Multi-degree-of-freedom adjusting system and method for magnetic resonance compatible transcranial magnetic stimulation coil

Abstract

The invention discloses a multi-degree-of-freedom adjusting system and method for a magnetic resonance compatible transcranial magnetic stimulation coil, and relates to the technical field of nerve regulation and control. The system is made of all-nonmetal materials, a six-degree-of-freedom independent adjusting framework is formed through three translation joints and three rotating joints, and each joint is matched with a scale mark and a locking device to adapt to a magnetic resonance high-intensity magnetic field environment and a narrow cavity space. According to the method, a coil coordinate system is established through a magnetic resonance developing marker, and precise coil pose quantification adjustment is achieved through kinematics calculation and coordinate transformation in combination with a support coordinate system. The problems that an existing device is poor in magnetic resonance compatibility, insufficient in adjustment freedom degree and low in positioning precision are solved, the precision and repeatability of transcranial magnetic stimulation are improved, and the device is suitable for precise nerve regulation and control under magnetic resonance guidance.

Description

Technical Field

[0001] The present invention relates to the technical field of neuromodulation, and particularly to a multi-degree-of-freedom adjustment system and method for a magnetic resonance compatible transcranial magnetic stimulation coil. Background Art

[0002] Transcranial magnetic stimulation (TMS) is a technique that induces an electric current in the brain tissue through a pulsed magnetic field, thereby achieving non-invasive regulation of neural activities. Currently, it has been widely used in the research of brain function mechanisms and the clinical treatment of neuropsychiatric diseases. With the development of the concept of precise neuromodulation, the integration of transcranial magnetic stimulation and magnetic resonance imaging (MRI) technology can accurately locate the stimulation target with the help of high-resolution anatomical and functional images, and evaluate the stimulation effect in real time or retrospectively, greatly improving the positioning accuracy and repeatability of transcranial magnetic stimulation, which has become an important development direction in the field of neuromodulation. At present, magnetic resonance compatible transcranial magnetic stimulation coils that can work safely in the strong magnetic field environment of magnetic resonance have been gradually mature, providing the core hardware foundation for the implementation of transcranial magnetic stimulation technology under magnetic resonance guidance.

[0003] However, the coil support and pose adjustment devices配套 with magnetic resonance compatible stimulation coils still have significant technical shortcomings. The magnetic resonance system is in a strong static magnetic field environment, and the scanning cavity space is narrow, with strict requirements on the material properties, structural forms, and use safety of the supporting equipment. Traditional transcranial magnetic stimulation brackets mostly use metal structures or large-volume robotic arm systems and cannot be directly applied inside the magnetic resonance cavity; even if non-metallic materials are used for structural replacement, most of the existing brackets only have limited angle adjustment capabilities and are difficult to achieve fine positioning and attitude adjustment of the stimulation coil in three-dimensional space.

[0004] The effect of transcranial magnetic stimulation is highly sensitive to the spatial position and attitude of the stimulation coil relative to the target brain area. The front-back, left-right, and up-down translation displacements of the stimulation coil in three-dimensional space, as well as the rotation angles in the three dimensions of pitch, yaw, and roll, will directly affect the distribution pattern and stimulation intensity of the intracranial induced electric field, directly determining the final effect of neuromodulation. At the same time, when performing coil adjustment operations inside the magnetic resonance cavity, there are multiple limitations such as limited operable space and the adjustment process must not interfere with the patient's body position and magnetic resonance imaging quality. Existing adjustment devices cannot meet the above-mentioned usage requirements simultaneously.

[0005] Currently, various support and positioning devices for transcranial magnetic stimulation (TMS) coils have been publicly disclosed both domestically and internationally, such as patent documents WO2009114526A1, CN110896610A, and CN202366330U. These patents all disclose technical solutions for adjusting and fixing the coil's posture using robotic arms or multi-joint support structures. However, none of these solutions are specifically designed for magnetic resonance imaging (MRI) compatible scenarios and cannot meet the posture adjustment requirements of TMS coils in MRI environments. Therefore, developing a multi-degree-of-freedom adjustment system for TMS coils suitable for MRI environments has become an urgent technical problem to be solved in this field. Summary of the Invention

[0006] To address this, embodiments of the present invention provide a magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system and method, which solves the problems in the prior art where transcranial magnetic stimulation coil adjustment devices are not specifically designed for magnetic resonance-compatible scenarios, resulting in insufficient safety and imaging compatibility in strong magnetic field environments, limited adjustment degrees of freedom, low positioning accuracy, and inability to quantify and reproduce posture adjustment. These issues make it difficult to achieve precise posture control of the stimulation coil within the narrow cavity of a magnetic resonance imaging system, and thus cannot meet the application requirements of precise transcranial magnetic stimulation under magnetic resonance guidance.

