A magnetic stimulation probe positioning device based on wireless induction technology

Abstract

The application discloses a magnetic stimulation probe positioning device based on wireless induction technology, which comprises a head cap assembly, a positioning assembly and a control unit. The head cap assembly comprises a head cap and a passive induction piece. The passive induction piece is arranged on the head cap and corresponds to a target point of a human head. The positioning assembly comprises a first driving piece and a second driving piece. The first driving piece drives the probe to rotate around a first axis, and the second driving piece drives the probe to rotate around a second axis. The first axis and the second axis are perpendicular to each other. The positioning assembly comprises an induction positioning piece which is installed on the probe and used for collecting signals of the passive induction piece. The control unit controls the movement of the probe through the positioning assembly according to a target point acquired in advance, and determines the position of the target point by combining the signal strength changes of the corresponding passive induction piece collected by the induction positioning piece during the movement, thereby completing the alignment of the probe and the target point. The application effectively improves the standardization degree and alignment accuracy of the magnetic stimulation probe positioning based on the wireless induction technology.

Description

Technical Field

[0001] This invention relates to the field of wireless sensing positioning technology, and in particular to a magnetic stimulation probe positioning device based on wireless sensing technology. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a non-invasive neuromodulation therapy widely used in the adjunctive treatment and rehabilitation training of diseases in neurology, rehabilitation medicine, and psychiatry. In clinical use, the therapeutic effect of magnetic stimulation is directly related to the accuracy and repeatability of the probe's alignment with the brain's treatment target. A stable, reliable, and repeatable probe positioning structure is a crucial prerequisite for ensuring standardized clinical treatment.

[0003] Existing magnetic stimulation localization devices still have inherent technical defects, making it difficult to meet the needs of routine standardized operations. One method is to use a robotic arm in conjunction with binocular infrared vision for localization. This approach relies on image recognition to locate the target point, but it is easily affected by factors such as ambient light, patient hair obstruction, and head posture deviation, resulting in limited stability of the localization signal and poor repeatability of treatment points. At the same time, rigid robotic arms occupy a large space, are expensive, and have complex multi-degree-of-freedom drive control, resulting in large motion inertia and lag in fine-tuning response.

[0004] Another approach uses magnetic resonance imaging (MRI) modeling combined with light field camera navigation for positioning, which can achieve target tracking with a certain degree of accuracy. However, this method relies on preoperative MRI scanning for modeling, has high equipment requirements, involves cumbersome preoperative procedures, and results in a long overall treatment time, making it unsuitable for large-scale, routine, and rapid outpatient treatment scenarios. Meanwhile, visual navigation solutions suffer from high image processing demands, numerous invalid background interferences, and a lack of mechanical error compensation mechanisms. Furthermore, long-term continuous use of the equipment can lead to a decline in positioning accuracy and insufficient operational stability.

[0005] In recent years, with the development of wireless sensing technology, its application in the medical field has become increasingly widespread. In particular, wireless communication technologies such as RFID, Bluetooth, and NFC have achieved excellent applications in patient identification, device tracking, and drug management. If wireless sensing technology can be combined with magnetic stimulation probe positioning, a positioning method with simple structure, convenient operation, accurate positioning, stable operation, and good repeatability will be obtained. Summary of the Invention

[0006] Purpose of the invention: To address the above-mentioned shortcomings, the present invention provides a magnetic stimulation probe positioning device based on wireless sensing technology. By setting up a standardized headgear assembly, deploying passive sensing elements at fixed points, and optimizing the alignment method, the standardization and alignment accuracy of the magnetic stimulation probe positioning are effectively improved.

[0007] Technical solution: This invention provides a magnetic stimulation probe positioning device based on wireless sensing technology, comprising:

[0008] The headgear assembly includes a headgear worn on the human head and passive sensors that are fixedly deployed on the headgear corresponding to the treatment target points on the human head.

[0009] The alignment component, sleeved outside the headgear assembly, includes a first driving member that drives the probe to rotate around a first axis and a second driving member that drives the probe to rotate around a second axis, with the first axis and the second axis intersecting perpendicularly, thereby achieving alignment between the probe and any point on the headgear;

[0010] The positioning component includes a sensing positioning element mounted on the probe for acquiring signals from the passive sensing element;

[0011] The control unit is used to control the movement of the probe through the alignment component based on the pre-acquired target point, and to determine the actual target point position by combining the signal intensity change of the corresponding passive sensor collected by the sensing positioning component during the movement, thereby completing the alignment of the probe with the target point.

[0012] Specifically, the control unit obtains the initial target position based on the pre-acquired target point, combined with its pre-stored standard target position information database and the signal characteristics of the corresponding passive sensor collected by the sensing positioning device. Based on this, the control unit controls the probe to move through the alignment component. After the probe moves to the correct position, the gradient extreme value traversal algorithm is used to control the probe to determine and move to the actual target position based on the signal intensity change of the corresponding passive sensor.

[0013] More specifically, the control unit employs a gradient extremum traversal algorithm to control the probe to determine and move to the actual target position based on the signal intensity changes of the corresponding passive sensor, as follows:

[0014] After the control unit controls the probe to move to the initial target position, it controls the probe to rotate around the first axis through the first driving component. Combined with the signal of the corresponding passive sensor collected by the sensing and positioning component, it obtains the signal intensity change during the probe rotation process, thereby obtaining the extreme point of signal intensity, that is, the longitude of the actual target point.

