Stimulation coil and medical trolley

Abstract

The utility model discloses a stimulation coil and a medical trolley, and belongs to the technical field of transcranial magnetic stimulation. The stimulation coil comprises a stimulation surface for providing energy stimulation and at least one identification surface for a camera to identify the stimulation coil, the at least one identification surface being arranged around the stimulation surface. According to the stimulation coil and the medical trolley provided by the utility model, the stimulation surface and the identification surface are integrally designed, so that the error of a tool is reduced, and the identification and tracking precision is ensured; meanwhile, due to the fact that the design that the identification face is inclined or perpendicular is adopted, the identification blind area of the camera can be reduced in the stimulation process no matter whether the stimulation coil is a single-face stimulation coil or a double-face true and false stimulation coil, and the tracking and positioning range of the stimulation coil is enlarged.

Description

Technical Field

[0001] The utility model relates to the technical field of transcranial magnetic stimulation, in particular to a stimulation coil and a medical trolley. Background Art

[0002] In recent years, transcranial magnetic therapy equipment has been widely used in clinical regulation. It outputs a changing magnetic field through a specific coil, and induces induced current in the corresponding area of ​​the human head through the changing magnetic field, thereby regulating the human cranial nerves or brain functional networks.

[0003] In transcranial magnetic therapy navigation, a magnetic stimulation coil is required. Currently, most medical navigation environments use a combination of reflective ball positioning and magnetic stimulation coils to track and locate the magnetic stimulation coils. As a result, in the implementation of navigation technology, an infrared camera is usually required to identify the reflective ball on the magnetic stimulation coil to determine the position of the magnetic stimulation coil. However, the infrared camera is easily affected by other reflective objects during the recognition process.

[0004] Currently, the tracking and positioning of the magnetic stimulation coil can be achieved through the combination of an RGB camera and a calibration board. However, the calibration board is installed on the stimulation coil as an independent device, which may cause positioning and recognition accuracy problems due to tooling. Utility Model Content

[0005] In order to solve at least one aspect of the above problems and defects in the prior art, the utility model provides a stimulation coil and a medical trolley, which can at least partially solve the technical problem of the accuracy of identifying and positioning the magnetic stimulation coil using a calibration plate. The technical solution is as follows:

[0006] According to one object of the utility model, a stimulation coil is provided.

[0007] According to another object of the utility model, a medical trolley is provided.

[0008] According to one aspect of the utility model, a stimulation coil is provided, wherein:

[0009] The stimulation coil comprises at least one stimulation surface for providing energy stimulation and at least one identification surface for a camera to identify the stimulation coil, and all the identification surfaces of the at least one identification surface are arranged at an angle to the at least one stimulation surface.

[0010] Specifically, a pattern for camera recognition is provided on each of the at least one recognition surface, and the pattern on each recognition surface has a background portion and a plurality of recognition units with a color different from that of the background portion, and the plurality of recognition units are arranged on the background portion.

[0011] Furthermore, the background portion is a single color background, the colors of the multiple identification units are the same color, and the difference between the grayscale values ​​corresponding to the colors of the multiple identification units and the grayscale values ​​corresponding to the color of the background portion ranges from 1 to 255.

[0012] Specifically, the plurality of recognition units are arranged in an array on the background portion.

[0013] When the at least one identification surface is at least two identification surfaces, the patterns on all the identification surfaces of the at least two identification surfaces are the same pattern or different patterns.

[0014] Preferably, the angle is set in the range of 0° to 90°.

[0015] More preferably, the angle ranges from 20° to 90°.

[0016] Furthermore, the at least one stimulation surface includes a first stimulation surface and a second stimulation surface, the first stimulation surface and the second stimulation surface form an angle, and the range of the angle is set to 0 to 180 degrees.

[0017] Specifically, the stimulation coil is a polyhedron, the first stimulation surface and the second stimulation surface are connected to each other in a V shape, and all the identification surfaces are arranged between the first stimulation surface and the second stimulation surface.

[0018] Specifically, the stimulation coil is a polyhedron, the lower bottom surface of the polyhedron is the first stimulation surface for providing true stimulation, and at least one of the side surfaces of the polyhedron is an identification surface.

[0019] Preferably, the upper bottom surface of the polyhedron is the second stimulation surface for providing pseudo stimulation.