[0007] To address the aforementioned technical problems, this invention provides a multi-degree-of-freedom adjustment system for a magnetic resonance-compatible transcranial magnetic stimulation coil. The system includes a multi-degree-of-freedom adjustment bracket made entirely of non-metallic materials. The bracket comprises three translational joints and three rotational joints, forming an independently adjustable six-degree-of-freedom adjustment architecture. Each translational joint and each rotational joint is equipped with a position scale marker and a locking device. The execution end of the multi-degree-of-freedom adjustment bracket is provided with a coil connection structure for fixing the magnetic resonance-compatible transcranial magnetic stimulation coil. The three translational joints are used to achieve linear displacement adjustment of the coil in three-dimensional space, and the three rotational joints are used to achieve angular displacement adjustment of the coil in three-dimensional space.

[0008] Preferably, the three translation joints include a front-back translation joint, a vertical translation joint, and a left-right translation joint; the front-back translation joint includes a first translation guide rail and a translation slider that slide against each other; the vertical translation joint includes a second translation guide rail fixedly connected to the translation slider and a translation connecting block that slides against the second translation guide rail; the left-right translation joint includes a third translation guide rail that slides against the translation connecting block; and each of the translation slider, the second translation guide rail, and the third translation guide rail is provided with a corresponding displacement scale mark.

[0009] Preferably, the three rotary joints include a roll rotary joint, a pitch rotary joint, and a yaw rotary joint; the roll rotary joint includes a rotary bracket fixedly connected to the third translational guide rail and a first rotary connecting block rotatably engaged with the rotary bracket; the pitch rotary joint includes a second rotary connecting block rotatably engaged with the first rotary connecting block via a rotary axis; the yaw rotary joint includes a rotary coil connecting block rotatably engaged with the second rotary connecting block; angle scale markings are correspondingly provided on the rotary bracket and the second rotary connecting block.

[0010] Preferably, the locking device is a non-metallic locking knob, which can be used in any of the following ways: radial clamping, axial clamping, eccentric wheel locking, or elastic deformation locking, to lock the position of the corresponding joint.

[0011] Preferably, the all-non-metallic material is a magnetically resonant, non-magnetic non-metallic material.

[0012] This invention also provides a method for adjusting a magnetic resonance-compatible transcranial magnetic stimulation coil with multiple degrees of freedom, based on the aforementioned magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system, comprising the following steps:

[0013] S1: Fix three markers that can be visualized in a magnetic resonance environment on the setting surface of the magnetic resonance compatible transcranial magnetic stimulation coil, and establish a coil coordinate system based on the relative positions of the three markers;

[0014] S2: Establish a support coordinate system on the reference structure of the multi-degree-of-freedom adjustment support, and pre-store the position association parameters between the support coordinate system and each translational and rotational joint;

[0015] S3: Fix the magnetic resonance compatible transcranial magnetic stimulation coil to the coil connection structure of the adjustment system, place the adjustment system in the magnetic resonance environment, adjust the coil to the vicinity of the target area of ​​the patient's head, calculate the initial pose of the coil coordinate system in the support coordinate system, and simultaneously record the initial scale values ​​of each joint.

[0016] S4: Acquire magnetic resonance images, obtain the current pose of the coil coordinate system in the image space based on the imaging positions of three markers in the image, plan the target pose of the coil in the image space in combination with the target brain region, and obtain the target pose of the coil coordinate system in the scaffold coordinate system through coordinate transformation;

[0017] S5: Calculate the target displacement of each translation joint and the target rotation of each rotation joint, adjust the corresponding joint to the target position according to the scale markings of each joint, and lock it with the locking device to complete the coil pose adjustment.

