Device for transcranial magnetic stimulation

Abstract

Transcranial magnetic stimulation treatment device A transcranial magnetic stimulation treatment device (10) comprises a magnetic field generating means (12) and a pose determination device (14) comprising a stereo image capture device (16), a plurality of markers (18) and an image processing device (20), wherein the stereo image capture device (16) is configured and arranged to capture stereo image data of a scene, the plurality of markers (18) are arranged visibly on and assigned to the magnetic field generating means (12) and / or a head (24) of a patient, and the image processing device (20) is configured to process the stereo image data into position and / or pose data of each marker (18) visible to the stereo image capture device (16) and / or into pose data of the magnetic field generating means (12) and / or the head (24) of the patient. Method for determining a treatment position for a transcranial magnetic stimulation treatment device according to one of the preceding claims, wherein, in a first step, stereo image data of said head (24) are acquired, on which a plurality of markings (18) are visibly arranged, in a second step, head shape data describing a shape of said head (24) are estimated from the stereo image data, In a third step, at least one treatment position is determined relative to the said head shape data and in a fourth step, said head shape data and / or treatment position are stored in a data storage means (22).

Description

[0001] The invention relates to a transcranial magnetic stimulation treatment device comprising a magnetic field generating means and a pose determining device. The invention further relates to a method for determining a treatment position for such a transcranial magnetic stimulation treatment device and a computer program product for implementing said method on said device.

[0002] Transcranial magnetic stimulation is a form of therapy in which shaped magnetic fields are introduced into a patient's head to stimulate nerves or groups of nerves in the brain. The magnetic fields are intended to be applied to specific, predetermined areas of the brain, which requires precise positioning of the magnetic field generating device relative to the patient's head. Both position and spatial orientation are relevant for the correct application of the magnetic fields. To simplify thinking about these issues, the combination of position and orientation of an object is referred to as a "pose."

[0003] Currently, setting up a transcranial magnetic stimulation session requires determining and / or calibrating a multitude of parameters. It is important to determine the position on each patient's head where stimulation should occur. Since every head has a different shape, this is an individual determination that must be made for each patient in each session. This determination requires skill on the part of the practitioner and a certain amount of time during each session.

[0004] Furthermore, neither the head nor the magnetic field generating device are in a fixed position during treatment. Therefore, positioning errors can occur and accumulate over the course of the session. Since the magnetic field intensity decreases with the cube of the distance, small distance errors can significantly influence the treatment.

[0005] Current approaches to mitigating the problems of determining treatment parameters with precision and maintaining the alignment of the magnetic field generating device and the head during treatment generally involve very complex solutions. Some approaches attempt to eliminate the human element by immobilizing the patient's head and / or positioning the magnetic field generating device using robotic arms or similar devices.

[0006] The present invention aims to alleviate the above-mentioned problems and to simplify the determination of treatment parameters and to improve the quality of treatment.

[0007] To solve this problem, a device, a method, a computer program, and a computer-readable medium are proposed according to the independent claims. Advantageous embodiments are subject to the dependent claims.

[0008] In particular, the problem is solved by a transcranial magnetic stimulation treatment device comprising a magnetic field generating means and a pose determining device comprising a stereo image capturing device, a plurality of markers, and an image processing device, wherein the stereo image capturing device is configured and arranged to capture stereo image data of a scene, wherein the plurality of markers are visibly arranged on and assigned to one of the magnetic field generating means and / or a patient's head, and wherein the image processing device is configured to process the stereo image data into position and / or pose data of each marker visible to the stereo image capturing device and / or into pose data of the magnetic field generating means and / or the patient's head.

[0009] The recognition of the markers improves the precision of determining the pose of the magnetic field generating device and the patient's head, especially relative to each other. This enables more precise determination of the preferred treatment parameters.

[0010] In some embodiments, the stereo image capture device comprises an optical polarization device arranged as a filter for the image to be captured.

[0011] Such an optical polarization device can reduce glare and reflections within the captured scene. Thus, the captured images show the scene's features, especially the features of the markers, more clearly.

[0012] In some embodiments where the pose of the markers on a patient's head can be determined, the patient's head is arranged to be rotatable relative to the stereo imaging device so that images of all sides of the head can be acquired by the stereo imaging device.

[0013] This can be achieved, for example, by having the patient sit in a rotating chair and rotating the entire patient. This is a very convenient way to capture all of the surfaces of the head, making subsequent determination of the head shape more accurate.