[0015] Then, at the extreme point of signal intensity, the second driving component controls the probe to rotate around the second axis. Combined with the signal of the corresponding passive sensing component collected by the sensing positioning component, the signal intensity change during the probe rotation process is obtained. Thus, the extreme point of signal intensity is obtained, that is, the latitude of the actual target point is obtained, and thus the position of the actual target point is obtained.

[0016] More specifically, the positioning component further includes an angle positioning component installed on the first driving component and the second driving component respectively for acquiring the rotation angle of the probe around the first axis and the second axis. The control unit is electrically connected to the angle positioning component and is used to receive the angle information acquired by the angle positioning component.

[0017] Furthermore, after acquiring the initial target position, the control unit combines the angle information collected by the angle positioning component and uses a multi-level differential PID algorithm to control the probe to move into position through the alignment component.

[0018] Specifically, the first driving component includes a circular ring, a first transmission component, and a first motor, wherein the circular ring is horizontally sleeved on the outside of the headgear assembly;

[0019] The second driving component includes a semi-circular ring, a bearing component, a second transmission component, and a second motor. The semi-circular ring is arranged perpendicular to the circular ring and rotates around the axis of the circular ring through the drive of the first motor and the transmission of the first transmission component.

[0020] The probe is mounted on a carrier, which rotates around the axis of a semi-circular ring via a second motor and a second transmission component.

[0021] More specifically, the first transmission component includes a first rack disposed on the outside of the circular ring and a first gear disposed at at least one end of the semi-circular ring and correspondingly engaged with the first rack. A first motor is disposed at at least one end of the semi-circular ring, and the output shaft of the first motor is fixedly connected to the first gear.

[0022] The second transmission component includes a second rack located on the outside of the semi-circular ring and a second gear located on the bearing component and corresponding to the second rack. A second motor is mounted on the bearing component, and the output shaft of the second motor is fixedly connected to the second gear.

[0023] Furthermore, the outer side of the circular ring is configured as a stepped structure, with the lower step designed as a first rack and the upper step designed as a first guide rail. Correspondingly, the two ends of the semi-circular ring are provided with first rollers that cooperate with the first guide rail.

[0024] The outer side of the semi-circular ring is designed with a stepped structure, with the lower step being a second rack and the upper step being a second guide rail. Correspondingly, the bearing member is provided with a first roller that cooperates with the second guide rail.

[0025] Specifically, it also includes a telescopic drive component, which includes a drive end and a telescopic end. The drive end is mounted on the second drive component and can move with the second drive component. Its telescopic end is fixedly connected to the probe and is used to drive the probe to telescopically move toward the human head.

[0026] More specifically, the control unit is electrically connected to the force sensor installed on the telescopic drive component, thereby acquiring the pressure data of the telescopic drive component and comparing it with a preset safety threshold. When the pressure exceeds the preset safety threshold, a stop command is triggered.

[0027] Beneficial effects: Based on wireless sensing technology, this invention can quickly search for and align points by setting up a standardized head cap assembly for head positioning, configuring passive sensors for fixed-point deployment, and optimizing the driving method of the alignment component. It eliminates the need for complex preoperative modeling and manual calibration, greatly simplifies the preoperative calibration process, shortens the preoperative preparation time, effectively improves the standardization and alignment accuracy of magnetic stimulation probe positioning, effectively reduces human operation errors, and effectively lowers the threshold for using magnetic therapy equipment. Attached Figure Description

[0028] Figure 1 This is a block diagram of the architecture of the magnetic stimulation probe positioning device in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the distribution of standard latitude and longitude coordinate grids and passive sensors on the headgear in an embodiment of the present invention, where a is a front view and b is a top view. In the figure, target point A is the dorsolateral prefrontal cortex emotion regulation area, target point B is the M1 motor function area, target point C is the temporal lobe memory area, target point D is the parietal lobe perception area, and target point E is the occipital lobe visual area.

[0030] Figure 3 This is a schematic diagram of the magnetic stimulation probe positioning device in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the alignment component in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the positioning component in an embodiment of the present invention;

[0033] Figure 6 This is a control flowchart of the magnetic stimulation probe positioning device in an embodiment of the present invention;

[0034] In the diagram, 1 is the headgear assembly, 2 is the alignment assembly, 3 is the positioning assembly, 4 is the telescopic drive component, 5 is the probe, 6 is the control unit, and 7 is the support rod.

[0035] 11 is the head cap, and 12 is the passive sensor.

[0036] 21 is the first driving component, and 22 is the second driving component;

[0037] 211 is a circular ring, 212 is a connector, and 213 is a first motor; 2111 is a first rack, 2112 is a first guide rail; 2121 is a first gear, and 2122 is a first roller;

[0038] 221 is a semi-circular ring, 222 is a load-bearing component, 223 is a second motor; 2211 is a second rack, 2212 is a second guide rail; 2221 is a second gear;

[0039] 31 is an angle positioning component; 311 is a grating ruler; 312 is a grating reading head.