[0018] Preferably, in step S1, the three markers are arranged non-collinearly, with one of the markers as the origin of the coil coordinate system, the line connecting any two markers as two orthogonal coordinate axes of the coil coordinate system, and the direction perpendicular to the surface of the stimulation coil as the third orthogonal coordinate axis of the coil coordinate system, thus establishing a three-dimensional orthogonal coil coordinate system.

[0019] Preferably, in step S4, the pose mapping transformation between the coil coordinate system and the support coordinate system is achieved through Euclidean transformation.

[0020] Preferably, in step S5, the method for calculating the target displacement of each translation joint and the target rotation of each rotation joint is as follows: based on the difference between the target pose and the initial pose in the coil coordinate system, the linear displacement of the three translation joints and the angular displacement of the three rotation joints are calculated, and the calculated displacement and rotation are matched with the scale markings of the corresponding joints to obtain the quantitative adjustment parameters.

[0021] Preferably, in step S5, the adjustment method of the joint includes manual scale adjustment, or remote automatic / semi-automatic adjustment achieved through a magnetic resonance compatible pneumatic drive, ultrasonic motor drive, or hydraulic transmission system.

[0022] As can be seen from the above technical solutions, this invention application has the following beneficial effects:

[0023] (1) All components of this invention are made of magnetic resonance compatible non-magnetic non-metallic materials, which eliminates the risk of magnetic attraction of metal structures in strong static magnetic field environment and magnetic resonance imaging interference problem from the root. At the same time, through the compact six-degree-of-freedom architecture design, it perfectly adapts to the narrow operating space of magnetic resonance scanning cavity, and breaks through the limitations of traditional robotic arms and large-volume stents that cannot enter the cavity and have limited adjustment freedom. It can realize in-situ fine adjustment of coils in the cavity without interfering with the patient's position and imaging quality, and provides core hardware support for the safe and stable application of transcranial magnetic stimulation in magnetic resonance environment.

[0024] (2) Through the independent design of three translational joints and three rotational joints, this invention realizes the independent adjustment of six degrees of freedom in all dimensions of coil three-dimensional translation (front-back, up-down, left-right) and three-dimensional rotation (roll, pitch, yaw). It can fully adapt to the technical characteristics of transcranial magnetic stimulation effect being highly sensitive to coil position and accurately control the distribution pattern and stimulation intensity of intracranial evoked field. At the same time, all joints are equipped with scale markings and locking devices, which transforms subjective manual alignment into quantifiable and reproducible numerical adjustment. With the multi-point locking mechanism, it can effectively avoid the slight displacement of the coil during treatment, and greatly improve the accuracy, stability and adjustment consistency of coil positioning.

[0025] (3) The adjustment method of this invention establishes a coil coordinate system by using magnetic resonance imaging markers on the coil surface and combining them with the scaffold reference coordinate system. By using Euclidean transformation and forward and reverse kinematics calculations, it realizes the precise mapping from the target pose planning in the MRI image space to the quantitative adjustment of the physical scaffold, forming a closed-loop control logic of image guidance-pose calculation-quantitative adjustment-precise locking. This completely eliminates the experience dependence and randomness of operation in traditional manual coil placement. At the same time, this method is compatible with multiple modes of manual adjustment and remote automated adjustment. The markers, algorithms, and driving methods all have flexible alternative and expansion capabilities, which can be adapted to the application needs of different clinical treatments and scientific research experiments. This provides a standardized and repeatable implementation path for precise neuromodulation under magnetic resonance guidance. Attached Figure Description

[0026] 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:

[0027] Figure 1 This is a schematic diagram of a magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system provided by the present invention;

[0028] Figure 2 The left view shows the magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system of this invention.

[0029] Figure 3 This is a top view of the magnetic resonance compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system of the present invention;

[0030] Figure 4 This is a schematic diagram of the scale of each joint of the multi-degree-of-freedom adjustable bracket in this invention;

[0031] Figure 5 This is a flowchart of a multi-degree-of-freedom adjustment method for a magnetic resonance-compatible transcranial magnetic stimulation coil provided by the present invention;

[0032] Figure 6 This is a schematic diagram of the coil coordinate system in this invention;

[0033] Figure 7 This is a schematic diagram of the coordinate system of the multi-degree-of-freedom adjustment bracket in this invention.

