Identification module, identification tool, stimulation coil, multifunctional medical trolley, camera trolley, positioning tool, positioning system and medical system

Abstract

The invention provides an identification module, an identification tool, a stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system and a medical system. The identification module comprises: an identification body having at least two connected side surfaces, the two connected side surfaces comprising a first side surface and a second side surface connected to the first side surface; and an identification pattern arranged on the first side surface of the identification body. 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. The multifunctional medical trolley comprises: a framework formed by riveting and welding; and at least two trays, at least one of the at least two trays being fixed on the framework in a riveted and welded manner. The positioning tool comprises: a supporting body; an identification unit used for being identified by an acquisition device under a plurality of visual angles and arranged on the supporting body; and a contact unit making direct or indirect contact with a subject, the contact unit being arranged on at least one end of the supporting body. The medical system comprises: the multifunctional medical trolley, the stimulation coil and the camera trolley, wherein a camera on the camera trolley tracks and positions the stimulation coil, and when in use, the camera on the camera trolley identifies the stimulation coil, and the camera transmits data of the identified stimulation coil to the multifunctional medical trolley, so as to track and position the stimulation coil.

Description

Identification modules, identification tools, stimulation coils, multifunctional medical trolleys, camera trolleys, positioning tools, positioning systems and medical systems Technical Field

[0001] The present disclosure relates to the technical field of medical equipment, and in particular to an identification module, an identification tool, a stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system, and a medical system. Background Art

[0002] In the field of medical navigation, it is necessary to determine the spatial information of the treatment device in real space. For example, transcranial magnetic therapy requires establishing the position information of a specific coil in real space under the navigation camera coordinate system to achieve the purpose of precise treatment.

[0003] Currently, medical navigation is mostly implemented based on infrared cameras. Tracking objects are set on the target to be navigated, and calibration tools are used to establish the relationship between the target and the camera.

[0004] However, in the prior art, establishing the above relationship depends on the operator correctly using the calibration tool, which not only results in human errors, but also may lead to calibration failure due to misoperation.

[0005] 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 brain nerves or brain functional networks.

[0006] Navigation for transcranial magnetic therapy requires the use of a magnetic stimulation coil. Currently, most medical navigation systems use a combination of reflective beads and the magnetic stimulation coil to track and locate the coil. Consequently, navigation technology typically requires an infrared camera to identify the reflective beads on the coil to determine its position. However, infrared cameras are easily affected by other reflective objects during the recognition process.

[0007] Currently, the tracking and positioning of the magnetic stimulation coil can be achieved through the combination of an RGB camera and a calibration plate. However, the calibration plate is installed on the stimulation coil as an independent device, which may cause positioning and recognition accuracy problems due to the tooling.

[0008] Currently, in medical work, multiple devices often need to be used simultaneously, such as computers, display screens, stimulation coils, cameras, medical device probes, etc. At this time, a multifunctional medical trolley is needed, which can hold multiple devices and provide space for storing medical equipment.

[0009] However, existing multifunctional medical trolleys simply place these devices randomly, which will cause the placement of confusion; secondly, for devices with more wiring harnesses, the wiring harnesses will be tangled or messy, making it inconvenient for users to operate; thirdly, the size is relatively large, and it cannot enter certain medical room doors or elevator doors; thirdly, the weight is relatively heavy, which makes it inconvenient to move and transport the trolley; finally, the internal hierarchical layout is unreasonable.

[0010] In medical work, it is often necessary to use a medical multifunctional trolley on which a variety of equipment is installed at the same time, such as a computer, a display screen, a stimulation coil, a camera assembly, a medical equipment probe, etc.

[0011] Since the camera assembly is arranged on the medical multifunctional trolley, it can only be moved in the up and down directions and the range of movement is limited. In some cases, there is no way to realize recognition over a larger range without moving the medical multifunctional trolley.

[0012] Positioning tools are often used for registration and calibration in medical positioning and navigation systems, thereby enabling tracking and positioning of subjects.

[0013] Existing positioning tools are equipped with infrared reflective balls that facilitate infrared camera capture. Three infrared reflective balls are typically placed on the same side of the positioning tool. When the positioning tool is rotated so that the ball side faces away from the infrared camera, the infrared camera cannot see the infrared reflective balls and therefore cannot capture the positioning tool, affecting calibration and registration operations.

[0014] At the same time, since the positioning tool may sometimes slip from the hand of the holder during use, it may be easily deformed or damaged.

[0015] Therefore, it is necessary to provide a positioning tool and a positioning system that can expand the effective recognition range of the camera.

[0016] Public content

[0017] The present disclosure proposes an identification module, an identification tool, a stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system, and a medical system. These tools, along with the stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system, and a medical system, can be used to locate and track targets or areas requiring tracking in subjects with conditions such as autism, depression, autism, obsessive-compulsive disorder, affective disorders, epilepsy, Alzheimer's disease, and brain injury, and / or regulate targets and / or nerves in the subject. The identification module and the recognition tool enable calibration with a single operation, and the stimulation coil at least partially addresses the technical issue of using a calibration plate to accurately identify and locate magnetic stimulation coils. The multifunctional medical trolley can at least address issues such as irregular and irrational placement of internal equipment, irregular wiring, large size, and heavy weight. The camera trolley is configured as a separate device, enabling automatic movement and adjustment in multiple dimensions, resolving at least one or a portion of the issues of existing camera assemblies with limited range of movement, inability to freely adjust, and limited recognition range. The positioning tool and positioning system can at least address the issue of the positioning tool being unable to be recognized when facing away from the camera.

[0018] In a first aspect, the present disclosure provides an identification module, the identification module comprising:

[0019] an identification body having at least two connected sides, the two connected sides including a first side and a second side connected to the first side; and

[0020] An identification pattern is provided on the first side surface of the identification body.

[0021] In some optional embodiments, the identification module further includes a guide and positioning portion, and the guide and positioning portion is provided on the second side surface of the identification body.

[0022] In some optional embodiments, the number of the guide positioning portion is at least one, the guide positioning portion is a protruding structure, and the second side surface cooperates with the concave structure on the surface of the identification tool through the protruding structure.

[0023] In some optional embodiments, the navigation positioning portion is detachably matched with the concave structure through the protruding structure, or the identification module and the identification tool are integrally formed.

[0024] In some optional embodiments, an identification pattern is provided on the first side, and the identification pattern includes a background portion and a foreground portion arranged on the background portion. The pattern of the foreground portion is arranged according to a preset layout, and the difference range between the grayscale value of the background portion and the grayscale value of the foreground portion is set to 1 to 255.

[0025] In some optional embodiments, the cross-section of the identification body is in an L-shape or an acute-angled triangle shape.

[0026] In some optional embodiments, when the cross-section of the identification body is L-shaped, the identification module is a calibration module.

[0027] When the cross-section of the identification body is in the shape of an acute-angled triangle, the identification module is a positioning module.

[0028] In some optional embodiments, the positioning module includes at least two identification parts, and two adjacent identification parts are arranged at an angle.

[0029] In some optional embodiments, the angle between two adjacent identification portions ranges from 0° to 90°.

[0030] In some optional embodiments, a positioning step reference surface is provided on the second side surface;

[0031] The guide positioning portion is a positioning guide column arranged on the positioning step reference surface.

[0032] In some optional embodiments, at least one reinforcing rib adapted to the cross-sectional shape of the identification module is provided on the inner side surface of the identification module;

[0033] A locking through hole is provided on the second side surface of the identification module.

[0034] In a second aspect, the present disclosure provides an identification tool, the identification tool comprising:

[0035] An identification tool body, wherein a matching portion for matching with the guide positioning portion of the identification module described in any of the above embodiments is provided on one surface of the identification tool body.

[0036] In some optional embodiments, the identification tool body is a magnetic stimulation coil, and one surface of the magnetic stimulation coil body is a surface of the magnetic stimulation coil opposite to the stimulation surface.

[0037] In some optional embodiments, the identification tool body is a shell for accommodating the magnetic stimulation coil, the shape of the identification tool body is consistent with the shape of the magnetic stimulation coil, and the shell and the magnetic stimulation coil are connected in a detachable manner.

[0038] In a third aspect, the present disclosure provides a stimulation coil, comprising at least one stimulation surface for providing energy stimulation and at least one identification surface for a camera to identify the stimulation coil, wherein all identification surfaces of the at least one identification surface are arranged at an angle to the at least one stimulation surface.

[0039] In some optional embodiments, each of the at least one recognition surface is provided with a pattern for the camera to recognize, and the pattern on each recognition surface has a background part and a plurality of recognition units of a color different from that of the background part, and the plurality of recognition units are arranged on the background part.

[0040] In some optional embodiments, 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 colors of the background portion ranges from 1 to 255.

[0041] In some optional embodiments, the plurality of recognition units are arranged in an array on the background portion.

[0042] 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.

[0043] In some optional embodiments, the angle is set to range from 0° to 90°.

[0044] In some optional embodiments, the angle ranges from 20° to 90°.

[0045] In some optional embodiments, 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°.

[0046] In some optional embodiments, 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.

[0047] In some optional embodiments, 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.

[0048] In some optional embodiments, the upper bottom surface of the polyhedron is the second stimulation surface for providing pseudo stimulation.

[0049] In some optional embodiments, 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, wherein the first side face is opposite to the third side face, the second side face is 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.

[0050] When the upper and lower bases of the hexahedron are parallel to each other and the shapes of the upper and lower bases 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

[0051] When the upper and lower bases of the hexahedron are parallel to each other and the shapes of the upper and lower bases are isosceles trapezoids, the shape of the cross 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

[0052] When the upper base and the lower base of the hexahedron are arranged parallel to each other and the shapes of the upper base and the lower base are isosceles trapezoids, 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.

[0053] In some optional embodiments, a holding module is connected to the third side, 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.

[0054] In some optional embodiments, 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 hemispherical surface of the hemisphere.

[0055] In some optional embodiments, the at least one stimulation surface is a side surface of a generating unit for providing energy stimulation, or

[0056] 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, and 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

[0057] The stimulation surface and all the identification surfaces together surround an inner cavity of the stimulation coil. A generating unit for providing energy stimulation is provided in the inner cavity. The generating unit provides energy stimulation to the subject through the stimulation surface.

[0058] In some optional embodiments, the energy includes at least one of electrical energy, mechanical energy, magnetic energy, light energy, chemical energy and sound energy.

[0059] The stimulation coil is a true stimulation coil or a sham stimulation coil.

[0060] In a fourth aspect, the present disclosure provides a medical trolley, wherein:

[0061] The medical trolley includes 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.

[0062] The stimulation coil is the stimulation coil described in any of the above embodiments.

[0063] In a fifth aspect, the present disclosure provides a multifunctional medical trolley, comprising:

[0064] A frame formed by riveting and welding;

[0065] At least two layers of pallets, wherein at least one of the at least two layers of pallets is fixed to the frame by riveting and welding.

[0066] In some optional embodiments, the three trays in the at least two layers of trays are fixed to the frame by riveting and welding.

[0067] In some optional embodiments, a bottom support frame is provided at the bottom of the skeleton, the bottom tray of the at least two layers of trays is provided on the bottom support frame, and a rectangular tube is welded on the back side of the bottom support frame facing away from the bottom tray, and the rectangular tube is provided near the center position of the bottom support frame.

[0068] In some optional embodiments, the at least two layers of trays are supported by corresponding frames in the skeleton.

[0069] In some optional embodiments, a bending portion is provided on the periphery of at least one of the at least two layers of trays and a reinforcing rib is provided on the back surface of at least one of the at least two layers of trays;

[0070] A stopper is provided on the periphery of the upper surface of at least one of the at least two layers of trays.

[0071] In some optional embodiments, the upper tray of the at least three trays is a PC tray, the middle tray is a TMS tray for placing TMS, and the lower tray is a liquid cooling tray for placing various liquid cooling devices. The liquid cooling tray is provided with a leakage discharge hole to prevent liquid cooling leakage.

[0072] In some optional embodiments, a thickness of at least one of the at least three trays is less than 2 mm and greater than 1 mm.

[0073] In some optional embodiments, the front side shell, the rear side shell, the left side shell and the right side shell are detachably installed around the skeleton, the bottom of the skeleton is detachably installed with a bottom shell, and the top of the skeleton is detachably installed with a top shell.

[0074] In some optional embodiments, a display assembly is provided on the top shell, and a detachable handle is provided on one side of the top shell.

[0075] In some optional embodiments, the bottom frame is provided with at least three casters, and the at least three casters protrude out of the bottom shell.

[0076] The skeleton is a cuboid or a cube,

[0077] The bottom shell is provided with an opening for allowing the rectangular tube to pass through.

[0078] In a fifth aspect, the present disclosure provides a camera trolley, the camera trolley comprising:

[0079] an arm assembly having a first end and a second end opposite the first end;

[0080] a camera assembly, the camera assembly being disposed on the first end of the arm assembly and capable of pivoting at the first end of the arm assembly;

[0081] a lifting assembly, wherein a first end of the lifting assembly is connected to the second end of the arm assembly and is capable of adjusting the height of the camera assembly through its own lifting movement;

[0082] A chassis assembly, wherein the upper end of the chassis assembly is fixedly connected to the second end of the lifting assembly opposite to the first end.

[0083] In some optional embodiments, a first pivot is provided at the first end of the arm assembly, enabling the camera assembly to pivot in the up-down and left-right directions relative to the camera trolley;

[0084] The arm assembly includes a first arm portion and a second arm portion pivotally connected to the first arm portion and capable of pivoting relative to the camera carriage in the up-down direction and the left-right direction.

[0085] In some optional embodiments, the first arm portion and the second arm portion are connected via a second pivot.

[0086] The second end of the arm assembly is connected to the first end of the lifting assembly through the arm adapter.

[0087] In some optional embodiments, the lifting assembly includes a column, a frame, a slide rail, a slider, a tension spring, a wire drawing, a track wheel, and a fixed block.

[0088] The first end of the column is connected to the arm adapter in the arm assembly, the column is fixedly connected to the frame, the slide rail is fixed to the frame, the slider is fixed to the column and slides up and down in the slide rail, the upper and lower ends of the frame are respectively provided with an upper fixed rod and a lower fixed rod, the track wheel is slidably set on the upper fixed rod, one end of the wire drawing is fixedly set on the slider, and after passing through the track wheel, it is fixedly connected to the tension spring fixed on the lower fixed rod.

[0089] The second end of the column, which is opposite to the first end, is fixedly connected to the chassis assembly via a fixing block.

[0090] In some optional embodiments, the column is provided with a plurality of height adjustment holes arranged at intervals, and a spring pin capable of being inserted into different ones of the plurality of height adjustment holes to adjust the height of the column.

[0091] In some optional embodiments, the lifting assembly further includes:

[0092] a front housing mounted on one side of the frame;

[0093] a decorative plate disposed on a surface of the front housing;

[0094] A rear housing mounted on the other side of the frame, wherein the front housing and the rear housing form a housing surrounding the frame, the columns, the slide rails, and the sliders;

[0095] A handle, the handle being snapped onto the upper snapping portion of the front housing;

[0096] The spring pin is movably arranged in the groove of the handle, and the lower end of the rear shell is also provided with a wire outlet hole that allows the data cable to be led out from the camera through the arm assembly and the lifting assembly and then out of the rear shell, and a wire protection sleeve is provided in the wire outlet hole to protect the data cable.

[0097] In some optional embodiments, the chassis assembly includes a chassis shell, a bottom plate and at least three casters.

[0098] The fixed block of the lifting assembly is fixedly connected to the chassis through the chassis shell, and the at least three casters are detachably fixed on the corresponding at least three supporting legs of the chassis shell.

[0099] In some optional embodiments, the camera assembly includes: a camera, a camera fixing member, a counterweight, an upper camera housing, and a lower camera housing.

[0100] The camera is fixed to a camera fixing member, and the camera fixing member is fixed to a lower camera shell. The counterweight is fixed to the lower camera shell. The upper camera shell and the lower camera shell are engaged with each other.

[0101] In some optional embodiments, camera foam is arranged between the camera and at least one of the camera upper shell and the camera lower shell, and the camera fixing part and the counterweight block in the camera assembly are fixed to at least one of the camera upper shell and the camera lower shell by silicone plugs and screws.

[0102] In some optional embodiments, the camera assembly further includes a camera handle mounted on the outer surfaces of the upper camera shell and the lower camera shell, and a connecting piece mounted on the camera handle and fixed on one end of the upper camera shell and the lower camera shell, and the camera assembly is connected to the arm assembly via the connecting piece.

[0103] In a sixth aspect, the present disclosure provides a positioning tool. The positioning tool includes:

[0104] Supporting body;

[0105] An identification unit provided on the supporting body and configured to be identified by a collection device at multiple viewing angles; and

[0106] A contact unit that comes into direct or indirect contact with a subject is provided on at least one end of the support body.

[0107] In some optional embodiments, the recognition unit is at least partially exposed to the effective recognition range of the acquisition device at any viewing angle.

[0108] In some optional embodiments, the recognition unit includes at least three recognition modules,

[0109] Among the at least three identification modules, at most two identification modules are arranged colinearly on the support body.

[0110] In some optional embodiments, the recognition unit includes an active recognition module and / or a passive recognition module.

[0111] The light emitted by the active identification module is displayed on at least part of the surface of the supporting body.