[0040] 41 is the driving end, and 42 is the telescopic end. Detailed Implementation

[0041] To make the objectives, technical solutions and advantages of the present invention clearer, the present application will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0042] like Figure 1-3 As shown, the magnetic stimulation probe positioning device based on wireless sensing technology provided by the present invention mainly includes:

[0043] The headgear assembly 1 includes a headgear 11 worn on the human head and a passive sensor 12 that is fixedly arranged on the headgear 11 corresponding to the treatment target point of the human head.

[0044] Alignment component 2, sleeved outside headgear component 1, includes a first drive component 21 that drives the probe 5 to rotate around a first axis and a second drive component 22 that drives the probe 5 to rotate around a second axis, with the first axis and the second axis intersecting perpendicularly, thereby achieving alignment of the probe 5 with any point on the headgear 11;

[0045] The positioning component 3 includes a sensing positioning element installed on the probe 5 for acquiring signals from the passive sensing element 12;

[0046] The control unit 6 is used to control the movement of the probe 5 through the alignment component 2 according to the pre-acquired target point, and determine the actual target point position by combining the signal intensity change of the corresponding passive sensor 12 collected by the sensing positioning component during the movement, so as to complete the alignment of the probe 5 with the target point.

[0047] In this invention, the headgear 11 can be made of highly elastic, breathable, medical-grade flexible fabric, which is suitable for the head circumference of adults and teenagers of 50-60cm. It can closely fit the curvature of the human head and is not easy to slip after wearing.

[0048] In this invention, such as Figure 2 As shown, a standard latitude and longitude coordinate grid can be printed on the surface of the headgear 11. Under normal temperature static calibration conditions, the grid calibration accuracy is ±0.5mm. When the headgear 11 is tightly fitted to the curved surface of the human skull, the latitude and longitude coordinate grid strictly fits the anatomical structure of the human skull. The passive sensing element 12 arranged on it accurately corresponds to the clinical conventional treatment target points of magnetic stimulation of the human skull, forming a unified, reusable and traceable physical positioning reference structure.

[0049] In this invention, the conventional clinical therapeutic targets for magnetic stimulation of the human skull are as follows: Figure 2As shown, it includes the dorsolateral prefrontal cortex (DLPFC) emotion regulation area A, the M1 motor function area B, the temporal lobe memory area C, the parietal lobe sensory area D, and the occipital lobe visual area E.

[0050] In this invention, the passive sensors 12 are arranged in a sparse, fixed-point configuration to meet actual clinical treatment needs. Each passive sensor 12 possesses independent signal characteristics to accurately distinguish corresponding treatment targets, achieving precise matching and positioning of multiple targets. Furthermore, a flexible anti-slip pad is provided on the side of the passive sensor 12 closest to the human head, which can penetrate the gaps in the hair to adhere to the scalp, effectively avoiding problems such as module suspension, offset, lifting, and uneven adhesion, improving the stability of electromagnetic signal acquisition, reducing positioning point drift, and significantly improving the stability of positioning work.

[0051] In this invention, the passive sensing element 12 can be implemented using a W3580 passive sensor to achieve NFC communication. Passive sensors, because they do not rely on an external power source and do not generate energy or signals themselves, have advantages such as simple and compact structure, reliable operation, low cost, and extremely low power consumption. Among RFID passive tags, high-frequency NFC tags are more suitable for this type of short-range secure interaction application scenario.

[0052] This invention constructs a physical, traceable physical positioning benchmark by setting a headgear component 1 with its own standardized latitude and longitude coordinates. Combined with a target-point fixed passive sensor 12, it replaces the traditional manual visual inspection and pasting module calibration method, completely eliminating the reliance on operator experience, unifying the target point positioning benchmark for different treatment batches and different operators, and significantly improving the repeatability and standardization of clinical treatment points.

[0053] In this invention, such as Figure 4-5 As shown, the first driving component 21 includes a circular ring 211, a first transmission component, and a first motor 212. The circular ring 211 is horizontally sleeved on the outside of the headgear assembly 1. The second driving component 22 includes a semi-circular ring 221, a support component 222, a second transmission component, and a second motor 223. The semi-circular ring 221 is arranged perpendicular to the circular ring 211 and rotates around the axis of the circular ring 211 (i.e., the first axis) through the drive of the first motor 212 and the transmission of the first transmission component, thereby driving the probe 5 to rotate around the first axis. The probe 5 is mounted on the support component 222. The support component 222 rotates around the axis of the semi-circular ring 221 (i.e., the second axis) through the drive of the second motor 223 and the transmission of the second transmission component, thereby driving the probe 5 to rotate around the second axis.

[0054] In this invention, a first rack 2111 can be provided on the outer side of the circular ring 211. Correspondingly, a first gear 2121 that cooperates with the first rack 2111 is installed at at least one end of the semi-circular ring 221. The two constitute a first transmission component. The semi-circular ring 212 is installed on the first rack 2111 on the outer side of the circular ring 211 through the cooperation of the first gear 2121, thereby realizing stepless adjustment of multi-angle arc.

[0055] Specifically, a first rack 2111 of a predetermined length can be provided on the outer side of the circular ring 211, and a first gear 2121 corresponding to and cooperating with the first rack 2111 can be installed at at least one end of the semi-circular ring 221.