[0020] Preferably, when at least two faces of the polyhedron are identification faces, the polyhedron is a hexahedron, and the hexahedron includes an upper bottom face, a lower bottom face, a first side face, a second side face, a third side face and a fourth side face, the first side face is arranged opposite to the third side face, the second side face is arranged opposite to the fourth side face, and the first side face is adjacent to the second side face and the fourth side face respectively, and the first side face, the second side face and the fourth side face are the identification faces,

[0021] When the upper bottom surface and the lower bottom surface of the hexahedron are arranged parallel to each other and the shapes of the upper bottom surface and the lower bottom surface are rectangular, the shape of the section along the longitudinal direction of the stimulation coil is an isosceles trapezoid, and the shape along the longitudinal direction of the stimulation coil is an isosceles trapezoid, or

[0022] When the upper bottom surface and the lower bottom surface of the hexahedron are arranged parallel to each other and the shapes of the upper bottom surface and the lower bottom surface are isosceles trapezoids, the shape of the section along the longitudinal direction of the stimulation coil is a rectangle, and the shape along the longitudinal direction of the stimulation coil is a rectangle, or

[0023] When the upper base and the lower base of the hexahedron are arranged parallel to each other and the shape of the upper base and the lower base is an isosceles trapezoid, the shape of the cross-section along the longitudinal direction of the stimulation coil is an isosceles trapezoid or a right-angled trapezoid, and the shape along the longitudinal direction of the stimulation coil is an isosceles trapezoid.

[0024] Furthermore, a holding module is connected to the third side surface, the holding module is provided with a switch module for controlling the stimulation coil to provide energy stimulation, and the holding module is provided with a power supply module connected to the switch module.

[0025] Furthermore, the stimulation coil is configured as a hemisphere, the at least one stimulation surface is the bottom surface of the hemisphere, and the at least one identification surface is arranged on the hemisphere surface of the hemisphere.

[0026] Further, the at least one stimulation surface is a side surface of a generating unit for providing energy stimulation, or

[0027] All the stimulation surfaces of the at least one stimulation surface and all the identification surfaces together surround an inner cavity of the stimulation coil, a generating unit for providing energy stimulation is arranged on a side of the stimulation surface facing the inner cavity, and the generating unit provides energy stimulation to the subject through the stimulation surface, or

[0028] The stimulation surface and all the identification surfaces together surround an inner cavity of the stimulation coil, and a generating unit for providing energy stimulation is arranged in the inner cavity. The generating unit provides energy stimulation to the subject through the stimulation surface.

[0029] According to another embodiment of the utility model, a medical trolley is provided, wherein:

[0030] The medical trolley comprises a main body and a stimulation coil connected to the main body, wherein the main body is provided with a control module for providing stimulation parameters to the stimulation coil.

[0031] The stimulation coil is any one of the stimulation coils described above.

[0032] The stimulation coil and the medical trolley according to the embodiment of the utility model have at least one of the following advantages:

[0033] (1) The stimulation coil and the medical trolley provided by the utility model are provided with a stimulation surface and an identification surface, and the identification surface is arranged around the stimulation surface, thereby reducing the error of the tooling and ensuring the accuracy of identification and tracking.

[0034] (2) The stimulation coil and medical trolley provided by the utility model are designed with multiple identification surfaces (i.e., multiple patterns), which makes it possible to increase the visible position during stimulation, reduce the recognition blind area of ​​the camera, and then increase the range in which the stimulation coil can be tracked and located;

[0035] (3) The stimulation coil and medical trolley provided by the utility model are designed with an inclined or vertical angle of the identification surface. Therefore, no matter whether the stimulation coil is a single-sided or multi-sided stimulation coil, or a double-sided genuine or fake stimulation coil, it can reduce the camera's recognition blind spot during the stimulation process and increase the range in which the stimulation coil can be tracked and positioned.

[0036] UB2023BCB179(OA1) BRIEF DESCRIPTION OF THE DRAWINGS

[0037] These and / or other aspects and advantages of the present invention will become apparent and easily understood from the following description of the preferred embodiments in conjunction with the accompanying drawings, in which:

[0038] Figure 1 is a schematic diagram of the structure of a stimulation coil according to an embodiment of the utility model;

[0039] Figure 2a yes Figure 1 The identification surface shown is a schematic diagram of a chessboard structure;

[0040] Figure 2b yes Figure 1 The stimulation surface shown is a schematic diagram of the structure when it is set at an angle;

[0041] Figure 3 yes Figure 1 A schematic structural diagram of a first variation of the stimulation coil shown;

[0042] Figure 4 yes Figure 1 A schematic structural diagram of a second variation of the stimulation coil shown;

[0043] Figure 5 yes Figure 1 A schematic structural diagram of a third variation of the stimulation coil shown;

[0044] Figure 6 yes Figure 1 A schematic structural diagram of a fourth variation of the stimulation coil shown;

[0045] Figure 7 It is a structural schematic diagram of a medical trolley according to another embodiment of the utility model. DETAILED DESCRIPTION

[0046] The technical solution of the utility model is further specifically described below through examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the implementation mode of the utility model with reference to the accompanying drawings is intended to explain the overall inventive concept of the utility model and should not be construed as a limitation of the utility model.