[0014] In some embodiments where the pose of the markers on the patient's head is to be determined, a mirror is arranged such that at least a portion of the surface areas of the head facing away from the stereo imaging device is visible through the mirror to the stereo imaging device.

[0015] As with the previous claims, capturing more markers makes determining the shape of the head more accurate. Adding a mirror to the setup is a simple and inexpensive way to allow the stereo imaging device to see more markers.

[0016] In some embodiments, the transcranial magnetic stimulation treatment device comprises a head shape estimator configured to estimate head shape data describing the shape of the patient's head from the position and / or pose data.

[0017] The head shape estimator takes the position and / or pose data from the markers and transforms this data into a digital model of the head. This model can later be used to determine and verify a treatment or stimulation position. Furthermore, the model can later be used to display relevant information on a digital representation of the head.

[0018] In some embodiments, the transcranial magnetic stimulation treatment device comprises a stimulation position verification device configured to estimate and / or detect a stimulation position based on said head shape data.

[0019] The stimulation position verification device enables improved quality control and can improve operator instructions regarding the position of the magnetic field generating means.

[0020] In some embodiments, the transcranial magnetic stimulation treatment device may comprise a data storage means for storing the head shape data and / or the stimulation position.

[0021] This way, head shape estimation and the determination of the treatment or stimulation position only need to be performed once. The stored data can be reused for subsequent treatment sessions.

[0022] In some embodiments, the image processing device comprises a deep learning unit for detecting markers in the stereo image data and / or for detecting a face map in the stereo image data.

[0023] Deep learning units have proven far superior to other models for pattern recognition and pose estimation in stereo image data. Detecting the position of a face on a head is relevant for helping an operator determine a treatment or stimulation position, as a face is easily recognizable to human operators.

[0024] In some embodiments, the pose determination device is configured to redetermine the pose of the magnetic field generating means and / or the patient's head at arbitrary intervals, in particular intervals corresponding to a frame interval of the stereo image acquisition device.

[0025] The precise position of the magnetic field generating device is crucial for treatment quality. Since the magnetic field density decreases rapidly with distance, it is especially important that the magnetic field generating device is positioned correctly. Regularly checking that the operator is positioning the magnetic field generating device correctly improves treatment quality. Updating the actual position data with each camera frame enables smooth data interpretation and the smooth display of visual cues.

[0026] In some embodiments, a display device is provided for displaying pose data of the magnetic field generating means and / or stimulation point position data and / or quality control parameters.

[0027] Such a device allows an operator to receive immediate feedback on the current treatment.

[0028] In some embodiments, the display device may be configured to display the pose data as augmented reality and / or configured to derive navigation cues and / or cues resulting from deviations of the pose of the magnetic field generating means from a target pose.

[0029] Providing 3D visual cues is the simplest way to guide an operator to correctly position the magnetic field generating device. However, navigational cues and pointers are often sufficient to achieve highly accurate positioning.

[0030] In some embodiments, the markings have a low reflection surface.

[0031] A small amount of any kind of reflection improves marker detection because there are fewer reflections that could, for example, confuse the pose determination device. Intense reflections, in particular, can obscure parts of the marker pattern.

[0032] The problem is further solved by a method for determining the treatment position for one of the transcranial magnetic stimulation treatment devices described above, wherein in the first step, stereo image data of said head on which a plurality of markers are visibly arranged are acquired; in the second step, head shape data describing the shape of said head are estimated from the stereo image data; in the third step, at least one treatment position relative to said head shape data is determined; and in the fourth step, said head shape data and / or treatment position are stored in a data storage means.

[0033] This procedure, performed, for example, on one of the transcranial magnetic stimulation treatment devices mentioned above, allows for the preparation of all the necessary data for conducting a treatment session. The stored data can be used in all future treatment sessions, eliminating the need to repeat the usual steps for determining a treatment or stimulation position in each session. This increases treatment efficiency and eliminates the need for the patient to go through the same calibration steps in each session.

[0034] In some embodiments, in the fifth step, said head shape data and / or treatment position are retrieved from the storage means, and in the sixth step, the retrieved head shape data and / or treatment position are used to check the correct position of the magnetic field generating means during the treatment session.

[0035] This allows an operator to begin treating the patient immediately during a treatment session and receive feedback regarding the correct position of the magnetic field generating device. This makes treatment sessions more efficient and effective.

[0036] In some embodiments, the pose data of the magnetic field generating means and / or stimulation point position data and / or quality control parameters are displayed in the seventh step.