[0034] Explanation of reference numerals in the accompanying drawings: 1. First translation - guide rail; 2. Translation - slider; 3. First translation - locking knob; 4. Second translation - guide rail; 5. Translation - connecting block; 6. Second translation - locking knob; 7. Third translation - guide rail; 8. Third translation - locking knob; 9. Rotation - bracket; 10. First rotation - connecting block; 11. First rotation - locking knob; 12. Second rotation - locking knob; 13. Rotation - rotating shaft; 14. Second rotation - connecting block; 15. Third rotation - locking knob; 16. Rotation - coil connecting block; 17. Fourth rotation - locking knob. Detailed Implementation

[0035] 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.

[0036] It should be noted in advance that in all embodiments of the present invention, all components of the adjustment system are made of magnetic resonance-compatible non-magnetic non-metallic materials, which can be fully adapted to the strong static magnetic field environment of magnetic resonance, and completely solve the risks of magnetic field attraction and magnetic resonance imaging interference caused by traditional metal structures. The core of the six-degree-of-freedom adjustment architecture of the present invention is a combination of three translational joints and three rotational joints. It can be arranged in a variety of reasonable ways, such as series connection or mixed connection, according to actual use needs. The preferred arrangement is a compact series structure design, which can perfectly adapt to the narrow space of the magnetic resonance scanning cavity, meet the space restriction requirements of operation in the cavity, and avoid interference with patient position and magnetic resonance imaging during the adjustment process.

[0037] Example 1:

[0038] This invention proposes a multi-degree-of-freedom adjustment system for a magnetic resonance-compatible transcranial magnetic stimulation coil. The system includes a multi-degree-of-freedom adjustment bracket made entirely of non-metallic materials. The bracket comprises three translational joints and three rotational joints arranged in series, forming an independently adjustable six-degree-of-freedom adjustment architecture. Each translational joint and each rotational joint is equipped with a position scale marking and a locking device. The actuator end of the multi-degree-of-freedom adjustment bracket is provided with a coil connection structure for fixing the magnetic resonance-compatible transcranial magnetic stimulation coil. The three translational joints are used to achieve linear displacement adjustment of the coil in three-dimensional space, and the three rotational joints are used to achieve angular displacement adjustment of the coil in three-dimensional space.

[0039] This embodiment, as a preferred embodiment of the present invention, arranges the three translational joints and three rotational joints in series, which maximizes structural simplification, reduces equipment size, and adapts to the confined operating space of the magnetic resonance cavity. Specifically, as shown... Figures 1 to 4 As shown, the core of the adjustment system is a multi-degree-of-freedom adjustment bracket made entirely of non-metallic materials. The multi-degree-of-freedom adjustment bracket consists of 17 core components, specifically including: translation-slider 2, first translation-guide rail 1, first translation-locking knob 3, translation-connecting block 5, second translation-guide rail 4, second translation-locking knob 6, third translation-guide rail 7, third translation-locking knob 8, first rotation-connecting block 10, rotation-bracket 9, first rotation-locking knob 11, second rotation-locking knob 12, second rotation-connecting block 14, rotation-rotation shaft 13, third rotation-locking knob 15, rotation-coil connecting block 16, and fourth rotation-locking knob 17.

[0040] The aforementioned 17 components together form three translational joints and three rotational joints arranged in series, creating an independently adjustable six-degree-of-freedom (DOF) adjustment architecture. All joints are equipped with position scale markings and locking devices, enabling quantitative adjustment and stable locking of the stimulation coil's pose. The actuator of the multi-DOF adjustment bracket is fixedly mounted with a magnetic resonance-compatible transcranial magnetic stimulation (TMS) coil via a rotation-coil connector 16. The three translational joints allow for independent linear displacement adjustment of the stimulation coil along the X, Y, and Z axes in three-dimensional space, while the three rotational joints allow for independent angular displacement adjustment of the stimulation coil in the roll, pitch, and yaw dimensions. The specific structure and working principle of each joint are as follows:

[0041] (1) Forward and backward translational joint: including a first translational guide rail 1 and a translational slider 2 that slide against each other. The translational slider 2 can move parallel to the first translational guide rail 1 in the forward and backward direction to realize the forward and backward translational movement of the stimulation coil. The translational slider 2 is provided with scale markings corresponding to the forward and backward displacement. The translational slider 2 and the first translational guide rail 1 can be locked and fixed by the first translational locking knob 3 to complete the locking of the forward and backward displacement.