[0047] See also Figure 1 , shows a stimulation coil 100 according to an embodiment of the present invention. The stimulation coil 100 includes at least one stimulation surface 10 for providing energy stimulation and at least one identification surface 20 for a camera (not shown) to identify the stimulation coil 100. All of the at least one identification surface 20 surround the at least one stimulation surface 10 or are arranged at an angle to the at least one stimulation surface 10. In one example, the stimulation surface 10 can be set to 1, 2, 3 or more. This example is only an illustrative example, and those skilled in the art should not understand it as a limitation to the present invention. In one example, the identification surface 20 can be set to 1, 2, 3 or more. The number of identification surfaces can be the same as the number of stimulation surfaces or different. The number of identification surfaces can be less than the number of stimulation surfaces, and of course, it can be more than the number of stimulation surfaces, which is not limited here. This example is only an illustrative example, and those skilled in the art should not understand it as a limitation to the present invention.

[0048] In one example, energy includes electrical energy, mechanical energy, magnetic energy, light energy, chemical energy, and sound energy, etc. In one example, the energy stimulus may be provided by the stimulus surface 10 itself, for example, when the stimulus surface is a side surface of a generating unit (not shown) that generates energy stimulus, for example, when a metal wire (such as an iron wire, an iron core) is arranged (such as embedded) on the stimulus surface, etc.

[0049] In one example, a generating unit is disposed in the inner cavity of the stimulation coil 100, and the stimulation surface 10 is disposed near the generating unit. When in use, the energy generated by the generating unit is transmitted to the subject (not shown) through the stimulation surface. For example, the generating unit may be an electrical stimulation coil unit, an electrode stimulation unit, a magnetic stimulation coil unit, a photon generator, a vibrator for generating mechanical energy, a sound wave generator, or a component for generating electrical energy through a chemical reaction, etc. Those skilled in the art may use existing devices or methods to achieve this, as long as they can provide energy stimulation.

[0050] Of course, those skilled in the art may also add an energy conversion device (not shown) to the generating unit, such as a device for converting mechanical energy into electrical energy or magnetic energy, or a device for converting light energy into electrical energy or magnetic energy.

[0051] In one example, if Figure 1As shown, the stimulation coil 100 is a polyhedron formed by a stimulation surface 10 and a plurality of identification surfaces 20. Of course, those skilled in the art will understand that the stimulation surface 10 of the stimulation coil 100 can also be set to, for example, two, and the two stimulation surfaces can be arranged opposite to each other, and both can be true stimulation surfaces at the same time; or one can be a true stimulation surface and the other can be a pseudo stimulation surface; of course, both can also be pseudo stimulation surfaces. The bottom surface of the polyhedron is the stimulation surface 10, and at least two side surfaces of the polyhedron are identification surfaces 20.

[0052] In one example, the polyhedron is a hexahedron. Of course, those skilled in the art can design the stimulation coil as a prism, a truncated cone, a cone, a pyramid, a cuboid, a regular octahedron, a regular dodecahedron, etc. This example is only an illustrative example and should not be understood as a limitation of the present invention. Through such a design, the recognition surface of the stimulation coil is arranged around the stimulation surface, reducing the error of the tooling and ensuring the accuracy of recognition and tracking.

[0053] Combination Figure 1-4 As shown, preferably, the stimulation coil 100 includes a lower bottom surface (first bottom surface) 10', an upper bottom surface (second bottom surface) 11, a first side surface 21, a second side surface 22, a third side surface 23 and a fourth side surface 24. The first side surface 21 is designed as the front side of the stimulation coil 100, that is, an identification surface usually used for camera identification, and the first side surface 21 is arranged opposite to the third side surface 23, the second side surface 22 is arranged opposite to the fourth side surface 24, and the first side surface 21 is adjacent to the second side surface 22 and the fourth side surface 24 respectively, and part or all of the first side surface 21, part or all of the second side surface 22 and part or all of the fourth side surface 24 are all set as identification surfaces. That is, the first side surface 21 is a first identification surface or the first side surface 21 is provided with an identification surface 20, the second side surface 22 is a second identification surface or the second side surface 22 is provided with an identification surface 20, and the fourth side surface 24 is a third identification surface or the fourth side surface 24 is provided with an identification surface 20. Through the design of multiple identification surfaces, when the first side surface 21 of the stimulation coil 100 is located in the blind spot of the camera or outside the field of view of the camera, the camera can identify and locate the stimulation coil 100 through the second side surface 21 and / or the fourth side surface 24. Of course, when the second side surface 22 of the stimulation coil 100 is located in the blind spot or outside the field of view of the camera, the camera can identify and locate it through the first side surface 21 and / or the fourth side surface 24. Through such a design, when one or both sides of the stimulation coil 100 are located in the visual blind spot or outside the field of view of the camera, the camera can still identify and locate the stimulation coil 100 through the additional identification surfaces, thereby increasing the range in which the stimulation coil 100 can be tracked and located (or relatively increasing the identifiable range of the camera).

