical contact with the patient to trigger a response. This is a passive protection method, and the additional structures may interfere with the distribution of the treatment magnetic field and introduce disinfection procedures. More importantly, the strong pulsed magnetic field generated when the treatment coil is working can easily cause traditional electronic sensors to malfunction. This makes it difficult for current technologies to achieve reliable non-contact real-time ranging in strong magnetic field environments, and also makes it impossible to achieve precise active distance maintenance control during robotic arm movement. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a transcranial magnetic navigation system that overcomes at least one of the above-mentioned defects.

[0004] In a first aspect, this application provides a transcranial magnetic navigation system, comprising: robotic arm; A stimulation therapy coil is disposed at the end of the robotic arm, comprising a housing, a coil, a laser ranging module, and a reflector. The coil and the reflector are disposed adjacent to each other inside the housing, and the laser ranging module is disposed inside the housing at a position away from the coil. The ranging laser emitted by the laser ranging module is reflected by the reflector and passes through the coil before being directed toward the user. After being reflected by the user, a reflected signal is generated and returned to the laser ranging module, so as to determine the distance between the coil and the user through the ranging laser and the reflected signal.

[0005] In one possible implementation, it also includes: A binocular camera is used to acquire image information of the user; The controller, connected to the binocular camera, the laser ranging module, and the robotic arm, is used for: Determine the spatial coordinates of the target stimulus point based on the image information; The robotic arm is driven to move the coil toward the target stimulation point according to the spatial coordinates. Based on the distance between the coil and the user measured in real time by the laser ranging module, the robotic arm is controlled to maintain the distance within a preset safe distance range.

[0006] In one possible implementation, the laser ranging module determines the distance in the following manner: The ranging laser is sinusoidally modulated, and the phase difference between the modulated ranging laser and the reflected signal is determined. Based on the phase difference, the first distance from the laser ranging module to the user is calculated; The distance is calculated based on the first distance, the first fixed distance between the laser ranging module and the reflector, and the second fixed distance between the reflector and the coil.

[0007] In one possible implementation, the first distance is calculated in the following manner: The modulation wavelength is determined based on the modulation frequency of the ranging laser; The number of complete modulation wave cycles and the fractional part of less than one cycle are determined based on the phase difference. The first distance is calculated based on the modulation wavelength, the number of complete modulation wave cycles, and the fractional part.

[0008] In one possible implementation, the first distance is calculated using the following formula:

[0009] in, For the first distance, The modulation wavelength, The number of complete modulation wave cycles, The phase difference is mentioned.

[0010] In one possible implementation, the controller determines the spatial location coordinates in the following manner: Based on the image information, a three-dimensional model of the user is established, and at least one preset feature point is identified from the three-dimensional model; Based on the mapping relationship between the at least one preset feature point and the target stimulus point, the three-dimensional coordinates of the target stimulus point in the binocular camera coordinate system are determined; The three-dimensional coordinates are transformed to the spatial position coordinates in the base coordinate system of the transcranial magnetic navigation system.

[0011] In one possible implementation, it also includes: A magnetic stimulation generator, connected to the controller and the coil, is used to generate magnetic stimulation pulses according to control commands; A cooling machine is connected to the coil via cooling pipes and is used to cool the coil.

[0012] In one possible implementation, the laser ranging module includes a phase-modulated laser.

[0013] In one possible implementation, the reflector causes the ranging laser to be reflected and directed toward the user at an angle perpendicular to the emission direction of the laser ranging module.

[0014] In one possible implementation, it also includes: A display screen, connected to the controller, is used to display the image information, the spatial coordinates of the target stimulation point, and the distance.

[0015] This application provides a transcranial magnetic navigation system, comprising: a robotic arm; a stimulation therapy coil disposed at the end of the robotic arm, including a housing, a coil, a laser ranging module, and a reflector. The coil and the reflector are disposed adjacent to each other inside the housing. The laser ranging module is disposed inside the housing at a position away from the coil. The ranging laser emitted by the laser ranging module is reflected by the reflector, passes through the coil, and is directed towards the user. After being reflected by the user, a reflected signal is generated and returns to the laser ranging module, thereby determining the distance between the coil and the user using the ranging laser and the reflected signal. This application achieves non-contact, accurate measurement of the distance between the stimulation therapy coil and the user, and the measurement process is unaffected by the strong magnetic field interference generated when the therapy coil is operating.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is one of the structural schematic diagrams of the transcranial magnetic navigation system provided in the embodiments of this application; Figure 2 This is a second schematic diagram of the transcranial magnetic navigation system provided in the embodiments of this application; Figure 3 This is a schematic diagram of the ranging laser transmission path provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0020] First, the applicable application scenarios of this application will be introduced. This application can be applied to the field of transcranial magnetic navigation system technology.

