A transcranial magnetic stimulation navigation positioning robot system

Abstract

The utility model relates to medical equipment technical field discloses a kind of transcranial magnetic stimulation navigation positioning robot system, including main frame, transcranial magnetic therapy equipment is equipped on main frame, mechanical arm and cantilever, mechanical arm is arranged below cantilever, and treatment clapper is equipped on mechanical arm, treatment clapper is connected with transcranial magnetic therapy equipment, and visual sensor is equipped on cantilever.The utility model can reduce the discomfort of patient, and treatment clapper can follow patient head activity in real time, effectively improve the treatment experience and treatment effect of patient.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a transcranial magnetic stimulation navigation and positioning robot system. Background Technology

[0002] Transcranial magnetic stimulation (TMS) is a non-invasive neuromodulation device based on the principle of Faraday's electromagnetic induction. It uses a time-varying magnetic field to generate induced currents in the cerebral cortex, thereby regulating neuronal excitability. This technology is widely used in the treatment of mental illnesses such as depression, anxiety, and schizophrenia, as well as in the rehabilitation of neurological disorders such as post-stroke motor dysfunction and Parkinson's disease. Its core advantage lies in achieving precise control of brain activity through stimulation of different frequency magnetic fields without surgical intervention.

[0003] Currently, due to the limited range of the therapeutic magnetic field generated by transcranial magnetic stimulation (TMS) devices, the patient's head must remain relatively still throughout the treatment process to ensure therapeutic effectiveness and accurate magnetic stimulation positioning. TMS devices use a magnetic stimulation coil, or treatment coil, to provide magnetic stimulation and monitoring. There are currently two main installation methods for the treatment coil: one is a suspension type, which uses a fixed structure to keep the coil aligned with the patient's treatment area; the other is a sliding rail type, which gives the treatment coil a certain degree of freedom in direction and includes a directional adjustment and fixation device at the point of contact with the head, and is generally equipped with a helmet-style head restraint mechanism.

[0004] The existing technology has at least the following problems:

[0005] First, it is unrealistic to require patients to keep their upper body or even their head still during treatment. This not only puts a lot of pressure on the patient's neck muscles, but also makes it difficult for the head to shift due to unexpected situations.

[0006] Secondly, the suspended installation method lacks active adjustment capabilities, and the weight of some equipment will be applied to the patient's head, which can easily cause discomfort.

[0007] Third, the sliding rail installation method has limited freedom and insufficient adaptability of the device to the patient's head. Utility Model Content

[0008] This invention addresses the shortcomings of existing technologies by developing a transcranial magnetic stimulation navigation and positioning robot system. This invention can reduce patient discomfort and enable the treatment device to follow the patient's head movements in real time, effectively improving the patient's treatment experience and treatment effect.

[0009] The technical solution to the technical problem solved by this utility model is as follows: a transcranial magnetic stimulation navigation and positioning robot system, including a main frame, on which a transcranial magnetic therapy instrument, a robotic arm and a cantilever are provided. The robotic arm is located below the cantilever and is equipped with a treatment beater, which is connected to the transcranial magnetic therapy instrument. A visual sensor is provided on the cantilever.

[0010] As an optimization, the cantilever is curved. By setting the cantilever in a curved shape, ample monitoring space can be provided for the visual sensor, resulting in a wide positioning angle and facilitating the visual sensor's localization of the patient's head and face.

[0011] As an optimization, the cantilever includes curved side plates, connecting rods, and connecting plates. The middle sections of the two sets of curved side plates are connected to each other by several sets of connecting rods, and the bottom sections of the two sets of curved side plates are connected to each other by several sets of connecting plates. By setting the curved side plates, the strength of the cantilever can be ensured, allowing for the installation of vision sensors; by setting the connecting rods and connecting plates, the two sets of curved side plates can be connected, balancing structural strength and lightweight requirements.

[0012] As an optimization, a display is installed at the top of the main frame, which is electrically connected to the transcranial magnetic stimulation (TMS) device, and casters are provided at the bottom of the main frame. The display provides a human-computer interaction interface, allowing medical staff to easily set TMS parameters and view the working status of the TMS device and treatment device. The casters facilitate adjusting the device's position.