[0042] (2) Vertical translation joint: including a second translation-guide rail 4, a translation-connecting block 5, and a second translation-locking knob 6. One end of the second translation-guide rail 4 is fixedly connected to the translation-slider 2. The translation-connecting block 5 is slidably engaged with the second translation-guide rail 4, allowing it to move parallel to the second translation-guide rail 4 in the vertical direction, thereby realizing the vertical translation movement of the stimulation coil. The second translation-guide rail 4 is provided with scale markings corresponding to the vertical displacement. The translation-connecting block 5 and the second translation-guide rail 4 can be locked together by the second translation-locking knob 6 to lock the vertical displacement.

[0043] (3) Left and right translation joint: including the third translation-guide rail 7 and the third translation-locking knob 8. The third translation-guide rail 7 and the translation-connecting block 5 are slidably engaged. The translation-connecting block 5 can move parallel to the third translation-guide rail 7 in the left and right direction to realize the left and right translation movement of the stimulation coil. The third translation-guide rail 7 is provided with scale markings corresponding to the left and right displacement. The translation-connecting block 5 and the third translation-guide rail 7 can be locked and fixed by the third translation-locking knob 8 to complete the locking of the left and right displacement.

[0044] (4) Rolling and rotating joint: including a rotating bracket 9, a first rotating connecting block 10, a first rotating locking knob 11 and a second rotating locking knob 12. The rotating bracket 9 is fixedly connected to the end of the third translational guide rail 7. The first rotating connecting block 10 is nested in the rotating bracket 9 and can rotate around the axis in the rotating bracket 9 to realize the rolling motion of the stimulation coil. The rotating bracket 9 is provided with scale markings corresponding to the rolling angle. The rotating bracket 9 and the first rotating connecting block 10 can be locked in both directions by the first rotating locking knob 11 and the second rotating locking knob 12 to lock the rolling angle.

[0045] (5) Pitch-rotation joint: including a rotation-rotation shaft 13, a second rotation-connecting block 14, and a third rotation-locking knob 15. The first rotation-connecting block 10 and the second rotation-connecting block 14 are rotatably connected by the rotation-rotation shaft 13. The first rotation-connecting block 10 can rotate around the axis of the rotation-rotation shaft 13 to realize the pitch movement of the stimulation coil. The second rotation-connecting block 14 is provided with a scale mark corresponding to the pitch angle. The first rotation-connecting block 10, the rotation-rotation shaft 13, and the second rotation-connecting block 14 can be locked and fixed by the third rotation-locking knob 15 to lock the pitch angle.

[0046] (6) Yaw Rotation Joint: Includes a rotation-coil connecting block 16 and a fourth rotation-locking knob 17. The rotation-coil connecting block 16 is nested at the end of the second rotation-connecting block 14 and can rotate around the axis in the second rotation-connecting block 14 to realize the yaw motion of the stimulation coil. The magnetic resonance compatible transcranial magnetic stimulation coil is fixedly installed on the rotation-coil connecting block 16. The second rotation-connecting block 14 is provided with scale markings corresponding to the yaw angle. The rotation-coil connecting block 16 and the second rotation-connecting block 14 can be locked and fixed by the fourth rotation-locking knob 17 to lock the yaw angle.

[0047] Furthermore, in this embodiment, the locking devices for each joint are all non-metallic locking knobs. The locking principle is preferably radial clamping, but it can also be replaced by any method such as axial clamping, eccentric wheel locking, or elastic deformation locking, depending on the actual usage requirements. As long as it can achieve stable fixation of non-metallic moving parts in the magnetic resonance environment, it falls within the protection scope of this invention.

[0048] The "slider-guide rail" type translation joint used in this embodiment can be replaced with other structures with linear displacement functions, such as lead screw and nut pairs, gear and rack pairs, etc., depending on the actual use scenario. All of these can realize translation adjustment in three-dimensional space, such as forward and backward, up and down, and left and right. The fixed connection between the components, such as the fixed connection between the translation-slider 2 and the second translation-guide rail 4, and the fixed connection between the rotation-bracket 9 and the third translation-guide rail 7, can be achieved by an integrated molding process, or by a variety of detachable connection methods such as slots, tenons and mortises, and non-metallic screw fastening. All of these are equivalent mechanical connections that can be realized by those skilled in the art.