[0021] Transcranial magnetic stimulation (TMS) achieves its therapeutic effect based on Faraday's law of electromagnetic induction: the system first charges a high-voltage energy storage capacitor, and then rapidly discharges it to the stimulation coil via a thyristor. The time-varying large current generated in the coil excites a high-intensity time-varying pulsed magnetic field. This magnetic field can non-invasively penetrate tissues such as clothing, bone, and fat, and induce a voltage at the target stimulation site, forming an induced current in the opposite direction to the coil current, thereby changing the membrane potential of nerve cells. When the stimulation intensity exceeds the excitation threshold of nerve tissue, it can cause local nerve cell depolarization, inducing excitatory action potentials, and then achieving neuromodulation and treatment through a series of physiological and biochemical reactions.

[0022] Transcranial magnetic navigation (TMS) is an advanced neuromodulation technology that integrates image-guided navigation and TMS. The system acquires a 3D model of the patient's head using a camera, calculates the target coordinates using image-guided navigation and stimulation localization algorithms, and then uses a high-precision robotic arm to position a stimulation coil fixed at its end to a specific area of ​​the brain for magnetic stimulation. During treatment, if the patient's head moves, the system can control the robotic arm to move the coil in real time to maintain the accuracy of the stimulation position.

[0023] However, the robotic arm of this system carries a risk of collision during movement. As a computer-controlled motion actuator, the robotic arm may experience accidental collisions between its end effector coil and the patient due to camera recognition errors, coordinate calculation and mapping errors, or control malfunctions. Furthermore, the patient's voluntary movement during treatment may also actively contact the coil, further increasing the likelihood of collisions.

[0024] In magnetic stimulation devices, there are already solutions that use airbag anti-collision devices, but such devices are usually not integrated into the navigation system. Their stimulation treatment coils need to be supported by hand or a fixed frame, and cannot achieve automatic positioning and tracking functions.

[0025] Currently, transcranial magnetic stimulation (TMS) systems on the market are mainly divided into two categories: one type does not use a robotic arm, and these systems are usually not equipped with any anti-collision devices; the other type uses a robotic arm, but only higher-end systems are equipped with force sensors. In other words, only robotic arm systems equipped with force sensors have the hardware conditions to achieve anti-collision, and they still require corresponding software to function. Currently, there are no mature products on the market. Regardless of whether an airbag solution or a force sensor-based robotic arm solution is used, existing anti-collision technologies require contact between the treatment coil and the patient to trigger protection, which is a contact-based protection. Because a large magnetic field is generated around the treatment coil during magnetic stimulation discharge, installing sensors near the coil will cause sensor malfunctions, so sensors cannot be installed around the coil. In non-navigation magnetic stimulation devices, although airbag anti-collision devices are used, the stimulation coil still relies on manual fixation and does not have automatic navigation and tracking capabilities.

[0026] Based on this, the present application provides a transcranial magnetic navigation system, which aims to achieve non-contact and accurate measurement of the distance between the stimulation treatment coil and the user, and the measurement process is not affected by the strong magnetic field generated when the treatment coil is working.

[0027] Please see Figure 1 , Figure 1 This is one of the structural schematic diagrams of a transcranial magnetic navigation system provided in an embodiment of this application. Figure 1 As shown in the figure, the transcranial magnetic navigation system provided in this application embodiment includes: a robotic arm 2 and a stimulation therapy coil 1.

[0028] The stimulation treatment coil 1 is located at the end of the robotic arm 2 and includes a housing 105, a coil 104, a laser ranging module 102 and a reflector 103. The coil 104 and the reflector 103 are located adjacent to each other inside the housing 105, and the laser ranging module 102 is located inside the housing 105 away from the coil 104.

[0029] Among them, the coil 104 can be distinguished by its shape as follows: round coil, figure-eight coil, square coil, conical coil, H-shaped coil, etc., and is not limited to these.

[0030] The ranging laser emitted by the laser ranging module 102 is reflected by the reflector 103 and passes through the coil 104 before being directed toward the user. After being reflected by the user, a reflected signal is generated and returned to the laser ranging module 102, so as to determine the distance between the coil 104 and the user by the ranging laser and the reflected signal.

