181 results about "Magnetic brain stimulation" patented technology

The invention provides a transcranial stimulation magnetic therapy closed-loop control method and system, and the method comprises the steps: determining a multi-modal physiological signal of a user, the multi-modal physiological signal at least comprising an electroencephalogram signal, an autonomic nerve physiological signal and a subjective feedback signal; constructing an individual dynamic baseline spectrum based on user multi-state data collected before treatment; the method comprises the following steps: preprocessing a multi-modal physiological signal collected in a treatment process, and extracting a real-time feature vector; calculating a comprehensive deviation index of the real-time feature vector and the individual dynamic baseline spectrum, and determining a deviation type based on the comprehensive deviation index; the adjustment amount of transcranial magnetic stimulation parameters is dynamically calculated according to the deviation type, the individual response characteristics and the historical treatment data, stimulation operation is conducted according to the adjustment amount of the transcranial magnetic stimulation parameters, and the transcranial magnetic stimulation parameters at least comprise the stimulation frequency, the intensity, the pulse width and the stimulation duration. Parameters of transcranial magnetic stimulation are adaptively changed according to changes of neuron oscillation of a patient in the treatment process.

The invention discloses a transcranial magnetic navigation and curative effect evaluation system based on electroencephalogram power spectrum analysis, particularly relates to the technical field of electroencephalogram signal processing, and is used for solving the technical problem that existing transcranial magnetic stimulation treatment lacks interference evaluation and stimulation path optimization on a cortical collaborative area. According to the method, electroencephalogram signals of a testee in a resting state and a task state are collected, phase-amplitude coupling indexes between frequency bands are extracted, a frequency-crossing coupling matrix is constructed, a nested chain structure with modulation direction consistency is identified, a stable resonance channel group is extracted from a channel intersection set to form a collaborative active region, and the collaborative active region is constructed. And after mapping to a standard brain map, carrying out space matching with a TMS target spot, evaluating an interference risk level, formulating a stimulation avoidance strategy, recording side reactions during treatment, and constructing a curative effect scoring window in a normalization manner, so as to realize synchronous optimization of stimulation planning and curative effect evaluation.

The invention belongs to the technical field of transcranial magnetic stimulation coil design, and particularly provides a transcranial magnetic stimulation coil design method and system based on an inverse boundary element method.The method comprises the steps that firstly, a stream function calculation formula based on the inverse boundary element method and a regulation and control mechanism of current density constraint on wire spacing are deduced; and completing the design of the rat frontal and parietal lobe targeted stimulation coil. Aiming at the frontal top lobe area of a rat, a reverse method of an inverse boundary element method is adopted, the interference of the coil on experimental observation is reduced, and a small cambered surface TMS coil is designed. Compared with a circular coil and an 8-shaped coil of a conventional human body commercial coil which is reduced in equal ratio, the half-value volumes of the coil are respectively reduced by 79.78% and 57.14%, and the focusing degree of stimulation is remarkably improved; meanwhile, by adding the current density constraint, on the premise that the influence on the stimulation effect is small, the minimum distance between the wires is increased to 1.02 mm from 0.39 mm, and the feasibility of coil winding is ensured.

The invention discloses a transcranial stimulation magnetic therapy coil navigation method, a transcranial stimulation magnetic therapy coil navigation system, a storage medium and equipment. The method comprises the following steps: acquiring three-dimensional structure information of the head of a target object, magnetic resonance imaging (MRI) data of an individual target object, or three-dimensional model data obtained by matching from a general MRI template library; real-time surface geometric information of the head of the target object is collected through an infrared optical tracking system; performing registration fusion on the three-dimensional structure information and the real-time surface geometric information, and generating an individualized three-dimensional brain model synchronized with a real space coordinate system on a navigation interface; the spatial position and posture of the optical marker fixed on the magnetic therapy coil are tracked in real time through an infrared optical tracking system and correspondingly mapped to the individualized three-dimensional brain model, and visual navigation of the magnetic therapy coil relative to the brain anatomical structure is achieved. Through the individualized three-dimensional navigation and real-time visualization technology, the problems that a traditional TMS is low in positioning precision, invisible in operation and poor in treatment repeatability are solved.

The invention discloses an MEP automatic measurement and threshold discrimination method and system based on a mechanical arm. The MEP automatic measurement and threshold discrimination method comprises the following steps: constructing a scalp hotspot probability distribution map based on a brain map; dividing the hotspot scalp map into a plurality of sub-regions, and selecting candidate points from the plurality of sub-regions to obtain a candidate scalp stimulation point list; carrying out transcranial magnetic stimulation according to a point position sequence of the candidate scalp stimulation point list, simultaneously collecting a motor evoked potential signal triggered by each stimulation, and simultaneously collecting a motor evoked potential signal triggered by each stimulation; preprocessing and feature extraction are carried out on the collected motor evoked potential signals, whether stimulation evokes effective MEP response or not is judged through a response judgment method, and a candidate point-MEP response database is formed; screening an optimal motion hotspot point location in the candidate area, and taking the optimal motion hotspot point location as a target site; and searching an individualized resting motion threshold value on the optimal motion hotspot point location.