[0112] The passive identification module is at least partially disposed on the surface of the supporting body.

[0113] In some optional embodiments, when the recognition unit includes an active recognition module, the active recognition module is disposed inside the support body, and one or more side surfaces of the support body corresponding to the active recognition module are configured as transparent surfaces.

[0114] In some optional embodiments, the transparent surface has a texture structure for avoiding specular reflection.

[0115] In some optional embodiments, a power supply unit for supplying power to the active identification module is provided inside the support body.

[0116] The active identification module is an infrared light emitting unit.

[0117] In some optional embodiments, when the identification unit includes a passive identification module, the passive identification module is protrudingly provided on the surface of the supporting body.

[0118] In some optional embodiments, the passive identification module is fixed to the surface of the supporting body through a connecting piece.

[0119] A supporting element is provided between the passive identification module and the supporting body.

[0120] In some optional embodiments, the size of the passive identification module is larger than the width of the surface of the supporting body on the same side thereof.

[0121] In some optional embodiments, the passive identification module is a small reflective ball, and the outer diameter of the small reflective ball is larger than the width of the surface of the supporting body on the same side as the small reflective ball.

[0122] In some optional embodiments, the supporting body includes a first body, a second body and a third body, at least one identification module is respectively provided on the first body, the second body and the third body, the contact unit is provided at one end of the first body, the other end of the first body is connected to the second body and the third body, and at least two bodies among the first body, the second body and the third body are provided coplanarly with each other.

[0123] In some optional embodiments, the top of the second body and the top of the third body are each provided with an identification module.

[0124] The second body and the third body are arranged at a first angle, the second body and the first body are arranged at a second angle, and the third body and the first body are arranged at a third angle.

[0125] In some optional embodiments, the identification module on the second body and the identification module on the third body are arranged asymmetrically.

[0126] The angle range of the second angle and the third angle is set to 90° to 180°.

[0127] The first angle is set to range from 20° to 180°.

[0128] In some optional embodiments, the shape of the support body is set to an asymmetric "Y" shape.

[0129] The at least three identification modules include a first identification module, a second identification module, a third identification module and a fourth identification module. The first identification module and the second identification module are arranged side by side and at intervals on the same side of the first body, the third identification module is arranged at the top of the second body, and the fourth identification module is arranged at the top of the third body. The second body and the third body are arranged asymmetrically.

[0130] In some optional embodiments, a supporting connection member is provided between the second body and the third body, and / or

[0131] A gripping unit is provided at one end of the supporting body close to the contact unit.

[0132] In some optional embodiments, when a supporting connection member is provided between the second body and the third body, the supporting connection member is provided as a curved connection segment.

[0133] When a holding unit is provided at one end of the supporting body close to the contact unit, the holding unit is a non-reflective silicone sleeve provided at one end of the first body close to the contact unit, and the non-reflective silicone sleeve is detachably mounted on one end of the first body close to the contact unit.

[0134] In some optional embodiments, the support body is configured as a non-mirror reflective support member.

[0135] The first body, the second body and the third body are integrally formed or detachably connected.

[0136] The shape of the first body is set to be any one of a regular tetrahedron, a cylinder and a trihedron,

[0137] The shape of the second body is set to any one of a regular tetrahedron, a cylinder and a trihedron,

[0138] The shape of the third body is set to any one of a regular tetrahedron, a cylinder and a trihedron.

[0139] The shapes of any two of the first body, the second body, and the third body are set to be the same or different.

[0140] In some optional embodiments, the contact unit includes a tip portion, the shape of an end of the tip portion that directly or indirectly contacts the subject is set to be blunt, and the tip portion is integrally formed with the support body or is detachably connected.

[0141] In some optional embodiments, the tip portion includes at least two tip segments detachably connected to each other.

[0142] The tip is set to a transparent silicone pen tip.

[0143] The contact unit further includes a pen head provided with a cavity for accommodating a tip portion, wherein the tip portion is detachably and partially disposed in the pen head.

[0144] In some optional embodiments, a groove or vent hole is provided on the inner wall of the pen tip near the cavity for connecting the cavity with the outside world.

[0145] When the contact unit only includes a detachable tip portion, the support body is provided with an inner cavity for accommodating the tip portion, and a groove or vent hole is provided at one end of the support body close to the tip portion to connect the inner cavity with the outside.

[0146] The pen tip is integrally formed with the supporting body or is detachably connected.

[0147] In a seventh aspect, the present disclosure provides a positioning system. The positioning system includes:

[0148] control equipment;

[0149] Acquisition equipment, connected to the control equipment signal; and

[0150] The positioning tool recognized by the acquisition device is the positioning tool described in the above aspects.

[0151] Specifically, the positioning system further includes a foot switch for sending a signal to the control device when the positioning tool is registered, and the foot switch is connected to the control device by wire or wirelessly, or

[0152] A control button connected to the positioning system signal is provided on the supporting body of the positioning tool.

[0153] In an eighth aspect, the present disclosure provides a medical system,

[0154] The medical system includes:

[0155] A multifunctional medical trolley, wherein the multifunctional medical trolley is configured as any of the multifunctional medical trolleys described above:

[0156] a stimulation coil, wherein the stimulation coil is configured as any one of the stimulation coils described above, and signals can be transmitted between the stimulation coil and the multifunctional medical trolley; and

[0157] A camera trolley is configured as any one of the above-mentioned camera trolleys, wherein a camera on the camera trolley tracks and positions the stimulation coil.

[0158] When in use, the camera on the camera trolley identifies the stimulation coil, and the camera transmits data of the identified stimulation coil to the multifunctional medical trolley to track and position the stimulation coil.

[0159] In some optional embodiments, when the camera is a structured light camera, the medical system further includes a recognition module, and the recognition module is configured as any one of the above-mentioned recognition modules;

[0160] When in use, the camera on the camera trolley recognizes the identification module, and the camera transmits data of the recognized identification module to the multifunctional medical trolley to track and locate the identification module and / or register the stimulation coil.

[0161] In some optional embodiments, when the camera is an infrared camera, the medical system further comprises a positioning tool, wherein the positioning tool is configured as any one of the positioning tools described above.

[0162] When in use, the camera on the camera trolley recognizes the positioning tool, and the camera transmits data of the recognized positioning tool to the multifunctional medical trolley to register the stimulation coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0163] The accompanying drawings generally illustrate various embodiments discussed herein by way of example and not limitation. Other features, objects, and advantages of the present disclosure will become more apparent from a reading of the following detailed description of non-limiting embodiments made with reference to the accompanying drawings.

[0164] FIG1 shows a front view of an identification module according to one embodiment of the present disclosure;

[0165] FIG2 shows a schematic structural diagram of the identification module shown in FIG1 installed on an identification tool;

[0166] FIG3 is a schematic structural diagram of a modified example of the identification module shown in FIG2 ;

[0167] FIG4 shows a schematic structural diagram of the recognition module shown in FIG3 from another perspective;

[0168] FIG5 shows a schematic structural diagram of an identification module installed on an identification tool according to another embodiment of the present disclosure;

[0169] FIG6 shows a schematic diagram of a recognition pattern on a recognition module according to yet another embodiment of the present disclosure;

[0170] FIG7 shows a schematic diagram of the three-dimensional structure of a stimulation coil according to another embodiment of the present disclosure;

[0171] FIG8A shows a schematic diagram of the structure in which the recognition surface shown in FIG7 is in a checkerboard pattern;

[0172] FIG8B shows a schematic structural diagram of the stimulation surface shown in FIG7 when it is set at an angle;

[0173] FIG9 is a schematic diagram showing a three-dimensional structure of a first variation of the stimulation coil shown in FIG7 ;

[0174] FIG10 is a schematic diagram showing a three-dimensional structure of a second modified example of the stimulation coil shown in FIG7 ;

[0175] FIG11 is a schematic diagram showing a three-dimensional structure of a third modified example of the stimulation coil shown in FIG7 ;

[0176] FIG12 is a schematic structural diagram of a fourth modified example of the stimulation coil shown in FIG7 ;

[0177] FIG13 shows a side structural schematic diagram of a medical trolley according to another embodiment of the present disclosure;

[0178] FIG14 shows an exploded view of a multifunctional medical trolley according to another embodiment of the present disclosure;

[0179] FIG15 shows a partial structural diagram of at least one layer of trays of a multifunctional medical trolley according to another embodiment of the present disclosure;

[0180] FIG16 shows a partial rear view of a multifunctional medical trolley according to another embodiment of the present disclosure;

[0181] FIG17 shows a schematic structural diagram of a bottom support frame and rectangular tubing of a multifunctional medical trolley according to another embodiment of the present disclosure;

[0182] FIG18 shows a schematic perspective structural diagram of a camera trolley according to another embodiment of the present disclosure;

[0183] FIG19 shows an exploded view of the camera trolley shown in FIG18 ;

[0184] FIG20 shows an exploded view of the camera assembly shown in FIG18 ;

[0185] FIG21 shows a schematic structural diagram of a positioning tool according to another embodiment of the present disclosure;

[0186] FIG22A is a schematic structural diagram showing another modified embodiment of the support body shown in FIG21 ;

[0187] FIG22B is a schematic structural diagram showing another modified embodiment of the contact unit shown in FIG22A;

[0188] FIG23 is a schematic structural diagram of another modified embodiment of the support body shown in FIG21;

[0189] FIG24 is a schematic diagram showing a partial structure of the contact unit shown in FIG23;

[0190] FIG25 shows a schematic diagram of the three-dimensional structure of the positioning tool shown in FIG23;

[0191] FIG26 is a schematic diagram showing the three-dimensional structure of a positioning tool according to another modified embodiment shown in FIG21 ;

[0192] FIG27 shows a schematic structural diagram of a medical system according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0193] In order to be able to understand the characteristics and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. The present disclosure provides an identification module, an identification tool, a stimulation coil, a multifunctional medical trolley, a camera trolley, a positioning tool, a positioning system and a medical system. Through the identification module, the identification tool, the stimulation coil, the multifunctional medical trolley, the camera trolley, the positioning tool, the positioning system and the medical system, it is possible to locate and track the target of a subject suffering from diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorder, epilepsy, Alzheimer's disease, brain injury, or the part that needs to be tracked and located, and / or it is possible to regulate the target and / or nerves of the subject.

[0194] Referring to FIG1 , an embodiment of the present disclosure provides an identification module 100 comprising an identification body 10 and an identification pattern 20. In one example, the identification module 100 further comprises a guide and positioning unit 30 and other components. As shown in FIG2 and FIG3 , the identification module 100 can be a calibration module for calibration and registration (as shown in FIG2 ) or a positioning module for navigation, positioning, and real-time tracking (as shown in FIG5 ).

[0195] 2 , which shows a schematic structural diagram of an identification module 100 (ie, a calibration module) according to an embodiment of the present disclosure installed on an identification tool 200 .

[0196] The present disclosure can locate and track the target of a subject suffering from diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorder, epilepsy, Alzheimer's disease, brain injury, or the like, or the part that needs to be tracked and located, through the recognition module 100 and the recognition tool 200. For example, the camera can navigate and locate, and track (for example, in real time) the target of the subject or the part that needs to be located and tracked by recognizing the recognition module 100 or the recognition tool 200. When the recognition module 100 is installed on a stimulation coil (for example, an electrical stimulation coil, a magnetic stimulation coil), the stimulation coil (for example, the stimulation coil 1100 described in detail below) and / or the regulated part of the subject can be registered, or real-time navigation (for example, the placement position, direction, distance, etc. of the recognition module 100 and the recognition tool 200) can be performed during target stimulation or neural regulation.

[0197] Specifically, the identification body 10 has at least two connected side surfaces, including a first side surface 11 and a second side surface 12 connected to the first side surface 11. The identification pattern 20 is disposed on the first side surface 11 of the identification body 10; the guide and positioning portion 30 is disposed on the second side surface 12 of the identification body 11. In one example, the cross-section of the identification body is L-shaped. Of course, those skilled in the art can also configure it to other existing shapes as long as it can be installed and connected to the identification tool and recognized by the camera.

[0198] As shown in FIG1 , the number of the guide positioning parts 30 is at least one. As shown in the figure, the number of the guide positioning parts 30 is 1, and can also be set to 3. Of course, the number is not limited, and those skilled in the art can choose according to needs.

[0199] In one example, the guide positioning portion 30 is a protruding structure, and the second side surface 12 cooperates with a concave structure (not shown) on the surface of the identification tool 200 through the protruding structure.

[0200] It should be noted that the identification tool 200 and the identification module 100 can be integrally formed, eliminating the need for parts to fit together and reducing errors during assembly. Alternatively, the identification tool 200 and the identification module 100 can be configured as two detachable or separable components. However, during use, it is necessary to ensure that the identification module 100 and the identification tool 200 are tightly fitted.

[0201] The role of the raised structure is to guide positioning, and it needs to be designed in conjunction with the concave structure on the recognition tool 200 (i.e., the object to be calibrated). The role of the recognition pattern 20 on the calibration module is to establish the posture relationship between the camera coordinate system and the recognition tool 200. Since the position of the recognition pattern 20 on the recognition tool 200 is determined during the design phase of the recognition tool 200 and is unique, by determining the spatial mapping relationship (e.g., posture relationship) between the camera coordinate system and the recognition pattern coordinate system, the spatial mapping relationship (e.g., posture relationship) between the camera coordinate system and the recognition module 100 (i.e., the calibration module) can be determined, thereby achieving the effect of calibration of the recognition module 100 (see Figure 2). In one example, the recognition pattern 20 can be arranged according to a preset layout, such as a checkerboard pattern, a grid pattern, etc., which is not limited here.

[0202] Referring to Figures 3 and 4 , a modified example of the identification module of the present disclosure is shown. The identification module is a calibration module used for registration and calibration. In the identification module 300, a black background portion 310 and a white foreground portion 320 are provided on the first side 301. The white foreground portion 320 is arranged in a predetermined pattern, such as an asymmetric speckled pattern. The cross-section of the identification body of the identification module 300 can also be configured as an L-shape 330. This L-shape 330 reduces weight while ensuring that strength is not compromised.

[0203] In one example, a positioning step reference surface 340 is provided on the second side surface 302 of the identification module 300. This step reference surface 340 is designed to address the uneven plastic surface of the positioning coil. The identification module 300's guiding and positioning portion is a positioning guide post 350 disposed on this step reference surface 340. The positioning guide post 350 provides a guiding and positioning function, mating with the positioning pin hole or recessed structure of the positioning coil to ensure precise positioning.

[0204] Furthermore, the inner side surface of the identification module 300 is provided with at least one reinforcing rib 360 adapted to the cross-sectional shape of the identification module 300. The reinforcing rib 360 is used to ensure its strength and stability and prevent deformation during processing. The second side surface 302 of the identification module 300 is provided with a locking hole 370. The locking hole 370 is used for locking, ensuring that calibration can be completed in a single operation and high efficiency.

[0205] During the processing of the identification module 300, it is necessary to ensure that the black positioning surface 310, the white circular identification pattern 320, the positioning step reference surface 340 and the positioning guide column 350 are formed by 4-axis CNC processing at one time, and the cutting depth during rough processing should not be too large to avoid internal stress.

[0206] Currently, transcranial magnetic therapy equipment and medical navigation equipment are widely used in clinical regulation. They output a changing magnetic field through a specific coil, and induce induced current in the corresponding area of ​​the human head through the changing magnetic field to regulate the human brain nerves or functional networks.

[0207] Medical navigation requires the use of magnetic stimulation coils. Currently, most navigation systems use reflective ball positioning in conjunction with coils, requiring infrared cameras. However, infrared cameras are generally expensive and easily affected by other reflective objects. Coil positioning technology combined with RGB cameras lacks a robust method for coil positioning. Furthermore, current RGB coil positioning technology makes it difficult to maintain a consistent positioning range using a single positioning pattern in scenarios where the coil requires rotation.

[0208] In actual use, there is no effective method for coil positioning in conjunction with RGB cameras. Furthermore, in current RGB coil positioning technology, when the coil needs to rotate, a single positioning pattern is difficult to ensure the positioning range.

[0209] Therefore, referring to FIG5 , another embodiment of the present disclosure provides an identification module 100 as an example of a positioning module. The identification module 100, when assembled with an identification tool 200, supports RGB camera positioning, ensuring that the RGB camera can see a wider range while also enabling magnetic stimulation. The number of identification modules 100 is set to at least two, so that an identification tool 200 equipped with at least two identification modules 100 can support the camera's positioning function while also increasing the range of its recognition capability.

[0210] Those skilled in the art will understand that the identification module 100 can also be set to at least two, and of course it can also be set to include two integrally formed identification parts, that is, the identification module can be set to one, and the identification module 100 can include an integrally formed first identification part (not shown) and a second identification part (not shown), and the first identification part and the second identification part are arranged at an angle (for example, an obtuse angle) to each other. Of course, the identification module 100 can also be set to 2, 3 or more, each identification module 100 is an identification part, and the two identification modules are separated from each other (as shown in Figure 5), for example, the identification module on the left and the identification module on the right as shown in Figure 5 are separated from each other. Of course, when the identification module 100 is at least two identification modules, at least one identification module among all the identification modules can include two identification parts.

[0211] The number of identification modules can be set to 1, 2, 3 or more according to actual needs by those skilled in the art. In one example, two adjacent identification modules 100 are arranged at an angle, and preferably, two adjacent positioning modules are arranged at an obtuse angle.