[0031] Specifically, this application integrates the laser ranging module 102 inside the handle of the housing 105 of the stimulation treatment coil 1, keeping it away from the strong magnetic field area generated by the coil 104. This avoids interference from the high-intensity time-varying pulse magnetic field generated by the coil 104 during operation. Simultaneously, the coil 104 and the reflector 103 are arranged adjacent to each other, ensuring that the light path reflected by the reflector 103 passes through the center of the coil 104. This guarantees that the measured distance directly reflects the linear distance between the treatment coil 104 and the user's head surface, providing an accurate measurement basis for achieving non-contact real-time collision avoidance.

[0032] In this embodiment, the reflector 103 is disposed on the laser emission path of the laser ranging module 102, so that the ranging laser is reflected and then directed toward the user's head at an angle perpendicular to the original emission direction, thereby making the measuring beam coaxial with the magnetic field generated by the coil 104 and avoiding angular errors.

[0033] Please see Figure 2 , Figure 2 This is a second schematic diagram of a transcranial magnetic navigation system provided in an embodiment of this application. Figure 2 As shown in the illustration, the transcranial magnetic navigation system provided in this application embodiment also includes: a binocular camera, a controller, a magnetic stimulation generator, a cooling machine, a display screen, a motion evoked potential acquisition device, a human-computer interaction device, and auxiliary facilities such as a sofa.

[0034] Binocular cameras are used to acquire image information from users.

[0035] The controller is connected to a binocular camera, a laser ranging module 102, and a robotic arm 2. The controller is used to: determine the spatial coordinates of the target stimulation point based on the image information; drive the robotic arm 2 to move the stimulation treatment coil 1 toward the target stimulation point based on the spatial coordinates; and control the movement of the robotic arm 2 based on the distance between the coil 104 and the user measured in real time by the laser ranging module 102, so as to maintain the distance within a preset safe distance range.

[0036] In this embodiment, the controller includes a computer and a robotic arm controller. The computer employs a high-performance x86 architecture processor that works in conjunction with a high-performance image processor. The computer is connected to the robotic arm controller, a display screen, a human-computer interaction device, a motion evoked potential acquisition device, and a binocular camera to coordinate system operation. The robotic arm controller is connected to the robotic arm 2 and the stimulation therapy coil 1.

[0037] Specifically, firstly, a binocular vision system, i.e., a binocular camera, reconstructs a three-dimensional model of the patient's head and identifies feature points. Combined with a pre-defined stimulus point (e.g., its position relative to a stimulus marker), the precise coordinates of the target stimulus point in physical space are calculated. The robotic arm 2 is then controlled to move the coil 104 towards these coordinates. During this process, the laser ranging module 102 continuously monitors the distance between the coil 104 and the head in real time. The controller dynamically adjusts the robotic arm 2's movements based on this distance data: moving it away if it's too close and moving it closer if it's too far. This ensures that while accurately tracking the target stimulus point, the coil 104 maintains a pre-defined safe distance from the patient's head. This solves the risk of collisions caused by various errors or patient movement in existing technologies and overcomes the inherent limitations of contact-based anti-collision solutions.

[0038] The laser ranging module 102 determines the distance by: performing sinusoidal modulation on the ranging laser and determining the phase difference between the modulated ranging laser and the reflected signal; calculating the first distance from the laser ranging module 102 to the user based on the phase difference; and calculating the distance based on the first distance, the first fixed distance between the laser ranging module 102 and the reflector 103, and the second fixed distance between the reflector 103 and the coil 104.

[0039] Specifically, the laser ranging module 102 of this application preferably uses an 850nm phase-modulated laser. The laser ranging module 102 emits a laser beam modulated by a sine wave of a specific frequency. This laser beam is reflected by the reflector 103 and the user's head and returns. There is a phase difference between the returned signal and the emitted signal due to the time of flight. By measuring this phase difference, the optical path traveled by the laser from emission to reception can be indirectly calculated, thereby obtaining the absolute distance from the laser ranging module 102 to the user's surface. Then, by subtracting the two fixed optical path offsets—the distance from the laser module to the reflector 103 and the distance from the reflector 103 to the surface of the coil 104—the true distance from the surface of the treatment coil 104 to the surface of the user's head is finally obtained. This method achieves non-contact, high-precision, and real-time distance measurement.

[0040] In this embodiment of the application, the first distance is calculated as follows: the modulation wavelength is determined based on the modulation frequency of the ranging laser, the number of complete modulation wave cycles and the fractional part of less than one cycle are determined based on the phase difference, and the first distance is calculated based on the modulation wavelength, the number of complete modulation wave cycles and the fractional part.