[0049] The rotating joint structure with nested brackets and rotating shafts used in this embodiment is designed to achieve independent angular displacement adjustment of the stimulation coil in three dimensions: roll, pitch, and yaw. It can be replaced with a spherical universal joint structure as needed, which can achieve multiple rotational degrees of freedom through a ball joint. Alternatively, a multi-axis hinge series connection can be used to replace the existing connecting block structure, all without departing from the core concept of this invention.

[0050] It should be noted that the core of the six-degree-of-freedom adjustment architecture of the present invention is a combination of three translational joints and three rotational joints. In addition to the series arrangement described in this embodiment, the three translational joints and the three rotational joints can be arranged in any reasonable mixed or cross arrangement. As long as the three translational joints achieve independent linear displacement adjustment in three-dimensional space and the three rotational joints achieve independent angular displacement adjustment in three-dimensional space, thus forming a six-degree-of-freedom independent adjustment architecture, it falls within the protection scope of the present invention.

[0051] Example 2:

[0052] This embodiment provides a method for adjusting a magnetic resonance-compatible transcranial magnetic stimulation coil with multiple degrees of freedom. This method is based on the magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system described in Embodiment 1. Figures 5 to 7 As shown, the specific steps include the following:

[0053] S1. Establish the coil coordinate system: On the side of the MRI-compatible transcranial magnetic stimulation coil away from the patient's scalp, fix three markers that can be visualized in the MRI environment, and establish the coil coordinate system based on the relative positions of the three markers.

[0054] Specifically, in this preferred embodiment of the present invention, the markers are small water bubbles that can be visualized in MRI images. Three markers are placed vertically, and their relative positions are pre-defined and stored. The first marker (water bubble 1) is located at the center of the stimulation coil, serving as the origin of the coil coordinate system. The line connecting the first marker and the second marker (bubble 2) forms a coil coordinate system. The axis; the line connecting the first marker and the third marker (bubble 3) constitutes the coil coordinate system. The axis; the direction perpendicular to the surface of the stimulation coil and pointing outward constitutes the coil coordinate system. axis.

[0055] It should be noted that the establishment of the coil coordinate system in this step is not limited to the preferred method described above. As long as the three markers are not collinear, any one of the markers can be selected as the origin of the coil coordinate system, the line connecting any two markers can be used as the two orthogonal coordinate axes of the coil coordinate system, and the direction perpendicular to the surface of the stimulation coil can be used as the third orthogonal coordinate axis of the coil coordinate system to establish a three-dimensional orthogonal coil coordinate system. This can achieve accurate characterization of the pose of the stimulation coil. At the same time, the markers are not limited to small water bubbles and can be replaced with any material with high contrast in MRI images, such as a sealed cavity containing a paramagnetic solution (copper sulfate, manganese chloride, etc.), a solid plastic marker of a specific shape, or a mold with specific anatomical features. All of these fall within the scope of protection of this invention.

[0056] S2. Establish the support coordinate system: Establish a multi-degree-of-freedom adjustment support coordinate system on the reference structure of the multi-degree-of-freedom adjustment support, and pre-store the position association parameters between the support coordinate system and each translation joint and rotation joint.

[0057] Specifically, such as Figure 7 As shown, a support coordinate system is established on the first translation guide rail 1 of the multi-degree-of-freedom adjustment support, with the origin of the support coordinate system being... The three coordinate axes are respectively , , The position and size of each component of the multi-degree-of-freedom adjustable bracket, the movement stroke of each joint and the correspondence with the scale are all pre-calibrated, forming the position association parameters of the bracket coordinate system and each translational and rotational joint and pre-stored.

[0058] S3. Initial pose calibration: Fix the MRI-compatible transcranial magnetic stimulation coil onto the rotation-coil connector 16 of the multi-degree-of-freedom adjustment system. Place the assembled adjustment system and the patient together in the MRI device. Perform coarse adjustment using the translational and rotational joints of the multi-degree-of-freedom adjustment system to position the stimulation coil near the target area of ​​the patient's head. Obtain the initial pose of the coil coordinate system in the support coordinate system through forward kinematics calculations. Simultaneously record the initial scale values ​​of each translational and rotational joint in the multi-degree-of-freedom adjustment support.