[0212] Each identification module 100, serving as a positioning module, also has an identification body 10 with at least two connected side surfaces. These two connected side surfaces include a first side surface (the side with the identification pattern, as shown in Figure 3 and described in detail below) and a second side surface connected to the first side surface, which is used to connect to an identification tool. The identification pattern 20 is provided on the first side surface 21 of the identification body 10 of the positioning module; the guide positioning portion 30 is provided on the second side surface of the identification body 10 of the positioning module.

[0213] The number of the guide and positioning portion 30 is at least one. As shown in FIG3 , the number of the guide and positioning portion 30 is four. Those skilled in the art will appreciate that, when the guide and positioning portion 30 is not provided, the identification module 100 and the identification tool can be integrally formed. The number of guide and positioning portions 30 is not limited, and those skilled in the art can select the desired number.

[0214] In one example, the guide positioning portion 30 is a raised structure, and the second side of the positioning module cooperates with the concave structure (not shown) on the surface of the identification tool 200 through the raised structure. It should be noted that the identification tool 200 and the identification module 100 serving as the positioning module can be formed using an integrated molding technology, so that there is no need for parts to fit between them, thereby reducing the error of the tool during assembly. Alternatively, the identification tool 200 and the identification module 100 can also be configured as two detachable or separable components. However, during use, it is necessary to ensure that the identification module 100 and the identification tool 200 are tightly fitted. The role of the raised structure is to guide positioning, and it needs to be designed in conjunction with the concave structure on the identification tool 200 (i.e., the object to be tracked and positioned).

[0215] In this embodiment, the recognition tool is a magnetic stimulation coil. When the magnetic stimulation coil is integrated with the recognition module 100, the magnetic stimulation coil can simultaneously have both positioning and stimulation functions. One surface of the coil is used as the stimulation surface, and the other surface is used for positioning, that is, positioning and tracking are achieved through the recognition module. In one example, the recognition pattern 20 is arranged on the first side for camera recognition, positioning and tracking. The recognition pattern 20 has the functions of recognition and positioning, and can be arranged according to a preset layout, such as a checkerboard pattern, a grid pattern, etc., which is not limited here.

[0216] In one embodiment, as shown in conjunction with Figures 1 to 6, whether the recognition module 100 is used as a calibration module for registration calibration or as a positioning module for positioning tracking, the recognition pattern 20 thereon includes a background portion 21 provided on a first positioning module in the positioning module and a foreground portion 22 arranged on the background portion 21, and a background portion 23 provided on a second positioning module in the positioning module and a foreground portion 24 arranged on the background portion 23. The background portion 21 can be set to black and the foreground portion 22 can be set to white, and the background portion 23 can be set to white and the foreground portion 24 can be set to black.

[0217] Those skilled in the art will appreciate that the grayscale difference between the background and foreground can range from 1 to 255. Of course, a larger difference between the background and foreground colors facilitates camera recognition. Therefore, the grayscale difference between the background and foreground colors can be within the aforementioned range and is not limited here.

[0218] Those skilled in the art can also understand that in order to facilitate the camera to distinguish adjacent positioning modules, the colors of the background parts between adjacent positioning modules can be set to different, and of course the colors of the foreground parts between adjacent positioning modules can also be set to different, and of course both the background and foreground parts between adjacent positioning modules can also be set to different.

[0219] Since the identification tool 200 is a magnetic stimulation coil, it is used in combination with the identification module 100 to enable the positioning coil to have a positioning function that can be identified. As shown in Figure 5, the cross-section of the identification body 10 can be set to an acute triangle, and the bottom surface (i.e., the second side surface) opposite to the acute angle is set on the surface of the magnetic stimulation coil. In other words, the shape of the identification body 10 is set to be wedge-shaped, and its thickness changes from thick to thin, and the thicker end is fixed to the identification tool 200. Of course, those skilled in the art can also set it to other existing shapes, as long as it can be installed and connected with the identification tool and recognized by the camera.

[0220] In one example, the identification module 100 and the magnetic stimulation coil 200 can be made of non-metallic materials, and they can be provided as separate or integrated parts. Preferably, the housings of the identification module 100 and the magnetic stimulation coil 200 are made of non-metallic materials.

[0221] 2 and 3 , according to another embodiment, an identification tool 200 is provided, which includes an identification tool body 210 , and a mating portion (not shown) is provided on one surface of the identification tool body 210 for mating with the guide positioning portion of the identification module 100 or the identification module 300 .

[0222] During use, when the identification tool needs to be calibrated and registered, an identification module 100 for calibration and registration is installed on the identification tool body 210, such as the identification module 100 shown in Figures 2-4. After the identification tool has been calibrated and registered and the spatial mapping relationship between the identification tool body and the camera is established, the identification tool as shown in Figure 5 can be used, or the identification module as shown in Figure 5 can be installed on the identification tool body, or the calibration module on the identification tool (for example, the identification module 100 shown in Figure 2) is replaced with a positioning module (for example, the identification module 100 shown in Figure 5).

[0223] As described above, the identification tool body 210 can be a magnetic stimulation coil, which can be a device having a magnetic stimulation generating unit (e.g., a component that can output magnetic energy), or a positioning coil without a magnetic stimulation generating unit. One surface of the magnetic stimulation coil body is a surface of the magnetic stimulation coil opposite to the stimulation surface. Of course, the identification tool body 210 can also be configured as any suitable body that does not have a positioning coil or a magnetic stimulation coil.

[0224] Of course, those skilled in the art can also set the identification tool body 210 as a shell, which can accommodate any of the above-mentioned forms of magnetic stimulation coils. The shape of the identification tool body is consistent with the shape of the magnetic stimulation coil, and the shell and the magnetic stimulation coil are connected in a detachable manner. That is to say, when magnetic stimulation is required, the shell can be assembled with the magnetic stimulation coil and the magnetic stimulation coil can be installed in the shell. One surface of the shell is a surface opposite to the stimulation surface (i.e., the side that outputs magnetic energy).

[0225] The identification module and identification tool provided by the present disclosure have at least one or at least part of the following advantages:

[0226] (1) The identification module and identification tool provided by the present disclosure adopt an integrated processing and molding technology, and have high precision;

[0227] (2) The identification module and identification tool provided by the present disclosure can be calibrated in just one operation, which is highly efficient;

[0228] (3) The identification module and identification tool provided by the present disclosure reduce human errors. By providing a protruding structure on the magnetic stimulation coil and a recessed structure on the magnetic stimulation unit, the two form a matching relationship, and the chamfers of the two components have a guiding positioning function, thereby achieving precise positioning.

[0229] Referring to FIG7 , a stimulation coil 1100 according to one embodiment of the present disclosure is shown. The stimulation coil 1100 includes at least one stimulation surface 1010 for providing energy stimulation and at least one identification surface 1020 for a camera (not shown) to identify the stimulation coil 1100. All of the at least one identification surface 1020 are arranged around the at least one stimulation surface 1010 or at an angle to the at least one stimulation surface 1010. In one example, the number of stimulation surfaces 1010 can be one, two, three, or more. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present disclosure. In one example, the number of identification surfaces 1020 can be one, two, three, or more. The number of identification surfaces can be the same as or different from the number of stimulation surfaces. The number of identification surfaces can be less than or greater than the number of stimulation surfaces, without limitation. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present disclosure.

[0230] In one example, energy includes electrical energy, mechanical energy, magnetic energy, light energy, chemical energy, and sound energy, etc. In one example, the energy stimulation may be provided by the stimulation surface 1010 itself, for example, when the stimulation surface is a side surface of a generating unit (not shown) that generates energy stimulation, for example, when a metal wire (e.g., iron wire, iron core) is arranged (e.g., embedded) on the stimulation surface.

[0231] In one example, when the energy is at least one of mechanical energy, acoustic energy, and light energy (e.g., one or any combination thereof), the stimulation coil 1100 can be designed as a pseudo stimulation coil. The pseudo stimulation coil is used to simulate the sound, vibration, etc. emitted by a real stimulation coil.

[0232] In one example, the sham stimulation coil can be used in research work in neuromodulation, such as animal experimental research, such as using the control variable method to conduct comparative experiments.

[0233] In one example, when the energy is at least one of electrical energy, magnetic energy, mechanical energy, light energy, chemical energy, and acoustic energy (e.g., one or any combination thereof), the stimulation coil 1100 can be designed as a true stimulation coil. The stimulation coil can regulate the subject's nerves or target points using the aforementioned energy.

[0234] In one example, electrical energy, magnetic energy, mechanical energy, light energy, chemical energy, and acoustic energy can be converted into one another. For example, mechanical energy can be converted into at least one of electrical energy, magnetic energy, and light energy, and chemical energy can be converted into at least one of electrical energy, magnetic energy, and light energy. Those skilled in the art can perform the conversion of energy into one another as needed for practical applications, thereby achieving the purpose of regulating a subject's nerves and / or targets through energy.

[0235] The present disclosure can locate and track the target of a subject suffering from diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorder, epilepsy, Alzheimer's disease, brain injury, or the part that needs to be tracked and located through the stimulation coil 1100. For example, the camera can register the stimulation coil 1100 and / or the regulated part of the subject by identifying the recognition surface 1010, and can also navigate and locate, track (for example, real-time tracking) the target of the subject or the part that needs to be located and tracked, or perform real-time navigation during the neural regulation process (for example, the placement position, direction and distance of the stimulation coil 1100, etc.). When the stimulation coil 1100 is a true stimulation coil, the target of the subject can be stimulated or the nerves of the subject can be regulated through the stimulation surface 1010. In one example, a generating unit is provided in the inner cavity of the stimulation coil 1100, and the stimulation surface 1010 is provided close to 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, an acoustic wave generator, or a component that generates 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.

[0236] 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.

[0237] In one embodiment, as shown in FIG7 , the stimulation coil 1100 is a polyhedron formed by a stimulation surface 1010 and multiple identification surfaces 1020. It will be appreciated by those skilled in the art that the stimulation coil 1100 may also include, for example, two stimulation surfaces 1010. These two stimulation surfaces may be disposed opposite each other, and both may serve as true stimulation surfaces, or one may serve as a true stimulation surface and the other as a sham stimulation surface. Alternatively, both may serve as sham stimulation surfaces. The bottom surface of the polyhedron serves as the stimulation surface 1010, and at least two side surfaces of the polyhedron serve as identification surfaces 1020.

[0238] In one example, the polyhedron is a hexahedron. Of course, those skilled in the art can design the stimulation coil as a prism, a frustum, a cone, a pyramid, a cuboid, a regular octahedron, a regular dodecahedron, or the like. This example is merely illustrative and should not be construed as a limitation of the present disclosure. With this design, the recognition surface of the stimulation coil is positioned around the stimulation surface, reducing tooling errors and ensuring recognition and tracking accuracy.

[0239] As shown in conjunction with Figures 7-10, preferably, the stimulation coil 1100 includes a lower bottom surface (first bottom surface) 1010', an upper bottom surface (second bottom surface) 1011, a first side surface 1021, a second side surface 1022, a third side surface 1023, and a fourth side surface 1024. The first side surface 1021 is designed to be the front face of the stimulation coil 1100, i.e., the identification surface generally used for camera recognition. The first side surface 1021 is disposed opposite the third side surface 1023, and the second side surface 1022 is disposed opposite the fourth side surface 1024. The first side surface 1021 is adjacent to the second side surface 1022 and the fourth side surface 1024, respectively. Part or all of the first side surface 1021, part or all of the second side surface 1022, and part or all of the fourth side surface 1024 are configured as identification surfaces. That is, the first side surface 1021 is a first identification surface or the first side surface 1021 is provided with an identification surface 1020, the second side surface 1022 is a second identification surface or the second side surface 1022 is provided with an identification surface 1020, and the fourth side surface 1024 is a third identification surface or the fourth side surface 1024 is provided with an identification surface 1020. Through the design of multiple identification surfaces, when the first side surface 1021 of the stimulation coil 1100 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 1100 through the second side surface 1022 and / or the fourth side surface 1024. Of course, when the second side surface 1022 of the stimulation coil 1100 is located in the blind spot or outside the field of view of the camera, the camera can also identify and locate the stimulation coil 1100 through the first side surface 1021 and / or the fourth side surface 1024. Through such a design, when one or both sides of the stimulation coil 1100 are located in the blind spot or outside the field of view of the camera, the camera can still identify and locate the stimulation coil 1100 through the additional identification surface, thereby increasing the range in which the stimulation coil 1100 can be tracked and located (or relatively increasing the camera's identification range).

[0240] That is to say, as long as at least one identification surface 1020 among the multiple identification surfaces is within the field of view of the camera or in the bright area of ​​the camera (i.e., non-blind area or visible area), the camera can identify and locate the stimulation coil 1100.

[0241] Of course, those skilled in the art will understand that only the first side 1021 and the second side 1022 or the first side 1021 and the fourth side 1024 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 disclosure, and are not intended to limit the position, order or number of the 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 they will not be described one by one here. This example is merely an illustrative example and should not be understood as a limitation of the present disclosure.

[0242] In one embodiment, as shown in Figures 8A and 8B, a pattern 1025 for camera recognition is provided on the recognition surface 1020. The pattern 1025 includes a background portion 1251 and a plurality of recognition units 1252. The plurality of recognition units 1252 are all provided on the background portion 1251. The number of recognition units 1252 can be set to 3, 10, or more. In one example, the background portion 1251 is a single color background, that is, a solid color background. The color of the recognition unit 1252 is different from that of the background portion 1251. Those skilled in the art will understand that the color of the recognition unit 1252 can be one or more. For example, when identification and positioning are performed using multiple colors, the multiple recognition units 1252 can be designed to be different colors from each other. Of course, those skilled in the art will understand that the multiple recognition units 1252 can be designed to be the same color.

[0243] In one example, the difference between the grayscale value of the grayscale image corresponding to the color of the background portion 1251 and the grayscale value of the grayscale image corresponding to the color of the recognition unit 1252 ranges from 1 to 255. Preferably, the difference ranges from 5 to 255. More preferably, the color of the background portion 1251 is designed to be white (i.e., a grayscale value of 0), and the colors of all the recognition units 1252 are designed to be black (i.e., a grayscale value of 255). Of course, those skilled in the art may also design the color of the background portion 1251 to be black and the colors of all the recognition units 1252 to be white, or may also design the color of the background portion 1251 to be yellow and the colors of all the recognition units 1252 to be red. In other words, as long as the color of the background portion 1251 and the color of the recognition unit 1252 form a color contrast, the camera can easily identify the recognition unit to be recognized. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present disclosure.

[0244] In one example, multiple recognition units 1252 are arranged on the background portion 1251 in a certain pattern. For example, multiple recognition units 1252 can be arranged in a five-pointed star shape, a triangle shape, etc. In one example, multiple recognition units 1252 are the same shape as each other, such as a circle, a five-pointed star shape, a triangle shape, or other patterns as recognition units. Of course, those skilled in the art will understand that multiple recognition units 1252 may not be the same shape as each other. For example, two recognition units can be grouped together, and the two recognition units can be of different shapes. Then, the group of recognition units can be repeatedly arranged according to a certain pattern. Of course, three or five recognition units can also be grouped together and repeatedly arranged according to a certain pattern.

[0245] In one example, the plurality of identification units 1252 may cover the entire background portion 1251 , or may be arranged only in the center and around the edges of the background portion 1251 .

[0246] In one example, the background portion 1251 can be designed in a rectangular, square, circular, trapezoidal, or other polygonal shape. The background portion 1251 can be in the shape of the recognition surface 1020 or other shapes. The background portion 1251 can be arranged as the entire recognition surface 1020 or a portion of the recognition surface 1020.

[0247] In one example, the multiple recognition units 1252 are each designed to be circular, and the background portion 1251 is designed to be square. The multiple recognition units 1252 are arranged in an array on the background portion 1251, for example, in a checkerboard pattern on the background portion 1251. Of course, those skilled in the art may design the background portion 1251 to be arranged in a square array or a circular array.

[0248] In one example, the patterns 1025 on all identification surfaces 1020 are identical. For example, the patterns 1025 on the first side 1021, the second side 1022, and the fourth side 1024 are all designed with a black square background portion 1251 and white circular identification units 1252 in a checkerboard pattern (as shown in FIG8A ).

[0249] In one embodiment, all the identification surfaces 1020 form an angle with the stimulation surface 1010, and the angle range is set to 0° to 90°. Preferably, the angle range is set to 20° to 90°. In one example, in combination with Figures 7 and 9 to 12, the lower bottom surface 1010' and the upper bottom surface 1011 are designed to be parallel to each other and the shapes are all set to be rectangular (including square) or trapezoidal, the first side 1021, the second side 1022, the third side 1023 and the fourth side 1024 are all designed to be trapezoidal (for example, an isosceles trapezoid), and the first side 1021, the second side 1022, the third side 1023 and the fourth side 1024 are all designed to be at an angle of 30° with the stimulation surface 1010 (which is provided on the lower bottom surface 1010', being part of or all of the lower bottom surface 1010'). The shape of the cross section along the longitudinal direction of the stimulation coil 1100 (the AA line direction shown in FIG7 ) is an isosceles trapezoid, and the shape along the longitudinal direction of the stimulation coil 1100 (the BB line direction shown in FIG7 ) is an isosceles trapezoid.