[0041] Specifically, since phase difference measurement can only obtain the fractional part within one period ( The integer part (φ) and the complete number of cycles (N) are unknown, leading to distance ambiguity. While a single modulation frequency can determine the precise distance corresponding to the fractional part, it cannot determine the complete number of cycles. This application analyzes the phase difference to resolve the integer part N and the fractional part, and then calculates the distance using the modulation wavelength (λ_m = c / f_m, where c is the speed of light and f_m is the modulation frequency). To reliably calculate the integer N, multiple different modulation frequencies can be used for measurement in practice. Ambiguity is eliminated by solving a system of equations, thus obtaining a unique and accurate absolute distance d.

[0042] The first distance is calculated using the following formula:

[0043] in, The first distance, For modulation wavelength, For the complete number of modulation wave cycles, This represents the phase difference.

[0044] Specifically, λ_m / 2 represents the length of the rangefinder. (N + φ / 2π) represents the complete distance metric in units of the modulation wavelength, where N is the integer part. φ / 2π is the decimal part. Multiplying the length of the ranging ruler by the wave number being measured gives the absolute distance d from the laser ranging module 102 to the target.

[0045] Please see Figure 3 , Figure 3 This is a schematic diagram of the ranging laser transmission path provided in the embodiments of this application. The real-time distance L3 between the treatment coil 104 and the patient's head surface can be obtained according to L3=d-L1-L2, where L1 is the first fixed distance between the laser ranging module 102 and the reflector 103, and L2 is the second fixed distance between the reflector 103 and the coil 104. When L3 decreases, indicating a risk of collision, the robotic arm is immediately controlled to move the stimulation treatment coil 1 away from the patient's head until L3 returns to the set safe value, thereby actively avoiding collision. When L3 increases, indicating that the distance is too far and may affect the treatment effect, the robotic arm is controlled to move the coil 104 closer to the patient's head until L3 reaches the preset safe distance.

[0046] This application preferably uses a phase-modulated laser with a wavelength of 850nm and embeds the calculation formula into the FPGA hardware circuit to achieve microsecond-level sampling and calculation speed, ensuring high accuracy and real-time performance of the measurement, and overcoming the shortcomings of traditional airbag collision avoidance technology with slow response.

[0047] In this embodiment, the controller determines the spatial coordinates by: establishing a three-dimensional model of the user based on the image information, and identifying at least one preset feature point from the three-dimensional model; determining the three-dimensional coordinates of the target stimulus point in the binocular camera coordinate system based on the mapping relationship between the at least one preset feature point and the target stimulus point; and converting the three-dimensional coordinates to the spatial coordinates in the base coordinate system of the transcranial magnetic navigation system.

[0048] Specifically, the binocular camera is first calibrated to determine its internal parameters (such as focal length and principal point coordinates) and external parameters (such as position and orientation). The camera first captures images of the patient's face and head. A visual algorithm extracts feature points from the images and calculates the coordinates of the patient's head in the camera's coordinate system. Next, a face recognition algorithm detects and identifies the patient's face and compares it with pre-set identity information to achieve identity verification.

[0049] Once authentication is successful, the system corrects and matches the features of the two images captured by the binocular cameras, calculates the disparity information, and generates a high-precision 3D model of the patient's head using a 3D reconstruction algorithm. From this 3D model, the system extracts at least one pre-defined head feature point (such as the corner of the eye or the tip of the nose) with clear therapeutic significance.

[0050] Next, the neural target to be stimulated is determined based on a pre-defined stimulation point definition. This definition includes the relative spatial relationship (i.e., mapping relationship) between the target stimulation point and standard head feature points. By registering the actual head feature points identified in the current patient's 3D model with the standard feature points in the mapping relationship, the abstract treatment target can be mapped onto the specific patient's head model, thereby calculating the precise 3D coordinates of the target stimulation point in the binocular camera coordinate system.

[0051] Finally, the coordinates of the target stimulation point in the camera coordinate system are converted to coordinates in the transcranial magnetic navigation system's base coordinate system. Furthermore, the system can use a virtual coordinate system to describe its motion trajectory and convert the coordinates in the virtual coordinate system to coordinates in the physical space coordinate system, thereby achieving precise movement and operation of the transcranial magnetic navigation system. Through these steps, the transcranial magnetic navigation system can accurately locate the target and drive the robotic arm 2 to move the stimulation treatment coil 1 to the target position, preparing for subsequent treatment. This process enables the direct use of binocular cameras and algorithms to complete the three-dimensional reconstruction and target localization of the patient's skull, without the need for additional medical imaging such as MRI.

[0052] In this embodiment, the magnetic stimulation generator is connected to the controller and coil 104 to generate magnetic stimulation pulses according to control commands. A cooling system is connected to the coil 104 via cooling pipes to cool the coil 104.