[0059] S4. Target Pose Calculation: Acquire magnetic resonance images of the patient's head and the stimulation coil. Identify the imaging locations of three markers in the magnetic resonance images. Reconstruct the coil coordinate system based on the identified marker locations. Obtain the pose of the coil coordinate system in image space using Euclidean transformation theory. Observe the spatial difference between the current pose of the stimulation coil and the target brain region. Plan the target pose of the coil coordinate system in image space based on the stimulation requirements of the target brain region. Calculate the target pose of the coil coordinate system in the scaffold coordinate system through coordinate transformation. The specific calculation formula is as follows:

[0060] ;

[0061] In the formula, Let represent the initial pose of the coil coordinate system in the support coordinate system. This represents the current pose of the coil coordinate system in the image space. Let represent the target pose in the image space using the coil coordinate system. The target pose of the coil coordinate system in the support coordinate system.

[0062] It should be noted that in this embodiment, Euclidean transformation is used to achieve coordinate mapping. Alternatively, depending on the actual needs, the iterative nearest point (ICP) algorithm based on feature point cloud matching can be used, or deep learning image recognition technology can be used to directly establish a mapping relationship between the three-dimensional model of the stimulation coil and the MRI image, skipping the identification step of imaging markers and realizing the calculation of coil pose.

[0063] S5. Quantitative Adjustment and Locking: Based on the target pose of the coil coordinate system in the support coordinate system obtained in step S4, the target displacement of each translation joint and the target rotation of each rotation joint of the multi-degree-of-freedom adjustment support are calculated through inverse kinematics. The calculated displacement and rotation are matched with the scale markings of the corresponding joints to obtain the quantitative adjustment parameters. The operator manually adjusts each translation and rotation joint to the target scale according to the quantitative adjustment parameters. After the adjustment is completed, the locking knobs of each joint are used to lock the coil, which can accurately move the stimulation coil to the target pose and complete the multi-degree-of-freedom precise adjustment of the transcranial magnetic stimulation coil under magnetic resonance environment.

[0064] Furthermore, the adjustment method of the joint in this step is not limited to manual scale adjustment. Without affecting magnetic resonance compatibility, remote automatic / semi-automatic adjustment can be achieved through magnetic resonance compatible pneumatic actuators, ultrasonic motors or hydraulic transmission systems, all of which can realize scale-based quantitative pose adjustment.

[0065] The adjustment method described in this embodiment directly transmits the positioning accuracy guided by magnetic resonance imaging to the operating end of the physical stent through closed-loop mapping between the image space and the stent coordinate system. Combined with the scale markings of each joint, it transforms the traditional experience-based manual placement into a recordable and reproducible quantitative adjustment, completely eliminating the randomness of manual operation. At the same time, the multi-point locking mechanism can effectively prevent the stimulation coil from shifting slightly during treatment, ensuring the high repeatability and accuracy of transcranial magnetic stimulation tasks and providing reliable technical support for precise neuromodulation under magnetic resonance guidance.

[0066] 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 magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system, characterized in that, The multi-degree-of-freedom adjustment bracket, made entirely of non-metallic materials, includes three translational joints and three rotational joints, forming an independently adjustable six-degree-of-freedom adjustment structure. Each translational joint and each rotational joint are equipped with position scale markings and locking devices. The execution end of the multi-degree-of-freedom adjustment bracket is provided with a coil connection structure for fixing the magnetic resonance compatible transcranial magnetic stimulation coil. The three translational joints are used to realize the linear displacement adjustment of the coil in three-dimensional space, and the three rotational joints are used to realize the angular displacement adjustment of the coil in three-dimensional space.

2. The multi-degree-of-freedom adjustment system for magnetic resonance-compatible transcranial magnetic stimulation coils according to claim 1, characterized in that, The three translation joints include a front-back translation joint, a vertical translation joint, and a left-right translation joint; the front-back translation joint includes a first translation guide rail (1) and a translation slider (2) that slide together; the vertical translation joint includes a second translation guide rail (4) that is fixedly connected to the translation slider (2) and a translation connecting block (5) that slides together with the second translation guide rail (4); the left-right translation joint includes a third translation guide rail (7) that slides together with the translation connecting block (5); each of the translation slider (2), the second translation guide rail (4), and the third translation guide rail (7) is provided with a displacement scale mark.