[0250] In one example, as shown in FIG7 , the lower base 1010 ′ and the upper base 1011 are designed to be parallel to each other and are both shaped as isosceles trapezoids. The first side 1021 , the second side 1022 , the third side 1023 , and the fourth side 1024 are all designed as isosceles trapezoids. The first side 1021 , the second side 1022 , the third side 1023 , and the fourth side 1024 are all designed to be isosceles trapezoids. The first side 1021 , the second side 1022 , the third side 1023 , and the fourth side 1024 are all designed to be at an angle of 75° to the stimulation surface 1010 (which is provided on the lower base 1010 ′ and is a portion or the entirety of the lower base 1010 ′). The cross-section along the longitudinal direction of the stimulation coil 1100 (as shown in the direction of line AA in FIG7 ) is an isosceles trapezoid, and the cross-section along the longitudinal direction of the stimulation coil 1100 (as shown in the direction of line BB in FIG7 ) is an isosceles trapezoid.

[0251] In one example, as shown in FIG9 , stimulation coil 1101 is a first variation of stimulation coil 1100 . Stimulation coil 1101 includes a lower bottom surface (first bottom surface) 1010 ′, an upper bottom surface (second bottom surface) 11 , a first side surface 1021 , a second side surface 1022 , a third side surface 1023 , and a fourth side surface 1024 . First side surface 1021 is designed to be the front face of stimulation coil 1101 , i.e., the recognition face typically recognized by a camera. First side surface 1021 is disposed opposite third side surface 1023 , second side surface 1022 is disposed opposite fourth side surface 1024 , and first side surface 1021 is adjacent to second side surface 1022 and fourth side surface 1024 , respectively. Thus, first side surface 1021 , second side surface 1022 , and fourth side surface 1024 are all recognition faces. Specifically, first side surface 1021 is a first recognition face, second side surface 1022 is a second recognition face, and fourth side surface 1024 is a third recognition face. The lower bottom surface 1010' and the upper bottom surface 1011 are designed to be parallel to each other and are each designed to be an isosceles trapezoid. The first side surface 1021, the second side surface 1022, the third side surface 1023, and the fourth side surface 1024 are each designed to be an isosceles trapezoid. The first side surface 1021, the second side surface 1022, and the third side surface 1023 are each designed to form a 75° angle with the stimulation surface 1010 (i.e., the lower bottom surface 1010'), and the fourth side surface 1024 is designed to form a 90° angle with the stimulation surface 1010 (i.e., the lower bottom surface 1010'). The cross-section along the longitudinal direction of the stimulation coil 1101 (as shown in the direction of line AA in FIG9 ) is a right-angled trapezoid, and the cross-section along the longitudinal direction of the stimulation coil 1101 (as shown in the direction of line BB in FIG9 ) is an isosceles trapezoid.

[0252] In one example, as shown in FIG10 , stimulation coil 1102 is a second variation of stimulation coil 1100 . Stimulation coil 1102 includes a lower bottom surface (first bottom surface) 1010 ′, an upper bottom surface (second bottom surface) 11 , a first side surface 1021 , a second side surface 1022 , a third side surface 1023 , and a fourth side surface 1024 . First side surface 1021 is designed as the front face of stimulation coil 1102 , i.e., the identification surface typically provided for camera recognition. First side surface 1021 is disposed opposite third side surface 1023 , while second side surface 1022 is disposed opposite fourth side surface 1024 . First side surface 1021 is adjacent to second side surface 1022 and fourth side surface 1024 , respectively. Part or all of first side surface 1021 , part or all of second side surface 1022 , and part or all of fourth side surface 1024 are configured as identification surfaces. Specifically, first side surface 1021 serves as the first identification surface, second side surface 1022 serves as the second identification surface, and fourth side surface 1024 serves as the third identification surface. The lower bottom surface 1010' and the upper bottom surface 1011 are designed to be parallel to each other and are both shaped as isosceles trapezoids. The first side surface 1021, the second side surface 1022, the third side surface 1023, and the fourth side surface 1024 are all designed to be rectangular (including square), and the first side surface 1021, the second side surface 1022, the third side surface 1023, and the fourth side surface 1024 are all designed to form a 90° angle with the stimulation surface 1010 (which is provided on the lower bottom surface 1010' and is a part or all of the lower bottom surface 1010'). The cross-section along the longitudinal direction of the stimulation coil 1102 (the direction of line AA as shown in Figure 10) is rectangular (including square), and the cross-section along the longitudinal direction of the stimulation coil 1102 (the direction of line BB as shown in Figure 10) is rectangular (including square).

[0253] In one example, as shown in FIG11 , the stimulation coil 1103 is a third variation of the stimulation coil 1100 , and the stimulation coil 1103 is generally triangular prism-shaped. The stimulation coil 1103 includes a lower bottom surface (first bottom surface) 1010 ′, an upper bottom surface (second bottom surface) 1011 , a first side surface 1021 , a second side surface 1022 , and a third side surface 1023 . The first side surface 1021 and the second side surface 1022 are both the front surfaces of the stimulation coil 1103 , i.e., the identification surfaces typically provided for camera recognition. Part or all of the first side surface 1021 and part or all of the second side surface 1022 are provided as identification surfaces. That is, the first side surface 1021 is the first identification surface, or the first side surface 1021 is provided with the identification surface 1020 , and the second side surface 1022 is the second identification surface, or the first side surface 1021 is provided with the identification surface 1020 . The lower bottom surface 1010' and the upper bottom surface 1011 are designed to be parallel to each other and are generally triangular in shape. The first side surface 1021, the second side surface 1022, and the third side surface 1023 are all designed to be quadrilaterals (for example, rectangles, squares), and the first side surface 1021 and the second side surface 1022 are designed to be at an angle of 75° to 85° (preferably 75°) with the stimulation surface 1010 (which is arranged on the lower bottom surface 1010' and is part of or all of the lower bottom surface 1010'), and the third side surface 1023 is designed to be at an angle of 90° with the stimulation surface 1010.

[0254] In one example, as shown in FIG12 , the stimulation coil 1104 is a fourth variation of the stimulation coil 1100 , wherein the stimulation coil 1104 is configured as a hemisphere, the at least one stimulation surface 1010 is the bottom surface of the hemisphere, and the at least one identification surface 1020 is disposed on the hemispherical surface of the hemisphere. In other words, one, two, or more identification surfaces can be disposed on the hemispherical surface. Those skilled in the art can select according to actual needs. When the identification surface is disposed directly above the stimulation surface, the angle between the stimulation surface and the identification surface can be regarded as 0°.

[0255] That is, the angles formed between the identification surfaces 1020 of the stimulation coil 1100 (including its modified shapes, such as the stimulation coils 1101-1104) and the stimulation surface 1010 can be the same or different. Those skilled in the art can design according to actual needs.

[0256] In one example, as shown in FIG8B , the at least one stimulation surface includes a first stimulation surface 1111 and a second stimulation surface 1112, and the first stimulation surface 1111 and the second stimulation surface 1112 form an angle, and the range of the angle is set to 0 to 180°. As shown in FIG9 to FIG12 , the upper bottom surface 1011 of the polyhedron is a pseudo stimulation surface for providing pseudo stimulation. In other words, the lower bottom surface 1010 'is a true stimulation surface (i.e., stimulation surface 1010). For example, in a double-blind scenario, the appearance of the pseudo stimulation surface and the true stimulation surface remains consistent, one bottom surface is the true stimulation surface, and the other surface is used as a pseudo stimulation surface.

[0257] In one embodiment, as shown in Figures 7, 9, and 12, a gripping module 1030 (e.g., a handle) is connected to the third side 1023. The gripping module 1030 is provided with a switch module 1031 for controlling the stimulation coil 1100 to provide energy stimulation, and the gripping module 1030 is provided with a power module (not shown) connected to the switch module 1031. In other words, the stimulation coil 1100 is powered by the power module (not shown), and the switch module 1031 controls the switching of the stimulation coil 1100, i.e., the switching between the working state and the non-working state.

[0258] 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 merely an illustrative example and should not be construed as limiting the present disclosure by those skilled in the art.

[0259] In one embodiment, the stimulation coil is a dihedron (as shown in FIG12 ), 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 provided on the arc surface. The gripping module 1030 can be provided on one side of the arc surface.

[0260] However, the manufacturing error of the recognition pattern set on the arc surface is large. When the camera captures the recognition pattern as a flat surface, the recognition pattern will be damaged, resulting in reduced accuracy. To avoid the above problem, the stimulation coil can be a trihedron, with the bottom surface of the trihedron serving as the stimulation surface, one side of the trihedron serving as an arc surface, and the other side serving as the recognition plane.

[0261] In one embodiment, the stimulation surface can be an independent plane, or a first stimulation surface and a second stimulation surface at a certain angle, such as a V-shaped structure (as shown in FIG8B ); the side surface is an independent arc surface or a combination of an arc surface and a recognition plane.

[0262] 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 merely an illustrative example and should not be construed as a limitation of the present disclosure.

[0263] Example

[0264] As shown in Figure 10, the hexahedral stimulation coil 1102 is designed with three recognition surfaces: the front, the left and right sides adjacent to the front, and a handle on the back opposite the front. The pattern on the recognition surfaces consists of a black background and multiple white circle recognition elements arranged in a checkerboard pattern. During use, the front of the stimulation coil 1102 (i.e., the first side 1021) initially faces the camera, allowing the camera to identify and locate the stimulation coil 1102. After a period of use, the stimulation coil 1102 is repositioned, and the front no longer faces the camera, making it impossible for the camera to locate the stimulation coil 1102 using the pattern on the front. Since the left side of the stimulation coil 1102 now faces the camera, the recognition pattern on the left side (i.e., the second side 1022) compensates for the inability to locate the front. Therefore, the camera can locate the stimulation coil 1102 using the pattern on the left side. Those skilled in the art will appreciate that the usage of the stimulation coil 1100 and its variations are identical in principle to the stimulation coil 1102 and will not be described in detail herein.

[0265] In one example, as shown in FIG13 , the present disclosure further provides a medical trolley 2200 . The medical trolley 2200 includes a main body 2210 and a stimulation coil 1100 (including its variations 1101 - 1104 ). The stimulation coil 1100 is connected to the main body 2210 . The main body 2210 is provided with a control module (not shown).

[0266] In one example, the main body 2210 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 2210. Of course, it can also be disposed on the upper surface of the cuboid, or suspended above or to the side of the main body 2210. It will be understood by those skilled in the art that the control module can be directly or indirectly connected to the main body 2210 by means of a support member (not shown), a support assembly (not shown), snap-on connection, bonding, welding, electrical signal connection (for example, provided by a control circuit, chip, communication circuit, signal transmitter / receiver, data transmission / receiving circuit, etc.). For example, an indirect connection means that the control module can be a readable storage medium (for example, a non-transitory readable storage medium) that is disposed in another electronic device (such as a computer, a wristband, a mobile phone) and then connected to the main body 2210. For example, a direct connection means that the control module (which can be a computer device (such as a computer)) is directly mounted on the main body 2210.

[0267] The control module sends stimulation parameters to the stimulation coil 1100. The stimulation parameters can be set directly by the control module or from a host computer (not shown) connected to the control module signal (e.g., communication signal, control signal, data signal, etc.). The stimulation parameters include at least one of stimulation intensity, single stimulation time, number of stimulations, stimulation cycle, stimulation position, etc. The main body 2210 can also be provided with a display module 2211 (e.g., a display, display device, etc.), and the stimulation parameters can be displayed on the display module 2211 under the control of the control module. Of course, the main body 2210 can also include a navigation module 2212.

[0268] The stimulation coil and the medical trolley according to the embodiments of the present disclosure have at least one of the following advantages:

[0269] (1) The stimulation coil and the medical trolley provided by the present disclosure have a stimulation surface and an identification surface that are integrated into one, thereby reducing tooling errors and ensuring the accuracy of identification and tracking;

[0270] (2) The stimulation coil and medical trolley provided by the present disclosure are designed with multiple recognition surfaces (i.e., multiple patterns), which makes it possible to increase the visible position during stimulation, reduce the recognition blind spot of the camera, and thus increase the range in which the stimulation coil can be tracked and positioned;

[0271] (3) The stimulation coil and medical trolley provided by the present invention 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 and 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.

[0272] According to one embodiment of the present disclosure, a multifunctional medical trolley is provided. As shown in FIG14 , the multifunctional medical trolley 3100 includes a frame 3010 formed by riveting and welding, and at least two layers of trays 3020. At least one of the at least two layers of trays 3020 is secured to the frame 3010 by riveting and welding.

[0273] Compared with the existing multifunctional medical trolleys, it is found that the frame of the entire multifunctional medical trolley is very heavy, so reducing the weight of the frame is given priority.

[0274] In one embodiment, as shown in FIG14 , a shell 3030 is detachably mounted around the skeleton 3010. The shell 3030 includes a front shell 3034, a rear shell 3035, a left shell 3032, and a right shell 3033. A bottom shell 3036 is detachably mounted on the bottom of the skeleton 3010, and a top shell 3031 is detachably mounted on the top of the skeleton 3010.

[0275] In some embodiments, as shown in FIG. 14 , a display assembly 3050 is provided on the top shell 3031 , and a detachable handle 3040 is provided on one side of the top shell 3031 .

[0276] The present disclosure can display (e.g., visualize) the target points, target locations, number of target points, or parts to be tracked and located, and the locations of parts of subjects suffering from diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorder, epilepsy, Alzheimer's disease, and brain injury through the multifunctional trolley 3100, and can also display the registered stimulation coil 1100, the recognition module 100, the recognition tool 200 model, the model of the subject's regulated part, etc., for example, to achieve real-time navigation. The control module (e.g., a controller, a control circuit, a control chip, etc.) can output control parameters (e.g., stimulation duration, pulse intensity, pulse frequency, stimulation cycle, etc.) to the stimulation coil to stimulate the subject's target points or regulate the subject's nerves.

[0277] In a specific example, the three trays 3020 in the at least two layers of trays are fixed to the frame 3010 by riveting and welding.

[0278] At least two layers of trays 3020 are provided in the frame 3010 and fixed to the frame 3010 by riveting and welding. The riveting and welding method not only reduces redundant strength-increasing designs, but also increases strength while ensuring load-bearing capacity.

[0279] For example, most multifunctional medical trolleys in the prior art are riveted rather than welded, resulting in low strength. Therefore, the tray 3020 is used as a strength-enhancing design, secured by welding and riveting, thereby eliminating redundant strength design features while maintaining strength and load-bearing capacity.

[0280] It should be noted that the trays in related multifunctional medical carts are all sliding trays that slide out using rails installed in the cart. Because they slide open like a drawer, the cart can easily become unstable or tip over during use, and therefore multiple counterweights are typically required.

[0281] Multifunctional medical trolleys in the prior art are typically equipped with four counterweights. However, in this embodiment, by configuring the frame 3010 to be fixed to the multiple trays 3020 through riveting and welding, the counterweights, corresponding slide rails, and crossbeams for securing the slide rails are no longer required, thereby reducing the weight of the entire device. Compared to the existing sliding rail method for mounting trays, the riveting and welding method of this embodiment eliminates the need for screws to secure the rails to the frame. Therefore, the welding method of this embodiment to the frame 3010 provides a more reliable and durable connection. Most importantly, it fundamentally eliminates the problems of unstable center of gravity and tipping caused by sliding and pulling out of the multifunctional medical trolley.

[0282] Furthermore, since the tray 3020 is connected to the skeleton 3010 in a fixed and immovable manner, it is easier to arrange wiring troughs on the tray 3020, making the wiring of the equipment more reasonable and beautiful, and avoiding entanglement and confusion.

[0283] In some embodiments, in order to maintain better support, the at least two layers of trays 3020 are supported by corresponding frames in the skeleton 3010. Specifically, the three layers of trays 3020 are supported by frames, and the frames are fixedly connected to the skeleton 3010 by welding and riveting.

[0284] It is understandable that the tray 3020 may be supported by a frame instead of by a frame, and the tray 3020 may be directly fixedly connected to the frame 3010 by welding and riveting.

[0285] In one example, at least two layers of trays 3020 are provided with a bend 3021 on one side. Specifically, at least two layers of trays 3020 are provided with a downwardly bent bend 3021. This embodiment does not limit the bending direction of the bend 3021; ​​either downward or upward bending is acceptable, as long as it strengthens the tray 3020. Persons skilled in the art can configure the bend 3021 as needed. The provision of the bend 3021 can reduce the thickness of the tray while increasing its strength.

[0286] In one example, as shown in Figure 15 , the bent portion 3021 is configured to bend downward, and at least three of the front, rear, left, and right sides of the tray 3020 are provided with position-limiting blocks 3022, 3023, 3024, and 3025. As shown, the left and right blocks 3022 and 3023 are configured as elongated strips, while two rectangular blocks 3024 are provided on the rear side. It should be understood that this embodiment does not limit the number, shape, or design of the blocks, and those skilled in the art may configure them as needed.

[0287] Furthermore, a reinforcing rib (not shown) is provided on the back of at least one of the at least two layers of the tray 3020. Specifically, one or more reinforcing ribs may be provided near the middle of the back, thereby increasing the strength of the tray 3020 while reducing its thickness.