[0056] In this embodiment, the set length of the first rack 2111 can be consistent with the outer circumference of the circular ring 211, and the corresponding first gears 2121 are installed at both ends of the semi-circular ring 221.

[0057] In other embodiments, the set length of the first rack 2111 is at least half of the outer circumference of the circular ring 211. Since the semi-circular ring 212 is a symmetrical piece, the probe 5 can be rotated 360° around the axis of the circular ring 221 by adjusting the position of the probe 5 around the axis of the semi-circular ring 221.

[0058] In this invention, a first motor 212 can be installed at at least one end of the semi-circular ring 212, and the output shaft of the first motor 212 is fixedly connected to the first gear 2121. Specifically, the first motor 212 can be a hollow gimbal motor. Further, the hollow gimbal motor can be a DM-G6220 servo motor.

[0059] Furthermore, a connector 212 can be installed at each end of the semi-circular ring 221. The first gear 2121 is installed below the connector 212. Correspondingly, the first motor 212, i.e. the hollow gimbal motor, is installed above the connector 212, and its output shaft passes through the connector 212 and is fixedly connected to the first gear 2121.

[0060] Furthermore, in order to ensure the smooth rotational engagement between the first gear 2121 mounted on the semi-circular ring 221 and the first rack 2111 on the outer side of the circular ring 211, the outer side of the circular ring 211 can be designed as a stepped structure, with the lower step designed as the first rack 2111 and the upper step designed as the first guide rail 2112. Correspondingly, both ends of the semi-circular ring 221 are provided with first rollers 2122 that cooperate with the first guide rail 2112, and the first rollers 2122 are rolled within the first guide rail 2112.

[0061] In this embodiment, the first roller 2122 is fixedly installed at the corresponding position below the connector 212.

[0062] In this embodiment, first guide rails 2112 can be provided on both the inner and outer sides of the upper step of the circular ring 211. Correspondingly, first rollers 2122 that cooperate with the first guide rails 2112 are provided at the corresponding positions below the connecting parts 212 at both ends of the semi-circular ring 221. With this design, the semi-circular ring 221 can be installed on the circular ring 211.

[0063] In this embodiment, the first roller 2122 that cooperates with the first guide rail 2112 on each side can be set to two.

[0064] In other embodiments, an annular protrusion may be provided on the circular ring 211, and a groove that cooperates with the annular protrusion may be provided below the connecting member 212. The two cooperate to achieve a semi-circular ring 221 perpendicular to the circular ring 211, and allowing rotation around the axis of the circular ring 211. Of course, the present invention can also use any existing method to achieve a semi-circular ring 221 perpendicular to the circular ring 211, and allowing rotation around the axis of the circular ring 211.

[0065] In this invention, a second rack 2211 can be provided on the outer side of the semi-circular ring 221. Correspondingly, a second gear 2221 that cooperates with the second rack 2211 is installed on the support member 222. The two constitute a second transmission member. The support member 222 is installed on the second rack 2211 on the outer side of the semi-circular ring 221 through the cooperation of the second gear 2221, thereby realizing stepless adjustment of multi-angle arc.

[0066] In this invention, a second motor 223 can be installed on the support member 222. The output shaft of the second motor 223 passes through the support member 222 and is fixedly connected to the second gear 2221. Specifically, the second motor 223 can be a hollow gimbal motor.

[0067] Furthermore, in order to ensure the smooth rotational engagement between the second gear 2221 mounted on the support member 222 and the second rack 2211 on the outer side of the semi-circular ring member 221, the outer side of the semi-circular ring member 221 can be configured as a stepped structure, with the lower step designed as the second rack 2211 and the upper step designed as the second guide rail 2212. Correspondingly, a second roller is provided at the corresponding position on the support member 222 to cooperate with the second guide rail 2212, and the second roller is rolled within the second guide rail 2212.

[0068] In this embodiment, a second guide rail 2212 can be provided on both the inner and outer sides of the upper step of the semi-circular ring 221. Correspondingly, a second roller that cooperates with the second guide rail 2212 is provided at the corresponding position on the support member 222. With this design, the support member 222 can be installed on the semi-circular ring 221.

[0069] In this embodiment, two second rollers that cooperate with the second guide rail 2212 on each side can be provided.

[0070] In other embodiments, a semi-circular annular protrusion may be provided on the semi-circular ring 221, and a sliding groove that cooperates with the semi-circular annular protrusion may be provided on the carrier 222, thereby achieving the sliding installation of the carrier 222 on the semi-circular ring 221 through their cooperation. Of course, the present invention can also achieve the sliding installation of the carrier 222 on the semi-circular ring 221 using any existing method.

[0071] In this invention, both the circular ring 211 and the semi-circular ring 221 can be integrally molded from PEEK lightweight and high-strength material. Under the premise of ensuring that the structural load-bearing strength meets the usage requirements, the weight and motion inertia of the moving parts are reduced, making the angle fine-tuning process smoother and effectively improving the problems of fine-tuning overshoot and response lag, thus adapting to the head's small-range precise alignment adjustment needs.