[0054] That is to say, as long as at least one identification surface 20 among the multiple identification surfaces is located within the field of view of the camera or in the bright area of ​​the camera (ie, non-blind area or visible area), the camera can identify and locate the stimulation coil 100.

[0055] Of course, those skilled in the art will understand that only the first side 21 and the second side 22 or the first side 21 and the fourth side 24 can be designed as identification surfaces. Those skilled in the art will understand that the first side, the second side, the third side and the fourth side are only for facilitating the understanding of the present invention, and are not intended to limit the position, order and number of identification surfaces. In other words, the second side may be called the first side, and the fourth side may be called the second side. When the polyhedron is a tetrahedron, the stimulation coil may not be designed with an upper bottom surface and a fourth side. When the polyhedron is an octahedron, the stimulation coil may also include a fifth side and a sixth side. When there is no upper bottom surface, there may also be a seventh side. And so on, and will not be described one by one here. This example is only an illustrative example and should not be understood as a limitation to the present invention.

[0056] In one example, if Figure 2a and Figure 2b As shown, a pattern 25 for camera recognition is provided on the recognition surface 20. The pattern 25 includes a background portion 251 and a plurality of recognition units 252. The plurality of recognition units 252 are all provided on the background portion 251. The number of recognition units 252 can be set to 3, 10 or more. In one example, the background portion 251 is a single color background, that is, a solid color background. The color of the recognition unit 252 is a different color from the background portion 251. Those skilled in the art will appreciate that the color of the recognition unit 252 can be one or more. For example, when identification and positioning are performed by using a plurality of colors, the plurality of recognition units 252 can be designed to be different colors from each other. Of course, those skilled in the art will appreciate that the plurality of recognition units 252 can be designed to be the same color.

[0057] In one example, the difference between the grayscale value of the grayscale image corresponding to the color of the background part 251 and the grayscale value of the grayscale image corresponding to the color of the recognition unit 252 ranges from 1 to 255. Preferably, the difference ranges from 5 to 255. More preferably, the color of the background part 251 is designed to be white (i.e., the grayscale value is 0), and the colors of all the recognition units 252 are designed to be black (i.e., the grayscale value is 255). Of course, those skilled in the art can also design the color of the background part 251 to be black, and the colors of all the recognition units 252 to be white, or design the color of the background part 251 to be yellow, and the colors of all the recognition units 252 to be red. In other words, as long as the color of the background part 251 and the color of the recognition unit 252 form a color contrast, the camera can easily recognize the recognition unit to be recognized. This example is only an illustrative example, and those skilled in the art should not be understood as a limitation of the present invention.

[0058] In one example, multiple recognition units 252 are arranged on the background portion 251 in a certain regular pattern. For example, multiple recognition units 252 can be arranged in a pentagram, a triangle, etc. In one example, multiple recognition units 252 are the same shape as each other, such as a circle, a pentagram, a triangle, or other patterns as recognition units. Of course, those skilled in the art will understand that multiple recognition units 252 may not be the same shape as each other, for example, two recognition units can be used as a group, and the two recognition units are of different shapes, and then the group of recognition units is repeatedly arranged according to a certain regular pattern. Of course, three recognition units or five recognition units can also be used as a group and repeatedly arranged according to a certain regular pattern.

[0059] In an example, the plurality of identification units 252 may cover the entire background portion 251 , or may be arranged only in the center and around the edges of the background portion 251 .

[0060] In one example, the background portion 251 may be designed as a rectangle, square, circle, trapezoid or other polygonal shape. The background portion 251 may be in the shape of the recognition surface 20 or other shapes. The background portion 251 may be arranged as the entire recognition surface 20 or a part of the recognition surface 20.

[0061] In one example, the shapes of the multiple recognition units 252 are designed to be circular, the shape of the background portion 251 is designed to be square, and the multiple recognition units 252 are arranged in an array on the background portion 251, for example, in a chessboard arrangement on the background portion 252. Of course, those skilled in the art can design the background portion 251 to be arranged in a square array or a circular array.