The invention relates to a heterogeneous human head model construction method and system oriented to multi-physics field simulation, based on real human head T1 weighted magnetic resonance image data, key tissues such as white matter, gray matter and cerebrospinal fluid are accurately segmented, and a three-dimensional geometric model used for generating carrying tissue identification information is researched and developed; converting the model data into a file format conforming to the NASTRAN standard by utilizing an independently developed format conversion program, and completely retaining organization classification information; finally, different tissue areas are automatically recognized through physical field simulation software, corresponding frequency dependent material attributes are distributed, and a finite element model capable of being directly used for simulation is formed. According to the method, seamless integration of the high-precision heterogeneous human head model and the simulation platform is achieved, tedious manual repairing and assignment operation is not needed, the method has the advantages of being high in precision, high in efficiency and good in compatibility, and the authenticity and reliability of biomedical simulation such as transcranial magnetic stimulation and radio frequency coil design can be remarkably improved.

Offline prior to operation, an optimised control sequence is derived for a pulse system comprising a reactive circuit for generating electromagnetic pulses, such as a transcranial magnetic stimulation circuit, and cascaded switching modules for switchably connecting capacitive discharge elements to provide a multi-level output voltage for the reactive circuit. A discrete-time model predicts an electrical state of the pulse system. A target profile for an electromagnetic pulse is received. For respective time-steps of the control sequence taken in succession, an optimal path of switching states over a window of time-steps starting with the respective time-step is derived, optimising a cost function having a deviation cost contribution representing deviation of an electrical state of the pulse system predicted by the discrete-time model from the target profile over the window. The switching state of the determined path at the respective time-step is selected for the control sequence.

The invention discloses an auxiliary decision-making system of a transcranial magnetic stimulation mode, and the system comprises an obtaining module which is used for obtaining the personal feature information of a patient; the determination module is used for calling a preset evaluation model to calculate the brain function retention degree of the patient by adopting the personal characteristic information, and determining the treatment mode of the patient according to the brain function retention degree; wherein the preset evaluation model is a classification model constructed based on demographic characteristic parameters, behavioral evaluation characteristic parameters, neural electrophysiological characteristic parameters and brain image characteristic parameters as independent variables. The brain function retention degree is calculated by using the model, and the transcranial magnetic stimulation mode is determined according to the brain function retention degree without relying on subjective calculation of a doctor, so that the accuracy of determining the treatment mode can be improved; meanwhile, multiple evaluation, detection and calculation are not needed for processing, the processing time can be shortened, the processing efficiency and precision can be further improved, the diagnosis and subsequent treatment of the patient are prevented from being affected, and precise treatment is achieved.

The invention discloses a closed-loop transcranial magnetic stimulation brain regulation and control method based on multi-model fusion and individualized learning. Dynamic optimization and accurate regulation and control of TMS stimulation parameters are achieved. According to the technical scheme, the method comprises the following steps: collecting and preprocessing a multi-guide EEG signal in real time, and extracting frequency domain and time domain features and brain network topology indexes; the EEG state in the future 0.5-2 seconds is predicted by using depth sequential networks such as LSTM and the like, and an individualized stimulation parameter strategy is generated in combination with reinforcement learning and Bayesian optimization; tMS stimulation is triggered based on a prediction result, brain network indexes and reward evaluation, and long-term adaptive adjustment is realized through an individual memory pool. The traditional passive feedback mode is broken through, an active closed-loop mechanism of prediction-learning-regulation is realized, the TMS regulation efficiency and the individual adaptability are remarkably improved, and the method can be widely applied to scenes such as mental disease intervention, cognitive regulation and nerve rehabilitation.

The invention discloses a brain-computer interface-based closed-loop transcranial magnetic stimulation treatment system and method, and the system comprises an electroencephalogram monitoring module which is used for collecting an electroencephalogram signal of a subject in real time; the transcranial magnetic stimulation module is used for transmitting pulse stimulation to a brain target spot of a subject; the control module is in communication connection with the electroencephalogram monitoring module and the transcranial magnetic stimulation module, and the control module is configured to receive the electroencephalogram signals output by the electroencephalogram monitoring module, preprocess the electroencephalogram signals by adopting a signal processing algorithm to remove electromagnetic interference, and send the preprocessed electroencephalogram signals to the transcranial magnetic stimulation module; the signal processing algorithm comprises but is not limited to fast continuous wavelet transform (FCWT) and fast independent component analysis; according to the method, a closed-loop monitoring mechanism is adopted, electroencephalogram oscillation is recognized in real time, stimulation is dynamically triggered, the stimulation opportunity is accurately matched with the brain excitation state, and the treatment pertinence is improved; the signals are preprocessed through FCWT and an algorithm, electromagnetic interference and artifacts are effectively removed, and the accuracy of electroencephalogram oscillation feature extraction is guaranteed.