[0072] In this invention, a support rod 7 is also installed on one side of the alignment component 2 to support the alignment component 2. This support rod is designed to be telescopic, allowing for height adjustment according to the actual height of the human head, ensuring alignment between the probe 5 and any point on the headgear 11. In this embodiment, a support base can be provided, on which the support rod 7 is installed, with the support rod 7 mounted on one side of the alignment component 2. In other embodiments, the support rod 7 can be installed using a mobile carrier to facilitate movement and adjustment of the device.

[0073] Specifically, the support rod 7 is installed at the bottom of the circular ring 211 of the alignment assembly 2.

[0074] In this invention, the sensing positioning element of the positioning component 3 is disposed on the probe 5 of the magnetic stimulation therapy. It can continuously scan and collect the sensing signal intensity and signal characteristics of the passive sensing element 12 at a frequency of 100Hz. The control unit 6 is electrically connected to the sensing positioning element, so as to receive the signal of the passive sensing element 12 collected by the sensing positioning element.

[0075] In this invention, the sensing positioning element of the positioning component 3 can use a PN532 module to realize NFC communication. This positioning transceiver module has multiple communication interfaces, working modes, high compatibility and flexible configuration methods. It can realize the wireless positioning of the passive sensing element 12 by sending and receiving feedback electromagnetic signals.

[0076] In this invention, such as Figure 5 As shown, the positioning component 3 also includes an angle positioning component 31 for collecting the rotation angle of the probe 5 around the first axis and the second axis, which is respectively installed on the first driving component 21 and the second driving component 22. The control unit 6 is electrically connected to the angle positioning component 31 on the first driving component 21 and the second driving component 22, so as to receive the angle information collected by the angle positioning component 31.

[0077] In this invention, the angle positioning component 31 of the positioning component 3 can be a grating ruler 311 and a grating reading head 312 that cooperate with each other. Specifically, a grating ruler 311 is embedded on the inner side of the circular ring 211 and the semi-circular ring 221. Correspondingly, a grating reading head 312 is provided on at least one end of the semi-circular ring 221 and on the carrier 222. The reading head 312 is used to collect the pulse signal on the grating ruler 311 to obtain the rotation angle of the semi-circular ring 221 and the carrier 222 in real time, thereby obtaining the actual angle of the probe 5 rotating around the first axis and the second axis, thereby achieving accurate positioning of the probe 5.

[0078] In this embodiment, the grating ruler 311 is a RUS1000G flexible grating ruler, and the grating reading head 312 is a RU2LXFN03R grating reading head.

[0079] In this invention, the control unit 6 obtains the initial target point position based on the pre-acquired target point, combined with its pre-stored standard target point position information library and the signal characteristics of the corresponding passive sensor 12 collected by the sensing positioning device. Then, the first driving component 21 and the second driving component 22 of the alignment component 2 control the movement of the probe 5 so that the probe 5 moves to the initial target point position. After moving to the initial target point position, the control unit 6 uses a gradient extreme value traversal algorithm to control the probe 5 to quickly determine and move to the actual target point position based on the signal intensity change of the corresponding passive sensor 12, thereby completing the alignment of the probe 5 with the target point. In this process, there is no need for full-domain traversal, which effectively simplifies the cumbersome process of traditional point-by-point traversal and significantly improves the positioning efficiency and accuracy.

[0080] In this invention, the standard target point location information database pre-stored in the control unit 6 is constructed based on the target point information of conventional clinical magnetic stimulation treatment and the corresponding latitude and longitude coordinate standard parameters. However, due to individual differences such as wearing, fitting, and human posture, the aforementioned initial target point location is actually deviated from the actual location of the target point. It can be said that the initial target point location is within the set range of the target point. Therefore, this invention uses the obtained initial target point location as a reference and adopts a gradient extreme value traversal algorithm to quickly determine and move to the actual target point location based on the signal intensity change of the corresponding passive sensing element 12, thereby completing the alignment of the probe 5 with the target point.

[0081] In this invention, after acquiring the initial target position, the control unit 6, in conjunction with the angle information collected by the angle positioning component 31, uses a multi-level differential PID algorithm to control the probe to move into position via the alignment component 2, as follows:

[0082] (1) The control unit 6 controls the movement of the probe 5 according to the initial target position obtained above, and obtains the angle information collected by the angle positioning component 31 at a set sampling period (e.g., 10ms), that is, obtains the pulse signal on the grating ruler 311 collected by the grating reading head 312, thereby calculating the actual angle of the probe 5 rotating around the first axis and the actual angle of the probe 5 moving around the second axis, and thus obtaining the current position of the probe 5.

[0083] (2) The control unit 6 performs a difference operation between the current position of the probe 5 obtained in step (1) and the initial target position obtained above, and calculates the absolute value of the position deviation between the two; at the same time, it calculates the change in the position deviation of the probe 5 during two adjacent samplings, calculates the rate of deviation change, and determines whether the probe 5 is in an approaching state or a moving away state based on whether its value is greater than 0, and determines whether the probe 5 is in a stationary state based on whether its value is less than the set rate (such as 0.01 mm / s), thereby performing dynamic parameter judgment.

[0084] If the absolute value of the aforementioned position deviation is greater than the first threshold and the rate of change of the deviation is greater than the first rate threshold, then it is considered that the current probe 5 is in the long-distance approach stage and is in a high-speed motion state with large inertia. At this time, when the control unit 6 performs PID control, it increases the proportional coefficient P, decreases the integral coefficient I, and decreases the derivative coefficient D, thereby improving the response speed of the corresponding motor to quickly approach the target point and shorten the positioning time. In this embodiment, the proportional coefficient P can be increased to 1.5 times its standard value, the integral coefficient I can be decreased to 0.5 times its standard value, and the derivative coefficient D can be decreased to 0.5 times its standard value.