[0062] In one example, the patterns 25 on all the identification surfaces 20 are the same. For example, the patterns 25 on the first side 21, the second side 22, and the fourth side 24 are all designed as black square background parts 251 and white circular identification units 252 in a chessboard pattern (e.g. Figure 2a Design shown).

[0063] In one example, all recognition surfaces 20 form an angle with the stimulation surface 10, and the angle range is set to 0° to 90°. Preferably, the angle range is set to 20° to 90°. Figure 1 , Figure 3-Figure 6 As shown, the lower bottom surface 10' and the upper bottom surface 11 are designed to be parallel to each other and are both designed to be rectangular (including square) or trapezoidal, the first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be trapezoidal (for example, isosceles trapezoidal), and the first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be at an angle of 30° with the stimulation surface 10 (which is arranged on the lower bottom surface 10' and is a part or all of the lower bottom surface 10'). Along the longitudinal direction (such as Figure 1 The cross-section along the AA line shown in FIG. 1 is in the shape of an isosceles trapezoid, and along the longitudinal direction of the stimulation coil 100 (such as Figure 1 The shape of the BB line (in the direction of the BB line shown) is an isosceles trapezoid.

[0064] In one example, if Figure 1 As shown, the lower bottom surface 10' and the upper bottom surface 11 are designed to be parallel to each other and are both designed to be isosceles trapezoids, the first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be isosceles trapezoids, and the first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be at an angle of 75° with the stimulation surface 10 (which is set on the lower bottom surface 10' and is a part or all of the lower bottom surface 10'). Along the longitudinal direction (such as Figure 1 The cross-section along the AA line shown in FIG. 1 is in the shape of an isosceles trapezoid, and along the longitudinal direction of the stimulation coil 100 (such as Figure 1 The shape of the BB line (in the direction of the BB line shown) is an isosceles trapezoid.

[0065] In one example, if Figure 3As shown, the stimulation coil 101 is a first variation of the stimulation coil 100, and the stimulation coil 101 includes a lower bottom surface (first bottom surface) 10', an upper bottom surface (second bottom surface) 11, a first side surface 21, a second side surface 22, a third side surface 23 and a fourth side surface 24. The first side surface 21 is designed as the front of the stimulation coil 101, that is, the recognition surface usually recognized by the camera, and the first side surface 21 is arranged opposite to the third side surface 23, the second side surface 22 is arranged opposite to the fourth side surface 24, and the first side surface 21 is adjacent to the second side surface 22 and the fourth side surface 24 respectively, and the first side surface 21, the second side surface 22 and the fourth side surface 24 are all recognition surfaces. That is, the first side surface 21 is the first recognition surface, the second side surface 22 is the second recognition surface, and the fourth side surface 24 is the third recognition surface. The lower bottom surface 10' and the upper bottom surface 11 are designed to be parallel to each other and are both shaped as isosceles trapezoids. The first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed as isosceles trapezoids, and the first side surface 21, the second side surface 22 and the third side surface 23 are all designed to be at an angle of 75° with the stimulation surface 10 (i.e., the lower bottom surface 10'), and the fourth side surface 24 is designed to be at an angle of 90° with the stimulation surface 10 (i.e., the lower bottom surface 10'). Along the longitudinal direction (e.g., Figure 3 The cross-section along the AA line shown in FIG. 1 is in the shape of a right-angled trapezoid, and along the longitudinal direction of the stimulation coil 101 (such as Figure 3 The shape of the BB line (in the direction of the BB line shown) is an isosceles trapezoid.

[0066] In one example, if Figure 4 As shown, the stimulation coil 102 is a second variation of the stimulation coil 100, and the stimulation coil 102 includes a lower bottom surface (first bottom surface) 10', an upper bottom surface (second bottom surface) 11, a first side surface 21, a second side surface 22, a third side surface 23 and a fourth side surface 24. The first side surface 21 is designed as the front of the stimulation coil 102, that is, the identification surface usually set for camera identification, and the first side surface 21 is opposite to the third side surface 23, the second side surface 22 is opposite to the fourth side surface 24, and the first side surface 21 is adjacent to the second side surface 22 and the fourth side surface 24 respectively, and part or all of the first side surface 21, part or all of the second side surface 22 and part or all of the fourth side surface 24 are set as identification surfaces. That is, the first side surface 21 is the first identification surface, the second side surface 22 is the second identification surface, and the fourth side surface 24 is the third identification surface. The lower bottom surface 10' and the upper bottom surface 11 are designed to be parallel to each other and are both designed to be isosceles trapezoids. The first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be rectangular (including square), and the first side surface 21, the second side surface 22, the third side surface 23 and the fourth side surface 24 are all designed to be at an angle of 90° with the stimulation surface 10 (which is arranged on the lower bottom surface 10' and is a part or all of the lower bottom surface 10'). Along the longitudinal direction (such as Figure 4The cross-section along the AA line shown in FIG. 1 is in the shape of a rectangle (including a square), and along the longitudinal direction of the stimulation coil 102 (such as Figure 4 The shape of the BB line direction shown is a rectangle (including a square).