[0288] In one example, reinforcing ribs may be arranged (e.g., welded) around the bottom of the tray 3020; in another example, reinforcing ribs may be arranged radially from the area near the center of the bottom of the tray 3020; this embodiment does not limit the position and style of the reinforcing ribs, and those skilled in the art may arrange them as needed.

[0289] Since at least one of the bending portion 3021 and the reinforcing ribs is provided, the thickness of the tray can be reduced. For example, the thickness of an existing drawer tray generally must not be less than 2 mm, while the thickness of the tray 3020 of this embodiment can be set to be less than 2 mm and greater than 1 mm, thereby maintaining a strength not lower than that of an existing drawer tray, so that the load-bearing capacity at least remains unchanged.

[0290] To reduce the weight of the multifunctional medical cart, consider replacing non-load-bearing stainless steel plates, such as the cover, with 1mm thick stainless steel plates instead of the original 1.5mm thick ones. Alternatively, the circuit board shield (if any) could be made of aluminum alloy instead of stainless steel, further reducing weight. Furthermore, consider replacing stainless steel with aluminum alloy in other components to further reduce weight.

[0291] As shown in Figure 16, the placement of equipment in the multifunctional medical trolley 3100 can also be optimized, thereby lowering the center of gravity of the entire device. Specifically, when three layers of trays 3020 are provided, the upper tray 3020 is a PC tray, the middle tray is a TMS tray for placing TMS, and the lower tray 3020 is a liquid cooling tray for placing various liquid cooling devices. Of course, if the PC is replaced by a notebook, one less tray can be provided, that is, the upper tray is not provided. In one example, a leakage drain hole (not shown) is provided on the lower tray 3020 to prevent liquid cooling leakage. Specifically, the upper tray 3020 is placed with PC equipment 3061, the middle tray 3020 is placed with TMS equipment 3062, and the bottom tray 3020 is placed with liquid cooling equipment 3063.

[0292] The center of gravity of the Multifunctional Medical Cart 3100 is lowered by moving the TMS device from the top tray to the middle tray, ensuring that the center of gravity is not too high or unstable after the counterweight is removed.

[0293] In one embodiment, the existing TMS device is too wide, preventing the overall width of the multifunctional medical cart from being reduced. Therefore, a new TMS device can be used to replace the existing TMS device and install it within the new multifunctional medical cart. The existing TMS device is 540 mm wide, while the new TMS device is reduced to 489 mm.

[0294] In one example, improvements were made to the discharge box within the TMS equipment. The original width of the discharge box was 230 mm, but the new width is now 179 mm. By reselecting and improving the internal electronic components and redesigning the structural parts, the width was reduced to the required size.

[0295] The size adjustment of the discharge box has narrowed the overall width of the multifunctional medical trolley, solving the problem of TMS equipment not being able to fit in.

[0296] As shown in Figures 14 and 17, a bottom support frame 3011 is provided at the bottom of the skeleton 3010. Other longitudinal and transverse columns or reinforcing ribs 3012 may also be provided, as long as they can form a frame. The specific form is not limited to the form shown in the figure.

[0297] The bottommost tray 3020 of at least two layers of trays is positioned above the bottom support frame 3011. A rectangular tubing 3013 is welded to the back of the bottom support frame 3011, facing away from the tray 3020. The rectangular tubing 3013 is typically positioned in the middle or center of the bottom support frame 3011. Of course, the form, placement, and number of the rectangular tubing 3013 are not limited to those shown in the figure.

[0298] In this embodiment, at least three casters 3015, for example, three, four, or more, are also provided on the bottom support frame 3011. Specifically, corresponding caster mounting portions 3014 are provided at the four corners of the bottom support frame 3011, and a corresponding number of casters 3015 are mounted on the caster mounting portions 3014. It is understood that the casters 3015 can also be configured to be driven by a motor, with one driving wheel and one driven wheel, or in alternative configurations such as a wheel disc or independent wheels.

[0299] The provision of casters 3015 allows the multifunctional medical trolley 3100 to move freely. The casters 3015 are configured to protrude from the bottom shell 3036. Alternatively, they can be positioned inside the bottom shell 3036. The bottom shell 3036 also has openings 3039 that allow the rectangular tubing 3013 to pass through. In one example, four casters 3015 are provided at the four corners of the bottom support frame 3011.

[0300] A crossbeam is provided in the rectangular tube 3013, which is mainly used to bear weight during transportation and protect the casters 3015 from being subjected to excessive stress during transportation.

[0301] Specifically, the casters 3015 connected to the bottom support frame 3011 protrude downward more than the rectangular tubes 3013 connected to the bottom support frame 3011, thereby protecting the bottom of the entire device during transportation and allowing the entire device to be moved by moving the casters 3015.

[0302] The inventors of the present disclosure have discovered that by reducing the size of each component inside the multifunctional medical trolley, the size of the entire device can be reduced. For example, the size of the device can be reduced to 590*850*1050, so that it can pass through various medical room doors and elevator doors; in addition, the weight of the entire multifunctional medical trolley can be reduced by changing the structure, material, removing redundant design, and optimizing the connection method; by rearranging the order of internal components, the center of gravity of the entire device can be lowered, thereby achieving the advantages of reducing the volume of the entire device, light weight, and low center of gravity.

[0303] The multifunctional medical trolley disclosed herein has at least one of the following advantages:

[0304] (1) The multifunctional medical trolley disclosed herein can eliminate the need for a counterweight by configuring the frame thereof to be fixed by riveting and welding, and can maintain a stable and reliable center of gravity for the entire device;

[0305] (2) The multifunctional medical trolley disclosed herein is provided with at least two layers of trays, which are fixed to the frame by riveting and welding. Since the trays are fixed and cannot be moved, the problem of unstable center of gravity of the entire device is further solved;

[0306] (3) In the multifunctional medical trolley disclosed herein, the middle tray can carry the TMS equipment, and the bottom tray carries the liquid cooling equipment. The rational arrangement of the equipment effectively lowers the center of gravity of the entire device and improves the mobility;

[0307] (4) The multifunctional medical trolley disclosed herein has a tray with a bent portion and / or a reinforcing rib design, which allows its thickness to be reduced, for example, to less than 2 mm and greater than 1 mm. By providing the bent portion or reinforcing ribs on all sides, the weight of the entire device is reduced while the strength is increased.

[0308] (5) The bottom support frame of the multifunctional medical trolley disclosed in the present invention is provided with rectangular pipes, so that it is no longer necessary to set the bottom layer to be a whole steel plate, which reduces the weight and meets the load-bearing height requirement.

[0309] In an embodiment of the present disclosure, a camera trolley 4100 is provided. Referring to FIG18 , the camera trolley 4100 primarily comprises four components: a camera assembly 4010, an arm assembly 4020, a lifting assembly 4030, and a chassis assembly 4040. Specifically, the arm assembly 4020 has a first end 4021 and a second end 4022 opposite the first end 4021. The camera assembly 4010 is disposed on the first end 4021 of the arm assembly 4020 and is capable of pivoting about the first end 4021 of the arm assembly 4020. The first end 4031 of the lifting assembly 4030 is connected to the second end 4022 of the arm assembly 4020 and is capable of adjusting the height of the arm assembly 4020 or the camera assembly 4010 through its own lifting motion. The upper end of the chassis assembly 4040 is fixedly connected to the second end 4032 of the lifting assembly 4030, opposite the first end 4031. Alternatively, the chassis assembly 4040 may also be configured in the form of a wheel.

[0310] The present disclosure can track, locate, and identify targets or parts that need to be tracked and located in subjects with diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorders, epilepsy, Alzheimer's disease, brain injury, etc. through the camera trolley 4100. The camera trolley 4100 can also identify the recognition module 100, the recognition tool 200, the stimulation coil 1100, and the positioning tool 5100 to locate and track the stimulation and regulation targets or parts of the subject. For example, they can be navigated in real time (for example, their placement position, direction, distance, etc. are guided); the camera trolley can also identify the recognition module 100, the recognition tool 200, the stimulation coil 1100, and the positioning tool 5100 to register itself and / or the regulated parts of the subject.

[0311] In one embodiment, a first pivot 4023 is provided at the first end 4021 of the arm assembly 4020, enabling the camera assembly 4010 to pivot in the vertical and left-right directions (as indicated by the arrows in Figures 18 and 19) relative to the camera trolley 4100. The structure of the first pivot 4023 is not limited to the illustrated form, and any pivot known in the art capable of achieving left-right and vertical movement may be employed. By providing the first pivot 4023, not only can the height of the camera assembly 4010 be adjusted by moving the camera assembly 4010 in the vertical direction, but the camera assembly 4010 can also be moved in the left-right direction to enable recognition over a wider range.

[0312] The arm assembly 4020 can be configured as a single arm portion or as multiple arm portions. Specifically, the case of providing two arm portions will be described in detail. The arm assembly 4020 includes a first arm portion 4024 and a second arm portion 4025 pivotally connected to the first arm portion 4024 for pivotal movement relative to the camera trolley 4100 in the vertical and horizontal directions. In this embodiment, the arm assembly 4020 in the camera trolley is composed of two parts. The two parts move in the vertical and horizontal directions, thereby allowing for greater and more flexible adjustment of the camera assembly 4010 in the additional dimensions of height and range of movement.

[0313] In one example, as shown in FIG19 , the first arm portion 4024 and the second arm portion 4025 are connected via a second pivot 4026 , and movement in the up and down directions and the left and right directions can be achieved through the setting of the second pivot 4026 , and the form of the second pivot 4026 is not limited to the form shown in the figure.

[0314] In addition, the second end 4022 of the arm assembly 4020 is connected to the first end 4031 of the lifting assembly 4030 via the arm adapter 4027. One end of the arm adapter 4027 is connected to the arm assembly 4020 and the other end can be connected to the lifting assembly 4030. The specific connection method and structure are not particularly limited.

[0315] In some embodiments, as shown in FIG19 , the lifting assembly 4030 includes eight components, namely, a column 4032, a frame 4033, a slide rail 4034, a slider 4035, a tension spring 4036, a wire drawing (not shown), a track wheel 4037, and a fixing block 4038. The specific relationships between these components are as follows:

[0316] The first end of the column 4032 is connected to the arm adapter 4027 in the arm assembly 4020, the column 4032 is fixedly connected to the frame 4033, the slide rail 4034 is fixed on the frame 4033, the slider 4035 is fixed on the column 4032 and slides up and down in the slide rail 4034, the upper and lower ends of the frame 4033 are respectively provided with an upper fixed rod 4391 and a lower fixed rod 4392, the track wheel 4037 is slidably set on the upper fixed rod 4391, one end of the wire drawing is fixedly set on the slider 4035, and after passing through the track wheel 4037, it is fixedly connected to the tension spring 4036 fixed on the lower fixed rod 4392, and the bottom end of the frame 4033 is fixedly connected to the chassis assembly 4040 through the fixed block 4038.

[0317] By providing the tension spring 4036, it is possible to ensure that the column 4032 does not fall quickly when it is moved up and down for adjustment, thereby preventing the column 4032 from being damaged by a rapid fall due to improper operation. Thus, the tension spring 4036 has a damping effect, ensuring the desired damping effect during the up and down movement.

[0318] In one embodiment, the column 4032 is provided with a plurality of height adjustment holes 4511 arranged at intervals, and a spring pin 4052 that can be inserted into different height adjustment holes 4511 among the plurality of height adjustment holes 4511 to adjust the height of the column 4032 .

[0319] The lifting assembly 4030 can adjust the height of the column 4032 by driving the column 4032 up and down through the slider 4035, and the height can be adjusted by inserting the spring pin 4052 into the different height adjustment holes 4511 on the column 4032.

[0320] In some embodiments, as shown in FIG19 , the lifting assembly 4030 further includes components such as a front housing 4053, a decorative panel 4054, a rear housing 4055, and a handle 4056. The front housing 4053 is mounted on one side of the frame 4033, for example, the front side. The decorative panel 4054 is disposed on the surface of the front housing 4053. For example, the decorative panel may include the manufacturer's name, logo, and warnings of the device. The rear housing 4055 is mounted on the other side of the frame 4033. The front and rear housings 4053 and 4055 form a housing that surrounds the frame 4033, the column 4032, the slide rail 4034, and the slider 4035.

[0321] The handle 4056 is snapped onto the upper snap portion of the front housing 4053. As shown in the figure, the handle 4056 is arranged above the top of the rear housing 4055 and is snapped into the front housing 4053 to achieve a fixed connection. Of course, the handle 4056 can also be installed and fixed using various suitable methods such as screws or snap fit.

[0322] The spring pin 4052 is movably arranged in the groove of the handle 4056, and the lower end of the rear shell 4055 is also provided with an outlet hole 4057 that allows the data cable to be led out from the camera in the camera assembly 4010 through the arm assembly 4020 and the lifting assembly 4030 and then out of the rear shell 4055. A wire protection sleeve 4058 is provided in the outlet hole 4057 to protect the data cable.

[0323] Specifically, the column 4032 is provided with a plurality of height adjustment holes 4511, for example, six, and the handle 4056 is provided with a spring pin 4052. The spring pin 4052 is arranged to be movable relative to the handle 4056 but not to fall off the handle 4056. Thus, when the height of the column 4032 needs to be adjusted, the spring pin 4052 is pulled out and the column 4032 is manually moved. When the column 4032 is moved to the desired appropriate position, the spring pin 4052 is released, and the spring pin 4052 is inserted into the corresponding height adjustment hole 4511, thereby completing the height adjustment of the column 4032.

[0324] By hiding the data cables connecting the cameras in camera assembly 4010 and the multifunctional medical trolley (i.e., multifunctional medical trolley) within arm assembly 4020 and lift assembly 4030, neat and orderly wiring is achieved. The data cables pass through cable grommet 4058 in cable outlet 4057 before connecting to the mobile multifunctional trolley (i.e., multifunctional medical trolley). Cable grommet 4058 protects the data cables.

[0325] By holding the handle 4056 in the lifting assembly 4030, the column 4032 can be dragged and moved as needed.

[0326] In some embodiments, the chassis assembly 4040 includes a chassis shell 4041, a base plate 4042 and at least three casters 4043. The fixed block 4038 of the lifting assembly 4030 is fixedly connected to the base plate 4042 through the chassis shell 4041, and the at least three casters 4043 are detachably fixed to the corresponding at least three legs 4044 of the chassis shell 4041.

[0327] 20 , the camera assembly 4010 includes: a camera 4012, a camera fixing member 4013, a counterweight 4014, a camera upper shell 4015, and a camera lower shell 4016. The camera 4012 is fixed to the camera fixing member 4013, and the camera fixing member 4013 is fixed to the camera lower shell 4016. The counterweight 4014 is fixed to the camera lower shell 4016. The camera upper shell 4015 and the camera lower shell 4016 are snap-fitted and / or fixed with screws.

[0328] Specifically, a camera foam 4017 is disposed between the camera 4012 and at least one of the upper camera housing 4015 and the lower camera housing 4016. The camera fixing member 4013 and the counterweight 4014 in the camera assembly 4010 are fixed to at least one of the upper camera housing 4015 and the lower camera housing 4016 via a silicone plug 4018 and screws. For example, screws can be inserted through the silicone plug 4018, the camera fixing member 4013, or the counterweight 4014 on the lower surface of the camera lower housing 4016 to securely connect them to the camera lower housing 4016. The camera 4012 and the camera fixing member 4013 can be securely connected using screws or the like.

[0329] The camera assembly 4010 also includes a camera handle 4011 installed on the outer surface of the camera upper shell 4015 and the camera lower shell 4016, and a connecting piece 4019 installed on the camera handle 4011 and fixed on one end of the camera upper shell 4015 and the camera lower shell 4016. The camera assembly 4010 is connected to the arm assembly 4020 through the connecting piece 4019.

[0330] Camera foam 4017 is provided between the camera 4012 and the camera upper shell 4015 and the camera lower shell 4016 to prevent the camera 4012 from being damaged due to excessive squeezing and deformation of the shell, such as malfunction.

[0331] By providing the counterweight 4014, it is possible to ensure that the camera assembly 4010 can stay at any desired position without rebounding, and the camera handle 4011 can more easily and conveniently drag the camera 4012 for position adjustment.

[0332] During use, the user holds the camera handle 4011 with his hand, for example, and adjusts the height and position of the camera assembly 4010 and the arm assembly 4020 by dragging and rotating. When the camera handle 4011 reaches its position, the operation can be stopped.

[0333] The camera dolly of the present disclosure has at least one of the following advantages:

[0334] (1) In the present disclosure, the camera trolley is configured as a separate device, which can be moved over a wider range by casters provided on its chassis assembly, thereby enabling identification over a wider range;

[0335] (2) In the present disclosure, the camera assembly in the camera trolley can be moved in the up-down direction and left-right direction relative to the camera trolley, thereby allowing greater adjustment in height and range of movement;

[0336] (3) In the present disclosure, the arm assembly in the camera trolley is composed of two parts, which can move in the vertical direction and the left-right direction, thereby allowing for greater adjustment in additional height and movement range;

[0337] (4) In the present disclosure, the camera trolley is provided with a lifting assembly that can adjust the height of the column by driving the column to move through a slider, and the adjustment is performed by inserting a spring pin into different height adjustment holes on the column;

[0338] (5) In the present disclosure, a tension spring is provided in the lifting assembly, and the tension spring can play a damping effect, so that the up and down movement of the column has a damping effect.