[0053] Specifically, the magnetic stimulation generator operates according to control commands. Internally, it is charged via a high-voltage energy storage capacitor, and then rapidly discharged through a thyristor to the stimulation treatment coil 1, causing coil 104 to generate a time-varying pulsed magnetic field. The cooling system employs compressor refrigeration technology, connected to the stimulation treatment coil 1 via cooling pipes, and uses liquid refrigerant to cool coil 104. A motor evoked potential acquisition device is connected to a computer at one end and to the patient at the other, used to collect and transmit motor evoked potential signals induced by magnetic stimulation for monitoring and analysis.

[0054] Human-computer interaction devices include keyboards, mice, touchscreens, speakers, microphones, and biosensors, used for user operation, information input, and multimodal interaction. Assistive devices such as sofas are used for patient positioning and support, forming a complete treatment environment.

[0055] The display screen is connected to the controller to display image information, spatial coordinates and distance of the target stimulus point, and provides a human-machine interface for system operation and status monitoring.

[0056] Compared with existing technologies, this application integrates a non-contact laser ranging device inside the stimulation treatment coil and combines visual navigation with real-time ranging information for coordinated control. This enables the stimulation treatment coil to accurately follow the target position of the patient's head while actively maintaining a safe distance, thereby avoiding the risk of collision during treatment. Furthermore, it does not require contact with the patient, does not affect the magnetic field distribution, and does not require disinfection.

[0057] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0058] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0059] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0060] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0061] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0062] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A transcranial magnetic navigation system, characterized in that, include: robotic arm; A stimulation therapy coil, disposed at the end of the robotic arm, includes a housing, a coil, a laser ranging module, and a reflector. The coil and the reflector are disposed adjacent to each other inside the housing, while the laser ranging module is disposed inside the housing at a position away from the coil. The ranging laser emitted by the laser ranging module is reflected by the reflector and passes through the coil before being directed toward the user. After being reflected by the user, a reflected signal is generated and returned to the laser ranging module, so as to determine the distance between the coil and the user through the ranging laser and the reflected signal.

2. The system according to claim 1, characterized in that, Also includes: A binocular camera is used to acquire image information of the user; The controller, connected to the binocular camera, the laser ranging module, and the robotic arm, is used for: Determine the spatial coordinates of the target stimulus point based on the image information; The robotic arm is driven to move the coil toward the target stimulation point according to the spatial coordinates. Based on the distance between the coil and the user measured in real time by the laser ranging module, the robotic arm is controlled to maintain the distance within a preset safe distance range.

3. The system according to claim 2, characterized in that, The laser ranging module determines the distance in the following way: The ranging laser is sinusoidally modulated, and the phase difference between the modulated ranging laser and the reflected signal is determined. Based on the phase difference, the first distance from the laser ranging module to the user is calculated; The distance is calculated based on the first distance, the first fixed distance between the laser ranging module and the reflector, and the second fixed distance between the reflector and the coil.

4. The system according to claim 3, characterized in that, The first distance is calculated in the following manner: The modulation wavelength is determined based on the modulation frequency of the ranging laser; The number of complete modulation wave cycles and the fractional part of less than one cycle are determined based on the phase difference. The first distance is calculated based on the modulation wavelength, the number of complete modulation wave cycles, and the fractional part.

5. The system according to claim 4, characterized in that, The first distance is calculated using the following formula: in, For the first distance, The modulation wavelength, The number of complete modulation wave cycles, The phase difference is mentioned.

6. The system according to claim 2, characterized in that, The controller determines the spatial location coordinates in the following manner: Based on the image information, a three-dimensional model of the user is established, and at least one preset feature point is identified from the three-dimensional model; Based on the mapping relationship between the at least one preset feature point and the target stimulus point, the three-dimensional coordinates of the target stimulus point in the binocular camera coordinate system are determined; The three-dimensional coordinates are transformed to the spatial position coordinates in the base coordinate system of the transcranial magnetic navigation system.

7. The system according to claim 2, characterized in that, Also includes: A magnetic stimulation generator, connected to the controller and the coil, is used to generate magnetic stimulation pulses according to control commands; A cooling machine is connected to the coil via cooling pipes and is used to cool the coil.

8. The system according to claim 1, characterized in that, The laser ranging module includes a phase-modulated laser.

9. The system according to claim 1, characterized in that, The reflector causes the ranging laser to be reflected and directed toward the user at an angle perpendicular to the emission direction of the laser ranging module.

10. The system according to claim 2, characterized in that, Also includes: A display screen, connected to the controller, is used to display the image information, the spatial coordinates of the target stimulation point, and the distance.

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