[0067] In one example, if Figure 5 As shown, the stimulation coil 103 is a third variation of the stimulation coil 100, and the stimulation coil 103 is generally in the shape of a triangular prism. The stimulation coil 103 includes a lower bottom surface (first bottom surface) 10', an upper bottom surface (second bottom surface) 11, a first side surface 21, a second side surface 22 and a third side surface 23. The first side surface 21 and the second side surface 22 are both the front surfaces of the stimulation coil 103, that is, the identification surfaces usually provided for camera identification, and part or all of the first side surface 21 and part or all of the second side surface 22 are provided as identification surfaces. That is, the first side surface 21 is a first identification surface or the first side surface 21 is provided with an identification surface 20, and the second side surface 22 is a second identification surface or the first side surface 21 is provided with an identification surface 20. The lower bottom surface 10' and the upper bottom surface 11 are designed to be parallel to each other and are generally triangular in shape. The first side surface 21, the second side surface 22, and the third side surface 23 are all designed to be quadrilaterals (for example, rectangles, squares), and the first side surface 21 and the second side surface 22 are designed to be at an angle of 75° to 85° (preferably 75°) with the stimulation surface 10 (which is arranged on the lower bottom surface 10' and is a part or all of the lower bottom surface 10'), and the third side surface 23 is designed to be at an angle of 90° with the stimulation surface 10.

[0068] In one example, if Figure 6 As shown, the stimulation coil 104 is a fourth variation of the stimulation coil 100, the stimulation coil 104 is set as a hemisphere, the at least one stimulation surface 10 is the bottom surface of the hemisphere, and the at least one identification surface 20 is arranged on the hemispherical surface of the hemisphere. In other words, 1, 2 or more identification surfaces can be arranged on the hemispherical surface. Those skilled in the art will choose according to actual needs. When the identification surface is set directly above the stimulation surface, it can be regarded as that the angle between the stimulation surface and the identification surface is 0°.

[0069] That is, the angles formed by the identification surfaces 20 of the stimulation unit 100 (including its deformed shapes, such as the stimulation units 101-104) and the stimulation surface 10 may be the same or different. Those skilled in the art may design according to actual needs.

[0070] In one example, if Figure 2b As shown, the at least one stimulation surface includes a first stimulation surface and a second stimulation surface, and the first stimulation surface 111 and the second stimulation surface 112 form an angle, and the range of the angle is set to 0 to 180 degrees. Figure 3-Figure 6The upper bottom surface 11 of the polyhedron is a pseudo stimulation surface for providing pseudo stimulation. In other words, the lower bottom surface 10' is a real stimulation surface (i.e., stimulation surface 10). For example, in a double-blind scenario, the appearance of the pseudo stimulation surface and the real stimulation surface is consistent, one bottom surface is the real stimulation surface, and the other is the pseudo stimulation surface.

[0071] In one example, combining Figure 1 , Figure 3-Figure 6 As shown, a gripping module 30 (e.g., a handle) is connected to the third side surface 23. A switch module 31 for controlling the stimulation coil 100 to provide energy stimulation is provided on the gripping module 30, and a power module (not shown) connected to the switch module 31 is provided on the gripping module 30. That is, the stimulation coil 100 is powered by the power module (not shown), and the switch module 31 controls the switching of the stimulation coil 100, that is, the switching between the working state and the non-working state.

[0072] In one example, the power module (not shown) may be a rechargeable battery, a cable and plug assembly, or a solar panel, etc. This example is only an illustrative example, and those skilled in the art should not be construed as a limitation of the present invention.

[0073] In one embodiment, the stimulation coil is a dihedron (eg Figure 6 As shown in FIG. 1 , the bottom surface of the dihedron is the stimulation surface, and the other side surface of the dihedron is an arc surface, and the recognition pattern is arranged on the arc surface. A gripping module 30 can be arranged on one side of the arc surface.

[0074] However, the manufacturing error of the recognition pattern set on the arc surface is large, and the recognition pattern will be damaged after the camera captures the recognition pattern into a plane, resulting in reduced accuracy. To avoid the above problems, the stimulation coil can be a trihedron, the bottom surface of the trihedron is the stimulation surface, one side surface of the trihedron is an arc surface, and the other side surface is a recognition plane.