[0339] Referring to FIG. 21 , a positioning tool 5100 according to one embodiment of the present disclosure is shown. Positioning tool 5100 includes a support body 5010, an identification unit 5020, and a contact unit 5030. Identification unit 5020 is disposed on support body 5010 and is configured to be recognized by a collection device (not shown) under multiple viewing angles. Contact unit 5030 is disposed on at least one end of support body 5010 and is configured to directly or indirectly contact a subject during use.

[0340] In one example, the acquisition device can be configured as any one of a camera, a visual system, a monitoring device, a photosensitive device, etc., or any combination thereof.

[0341] In one example, the acquisition device can sense (eg, identify, capture, observe, detect, monitor, etc.) from any angle in 360° to the recognition unit 5020 .

[0342] In one example, the contact unit 5030 may be provided on any one end of the support body 5010 , or on any two or more of all ends of the support body 5010 .

[0343] In one example, when in use, the contact unit 5030 can directly contact the subject (not shown), and of course can indirectly contact the subject, for example, when the subject wears protective equipment (e.g., a protective mask, gauze, etc.) on the corresponding part.

[0344] In one example, the recognition unit 5020 is at least partially exposed to the effective recognition range of the acquisition device at any viewing angle of the acquisition device. This configuration allows the acquisition device to still acquire (e.g., identify, capture, observe, detect, monitor) the recognition unit 5020 when the positioning tool 5100 is rotated so that the recognition unit 5020 faces away from the acquisition device (e.g., the positioning tool 5100 faces partially or completely away from the acquisition device).

[0345] For example, the recognition unit 5020 can be designed as a target object that is larger than the support body 5010, so that the recognition unit 5020 can be partially exposed within the effective recognition range of the acquisition device at any viewing angle of the acquisition device. This example is merely an illustrative example and should not be construed by those skilled in the art as limiting the present disclosure.

[0346] For another example, the recognition unit 5020 can be designed as a light-emitting unit, so that the recognition unit 5020 can be partially or fully recognized at any viewing angle within the effective field of view of the acquisition device, thereby increasing the flexibility of the viewing angles that can be captured. This example is merely an illustrative example and should not be construed by those skilled in the art as limiting the present disclosure.

[0347] Those skilled in the art will appreciate that the effective recognition range should be broadly understood as the visual range of the acquisition device. Examples include the viewing angle range, visual distance range, and so on. Those skilled in the art will appreciate that the effective recognition range of an acquisition device varies depending on its specific product type and model, and those skilled in the art can select the appropriate range based on actual needs.

[0348] The present disclosure can track, locate, and identify targets or parts that need to be tracked and located in subjects with diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorders, epilepsy, Alzheimer's disease, brain injury, etc. through the identification and positioning tool 5100, and can also register itself and / or the subject's regulated parts through the identification and positioning tool 5100.

[0349] In one embodiment, the recognition unit 5020 includes at least three recognition modules. That is, the recognition unit 5020 may include a first recognition module, a second recognition module, and a third recognition module. Of course, those skilled in the art will appreciate that the recognition unit 5020 may also include a fourth recognition module, a fifth recognition module, and so on. The number of recognition units 5020 can be designed based on actual needs and may be 3, 4, 5, 8, or more.

[0350] In one example, at least three recognition modules are set at different positions of the support body 5010, as long as they can be sensed at any viewing angle of the acquisition device and within its effective recognition range.

[0351] In one example, among the at least three recognition modules, at most two recognition modules are collinearly arranged on the support body 5010. That is, among the at least three recognition modules, any two recognition modules may form a straight line in space (for example, a portion of any two recognition modules may be located on the same straight line in space, or all of any two recognition modules may be located on the same straight line in space), but the two recognition modules may be arranged in the same space or on the same plane, or in different planes or in different spaces.

[0352] In one example, three or more recognition modules in the recognition unit 5020 cannot be arranged collinearly. Through such a design, it is possible to avoid inaccurate data obtained during the process of recognition and / or positioning of the recognition unit 5020, or even the inability to resolve its spatial position.

[0353] In one embodiment, the recognition unit 5020 includes an active recognition module 5201 and / or a passive recognition module 5202. That is, the recognition unit 5020 may include only the active recognition module 5201, only the passive recognition module 5202, or both the active recognition module 5201 and the passive recognition module 5202.

[0354] For example, when the recognition unit 5020 includes a first recognition module 5021, a second recognition module 5022, a third recognition module 5023, and a fourth recognition module 5024, the first recognition module 5021, the second recognition module 5022, the third recognition module 5023, and the fourth recognition module 5024 can all be active recognition modules 5201, or all be passive recognition modules 5202. Of course, as shown in FIG. 21 , the first recognition module 5021 and the second recognition module 5022 can be active recognition modules 5201, and the third recognition module 5023 and the fourth recognition module 5024 can be passive recognition modules 5202.

[0355] In one example, the light emitted by the active identification module 5201 is displayed on at least a portion of the surface of the support body 5010. For example, the light emitted by the active identification module 5201 can at least partially pass through the support body 5010 and be collected by the collection device. For example, the active identification module 5201 can be a portion of the support body 5010, where this portion of the support body 5010 is made of a transparent material such as acrylic. In another example, the active identification module 5201 can be a light-emitting device (such as an infrared light emitting unit, or a unit that emits light in other spectral bands) disposed on the support body 5010. When the light-emitting device emits light, the collection device can capture the light emitted by the light-emitting device at any viewing angle. In another example, the active identification module 5201 can cooperate with the support body 5010 to form a light-emitting unit. The energy emitted by the active identification module 5201, in the form of light or other form, excites a special material on the support body 5010, such as a fluorescent material, thereby emitting a light signal that can be captured by the collection device, thereby causing the corresponding surface of the support body 5010 to display the emitted light. That is to say, the light emitted by the active identification module 5201 can be the light emitted by the active identification module 5201 itself, or it can be the light emitted by the active identification module 5201 in the form of electrical energy, magnetic energy, mechanical energy, light energy, etc. to stimulate the surface of the supporting body 5010, so that the corresponding part of the surface of the supporting body 5010 emits and displays light that can be collected by the collection device.

[0356] In one example, as shown in FIG. 21 , the active identification module 5201 may be completely embedded in the support body 5010 , and the light emitted by the active identification module 5201 may be partially or completely transmitted to the outside through the surface of the support body 5010 .

[0357] In one example, the active identification module 5201 may be partially embedded in the support body 5010, with the remaining portion protruding from the surface of the support body 5010. Light emitted by the active identification module 5201 may be emitted to the outside world through the portion protruding from the surface of the support body 5010. Alternatively, light emitted by the active identification module 5201 may be emitted to the outside world through the portion protruding from the surface of the support body 5010, while the portion embedded in the support body 5010 is transmitted to the outside world through the surface of the support body 5010. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present disclosure.

[0358] For example, as shown in Figure 21, the active identification module 5201 is set inside the supporting body 5010 (for example, it is completely embedded in it or partially embedded in it), and one or more side surfaces of the supporting body 5010 at the position corresponding to the active identification module 5201 are set as transparent surfaces (for example, surfaces of transparent materials such as acrylic) to transmit the light emitted by the active identification module 5201.

[0359] For another example, the support body 5010 may be provided with a fluorescent material on one or more sides, and the active identification module 5201 may be provided on the portion corresponding to the fluorescent material. The energy emitted by the active identification module 5201, in the form of light or other means, excites a special material, such as a fluorescent material, on the support body 5010, thereby emitting a light signal that can be captured by a data collection device. The surface of the fluorescent material may be part of the active identification module 5201 or part of the support body 5010.

[0360] In one example, the transparent surface (not shown) has a textured structure to prevent specular reflection. For example, the transparent surface can be frosted, have raised granular features, have stripes, or have a textured surface, as long as it does not affect the light emitted by the active recognition module being collected by the acquisition device. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present disclosure.

[0361] In one example, the active identification module 5201 can be arranged along part or all of the circumference of the support body 5010. For example, when the support body 5010 is a cylinder, the active identification module 5201 can be arranged in a circular ring shape, which is arranged along the circumference of the support body 5010, so that the circumferential surface of the support body 5010 has light that can be collected by the collection device (for example, it directly transmits light emitted by the active identification module 5201 and / or the active identification module 5201 directly emits light to the outside world). For another example, when the support body 5010 is a cylinder, the active identification module can be arranged in a C-shape, which is arranged along the circumference of the support body 5010, so that part of the circumferential surface of the support body 5010 (for example, it directly transmits and / or is emitted by the active identification module) has light that can be collected by the collection device. It will be understood by those skilled in the art that the support body 5010 can also be arranged in a truncated cone, cone, prism, pyramid or polyhedron shape, etc. This example is merely an illustrative example, and those skilled in the art should not be understood as a limitation of the present disclosure. The shape of the surface of the active identification module 5201 facing the support body 5010 can be set to be circular, annular, C-shaped (as shown in FIG21 ), D-shaped (as shown in FIG21 ), triangular, quadrilateral, polygonal, etc. This example is only an illustrative example and should not be understood by those skilled in the art as a limitation of the present disclosure.

[0362] In one example, a power supply unit (not shown) is provided inside the support body 5010 for supplying power to the active identification module 5201. The power supply unit can be a battery, a solar energy conversion unit, a wireless charging receiving unit, other energy conversion units, a circuit board that can be connected to a power source, and the like.

[0363] In one example, the passive identification module 5202 is at least partially disposed on the surface of the support body 5010. For example, the passive identification module 5202 can be entirely protruding from the surface of the support body 5010, or partially protruding from the surface of the support body 5010, while the rest is embedded in the support body 5010.

[0364] In one example, the passive identification module 5202 is configured as a reflective device to reflect light in the environment or light emitted by the emitting device to the collection device, and the reflected light is collected by the collection device (for example, identification, capture, detection, monitoring, etc.).

[0365] In one example, the passive identification module 5202 is fixed to the surface of the support body 5010 via a connector (not shown). For example, the passive identification module 5202 can be fixed to the surface of the support body 5010 by bonding, snapping, welding, threading, screwing, etc. In other words, the connector can be an adhesive material (such as an adhesive), a snap-on connector, a welding material, a threaded connector, a screw connector, a gasket (e.g., 2 mm to 4 mm), etc. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present disclosure.

[0366] In one example, as shown in FIG21 , a support element 5040 is provided between the passive identification module 5202 and the support body 5010. One end of the support element 5040 is connected to the passive identification module 5202, and the other end is connected to the support body 40. The provision of the support element 5040 allows the passive identification module 5202 to protrude as much as possible within the effective field of view of the acquisition device, thereby increasing the visible range of the passive identification module 5202 by the acquisition device.

[0367] In one example, the shape of the support element 5040 can be a hollow cylinder, a hollow annular piece, a hollow polygonal piece, a hollow polyhedron, or the like. For example, when the passive identification module 5202 is secured via a threaded connector, one end of the threaded connector is inserted into and fixedly connected to the passive identification module 5202, and the other end is threadedly connected to the support body 5010 after the support element 5040 is sleeved. For another example, when the passive identification module 5202 is secured via an adhesive, the support element 5040 is fixedly connected to one end of the hollow cylinder, and then the other end of the hollow cylinder is bonded to the support body 5010 via the adhesive. This example is merely illustrative and should not be construed by those skilled in the art as a limitation of the present disclosure.

[0368] In one example, the size of the passive recognition module 5202 is larger than the width of the surface of the support body 5010 on the same side thereof. This arrangement can prevent the passive recognition module 5202 from being blocked by the support body 5010 when facing away from the acquisition device.

[0369] In one example, the passive identification module 5202 is a small reflective ball whose outer diameter is greater than the width of the surface of the supporting body on the same side as the reflective ball. For example, the reflective ball can be an infrared reflective ball, or a reflective ball that reflects light of other wavelengths, or a fully reflective ball. This example is merely illustrative and will not be enumerated here. Those skilled in the art should not interpret this as a limitation of the present disclosure.

[0370] For example, when the support body 5010 is set to have a cross-sectional shape of any one of a regular quadrilateral (when the support body 5010 rotates, each rotation is 90°), a regular hexagon, a regular octagon, etc., the first identification module 5021 in the support body 5010 is set to a spherical shape and fixed on one side of the support body 5010, the spherical diameter (i.e., the outer diameter of the sphere) of the first identification module 5021 is larger than the width of the side to which it is fixed (such as the side length of the regular hexagon).

[0371] For another example, when the support body 5010 is set to a spherical shape and the first recognition module 5021 in the passive recognition module 5202 is set to a rectangular shape, the length of the first recognition module 5021 is set to be greater than the diameter of the sphere so that the acquisition device can acquire the passive recognition module 5202.

[0372] In one embodiment, as shown in Figures 22A and 22B, the support body 5010 includes a first body 5011, a second body 5012, and a third body 5013. At least one identification module is provided on each of the first body 5011, the second body 5012, and the third body 5013. A contact unit 5030 is provided at one end of the first body 5011, and the other end of the first body 5011 is connected to the second body 5012 and the third body 5013. At least two of the first body 5011, the second body 5012, and the third body 5013 are provided coplanarly with each other.

[0373] In one example, the first body 5011, the second body 5012, and the third body 5013 are integrally formed or detachably connected. For example, the first body 5011, the second body 5012, and the third body 5013 may be integrally formed, or detachably connected. The first body 5011 and the second body 5012 may be integrally formed and then detachably connected to the third body 5013, or the second body 5012 and the third body 5013 may be integrally formed and then detachably connected to the first body 5011. This example is merely illustrative and should not be construed as limiting the present disclosure by those skilled in the art.

[0374] In one example, the shape of the first body 5011 is set to any one of a regular tetrahedron, a cylinder, and a trihedron, the shape of the second body 5012 is set to any one of a regular tetrahedron, a cylinder, and a trihedron, and the shape of the third body 5013 is set to any one of a regular tetrahedron, a cylinder, and a trihedron. The shapes of any two of the first body 5011, the second body 5012, and the third body 5013 are set to be the same or different. In other words, the shapes of any two of the first body 5011, the second body 5012, and the third body 5013 can be the same or different. For example, the shapes of the three bodies can be the same or different, and of course, two of them can be the same but different from one another.

[0375] 22A to 24 , the contact unit 5030 includes a tip portion 5031. The tip portion 5031 has a blunt tip 5311 at one end that directly or indirectly contacts the subject. The tip portion 5031 is integrally formed with the support body 5010 or is detachably connected thereto.

[0376] For example, the tip portion 5031 is integrally formed with the support body 5010 (as shown in FIG22B ), wherein the tip portion 5031 is configured to have a blunt conical shape. For another example, the tip portion 5031 can also be configured to be detachably connected to the support body 5010 (as shown in FIG22A ), such that one end of the tip portion 5031 can be connected to the support body 5010 by a slot, threaded connection, mortise and tenon connection, etc. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present disclosure.

[0377] In one example, since the tip portion 5031 needs to be in direct contact with the subject's skin, it needs to meet the requirements of medical device biocompatibility (i.e., the ability of the tip portion 5031 to cause an appropriate reaction when in contact with the subject's skin). However, there are not many materials that can meet the biocompatibility requirements, and their characteristics are likely to conflict with other functions of the positioning tool 5100 (for example, easy to deform or bend). Therefore, the tip portion 5031 is set to a transparent silicone pen tip 5312 (as shown in Figure 24). For example, the support body 5010 and the tip portion 5031 are combined into a bullet shape, wherein the transparent silicone pen tip 5312 is set to a bullet pen tip shape (as shown in Figure 22A). For another example, the transparent silicone pen tip 5312 is set to a blunt needle shape or a blunt needle tube pen tip shape.

[0378] In one example, as shown in conjunction with Figures 23 and 24 , the contact unit 5030 further includes a pen tip 5032. The pen tip 5032 is provided with a cavity 321 for accommodating a tip portion 5031. The tip portion 5031 is detachably and partially disposed in the pen tip 5032. One end of the tip portion 5031 is inserted into the cavity 5321 of the pen tip 5032, and the other end protrudes from the pen tip 5032. During use, the tip portion 5031 (e.g., the blunt tip 5311 of the tip portion 5031) is in direct or indirect contact with the subject.

[0379] In one example, as shown in FIG24 , the cavity 5321 can be configured as a cavity extending through opposite ends of the pen tip 5032. When the cavity 5321 of the pen tip 5032 is configured as a cavity extending through both ends of the pen tip 5032, the tip portion 5031 can be designed to be integrally formed with or detachably connected to the support body 5010 or the pen tip 5032. Of course, the cavity 5321 can also be configured to have only one end open on the surface of the end of the pen tip 5032 away from the support body 5010. When only one end of the cavity 5321 is open on the surface of the pen tip 5032, the tip portion 5031 is integrally formed with or detachably connected to the pen tip 5032.

[0380] In one example, the tip portion 5031 can be configured as an extendable type, that is, the tip portion 5031 can be extended as needed to be composed of at least two tip segments (not shown). Thus, the user can adjust the length of the tip portion 5031 according to actual needs.

[0381] In one example, the shape of the cavity 5321 is configured to be consistent with the shape of the outer surface of the tip portion 5031 , and the size of the cavity 5321 is slightly larger than the tip portion 5031 so as to accommodate and fix the tip portion 5031 .