[0037] This allows an operator to receive immediate feedback on the current treatment.

[0038] In some embodiments, in the eighth step, at least one vital parameter of the patient is determined from a series of acquired images.

[0039] Such a vital parameter could be, for example, the patient's pulse. This would eliminate the need for a separate device to determine this vital parameter, leaving the patient unhindered for treatment.

[0040] The problem is also solved by a computer program comprising instructions which, when the program is executed on a computer, cause the device to perform the methods of any of the method claims.

[0041] The problem is also solved by a computer-readable data carrier on which the said computer program product is stored.

[0042] Further features and advantages of the present disclosure will become apparent from the following detailed description taken in conjunction with the accompanying drawings in which: Fig. 1 is a schematic diagram of a transcranial magnetic stimulation treatment device according to the present invention.

[0043] Please note that like features are designated by like reference numerals throughout the accompanying drawings. Different views may use different scales even though they depict the same elements. Directions such as "left," "right," "top," and "bottom" are relative to each figure and may indicate different directions in different figures.

[0044] Terms such as "first," "second," or "third" are used in this document to distinguish similar but different elements. They do not necessarily indicate a hierarchy or order.

[0045] The Fig. The transcranial magnetic stimulation treatment device 10 shown in Figure 1 comprises a magnetic field generating means 12 and a pose determining device 14. The pose determining device 14 comprises a stereo image capturing device, for example a stereo camera 16, a plurality of markers 18, and an image processing device 20. The transcranial magnetic stimulation treatment device 10 may further comprise a storage means, which in this embodiment is embodied by a cloud storage 22.

[0046] The transcranial magnetic stimulation treatment device 10 can be operated in two different modes. A first mode is used to estimate the shape of a patient's head 24. A second mode is used during treatment, in particular to track the pose of the magnetic field generating means 12 and the head 24. In particular, during the second mode, the relative position and orientation of the magnetic field generating means 12 relative to the head 24 can be determined to estimate the quality of the treatment.

[0047] During operation according to the first mode, the patient's head 24 is equipped with a cap 26 on which a plurality of markers 18 are arranged in a predetermined arrangement. Each of the markers 18 comprises a unique pattern. The markers 18 can be printed on the cap 26 or applied to separate devices, e.g., stickers, which are adhered to the cap 26 at predetermined positions.

[0048] To determine the shape of the head 24, the stereo camera 16 is configured and arranged to capture stereo image data of a scene in which the head 24 with the cap 26 is visible. The stereo camera 16 can capture individual stereo images, be triggered, or continuously capture stereo images, which are then displayed as stereo image data comprising a left and right image. The stereo image data can also be used to display it as images, for example.

[0049] The stereo image data is provided to the image processing device 20. The image processing device 20 is configured to apply image processing methods to find the locations of the markers 18 within the stereo image data. From the difference in the position of each marker 18 between the left and right images, a pose comprising a distance and direction relative to the stereo camera 16 can be determined. Further methods for determining the distance and direction relative to a stereo camera 16 from stereo image data are known in the field of stereo image processing.

[0050] Since the stereo camera 16 only sees one side of the head 24 and the cap 26 at a time, additional images from different angles relative to the head 24 must be acquired to be able to estimate a complete shape. One method for capturing different angles is to have the patient rotate 360° around a body axis while additional stereo images are captured at regular intervals. Another method for capturing different angles involves arranging a mirror so that the stereo camera 16 can, via the mirror, view the portions of the head 24 that it cannot see directly.

[0051] For each of the acquired stereo images, the image processing device 20 processes the stereo image data into position data for each marker 18 visible in each image. In this way, a plurality of positions of points on the surface of the head 24 are obtained. Since the shape of human heads 24 follows certain biological rules, the shape of the head 24 between the points can be estimated using these rules.

[0052] In a further step, the image processing device 20 processes the stereo image data to determine the position of a face on the head 24. The shape of the head 24 and the position of the face within that shape are then stored in the storage means 22, for example, for use during the second mode.

[0053] During operation according to the second mode, the pose of the head 24 and the magnetic field generating means 12 are to be tracked by the pose determination device. For this purpose, the magnetic field generating means 12 is equipped with markers 18.

[0054] The stereo camera 16 regularly captures images of the magnetic field generating means 12 and the head 24 and transmits the stereo image data as input images to the image processing device 20. The image processing device 20 determines the pose of the magnetic field generating means 12 by detecting the markings 18, as described above for the markings 18 on the cap 26.