[0075] In one embodiment, the stimulation surface may be an independent plane, or may be a first stimulation surface and a second stimulation surface at a certain angle, such as a V-shaped structure (such as Figure 2b The side surface is an independent arc surface or a combination of an arc surface and an identification plane.

[0076] Of course, those skilled in the art can design the stimulation coil into an X-shape, a prism, a frustum, a cone, a pyramid, a cuboid, a regular octahedron, a regular dodecahedron, a regular or irregular structure, etc. This example is only an illustrative example and should not be construed as a limitation of the present invention.

[0077] Example

[0078] like Figure 4As shown, three recognition surfaces are designed on the hexahedral stimulation coil 102, namely, the front face, the left and right sides adjacent to the front face are recognition surfaces, and a handle is designed on the back face opposite to the front face. The pattern on the recognition surface is a black background and a plurality of white circle recognition units, and the plurality of recognition units are arranged in a chessboard pattern. During the use of the stimulation coil 102, initially, the front face (i.e., the first side face 22) of the stimulation coil 102 faces the camera, so that the camera can identify and locate the stimulation coil 102. After a period of use, the stimulation coil 102 adjusts its position, and the front face no longer faces the camera, so that the camera cannot locate the position of the stimulation coil 102 through the pattern recognition of the front face. Since the left side face of the stimulation coil 102 faces the camera at this time, the recognition pattern on the left side face (i.e., the second side face 22) makes up for the defect that the front face cannot be recognized and located, so the camera can identify and locate the stimulation coil 102 through the pattern on the left side face. Those skilled in the art can understand that the use method of the stimulation coil 100 and its modified examples is exactly the same as the principle of the stimulation coil 102, and will not be repeated here.

[0079] In one example, if Figure 7 As shown, the utility model also provides a medical trolley 200. The medical trolley 200 includes a main body 210 and a stimulation coil 100 (including its variants 101-104). The stimulation coil 100 is connected to the main body 210. The main body 210 is provided with a control module (not shown).

[0080] In one example, the main body 210 is in the shape of a hollow cuboid, and the control module can be disposed in the inner cavity (not shown) of the main body 210, and of course can also be disposed on the upper surface of the cuboid, or suspended above or to the side of the main body 210. Those skilled in the art will appreciate that the control module can be directly or indirectly connected to the main body 210 by means of a support member (not shown), a support assembly (not shown), snap-on, bonding, welding, electrical signal connection, and the like. For example, the indirect connection is that the control module can be a readable storage medium, which is disposed in other electronic devices (such as computers, bracelets, mobile phones), and then connected to the main body 210. For example, the direct connection is that the control device can be a computer device (such as a computer) directly installed on the main body 210.

[0081] The control module sends stimulation parameters to the stimulation coil 100, and the stimulation parameters can be set directly by the control module or from a host computer (not shown) connected to the control module signal. The stimulation parameters include at least one of stimulation intensity, single stimulation time, number of stimulations, stimulation cycle, stimulation position, etc. The main body 210 can also be provided with a display module 211, and the stimulation parameters can be displayed on the display module under the control of the control module. Of course, the main body 210 can also include a navigation module 212.

[0082] The stimulation coil and the medical trolley according to the embodiment of the utility model have at least one of the following advantages:

[0083] (1) The stimulation surface and the identification surface of the stimulation coil and the medical trolley provided by the utility model are integrated into one, thereby reducing the error of the tooling and ensuring the accuracy of identification and tracking.

[0084] (2) The stimulation coil and medical trolley provided by the utility model are designed with multiple identification surfaces (i.e., multiple patterns), which makes it possible to increase the visible position during stimulation, reduce the recognition blind area of ​​the camera, and then increase the range in which the stimulation coil can be tracked and located;

[0085] (3) The stimulation coil and medical trolley provided by the utility model are designed with an inclined or vertical angle of the identification surface. Therefore, whether the stimulation coil is a single-sided stimulation coil or a double-sided genuine stimulation coil, it can reduce the camera's recognition blind spot during the stimulation process and increase the range in which the stimulation coil can be tracked and positioned.

[0086] Although some embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A stimulation coil, characterized in that: The stimulation coil comprises at least one stimulation surface for providing energy stimulation and at least one identification surface for a camera to identify the stimulation coil, and all the identification surfaces of the at least one identification surface are arranged at an angle with the at least one stimulation surface. A pattern for the camera to recognize is arranged on each of the at least one recognition surfaces, and the pattern on each recognition surface has a background portion and a plurality of recognition units having a color different from that of the background portion, and the plurality of recognition units are arranged on the background portion.