[0382] In one example, the pen tip 5032 is integrally formed with the support body 5010 or is detachably connected. That is, the pen tip 5032 and the tip portion 5031 are both integrally formed with the support body 5010. Of course, it can also be configured so that the pen tip 5032 and the tip portion 5031 are integrally formed and then detachably connected to the support body 5010 (e.g., threaded connection, snap connection, etc.). Of course, it can also be configured so that after the pen tip 5032 and the support body 5010 are integrally formed, the tip portion 5031 is detachably connected to the pen tip 5032 or the support body 5010 (e.g., threaded connection, snap connection, etc.). Of course, it can also be configured so that after the tip portion 5031 and the support body 5010 are integrally formed, the pen tip 5032 and the tip portion 5031 or the support body 5010 are detachably connected (e.g., threaded connection, snap connection, etc.). Of course, it is also possible that the tip 5031, the pen tip 5032 and the support body 5010 are all detachably connected, for example, the tip 5031 and the pen tip 5032 are detachably connected, and then the tip 5031 or the pen tip 5032 is detachably connected to the support body 5010. For another example, after the tip 5031 and the support body 5010 are detachably connected, the pen tip 5032 is detachably connected to the tip 5031 or the support body 5010. For another example, after the pen tip 5032 and the support body 5010 are detachably connected, the tip 5031 and the pen tip 5032 or the support body 5010 are detachably connected.

[0383] In one example, in order to achieve a detachable connection between the tip portion 5031 and the pen head 5032, a threaded adjustment rod is provided on the pen head 5032 for fixing the tip portion 5031, one end of which is provided outside the pen head 5032. When in use, by rotating the end located outside the pen head 5032, the other end is brought into contact with or separated from the tip portion 5031 in the cavity 5321, so as to achieve fixation, position adjustment and / or disassembly of the tip portion 5031.

[0384] In one example, as shown in FIG24 , to prevent an airtight seal between the tip 5031 and the pen head 5032, a groove or vent 5033 is provided on the inner wall of the pen head 5032 near the cavity 5321, for connecting the cavity 5321 to the outside world. This allows one end of the groove or vent 5033 to connect to the outside world, while the other end connects to the cavity 5321 or to a through-hole for accommodating an adjustment rod, screw, or other device. Those skilled in the art will appreciate that when the contact unit 5030 includes only the tip 5031, and the tip 5031 is detachably connected to the support body 5010, a groove and a vent 5033 may also be provided in the inner cavity of the support body 5010 for accommodating or mounting the tip 5031, connecting the inner cavity to the outside world. This design is an equivalent alternative to the groove or vent 5033 provided in the cavity 5321 of the pen head 5032. Those skilled in the art may also adopt other designs with the same effect to replace the design of the present disclosure. The design provided in the present disclosure is only an illustrative example and should not be understood by those skilled in the art as a limitation of the present disclosure.

[0385] In one embodiment, as shown in Figures 25 and 26, an identification module is provided at the top of each of the second body 5012 and the third body 5013 of the support body 5010. This arrangement significantly expands the viewing angle of the identification module of the positioning tool 5100 with respect to the acquisition device, that is, the support body 5010 and / or the identification module can be recognized, captured, detected, or monitored by the acquisition device at any viewing angle. This eliminates the need for the user to deliberately point the identification module toward the acquisition device during operation, thereby effectively improving operational convenience.

[0386] In one example, the identification modules on the second body 5012 and the identification modules on the third body 5013 are arranged asymmetrically to facilitate the calculation and positioning of the spatial position of each identification module and / or the support body 5010 (e.g., the tip 5031). For example, the third identification module 5023 and the fourth identification module 5024 shown in Figures 21 and 25 are arranged asymmetrically. Of course, those skilled in the art will understand that any active identification module, passive identification module, or combination of active and passive identification modules provided on the second body 5012 and the third body 5013 should be arranged asymmetrically.

[0387] In one example, as shown in FIG26 , the second body 5012 and the third body 5013 are arranged at a first angle α, the second body 5012 and the first body 5011 are arranged at a second angle β, and the third body 5013 and the first body 5011 are arranged at a third angle θ.

[0388] For example, the second angle β and the third angle θ are set to a range of 90° to 180°, and the first angle α is set to a range of 20° to 180°. Those skilled in the art will appreciate that the second angle β and the third angle θ between the first body 5011 and the second body 5012 and the third body 5013, respectively, as well as the first angle α between the second body 5012 and the third body 5013, are designed to be as wide as possible (i.e., as large as possible) to facilitate the acquisition device in locating each recognition module.

[0389] In one example, the shape of the support body 5010 is set to an asymmetric "Y" shape to avoid inaccurate positioning of the identification module or even inability to position it due to spatial symmetric arrangement.

[0390] In one example, the support body 5010 can avoid being set in a nearly symmetrical "T" shape to ensure that each recognition module can be visible to the acquisition device at the same time.

[0391] In one example, the distances between the various recognition modules can be designed to be equidistant, or can be designed to be unequal as needed.

[0392] In one example, the at least three recognition modules include a first recognition module 5021, a second recognition module 5022, a third recognition module 5023, and a fourth recognition module 5024. The first recognition module 5021 and the second recognition module 5022 are arranged side by side and spaced apart on the same side of the first body 5011, the third recognition module 5023 is arranged at the top of the second body 5012, and the fourth recognition module 5024 is arranged at the top of the third body 5013. The second body 5012 and the third body 5013 are arranged asymmetrically, so that the third recognition module 5023 and the fourth recognition module 5024 are arranged asymmetrically with respect to each other, thereby ensuring that the first recognition module 5021, the second recognition module 5022, the third recognition module 5023, and the fourth recognition module 5024 can be simultaneously recognized, captured, detected, or monitored by the collection device.

[0393] In one example, to ensure and / or enhance the stability of the support body 5010, a support connector 5014 is provided between the second body 5012 and the third body 5013. One end of the support connector 5014 is connected to an end of the second body 5012 near the top identification module, and the other end is connected to an end of the third body 5013 near the top identification module. The support connector 5014 is integrally formed with the second body 5012 and the third body 5013.

[0394] In one example, when a support connector 5014 is provided between the second body 5012 and the third body 5013, the support connector 5014 is configured as a curved connecting segment, such as an arc-shaped connecting segment, a wavy chain-shaped connecting segment, an "8"-shaped connecting segment, a bridge-shaped connecting segment, etc. Of course, those skilled in the art may also configure the support connector 5014 to be linear, triangular, arrow-shaped, etc., which are not listed here. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present disclosure.

[0395] In one embodiment, as shown in FIG26 , a gripping unit 5050 is provided at one end of the support body 5010 proximate to the contact unit 5030. For example, a gripping unit 5050 is provided at one end of the first body 5011 proximate to the contact unit 5030 (e.g., the tip 5031). The gripping unit 5050 is configured as a non-reflective silicone sleeve, which is removably mounted on the first body 5011 during use. Of course, those skilled in the art will appreciate that the non-reflective silicone sleeve can also be fixed to the support body 5010 (e.g., the first body 5011). The gripping unit 5050 can be configured as a non-reflective hard silicone sleeve, a non-reflective silicone hollow cylinder, a non-reflective silicone hollow cube, a non-reflective silicone hollow polyhedron, a non-reflective silicone hollow sphere, etc. This example is merely illustrative and should not be construed by those skilled in the art as limiting the present disclosure.

[0396] In one example, the gripping unit 5050 may be integrally formed or separately provided, and those skilled in the art may determine this based on actual needs. This example is merely an illustrative example and those skilled in the art should not understand it as a limitation of the present disclosure.

[0397] In one example, the support body 5010 is configured as a non-mirror reflective support member, including but not limited to a non-mirror reflective support frame, a non-mirror reflective support rod, a non-mirror reflective support kit, an aluminum alloy support frame, an aluminum alloy support rod, an aluminum alloy support kit, a titanium alloy support frame, a titanium alloy support rod, a titanium alloy support kit, an anodized aluminum support frame, an anodized aluminum support rod, an anodized aluminum support kit, etc.

[0398] For example, when the support body 5010 of the positioning tool 5100 does not meet the hardness requirements, it is prone to deformation or bending. Alternatively, when the support body 5010 is designed as a split body, decoupling between the main body and the components may occur due to the failure to meet the biocompatibility requirements. Therefore, in order to ensure that the support body 5010 is both biocompatible and meets the hardness requirements of the calibration tool, the support body 5010 is designed as an aluminum alloy support frame. At the same time, this design also enables the positioning tool 5100 to achieve a lightweight design, while taking into account drop resistance and cost expenditure, and also facilitates the replacement of the tip portion 5031 with different materials, lengths, and shapes.

[0399] In one embodiment, the present disclosure further provides a positioning system (not shown). The positioning system includes a control device (not shown, such as a device having a control circuit, a control chip, or a controller), an acquisition device (not shown, such as a device having an acquisition circuit (e.g., a camera, a sensor device with an acquisition circuit, etc.)), and a positioning tool 5100. The acquisition device is connected to the control device signal (e.g., a communication signal, a data signal, a control signal, etc.). The positioning tool 5100 is the positioning tool 5100 described in any of the above examples.

[0400] In one example, the positioning system further includes a foot switch (not shown) for sending a signal to the control device when the positioning tool 5100 is registered. The foot switch is connected to the control device by wire or wirelessly (e.g., USB connection, WiFi connection, Bluetooth connection, etc.). For example, the foot switch is a control switch (not shown) that can issue instructions.

[0401] In one example, a control button connected to the positioning system signal is provided on the support body 5010 of the positioning tool 5100. The control button is a control switch (not shown) provided on the positioning tool 5100 for issuing instructions to the positioning system. The control switch is connected to the positioning system by wire or wirelessly (for example, USB connection, WiFi connection, Bluetooth connection, etc.).

[0402] For example, during the registration process of positioning tool 5100, the foot switch can send a signal to the control device to confirm, modify, or cancel an operation, thereby completing the registration of positioning tool 5100 in the positioning system. The design of a wired foot switch can reduce the overall weight of positioning tool 5100, avoid the disadvantages of needing to re-pair the wireless connection when it is disconnected, and avoid the influence (e.g., interference) of other signals (such as Wi-Fi, microwave oven, and mobile phone signals) on the signal of positioning tool 5100.

[0403] For another example, the control button can communicate with the control device of the positioning system through a private protocol, and simulate keyboard input to complete operations such as confirmation, modification, and cancellation of the positioning tool 5100 during the calibration registration process.

[0404] The positioning tool and positioning system provided by the embodiments of the present disclosure have at least one of the following advantages:

[0405] (1) The positioning tool and positioning system disclosed herein can be recognized by the acquisition device from multiple viewing angles, even in 360° directions (i.e., any viewing angle), by placing the recognition module on the top of the support body;

[0406] (2) The positioning tool and positioning system disclosed herein can adapt to different operating environments by designing the recognition module as an active recognition module and / or a passive recognition module. For example, when the operating environment is not well lit, the active recognition module is more conducive to the acquisition device capturing the image. When the operating environment is not well lit, the passive recognition module is more conducive to the acquisition device capturing the image.

[0407] (3) The positioning tool and positioning system disclosed herein increase the stability of the positioning tool by providing a connecting piece between the second body and the third body;

[0408] (4) The positioning tool and positioning system disclosed herein improve the experience during the holding process by designing a holding unit;

[0409] (5) The positioning tool and positioning system disclosed herein use components with high structural strength, made of non-reflective materials or processes, and having good biocompatibility, thereby increasing the accuracy of the positioning tool being recognized by the acquisition device, reducing the probability of recognition errors and the weight of the positioning tool;

[0410] (6) The positioning tool and positioning system disclosed herein reduce the risk of injury to the user or subject by designing one end of the tip portion to be blunt-tipped;

[0411] (7) The positioning tool and positioning system disclosed herein reduce the resistance of the tip portion being fastened in the pen tip by designing the pen tip portion with a groove or vent hole that is connected to the outside world.

[0412] Referring to FIG. 27 , a medical system 6100 according to one embodiment of the present disclosure is shown. The medical system 6100 includes a multifunctional medical cart 3100, a stimulation coil 1100, and a camera cart 4100. The multifunctional medical cart 3100 is configured as any of the multifunctional medical carts 3100 described in the examples above. The stimulation coil 1100 is configured as any of the stimulation coils 1100 described in the examples above, and signals can be transmitted between the stimulation coil 1100 and the multifunctional medical cart 3100. In one example, the stimulation coil 1100 can be an electrical stimulation coil or a magnetic stimulation coil. In one example, signal transmission between the stimulation coil 1100 and the multifunctional medical cart 3100 can be via a local area network, a wide area network, Wi-Fi, a mobile network, Bluetooth, a wired network, a data cable, or the like. In one example, the signal can be a communication signal, a data signal, a command signal, a control signal, an electrical signal (including digital and analog signals), an optical signal, or the like, without limitation to the signal type. In one example, the stimulation coil 1100 may be a true stimulation coil or a sham stimulation coil.

[0413] The camera trolley 4100 is configured as the camera trolley 4100 described in any of the above examples. The camera 4012 on the camera trolley 4100 tracks and positions the stimulation coil 1100. During use, the camera 4012 on the camera trolley 4100 identifies the stimulation coil 1100 and transmits data (e.g., at least one of image data, position data, shape data, color data, metadata, three-dimensional data, etc.) of the identified stimulation coil 1100 to the multifunctional medical trolley 3100 to track and position the stimulation coil 1100.

[0414] In one example, when the camera 4012 is a structured light camera, the medical system 6100 further includes an identification module 100. The identification module 100 is configured as the identification module 100 of any of the above examples (as shown in FIG3 and FIG5 ). During use, the camera 4012 on the camera trolley 4100 identifies the identification module 100 (e.g., identifies the pattern 20), and the camera 4012 transmits the data of the identified identification module 100 (e.g., at least one of image data, position data, shape data, color data, metadata, three-dimensional data, etc.) to the multifunctional medical trolley 3100 to track and locate the identification module 100 and / or register the stimulation coil 1100.

[0415] In one example, the structured light camera may be three-dimensional, four-dimensional, or higher-dimensional, as long as it can provide depth information of the object being identified, tracked, or located. This example is merely an illustrative example and should not be construed as a limitation of the present disclosure by those skilled in the art.

[0416] In one example, when the camera 4012 is an infrared camera, the medical system 6100 further includes a positioning tool 5100. The positioning tool 5100 is configured as the positioning tool 5100 described in any of the above examples (as shown in FIG. 21 ). During use, the camera 4012 on the camera trolley 4100 recognizes the positioning tool 5100 and transmits data (e.g., at least one of image data, position data, shape data, color data, metadata, three-dimensional data, etc.) of the recognized positioning tool 5100 to the multifunctional medical trolley 3100 for registration of the stimulation coil 1100.

[0417] In one example, tracking and positioning of the subject can be achieved based on tracking and positioning of the stimulation coil 1100 and / or the identification module 100. For example, tracking and positioning of the controlled position of the subject (e.g., head, target, etc.) can be achieved. For example, tracking and positioning of whether the subject moves or whether the position of the stimulation coil 1100 or the identification module 100 shifts.

[0418] In one example, the multifunctional medical trolley 3100 can transmit control signals to the stimulation coil 1100 or the identification module 100 or a tool, device, or apparatus having the identification module 100. For example, stimulation parameters for regulating the target point (frequency, pulse intensity, stimulation duration, stimulation period, etc.) and stimulation parameters simulating a real stimulation coil (e.g., vibration frequency, vibration duration, vibration period, volume, type, frequency, etc. of the sound simulating a real stimulation coil) can be transmitted.

[0419] In one example, a controller, control circuit or control chip is provided on the stimulation coil 1100, the identification module 100 or a tool, device or equipment having the identification module 100, so that the stimulation coil 100, the identification module 100 or a tool, device or equipment having the identification module 100 can communicate with the multifunctional medical trolley 3100 (for example, transmit data, transmit signals, etc.).

[0420] In one example, the display device 3050 (e.g., a display) of the multifunctional medical trolley 3100 can display a model of a simulated stimulation coil 1100, an identification module 100, or a tool, device, or apparatus having an identification module 100, so as to facilitate visual registration (e.g., guiding at least one of the registration position, offset direction, and offset distance) and / or tracking positioning of the stimulation coil 1100, the identification module 100, or a tool, device, or apparatus having an identification module 100.

[0421] In one example, the display device (e.g., a display) of the multifunctional medical trolley 3100 can display a model simulating the regulated part of the subject (e.g., the head) and a model simulating the stimulation coil 1100, the identification module 100, or a tool, device, or apparatus having the identification module 100, so as to facilitate visual registration (e.g., guiding at least one of the registration position, offset direction, and offset distance) and / or tracking positioning of the regulated part of the subject (e.g., the head) and the stimulation coil 1100, the identification module 100, or a tool, device, or apparatus having the identification module 100.

[0422] The present disclosure uses the medical system 6100 to track, locate, and identify target points or areas requiring tracking and location in subjects with diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorders, epilepsy, Alzheimer's disease, and brain damage. It can also track and locate the stimulation coil 1100, recognition module 100, recognition tool 200, and positioning tool 5100. It can also register at least one of the regulated or stimulated area, the stimulation coil 1100, recognition module 100, recognition tool 200, and positioning tool 5100. The medical system 6100 can also stimulate or regulate nerves in subjects with diseases such as autism, depression, autism, obsessive-compulsive disorder, affective disorders, epilepsy, Alzheimer's disease, and brain damage. It can also provide real-time navigation during the process of stimulating a subject's target point or regulating the subject (e.g., guiding the placement, direction, and distance of the stimulation coil 1100, recognition module 100, recognition tool 200, and the like).