[0085] If the absolute value of the aforementioned position deviation is less than or equal to the first threshold and greater than or equal to the second threshold, then the probe 5 is considered to be in the mid-range deviation stage. At this time, the control unit 6 loads the standard value of its coefficient when performing PID control to control the probe 5 to move towards the target point at a uniform speed and in a stable manner, taking into account both speed and stability.

[0086] If the absolute value of the aforementioned position deviation is less than the second threshold, then the current probe 5 is considered to be in the small distance deviation stage. At this time, fine positioning is required. When the control unit 6 performs PID control, it reduces the proportional coefficient P, reduces the integral coefficient I, and increases the derivative coefficient D. In this embodiment, the proportional coefficient P can be reduced to 0.5 times its standard value, the integral coefficient I can be reduced to 0.8 times its standard value, and the derivative coefficient D can be increased to 1.5 times its standard value. If the deviation change rate is greater than the second rate threshold, it is determined that there is an overshoot risk. Then, the derivative coefficient D needs to be increased to 1.5-2 times to suppress mechanical vibration and inertial overshoot and avoid probe over-positioning.

[0087] (3) Repeat steps (1)-(2) until the absolute value of the aforementioned positional deviation meets the set conditions, such as being less than or equal to the set distance (e.g., ±0.1mm), thereby locking the initial target point and completing the positioning.

[0088] Specifically, in the aforementioned step (1), the rotation angle can be obtained from the pulse signal of the grating ruler 311 collected by the grating reading head 312, and then the actual displacement can be calculated to obtain the current position of the probe 5.

[0089] In this embodiment, the first threshold can be set to 2mm, and the second threshold can be set to 0.5mm; the first speed threshold can be set to 5mm / s, and the second speed threshold can be set to 1mm / s. In other embodiments, the aforementioned multi-level differential PID algorithm can also be used for control based on the angular deviation between the two rotational directions to improve drive accuracy.

[0090] In this invention, the control unit 6 employs a gradient extremum traversal algorithm to control the probe 5 to quickly determine and move to the actual target position based on the signal intensity changes of the corresponding passive sensing element 12, as detailed below:

[0091] After the control unit 6 controls the probe 5 to move to the initial target position, it can control the probe 5 to rotate around the first axis through the first driving component 21 to perform the first fan-shaped scan. Combined with the signal of the corresponding passive sensor 12 collected by the sensing and positioning component, the signal intensity change of the probe 5 during the rotation process is obtained. Thus, the extreme point of the signal intensity is obtained, and the longitude of the actual target point can be obtained.

[0092] Then, at the extreme point of signal intensity, the second driving component 22 controls the probe 5 to rotate around the second axis to perform a second sector scan. Combined with the signal from the corresponding passive sensing component 12 collected by the sensing positioning component, the signal intensity change during the rotation of the probe 5 is obtained. From this, the extreme point of signal intensity is obtained, and the latitude of the actual target point can be obtained. Finally, the latitude and longitude coordinates of the actual target point, i.e., the actual target point location, are obtained. Through this design, the present invention can use the actual target point of the human head as the sole reference, eliminating deviations caused by assembly, wearing, and posture.

[0093] In this invention, after receiving the signal from the passive sensor 12 collected by the sensing positioning device and the angle information collected by the angle positioning device 31, the control unit 6 can perform preprocessing such as filtering and noise reduction, signal amplification and differential correction to effectively reduce signal noise caused by environmental electromagnetic interference and mechanical vibration, and ensure the stability and accuracy of signal acquisition.

[0094] The present invention also includes a telescopic drive 4, which is mounted on the second drive 22 and can move with the second drive 22 to drive the probe 5 mounted thereon to telescopically move toward the human head; specifically, the telescopic drive 4 is mounted on the second drive 22 and the probe 5 is mounted on the telescopic drive 4.

[0095] In this invention, the telescopic drive 4 includes a drive end 41 and a telescopic end 42. The drive end 41 is mounted on the second drive 22 and can move with the second drive 22. The telescopic end 42 is fixedly connected to the probe and is used to drive the probe 5 to telescopically move in a direction perpendicular to the second axis.

[0096] In this invention, the driving end 41 has a built-in force sensor, which is mainly used to collect the pressure data of the driving end 41. Its detection range is -100N to +100N, and its resolution is 1N. Its positive thrust corresponds to the probe squeezing force, and its reverse pull corresponds to the retraction pull force. It can collect the push and pull force data of the telescopic end 42 in real time, providing accurate data support for the force control safety protection of the magnetic stimulation probe positioning device.

[0097] In this embodiment, the drive end 41 adopts a miniature servo electric cylinder, such as the LAF50-024D model miniature servo electric cylinder, which has a stroke of 50mm, an operating voltage of DC8V±10%, and a repeatability of ±0.1mm under normal temperature static conditions. It adopts an integrated drive and control structure and a lead screw transmission mechanism, which provides smooth transmission, low noise, and is suitable for long-term continuous working scenarios.