[0055] One possible method for determining a treatment position is described below. When determining a treatment position, particularly when operating according to the second mode, an operator can move the magnetic field generating means 12 over an area of ​​the head 24 suspected of containing the treatment area. By applying a magnetic field and observing a patient response or lack thereof, the treatment position is determined. Once the treatment position has been determined, the pose of the magnetic field generating means 12 can be stored as stimulation position data, for example, together with the head shape data, for reference during future treatment sessions.

[0056] In some embodiments, the transcranial magnetic stimulation treatment device 10 may include an input device, such as a button, a foot switch, or a voice control, so that the operator can operate the transcranial magnetic stimulation treatment device 10 to store the current pose of the magnetic field generating means 12 as a treatment or stimulation position.

[0057] The pose determination device 14 can load the head shape data and / or the stimulation position and orientation data from the storage device 22. This allows a patient to go through the process of head shape estimation and treatment / stimulation position and orientation determination only once. This makes treatment faster, more efficient, and more comfortable for the patient. In some embodiments, the treatment position can be adjusted during a treatment session, and the adjusted treatment position data can be stored in the storage device 22.

[0058] The pose determination device 20 may further comprise a treatment aid device comprising a display device 28. The pose determination device 14 may be provided with treatment position data describing a preferred treatment position for the magnetic field generating means 12 relative to the head 24. The treatment aid device may then compare the poses determined by the pose determination device 24 for the magnetic field generating means 12 and the head 24 and display advice and / or instructions for an operator on how to improve the treatment quality. Furthermore, pose data of the magnetic field generating means, stimulation point position data, and / or quality control parameters may be displayed.

[0059] In some embodiments, the advice and / or instructions may be displayed as augmented reality.

[0060] Furthermore, the treatment aid device can track the poses of the magnetic field generating means 12 and the head 24 throughout an entire treatment session and estimate a quality of the treatment performed during the session based on the collected data.

[0061] In various embodiments, the markers 18 may, for example, have low reflectance and / or low specular reflectance in order to be clearly visible and recognizable in the stereo image data. In some embodiments, the markers 18 may have a reflectance of less than 40% and / or a low specular reflectance of less than 80 gloss units. In various embodiments, the markers 18 may, for example, comprise patterns of light and dark areas and / or each have a unique pattern. Furthermore, it might be advantageous if the markers 18 do not have a symmetrical pattern, in particular not symmetrical along a horizontal direction. This is particularly important when a mirror is used to determine the head shape data.When selecting a marker size, it may be advantageous to choose a size at which individual features of the marker 18 are larger than the resolution of the stereo camera 16 up to a recording distance of 2 m. Specifically, the individual features of the markers 18, regardless of their distance, should be within the field of view of the stereo camera 16 and be represented by at least one pixel in the final image.

[0062] In some embodiments, each of the markings 18 exhibits a unique pattern. In some embodiments, the number of markings 18 applied to the magnetic field generating means 12 is 3, 4, 5, 6, 7, 8, 9, or more. The same or a different number of markings 18 may be applied to the cap 26. In some embodiments, the markings 18 may be printed on the cap 26 and / or the magnetic field generating means 12. In some embodiments, the markings 18 may be applied as one or more stickers, particularly as rigid markings 18, to the cap 26 and / or the magnetic field generating means 12.

[0063] In some embodiments, the patient may or may not be wearing the cap 26. If the patient is not wearing the cap 26, the image processing device 20 may determine the pose of the head 24, for example, by finding the pose of the patient's face in the stereo image data.

[0064] In some embodiments, the image processing device 20 can be configured to detect at least one vital parameter of the patient from a series of input images. Such a vital parameter can be, for example, the patient's pulse. Such parameters can be relevant, for example, for the application of neurocardiac guided functional localization.

[0065] In this document, the word “pose” in relation to an object is understood as the combination of the position and orientation of the object.

[0066] The storage means may be a cloud storage 22, as shown in the embodiments. However, any other storage means such as a NAS, a local hard drive, a removable storage medium, or an SSD may be used to store the data.

[0067] Each of the devices described herein, in particular the pose determination device 14, the image processing device 20, the head shape estimation device, and / or the deep learning unit, may be implemented in whole or in part as a computer program executing on a computer, e.g., a microcontroller or PC, as appropriate. Multiple devices and / or apparatuses described herein may be implemented as a common computer program that combines the functions of all of these devices and / or apparatuses.