[0013] As an optimization, a treatment chair is also included, positioned below the treatment paddle, with the visual sensor positioned opposite it. This treatment chair allows patients to lie down or sit, providing a comfortable treatment environment. It ensures the patient's head is within the range of motion of the treatment paddle and the monitoring range of the visual sensor. Furthermore, the treatment chair is a separate unit from the main frame; when treating patients in wheelchairs, the chair can be easily moved aside, and the wheelchair pushed under the treatment paddle, avoiding the need for the patient to get up and sit on the chair, thus facilitating treatment.

[0014] As an optimization, the main frame is tilted towards one side of the treatment chair. This accommodates the tilt angle of the treatment chair back and avoids interference.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] By setting up a main frame, a transcranial magnetic stimulation (TMS) device, a cantilever, and a robotic arm can be integrated into the equipment layout. The TMS device and treatment paddle provide treatment to the patient. The robotic arm adjusts the position of the treatment paddle by following the patient's head movements, ensuring it repositions to the area of ​​the head that should receive stimulation, thus guaranteeing treatment effectiveness. The cantilever allows for the mounting of a visual sensor, providing a wide field of view and facilitating the sensor's capture of patient movements. This data supports the spatial modeling of the main control computer, enabling precise spatial positioning of the robotic arm. This invention reduces patient discomfort and allows the treatment paddle to follow the patient's head movements in real time, ensuring treatment accuracy and effectively improving the patient's treatment experience and outcome. Attached Figure Description

[0017] Figure 1 This is a perspective view of one embodiment of the present utility model.

[0018] Figure 2 This is a front view of one embodiment of the present invention.

[0019] In the diagram: 1. Main frame; 2. Transcranial magnetic stimulation device; 3. Robotic arm; 4. Cantilever; 5. Column; 6. Treatment paddle; 7. Visual sensor; 8. Curved side plate; 9. Connecting rod; 10. Connecting plate; 11. Monitor; 12. Treatment chair. Detailed Implementation

[0020] To clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation methods and in conjunction with the accompanying drawings.

[0021] Example 1

[0022] Figures 1 to 2 As one embodiment of this utility model, such as Figures 1 to 2 As shown, a transcranial magnetic stimulation (TMS) navigation and positioning robot system includes a main frame 1. A TMS therapy device 2, a robotic arm 3, and a cantilever 4 are mounted on the main frame 1. The robotic arm 3 is positioned below the cantilever 4 via a column 5. A treatment beater 6 is mounted on the robotic arm 3 and connected to the TMS therapy device 2 via signal and power lines. A visual sensor 7 is hinged to the cantilever 4 via a bracket, allowing for easy adjustment of the visual sensor 7's angle to align with the patient. The visual sensor 7 can employ an OP-M620 optical positioning system. Both the robotic arm 3 and the visual sensor 7 are connected to a main control computer via signal and power lines. The main control computer can be integrated into the TMS therapy device 2 or set up independently. The main control computer processes the signals from the visual sensor 7, performs modeling, and controls the movement of the robotic arm 3.

[0023] By setting up the main frame 1, the transcranial magnetic stimulation (TMS) device 2, the cantilever 4, and the robotic arm 3 can be mounted, achieving an integrated layout of the equipment. By setting up the TMS device 2 and the treatment paddle 6, treatment can be provided to the patient. By setting up the robotic arm 3, the position of the treatment paddle 6 can be dynamically adjusted according to the displacement of the patient's head, ensuring that the treatment paddle 6 is always aligned with the target treatment area of ​​the patient's head, thus guaranteeing the treatment effect. By setting up the cantilever 4, a visual sensor 7 can be suspended, giving it a wide positioning angle, which facilitates the visual sensor 7 to capture the patient's movements, providing data support for the spatial modeling of the main control computer, thereby achieving precise spatial positioning of the robotic arm 3.

[0024] The cantilever 4 is arc-shaped. By setting the arc-shaped cantilever 4, ample monitoring space can be provided for the vision sensor 7, and the positioning angle is wide, which facilitates the vision sensor 7 to locate the patient's head and face.

[0025] The cantilever 4 includes arc-shaped side plates 8, connecting rods 9, and connecting plates 10. The middle sections of the two sets of arc-shaped side plates 8 are connected to each other by several sets of connecting rods 9, and the bottom sections of the two sets of arc-shaped side plates 8 are connected to each other by several sets of connecting plates 10. By setting the arc-shaped side plates 8, the strength of the cantilever can be ensured, allowing the vision sensor 7 to be hoisted. By setting the connecting rods 9 and connecting plates 10, the two sets of arc-shaped side plates 8 can be connected, balancing structural strength and lightweight requirements.