[0098] In this invention, the control unit 6 is also electrically connected to the force sensor built into the drive end 41 to receive the pressure data collected by the drive end 41 and compare it with the preset safety threshold. When the pressure exceeds the preset safety threshold, signal loss is detected, motor overtravel is detected, or the equipment vibrates abnormally, the stop and self-locking commands are immediately triggered to avoid the probe 5 being pushed too far forward and causing squeezing injury to the patient's head, thus achieving active safety protection under multiple working conditions.

[0099] Preferably, the preset safety threshold can be set to a range of 15~25N. In this embodiment, the preset safety threshold is set to 20N.

[0100] This invention establishes a multi-dimensional force control safety protection mechanism that can monitor the pressure data of probe 5 in real time. It can actively trigger shutdown and self-locking protection for working conditions such as thrust overload, signal loss, motor overtravel, and abnormal equipment vibration. This fills the technical gap of existing similar positioning equipment lacking active safety protection, reduces the risk of compression in clinical treatment, and improves the safety of equipment use.

[0101] In other embodiments, the probe 5 can also be fixedly mounted on the second drive member 22 by a clamping assembly to achieve manual adjustment of the distance between the probe 5 and the human head; in addition to the force sensor, an elastic buffer can also be provided in the telescopic drive member 4 to achieve flexible contact between the probe 5 and the human head; in addition, a universal joint can be provided on the second drive member 22 to achieve the posture adjustment of the probe 5.

[0102] In this invention, in order to ensure the alignment of the probe 5 with any point on the head cap 11, especially the alignment of the top of the head, the central axis of the probe 5 can be set vertically during initial assembly and coincide with the first axis as much as possible. When the alignment component 2 is fitted, the human head is made as close as possible to the rotation center of the alignment component 2 to improve the alignment accuracy.

[0103] like Figure 6 As shown, the present invention also provides a positioning method based on the aforementioned magnetic stimulation probe positioning device, comprising the following steps:

[0104] S1. The patient wears a headgear component 1 that fits their head circumference, ensuring that the passive sensor 12 is in close contact with the scalp, completing the standardized preset calibration of multiple treatment targets, and the device is powered on to complete the initialization and zeroing, and the parameters of each component are uniformly calibrated.

[0105] This invention can adjust the headgear assembly 1 to make the latitude and longitude coordinate grid accurately fit the anatomical position of the human skull, and ensure that the passive sensing element 12 is distributed according to the preset points and closely close to the scalp;

[0106] S2, the control unit 6 controls the movement of the probe 5 through the alignment component 2 according to the pre-acquired target point, and determines the actual target point position by combining the signal intensity change of the corresponding passive sensor 12 collected by the sensing positioning component during the movement, and completes the alignment of the probe 5 with the target point.

[0107] In this invention, the control unit 6 is electrically connected to the angle positioning element 31 on the sensing positioning element, the first driving element 21, and the second driving element 22, respectively, so as to receive the signal from the passive sensing element 12 collected by the sensing positioning element and the pulse signal collected by the angle positioning element 31, thereby realizing signal preprocessing;

[0108] In this invention, the control unit 6 obtains the initial target position based on the pre-acquired target point, combined with its pre-stored standard target position information database and the signal characteristics of the corresponding passive sensor collected by the sensing positioning device. Based on this, the control unit controls the movement of the probe 5 through the alignment component, so that the probe 5 moves to the initial target position. After moving to the initial target position, the gradient extreme value traversal algorithm is used to control the probe 5 to determine and move to the actual target position according to the signal intensity change of the corresponding passive sensor, thereby completing the alignment of the probe 5 with the target point.

[0109] In this invention, after obtaining the initial target position, the control component can combine the angle information collected by the angle positioning component 31 and use a multi-level differential PID algorithm to control the probe to move into position through the alignment component 2.

[0110] The present invention also includes S3, which obtains pressure data collected by the force sensor built into the telescopic drive component 4 in real time through the control unit 6 and compares it with a preset safety threshold. When the pressure exceeds the preset safety threshold, signal loss is detected, motor overtravel is detected, or the equipment vibrates abnormally, a shutdown and self-locking command is immediately triggered.

[0111] This invention achieves rapid point search and alignment by setting a standardized head cap assembly for skull positioning, configuring passively deployed sensors at fixed points, and optimizing the driving method of the alignment component. It eliminates the need for complex preoperative modeling and manual calibration, significantly simplifying the preoperative calibration process, shortening preoperative preparation time, and effectively improving the standardization, fit stability, alignment accuracy, and safety of magnetic stimulation probe positioning. The process logic is closed-loop, the operation is stable, the degree of automation is high, and the operation is simple. It can effectively reduce human operation errors, comprehensively improve positioning consistency and clinical treatment safety, and effectively lower the threshold for using magnetic therapy equipment.

[0112] This invention does not rely on high-end auxiliary equipment such as infrared cameras, light field cameras, and magnetic resonance imaging. Instead, it uses a magnetic stimulation probe for positioning based on wireless sensing technology. The positioning signal is not affected by factors such as ambient light, head posture, or partial obstruction. The device is stable in operation, has a simple overall structure, and its mass production cost is controllable. It can be widely adapted to conventional treatment scenarios and has strong device accessibility.