[0423] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A recognition module, characterized in that: The identification module comprises: An identification body having at least two connected sides, the two connected sides including a first side and a second side connected to the first side; and An identification pattern is arranged on a first side surface of the identification body.

2. The identification module according to claim 1, characterized in that: The identification module further includes a guide and positioning portion, and the guide and positioning portion is arranged on the second side surface of the identification body.

3. The identification module according to claim 2, characterized in that: The number of the guide positioning portion is at least one, and the guide positioning portion is a convex structure, and the second side surface cooperates with the concave platform structure on the surface of the identification tool through the convex structure.

4. The identification module according to claim 3, characterized in that: The guide positioning portion is detachably matched with the concave structure through the protrusion structure, or the identification module and the identification tool are integrally formed.

5. The identification module according to claim 1, characterized in that: An identification pattern is arranged on the first side, and the identification pattern includes a background part and a foreground part arranged on the background part. The pattern of the foreground part is arranged according to a preset layout, and the difference range between the grayscale value of the background part and the grayscale value of the foreground part is set to 1 to 255.

6. The identification module according to any one of claims 1 to 5, characterized in that: The cross section of the identification body is in an L-shape or an acute-angle triangle.

7. The identification module according to claim 6, characterized in that: When the cross-section of the identification body is L-shaped, the identification module is a calibration module. When the cross-section of the identification body is in the shape of an acute triangle, the identification module is a positioning module.

8. The identification module according to claim 7, characterized in that: The positioning module comprises at least two identification parts, and two adjacent identification parts are arranged at an angle.

9. The identification module according to claim 8, characterized in that: The two adjacent identification parts are arranged at an obtuse angle. The colors of the background parts and / or the foreground parts of the recognition patterns of two adjacent recognition parts are different.

10. The identification module according to claim 6, characterized in that: When the cross-section of the identification body is L-shaped, a positioning step reference surface is provided on the second side surface; The guide positioning portion is a positioning guide column arranged on the positioning step reference surface.

11. The identification module according to claim 10, characterized in that: At least one reinforcing rib matching the cross-sectional shape of the identification module is provided on the inner side surface of the identification module; A locking through hole is arranged on the second side surface of the identification module.

12. An identification tool, characterized in that: The identification tools include: An identification tool body, wherein a mating portion for mating with the guide and positioning portion of the identification module according to any one of claims 1 to 11 is provided on one surface of the identification tool body.

13. The identification tool according to claim 12, characterized in that The identification tool body is a magnetic stimulation coil, and one surface of the magnetic stimulation coil body is a surface of the magnetic stimulation coil opposite to the stimulation surface.

14. The identification tool according to claim 12, characterized in that The identification tool body is a shell for accommodating the magnetic stimulation coil. The shape of the identification tool body is consistent with the shape of the magnetic stimulation coil. The shell and the magnetic stimulation coil are connected in a detachable manner. One surface of the shell is a surface opposite to the stimulation surface.

15. 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 to the at least one stimulation surface.

16. The stimulation coil according to claim 15, characterized in that 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.

17. The stimulation coil according to claim 16, 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.

18. The stimulation coil according to claim 17, 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.

19. The stimulation coil according to any one of claims 15 to 18, characterized in that: The range of the angle is set to 0° to 90°.

20. The stimulation coil according to claim 19, characterized in that The angle ranges from 20° to 90°.

21. The stimulation coil according to any one of claims 15 to 18, 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°.

22. The stimulation coil according to claim 21, 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.

23. The stimulation coil according to any one of claims 15 to 20, 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.

24. The stimulation coil according to claim 23, characterized in that The upper bottom surface of the polyhedron is a stimulation surface for providing pseudo stimulation.

25. The stimulation coil according to claim 23, 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.

26. The stimulation coil according to claim 25, 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.

27. The stimulation coil according to claim 15, 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.

28. The stimulation coil according to claim 15, 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.

29. The stimulation coil according to claim 15, characterized in that The energy includes at least one of electrical energy, mechanical energy, magnetic energy, light energy, chemical energy and sound energy. The stimulation coil is a real stimulation coil or a sham stimulation coil.

30. 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 15-29.

31. A multifunctional medical trolley, characterized in that: The multifunctional medical trolley comprises: The frame is formed by riveting and welding; At least two trays, wherein at least one of the at least two trays is fixed to the frame by riveting and welding.

32. The multifunctional medical trolley according to claim 31, characterized in that: Three of the at least two trays are fixed to the frame by riveting and welding.

33. The multifunctional medical trolley according to claim 31 or 32, characterized in that: A bottom supporting frame is arranged at the bottom of the skeleton, and the bottommost tray of the at least two trays is arranged on the bottom supporting frame. A rectangular tube is welded on the back side of the bottom supporting frame facing away from the bottommost tray, and the rectangular tube is arranged near the center of the bottom supporting frame.

34. The multifunctional medical trolley according to claim 33, characterized in that: The at least two trays are each supported by a corresponding frame in the framework.

35. The multifunctional medical trolley according to claim 34, characterized in that: A bending portion is provided on the periphery of at least one of the at least two trays and a reinforcing rib is provided on the back side of at least one of the at least two trays; A stopper is provided on the periphery of the upper surface of at least one of the at least two trays.

36. The multifunctional medical trolley according to claim 35, characterized in that: The upper tray of the at least two trays is a PC tray, the middle tray is a TMS tray for placing TMS, and the lower tray is a liquid cooling tray for placing various liquid cooling devices. The liquid cooling tray is provided with a leakage discharge hole to prevent liquid cooling leakage.

37. The multifunctional medical trolley according to claim 36, characterized in that: At least one of the at least two trays has a thickness less than 2 mm and greater than 1 mm.

38. The multifunctional medical trolley according to claim 37, characterized in that: A front shell, a rear shell, a left shell and a right shell are detachably mounted on the periphery of the frame, a bottom shell is detachably mounted on the bottom of the frame, and a top shell is detachably mounted on the top of the frame.

39. The multifunctional medical trolley according to claim 38, characterized in that: A display assembly is arranged on the top shell, and a detachable handle is arranged on one side of the top shell.

40. The multifunctional medical trolley according to claim 39, characterized in that: The bottom frame is provided with at least three casters, and the at least three casters protrude out of the bottom shell. The skeleton is a cuboid or a cube. The bottom shell is provided with an opening for allowing the rectangular tube to pass through.

41. A camera trolley, characterized in that: The camera trolley comprises: an arm assembly having a first end and a second end opposite the first end; A camera assembly, the camera assembly being disposed on the first end of the arm assembly and capable of pivoting at the first end of the arm assembly; A lifting assembly, wherein a first end of the lifting assembly is connected to the second end of the arm assembly and can adjust the height of the camera assembly through its own lifting movement; A chassis assembly, wherein the upper end of the chassis assembly is fixedly connected to the second end of the lifting assembly opposite to the first end.

42. The camera trolley according to claim 41, characterized in that: A first pivot is provided at the first end of the arm assembly so that the camera assembly can perform a pivotal movement in the up-down direction and the left-right direction relative to the camera trolley; The arm assembly includes a first arm portion and a second arm portion pivotally connected to the first arm portion and capable of pivoting relative to the trolley in the up-down direction and the left-right direction.

43. The camera trolley according to claim 42, characterized in that: The first arm portion and the second arm portion are connected via a second pivot, The second end of the arm assembly is connected to the first end of the lifting assembly through the arm adapter.

44. The camera trolley according to any one of claims 41 to 43, characterized in that: The lifting assembly includes a column, a frame, a slide rail, a slider, a tension spring, a wire drawing, a track wheel, and a fixing block. The first end of the column is connected to the arm adapter in the arm assembly, the column is fixedly connected to the frame, the slide rail is fixed to the frame, the slider is fixed to the column and slides up and down in the slide rail, the upper and lower ends of the frame are respectively provided with an upper fixed rod and a lower fixed rod, the track wheel is slidably arranged on the upper fixed rod, one end of the wire drawing is fixedly arranged on the slider, and after passing through the track wheel, it is fixedly connected to the tension spring fixed on the lower fixed rod. The bottom end of the frame is fixedly connected to the chassis assembly via a fixing block.

45. The camera trolley according to claim 44, characterized in that: The column is provided with a plurality of height adjustment holes arranged at intervals, and a spring pin which can be inserted into different height adjustment holes among the plurality of height adjustment holes to adjust the height of the column.

46. ​​The camera trolley according to claim 45, characterized in that: The lifting assembly also includes: a front housing mounted on one side of the frame; A decorative plate disposed on a surface of the front housing; A rear housing installed on the other side of the frame, wherein the front housing and the rear housing form a housing surrounding the frame, the column, the slide rail, and the slider; A handle, the handle being buckled onto the buckle portion at the upper end of the front housing; The spring pin is movably arranged in the groove of the handle, and the lower end of the rear shell is also provided with a wire outlet hole that allows the data cable to be led out from the camera through the arm assembly and the lifting assembly and then out of the rear shell, and a wire protective sleeve is arranged in the wire outlet hole to protect the data cable.

47. The camera trolley according to claim 46, characterized in that: The chassis assembly includes a chassis shell, a bottom plate and at least three casters, The fixed block of the lifting assembly is fixedly connected to the chassis through the chassis shell, and the at least three casters are detachably fixed on the corresponding at least three supporting feet of the chassis shell.

48. The camera trolley according to any one of claims 41-47, characterized in that: The camera assembly includes: a camera, a camera fixing member, a counterweight, an upper camera shell and a lower camera shell. The camera is fixed to a camera fixing piece, and the camera fixing piece is fixed to a lower shell of the camera. The counterweight is fixed to the lower shell of the camera. The upper shell of the camera is engaged with the lower shell of the camera.

49. The camera trolley according to claim 48, characterized in that: Camera foam is arranged between the camera and at least one of the camera upper shell and the camera lower shell, and the camera fixing part and the counterweight block in the camera assembly are fixed to at least one of the camera upper shell and the camera lower shell through silicone plugs and screws.

50. The camera trolley according to claim 49, characterized in that: The camera assembly also includes a camera handle installed on the outer surfaces of the camera upper shell and the camera lower shell, and a connecting piece installed on the camera handle and fixed on one end of the camera upper shell and the camera lower shell. The camera assembly is connected to the arm assembly through the connecting piece.

51. A positioning tool, characterized in that: The positioning tool comprises: Support the main body; An identification unit disposed on the support body and used for being identified by a collection device at multiple viewing angles; and A contact unit that directly or indirectly contacts the subject, wherein the contact unit is disposed on at least one end of the support body.

52. The positioning tool according to claim 51, characterized in that The recognition unit is at least partially exposed within the effective recognition range of the acquisition device at any viewing angle.

53. The positioning tool according to claim 52, characterized in that The identification unit includes at least three identification modules. Among the at least three recognition modules, at most two recognition modules are co-linearly arranged on the support body.

54. The positioning tool according to claim 53, characterized in that The identification unit includes an active identification module and / or a passive identification module. The light emitted by the active identification module is displayed on at least part of the surface of the supporting body. The passive identification module is at least partially disposed on the surface of the supporting body.

55. The positioning tool according to claim 54, characterized in that When the identification unit includes an active identification module, the active identification module is arranged inside the support body, and one or more side surfaces of the support body at positions corresponding to the active identification module are set as transparent surfaces.

56. The positioning tool according to claim 55, characterized in that The transparent surface has a texture structure for avoiding specular reflection.

57. A positioning tool according to any one of claims 54 to 56, characterized in that A power supply unit for supplying power to the active identification module is provided inside the support body. The active identification module is an infrared light emitting unit.

58. The positioning tool according to claim 54, characterized in that When the identification unit includes a passive identification module, the passive identification module is protrudingly disposed on the surface of the supporting body.

59. The positioning tool according to claim 58, characterized in that The passive identification module is fixed to the surface of the supporting body through a connecting piece. A supporting element is arranged between the passive identification module and the supporting body.

60. The positioning tool according to claim 58, characterized in that The size of the passive identification module is larger than the width of the surface of the supporting body on the same side thereof.

61. The positioning tool according to claims 58-60, characterized in that The passive identification module is a small reflective ball, and the outer diameter of the small reflective ball is greater than the width of the surface of the supporting body located on the same side thereof.

62. A positioning tool according to any one of claims 53-56 and 58-60, characterized in that The supporting body includes a first body, a second body and a third body, at least one identification module is respectively arranged on the first body, the second body and the third body, the contact unit is arranged at one end of the first body, the other end of the first body is connected to the second body and the third body, and at least two bodies among the first body, the second body and the third body are arranged coplanar with each other.

63. The positioning tool according to claim 62, characterized in that The top of the second body and the top of the third body are respectively provided with an identification module. The second body and the third body are arranged at a first angle, the second body and the first body are arranged at a second angle, and the third body and the first body are arranged at a third angle.

64. The positioning tool according to claim 63, characterized in that The identification module on the second body is arranged asymmetrically with the identification module on the third body. The angle range of the second angle and the third angle is set to 90° to 180°, The first angle is set in a range of 20° to 180°.

65. The positioning tool according to claim 64, characterized in that The shape of the supporting body is set to be an asymmetric "Y" shape, The at least three identification modules include a first identification module, a second identification module, a third identification module and a fourth identification module. The first identification module and the second identification module are arranged side by side and at intervals on the same side of the first body, the third identification module is arranged at the top of the second body, and the fourth identification module is arranged at the top of the third body. The second body and the third body are arranged asymmetrically.

66. The positioning tool according to claim 64, characterized in that A supporting connection member is provided between the second body and the third body, and / or A gripping unit is disposed at one end of the supporting body close to the contact unit.

67. The positioning tool according to claim 66, characterized in that When the supporting connecting member is provided between the second body and the third body, the supporting connecting member is provided as a curved connecting section. When a holding unit is provided at one end of the supporting body close to the contact unit, the holding unit is a non-reflective silicone sleeve provided at one end of the first body close to the contact unit, and the non-reflective silicone sleeve is detachably mounted on one end of the first body close to the contact unit.

68. The positioning tool according to claim 62, characterized in that The support body is configured as a non-mirror reflective support member, The first body, the second body and the third body are integrally formed or detachably connected. The shape of the first body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shape of the second body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shape of the third body is set to be any one of a regular tetrahedron, a cylinder and a trihedron, The shapes of any two of the first body, the second body and the third body are set to be the same or different.

69. The positioning tool according to claim 62, characterized in that The contact unit comprises a tip portion, an end of the tip portion that directly or indirectly contacts the subject is configured to be blunt-tip shaped, and the tip portion is integrally formed with the support body or is detachably connected thereto.

70. The positioning tool according to claim 69, characterized in that The tip portion comprises at least two tip segments detachably connected to each other, The tip portion is configured as a transparent silicone pen tip. The contact unit further includes a pen head provided with a cavity for accommodating the tip portion, and the tip portion is detachably and partially disposed in the pen head.

71. The positioning tool according to claim 70, characterized in that The inner wall of the pen tip close to the cavity is provided with a groove or a vent hole for connecting the cavity with the outside world. When the contact unit only includes a detachable tip portion, the support body is provided with an inner cavity for accommodating the tip portion, and a groove or a vent hole for connecting the inner cavity with the outside is provided at one end of the support body close to the tip portion. The pen tip is integrally formed with the supporting body or is detachably connected thereto.

72. A positioning system, characterized in that: The positioning system comprises: Control equipment; A collection device, the collection device being signal-connected to the control device; and The positioning tool recognized by the acquisition device is the positioning tool described in any one of claims 51-71.

73. The positioning system according to claim 72, characterized in that The positioning system further comprises a foot switch for sending a signal to the control device when the positioning tool is registered, wherein the foot switch is connected to the control device by wire or wirelessly, or A control button connected to the positioning system signal is arranged on the supporting body of the positioning tool.

74. A medical system, characterized in that: The medical system includes: A multifunctional medical trolley, wherein the multifunctional medical trolley is configured as a multifunctional medical trolley as described in any one of claims 31-40: a stimulation coil, wherein the stimulation coil is configured as the stimulation coil according to any one of claims 15 to 29, and signal transmission can be performed between the stimulation coil and the multifunctional medical trolley; and A camera trolley, the camera trolley being configured as a camera trolley as claimed in any one of claims 41 to 50, wherein a camera on the camera trolley tracks and positions the stimulation coil, When in use, the camera on the camera trolley identifies the stimulation coil, and the camera transmits data of the identified stimulation coil to the multifunctional medical trolley to track and locate the stimulation coil.

75. The medical system according to claim 74, characterized in that When the camera is a structured light camera, the medical system further comprises a recognition module, and the recognition module is configured as a recognition module as described in any one of claims 1 to 11; When in use, the camera on the camera trolley identifies the identification module, and the camera transmits data of the identified identification module to the multifunctional medical trolley to track and locate the identification module and / or register the stimulation coil.

76. The medical system of claim 74, wherein: When the camera is an infrared camera, the medical system further comprises a positioning tool, wherein the positioning tool is configured as a positioning tool as described in any one of claims 51-71, When in use, the camera on the camera trolley identifies the positioning tool, and the camera transmits data of the identified positioning tool to the multifunctional medical trolley to register the stimulation coil.

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