2. The stimulation coil according to claim 1, characterized in that The background portion is a single color background, the colors of the multiple identification units are the same color, and the difference between the grayscale values ​​corresponding to the colors of the multiple identification units and the grayscale value corresponding to the color of the background portion ranges from 1 to 255.

3. The stimulation coil according to claim 2, characterized in that The plurality of recognition units are arranged in an array on the background portion, When the at least one identification surface is at least two identification surfaces, the patterns on all the identification surfaces of the at least two identification surfaces are the same pattern or different patterns.

4. The stimulation coil according to any one of claims 1 to 3, characterized in that: The range of the angle is set to 0° to 90°.

5. The stimulation coil according to claim 4, characterized in that The angle ranges from 20° to 90°.

6. The stimulation coil according to any one of claims 1 to 3, characterized in that: The at least one stimulation surface includes a first stimulation surface and a second stimulation surface. The first stimulation surface and the second stimulation surface form an angle therebetween, and the angle is set in a range of 0 to 180°.

7. The stimulation coil according to claim 6, characterized in that The stimulation coil is a polyhedron, the first stimulation surface and the second stimulation surface are connected to each other in a V shape, and all the identification surfaces are arranged between the first stimulation surface and the second stimulation surface.

8. The stimulation coil according to any one of claims 1 to 3, characterized in that: The stimulation coil is a polyhedron, the lower bottom surface of the polyhedron is a stimulation surface for providing real stimulation, and at least one of the side surfaces of the polyhedron is an identification surface.

9. The stimulation coil according to claim 8, characterized in that The upper bottom surface of the polyhedron is a stimulation surface for providing pseudo stimulation.

10. The stimulation coil according to claim 8, characterized in that When at least two faces of the polyhedron are identification faces, the polyhedron is a hexahedron, and the hexahedron includes an upper bottom face, a lower bottom face, a first side face, a second side face, a third side face, and a fourth side face, the first side face is arranged opposite to the third side face, the second side face is arranged opposite to the fourth side face, and the first side face is adjacent to the second side face and the fourth side face respectively, and the first side face, the second side face, and the fourth side face are the identification faces, When the upper bottom surface and the lower bottom surface of the hexahedron are arranged parallel to each other and the shapes of the upper bottom surface and the lower bottom surface are rectangular, the shape of the section along the longitudinal direction of the stimulation coil is an isosceles trapezoid, and the shape along the longitudinal direction of the stimulation coil is an isosceles trapezoid, or When the upper bottom surface and the lower bottom surface of the hexahedron are arranged parallel to each other and the shapes of the upper bottom surface and the lower bottom surface are isosceles trapezoids, the shape of the section along the longitudinal direction of the stimulation coil is a rectangle, and the shape along the longitudinal direction of the stimulation coil is a rectangle, or When the upper base and the lower base of the hexahedron are arranged parallel to each other and the shape of the upper base and the lower base is an isosceles trapezoid, the shape of the cross-section along the longitudinal direction of the stimulation coil is an isosceles trapezoid or a right-angled trapezoid, and the shape along the longitudinal direction of the stimulation coil is an isosceles trapezoid.

11. The stimulation coil according to claim 10, characterized in that A holding module is connected to the third side surface, and a switch module for controlling the stimulation coil to provide energy stimulation is disposed on the holding module, and a power supply module connected to the switch module is disposed on the holding module.

12. The stimulation coil according to claim 1, characterized in that The stimulation coil is configured as a hemisphere, the at least one stimulation surface is the bottom surface of the hemisphere, and the at least one identification surface is disposed on the hemisphere surface of the hemisphere.

13. The stimulation coil according to claim 1, characterized in that The at least one stimulation surface is a side surface of a generating unit for providing energy stimulation, or All the stimulation surfaces of the at least one stimulation surface and all the identification surfaces together surround an inner cavity of the stimulation coil, a generating unit for providing energy stimulation is arranged on a side of the stimulation surface facing the inner cavity, and the generating unit provides energy stimulation to the subject through the stimulation surface, or The stimulation surface and all the identification surfaces together surround an inner cavity of the stimulation coil, and a generating unit for providing energy stimulation is arranged in the inner cavity. The generating unit provides energy stimulation to the subject through the stimulation surface.

14. A medical trolley, characterized in that: The medical trolley comprises a main body and a stimulation coil connected to the main body, wherein the main body is provided with a control module for providing stimulation parameters to the stimulation coil. The stimulation coil is a stimulation coil according to any one of claims 1-13.

Images