[0113] The above-described specific embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications, substitutions, and improvements made by those skilled in the art to the technical solutions of the present invention based on the provided textual description and drawings, without departing from the design concept and spirit of the present invention, should all fall within the scope of protection of the present invention.

Claims

1. A magnetic stimulation probe positioning device based on wireless sensing technology, characterized in that, include: The headgear assembly includes a headgear worn on the human head and passive sensors that are fixedly deployed on the headgear corresponding to the treatment target points on the human head. The alignment component, sleeved outside the headgear assembly, includes a first driving member that drives the probe to rotate around a first axis and a second driving member that drives the probe to rotate around a second axis, with the first axis and the second axis intersecting perpendicularly, thereby achieving alignment between the probe and any point on the headgear; The positioning component includes a sensing positioning element mounted on the probe for acquiring signals from the passive sensing element; The control unit is used to control the movement of the probe through the alignment component according to the pre-acquired target point, and to determine the actual target point position by combining the signal intensity change of the corresponding passive sensor collected by the sensing positioning component during the movement, so as to complete the alignment of the probe with the target point. The first driving component includes a circular ring, a first transmission component, and a first motor, wherein the circular ring is horizontally sleeved on the outside of the headgear assembly; The second driving component includes a semi-circular ring, a bearing component, a second transmission component, and a second motor. The semi-circular ring is arranged perpendicular to the circular ring and rotates around the axis of the circular ring through the drive of the first motor and the transmission of the first transmission component. The probe is mounted on a carrier, which rotates around the axis of a semi-circular ring via a second motor and a second transmission component.

2. The magnetic stimulation probe positioning device according to claim 1, characterized in that, The control unit obtains the initial target position based on the pre-acquired target point, combined with its pre-stored standard target position information database and the signal characteristics of the corresponding passive sensor collected by the sensing positioning device. Based on this, it controls the probe movement through the alignment component. After the probe moves to the correct position, it uses a gradient extreme value traversal algorithm to control the probe to determine and move to the actual target position based on the signal intensity change of the corresponding passive sensor.

3. The magnetic stimulation probe positioning device according to claim 2, characterized in that, The control unit employs a gradient extremum traversal algorithm to control the probe to determine and move to the actual target position based on the signal intensity changes of the corresponding passive sensor, as detailed below: After the control unit controls the probe to move to the initial target position, it controls the probe to rotate around the first axis through the first driving component. Combined with the signal of the corresponding passive sensor collected by the sensing and positioning component, it obtains the signal intensity change during the probe rotation process, thereby obtaining the extreme point of signal intensity, that is, the longitude of the actual target point. Then, at the extreme point of signal intensity, the second driving component controls the probe to rotate around the second axis. Combined with the signal of the corresponding passive sensing component collected by the sensing positioning component, the signal intensity change during the probe rotation process is obtained. Thus, the extreme point of signal intensity is obtained, that is, the latitude of the actual target point is obtained, and thus the position of the actual target point is obtained.

4. The magnetic stimulation probe positioning device according to claim 2, characterized in that, The positioning component further includes an angle positioning component installed on the first driving component and the second driving component respectively, for collecting the rotation angle of the probe around the first axis and the second axis. The control unit is electrically connected to the angle positioning component and is used to receive the angle information collected by the angle positioning component.

5. The magnetic stimulation probe positioning device according to claim 4, characterized in that, After obtaining the initial target position, the control unit combines the angle information collected by the angle positioning component and uses a multi-level differential PID algorithm to control the probe to move into position through the alignment component.

6. The magnetic stimulation probe positioning device according to claim 1, characterized in that, The first transmission component includes a first rack disposed on the outside of the circular ring and a first gear disposed at at least one end of the semi-circular ring and correspondingly engaged with the first rack. A first motor is disposed at at least one end of the semi-circular ring, and the output shaft of the first motor is fixedly connected to the first gear. The second transmission component includes a second rack located on the outside of the semi-circular ring and a second gear located on the bearing component and corresponding to the second rack. A second motor is mounted on the bearing component, and the output shaft of the second motor is fixedly connected to the second gear.

7. The magnetic stimulation probe positioning device according to claim 6, characterized in that, The outer side of the circular ring is set as a stepped structure, with the lower step designed as a first rack and the upper step designed as a first guide rail. Correspondingly, the two ends of the semi-circular ring are provided with first rollers that cooperate with the first guide rail. The outer side of the semi-circular ring is designed with a stepped structure, with the lower step being a second rack and the upper step being a second guide rail. Correspondingly, the bearing member is provided with a first roller that cooperates with the second guide rail.

8. The magnetic stimulation probe positioning device according to claim 1, characterized in that, It also includes a telescopic drive component, which includes a drive end and a telescopic end. The drive end is mounted on the second drive component and can move with the second drive component. Its telescopic end is fixedly connected to the probe and is used to drive the probe to telescopically move toward the human head.

9. The magnetic stimulation probe positioning device according to claim 8, characterized in that, The control unit is electrically connected to the force sensor installed on the telescopic drive component, thereby acquiring the pressure data of the telescopic drive component and comparing it with a preset safety threshold. When the pressure exceeds the preset safety threshold, a stop command is triggered.

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