3. The multi-degree-of-freedom adjustment system for magnetic resonance-compatible transcranial magnetic stimulation coils according to claim 2, characterized in that, The three rotary joints include a roll rotary joint, a pitch rotary joint, and a yaw rotary joint; the roll rotary joint includes a rotary bracket (9) fixedly connected to the third translational guide rail (7) and a first rotary connecting block (10) rotatably engaged with the rotary bracket (9); the pitch rotary joint includes a second rotary connecting block (14) rotatably engaged with the first rotary connecting block (10) via a rotary axis (13); the yaw rotary joint includes a rotary coil connecting block (16) rotatably engaged with the second rotary connecting block (14); angle scale markings are correspondingly provided on the rotary bracket (9) and the second rotary connecting block (14).

4. The multi-degree-of-freedom adjustment system for magnetic resonance-compatible transcranial magnetic stimulation coils according to claim 1, characterized in that, The locking device is a non-metallic locking knob. The locking knob can be used in any of the following ways: radial clamping, axial clamping, eccentric wheel locking, or elastic deformation locking, to lock the position of the corresponding joint.

5. The multi-degree-of-freedom adjustment system for magnetic resonance-compatible transcranial magnetic stimulation coils according to claim 1, characterized in that, The non-metallic material is a magnetically resonant, non-magnetic non-metallic material.

6. A method for multi-degree-of-freedom adjustment of a magnetic resonance-compatible transcranial magnetic stimulation coil, characterized in that, The system, based on the magnetic resonance-compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjustment system according to any one of claims 1 to 5, includes the following steps: S1: Fix three markers that can be visualized in a magnetic resonance environment on the setting surface of the magnetic resonance compatible transcranial magnetic stimulation coil, and establish a coil coordinate system based on the relative positions of the three markers; S2: Establish a support coordinate system on the reference structure of the multi-degree-of-freedom adjustment support, and pre-store the position association parameters between the support coordinate system and each translational and rotational joint; S3: Fix the magnetic resonance compatible transcranial magnetic stimulation coil to the coil connection structure of the adjustment system, place the adjustment system in the magnetic resonance environment, adjust the coil to the vicinity of the target area of ​​the patient's head, calculate the initial pose of the coil coordinate system in the support coordinate system, and simultaneously record the initial scale values ​​of each joint. S4: Acquire magnetic resonance images, obtain the current pose of the coil coordinate system in the image space based on the imaging positions of three markers in the image, plan the target pose of the coil in the image space in combination with the target brain region, and obtain the target pose of the coil coordinate system in the scaffold coordinate system through coordinate transformation; S5: Calculate the target displacement of each translation joint and the target rotation of each rotation joint, adjust the corresponding joint to the target position according to the scale markings of each joint, and lock it with the locking device to complete the coil pose adjustment.

7. The method for multi-degree-of-freedom adjustment of a magnetic resonance-compatible transcranial magnetic stimulation coil according to claim 6, characterized in that, In step S1, the three markers are arranged non-collinearly. One of the markers is taken as the origin of the coil coordinate system, the line connecting any two markers is taken as the two orthogonal coordinate axes of the coil coordinate system, and the direction perpendicular to the surface of the stimulation coil is taken as the third orthogonal coordinate axis of the coil coordinate system, thus establishing a three-dimensional orthogonal coil coordinate system.

8. The method for multi-degree-of-freedom adjustment of a magnetic resonance-compatible transcranial magnetic stimulation coil according to claim 6, characterized in that, In step S4, the pose mapping transformation between the coil coordinate system and the support coordinate system is achieved through Euclidean transformation.

9. The method for multi-degree-of-freedom adjustment of a magnetic resonance-compatible transcranial magnetic stimulation coil according to claim 6, characterized in that, In step S5, the method for calculating the target displacement of each translation joint and the target rotation of each rotation joint is as follows: based on the difference between the target pose and the initial pose in the coil coordinate system, the linear displacement of the three translation joints and the angular displacement of the three rotation joints are calculated. The calculated displacement and rotation are matched with the scale markings of the corresponding joints to obtain the quantitative adjustment parameters.

10. The method for multi-degree-of-freedom adjustment of a magnetic resonance-compatible transcranial magnetic stimulation coil according to claim 6, characterized in that, In step S5, the adjustment method of the joint includes manual scale adjustment, or remote automatic / semi-automatic adjustment achieved through a magnetic resonance compatible pneumatic drive, ultrasonic motor drive, or hydraulic transmission system.

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