[0068] The terms “seen by the stereo image capture device,” “visible to the stereo image capture device,” or “visible to the stereo camera 16” are to be understood as referring to all objects in the scene that affect the captured stereo image data.

[0069] Regardless of the grammatical use of the term, persons with male, female or other gender identities are included. LIST OF REFERENCE SYMBOLS 10 transcranial magnetic stimulation treatment device 12 magnetic field generating means 14 Pose determination device 16 Stereo camera (stereo image capture device) 18 Marking 20 Image processing device 22 Cloud storage (storage resources) 24 Head (of the patient) 26 hat 28 Display device

Claims

[1] A transcranial magnetic stimulation treatment device (10) comprising a magnetic field generating means (12) and a pose determination device (14) comprising a stereo image capture device (16), a plurality of markers (18) and an image processing device (20), wherein the stereo image capture device (16) is configured and arranged to capture stereo image data of a scene, the plurality of markers (18) are visibly arranged on and assigned to the magnetic field generating means (12) and / or a head (24) of a patient, and the image processing device (20) is configured to process the stereo image data into position and / or pose data of each marker (18) that is visible to the stereo image capturing device (16) and / or into pose data of the magnetic field generating means (12) and / or the head (24) of the patient. [2] Transcranial magnetic stimulation treatment device according to claim 1, characterized by that the stereo image capture device (16) comprises an optical polarization device arranged as a filter for the image to be recorded. [3] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized by that, when the pose of the markers (18) on the head (24) of a patient is to be determined, the head (24) of the patient is arranged to be rotatable relative to the stereo image capture device (16) so that images of all sides of the head (24) can be captured by the stereo image capture device (16). [4] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized bythat, when the pose of the markers (18) on the head (24) of a patient is to be determined, a mirror is arranged such that at least a portion of the surface areas of the head (24) facing away from the stereo image capture device (16) is visible through the mirror for the stereo image capture device (16). [5] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized by a head shape estimator configured to estimate head shape data describing a shape of the patient's head (24) from the position and / or pose data. [6] Transcranial magnetic stimulation treatment device according to claim 5, characterized by a stimulation position verification device configured to estimate and / or detect a stimulation position based on said head shape data. [7] Transcranial magnetic stimulation treatment device according to claim 5 or 6, characterized by a data storage means (22) for storing the shape data and / or the stimulation position. [8] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized in that the image processing device (20) comprises a deep learning unit for detecting markers in the stereo image data and / or for detecting a face map in the stereo image data. [9] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized in that the pose determination device (14) is configured to redetermine the pose of the magnetic field generating means (12) and / or the head (24) of the patient at arbitrary intervals, in particular intervals corresponding to a frame interval of the stereo image acquisition device (16). [10] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized by a display device (28) for displaying pose data of the magnetic field generating means (12) and / or stimulation point position data and / or quality control parameters. [11] Transcranial magnetic stimulation treatment device according to claim 9, characterized in that the display device (28) is configured to display the pose data as augmented reality and / or is configured to derive navigation instructions and / or instructions resulting from deviations of the pose of the magnetic field generating means (12) from a target pose. [12] Transcranial magnetic stimulation treatment device according to one of the preceding claims, characterized in that the markings (18) have a low reflection surface. [13] A method for determining a treatment position for a transcranial magnetic stimulation treatment device according to any one of the preceding claims, wherein, in a first step, stereo image data of said head (24) are acquired, on which a plurality of markings (18) are visibly arranged, in a second step, head shape data describing a shape of said head (24) are estimated from the stereo image data, In a third step, at least one treatment position is determined relative to the said head shape data and in a fourth step, said head shape data and / or treatment position are stored in a data storage means (22). [14] Method according to claim 13, characterized bya fifth step in which said head shape data and / or treatment position are retrieved from the data storage means (22), and a sixth step in which the retrieved head shape data and / or treatment position are used to check the correct position of the magnetic field generating means (12) relative to the head (24) without the markings (18) during a treatment session. [15] Method according to one of claims 13 and 14, characterized by a seventh step in which pose data of the magnetic field generating means (12) and / or stimulation point position data and / or quality control parameters are displayed. [16] Method according to one of claims 13 to 15, characterized by an eighth step in which at least one of the patient's vital parameters is determined from a series of acquired images. [17] A computer program comprising instructions for causing the apparatus of any one of claims 1 to 13 to perform the steps of the method of any one of claims 14 to 16. [18] A computer-readable medium on which the computer program according to claim 17 is stored.

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