[0026] The main frame 1 has a display 11 at its top, which is a touchscreen for easy human-computer interaction. It can also be equipped with a mouse and keyboard to improve ease of operation, or operation buttons can be placed next to the display 11 for human-computer interaction. The display 11 is electrically connected to the transcranial magnetic stimulation (TMS) device 2, and the main frame 1 has casters at its bottom. The display 11 provides a human-computer interface, allowing medical staff to easily set parameters for the TMS device 2 and view the working status of the TMS device 2 and the treatment paddle 6. The casters facilitate adjusting the device's position.

[0027] It also includes a treatment chair 12, which is positioned below the treatment paddle 6, with a visual sensor 7 positioned opposite the treatment chair 12. By setting up the treatment chair 12, patients can lie down or sit, providing a comfortable treatment environment. This ensures the patient's head is within the range of motion of the treatment paddle 6 and the monitoring range of the visual sensor 7. Furthermore, the treatment chair 12 and the main frame 1 are designed as separate units. When treating patients in wheelchairs, the treatment chair 12 can be moved directly, and the wheelchair pushed under the treatment paddle 6, avoiding the need for the patient to get up and sit on the treatment chair 12, thus facilitating the patient's treatment.

[0028] The main frame 1 is tilted towards one side of the treatment chair 12. This allows it to accommodate the tilt angle of the backrest of the treatment chair 12, avoiding any positional conflict between the two.

[0029] During use, medical staff set treatment parameters via display 11, such as stimulation intensity, stimulation frequency, stimulation time, interval time, number of repetitions, number of pulses, and total treatment time. After the patient sits on the treatment chair 12, the medical staff activates the transcranial magnetic stimulation (TMS) device 2. The visual sensor 7 captures the position of the patient's head and face and transmits the signal to the main control computer. The main control computer processes the signal to form spatial relationships and performs spatial modeling. After the medical staff determines the treatment area on display 11, the robotic arm 3 carries the treatment paddle 6 and slowly moves to the corresponding position above the patient's head for treatment. When the patient's head moves, the visual sensor 7 captures the movement in real time, and the main control computer recalculates the treatment area and controls the robotic arm 3 to reposition and slowly move the treatment paddle 6 to the corresponding position above the patient's head for treatment. This invention reduces patient discomfort and allows the treatment paddle 6 to follow the patient's head movements in real time, thereby maximizing the application of the magnetic field to the appropriate head area throughout the treatment process, effectively improving the patient's treatment experience and treatment effect. This invention, through dynamic tracking and precise positioning, reduces patient discomfort while ensuring treatment effectiveness, significantly improving the treatment experience and reliability.

[0030] The descriptions of the orientation or relative positional relationships of the structure in this utility model, such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inner", and "outer", are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the structure referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

Claims

1. A transcranial magnetic stimulation navigation and positioning robot system, comprising a main frame (1), characterized in that: The main frame (1) is equipped with a transcranial magnetic therapy device (2), a robotic arm (3) and a cantilever (4). The robotic arm (3) is located below the cantilever (4). The robotic arm (3) is equipped with a treatment beat (6), which is connected to the transcranial magnetic therapy device (2). The cantilever (4) is equipped with a visual sensor (7).

2. The transcranial magnetic stimulation navigation and positioning robot system according to claim 1, characterized in that: The cantilever (4) is arc-shaped.

3. The transcranial magnetic stimulation navigation and positioning robot system according to claim 2, characterized in that: The cantilever (4) includes an arc-shaped side plate (8), a connecting rod (9) and a connecting plate (10). The middle parts of the two sets of arc-shaped side plates (8) are connected to each other by several sets of connecting rods (9), and the bottoms of the two sets of arc-shaped side plates (8) are connected to each other by several sets of connecting plates (10).

4. The transcranial magnetic stimulation navigation and positioning robot system according to claim 1, characterized in that: The main frame (1) has a display (11) at the top, which is electrically connected to the transcranial magnetic therapy device (2), and the main frame (1) has casters at the bottom.

5. A transcranial magnetic stimulation navigation and positioning robot system according to any one of claims 1 to 4, characterized in that: It also includes a treatment chair (12), which is located below the treatment paddle (6), and a visual sensor (7) is positioned opposite to the treatment chair (12).

6. The transcranial magnetic stimulation navigation and positioning robot system according to claim 5, characterized in that: The main frame (1) is tilted toward one side of the treatment chair (12).

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