The invention provides an individualized anesthesia optimization method and system based on transcranial magnetic stimulation-induced electroencephalogram, and relates to the technical field of medical equipment control. According to the technical scheme provided by the invention, the target phase window corresponding to the electroencephalogram rhythm frequency band is predicted by using the autoregression model, and the target stimulation moment is accurately calculated according to the inherent delay of the stimulation equipment, so that closed-loop phase-locked stimulation of the transcranial magnetic pulse is triggered in a specific phase state; and it is ensured that the collected electroencephalogram response signals can accurately reflect cortical function characteristics of an individual in a specific nerve excitation state. Multi-dimensional biological characteristics are extracted from electroencephalogram response signals, an anesthesia reaction prediction model is input to calculate the individualized anesthesia reaction index, individual nerve function differences are fully considered in an anesthesia optimization scheme generated based on the individualized anesthesia reaction index, and compared with a traditional evaluation method of population statistics, the evaluation method has the advantages that the evaluation accuracy is high, and the evaluation efficiency is high. The accuracy of anesthesia response evaluation is remarkably improved, and therefore the accuracy of an anesthesia scheme can be improved.

The invention provides a machine learning-based acupuncture combined transcranial magnetic stimulation scheme selection method, which comprises the following steps of: performing acupuncture on an object, recording acupuncture data, and obtaining acupuncture text characteristics; the acupuncture data comprises acupuncture object data and acupuncture operation data, the acupuncture object data comprises gender, age, disease name, symptom, medical history and living habit, and the acupuncture operation data comprises body position, acupuncture point, acupuncture sequence, needle inserting, needle moving and duration; performing transcranial magnetic stimulation on the needled object for multiple times to obtain transcranial magnetic stimulation data, the transcranial magnetic stimulation data including hot spot positioning, working parameters, process data and effect data, and obtaining transcranial magnetic stimulation features; establishing association between acupuncture text features and transcranial magnetic stimulation features, constructing a database storing multiple groups of acupuncture combined transcranial magnetic stimulation schemes, and selecting a layered random forest regression model for training; and selecting an acupuncture combined transcranial magnetic stimulation scheme from the database according to actual data by using a reverse prediction method.

The invention discloses a method and a device for evaluating anesthesia depth based on joint disturbance and electroencephalogram signals. According to the method, transcranial magnetic stimulation and transcranial ultrasonic stimulation are sequentially applied to a cortex target spot and a subcortex target spot; collecting first multi-channel electroencephalogram data and second multi-channel electroencephalogram data; based on the first multi-channel electroencephalogram data and the second multi-channel electroencephalogram data, reconstructing a cortex source activity time sequence and a subcortex source activity time sequence; calculating a disturbance complexity index according to the first multichannel electroencephalogram data and a source positioning algorithm; calculating a cortex-to-subcortex directional coherence value and a subcortex-to-cortex directional coherence value according to the cortex source activity time sequence and the subcortex source activity time sequence; and generating an anesthesia depth index based on the disturbance complexity index, the cortical-to-subcortical directional coherence value and the subcortical-to-cortical directional coherence value. By implementing the technical scheme provided by the invention, the problem of insufficient accuracy between different anesthetics and individuals is solved, and more stable and reliable anesthesia depth monitoring is realized.

The present application relates to a kind of brain stimulation target point fast positioning method based on facial recognition and AI neural navigation, by obtaining the MRI data of user's head, construct the three-dimensional digital brain model including brain function partition information;Acquisition facial three-dimensional point cloud, with the head surface model reconstructed by MRI registration, establish the space mapping of actual head and brain model;Based on this mapping, determine stimulation target point on model.In treatment, real-time tracking head pose using optical system, and in navigation interface fusion display brain model, target point and the real-time position and angle of magnetic stimulation coil.Determine the best target stimulation angle of coil according to the gyri and sulci orientation of target point, guide operator to adjust coil pose by comparing the difference between real-time angle and target angle.The present application realizes the fast, accurate, visual positioning and dynamic maintenance of target point in transcranial magnetic stimulation treatment, and upgrades the traditional experience-dependent operation to individualized, real-time feedback precision navigation treatment.

The invention discloses a transcranial magnetic stimulation head target point pose determination method and device and a medium. Relates to the field of magnetic stimulation treatment equipment, and solves the problems that a mechanical arm is not reachable, the posture is not stable or the mechanical arm interferes with the surrounding environment due to the fact that only a unique target posture is determined in the transcranial magnetic stimulation treatment process. The method comprises the following steps: firstly, establishing a head three-dimensional model, determining a three-dimensional coordinate and a unit normal vector of a target spot, converting the head three-dimensional model into a spherical model, establishing a spherical coordinate system, and simultaneously dividing into a plurality of non-overlapping space partitions; calling a corresponding rotation angle mapping strategy to generate a plurality of candidate rotation angles based on a space partition to which a target point belongs, constructing a target pose matrix for each candidate rotation angle, solving a joint angle solution through inverse kinematics, then carrying out constraint condition screening, finally determining an executable pose, and carrying out pose adjustment only by using a rotation freedom degree of a treatment beat around a normal direction. A plurality of pose selection spaces are provided for the mechanical arm, and the execution rate of poses is greatly improved.

The invention discloses an accurate positioning system based on multi-modal image fusion, and the system comprises a multi-modal image collection module which synchronously collects an MRI structure image, an fMRI function image and a DTI white matter fiber bundle image of the brain of a patient; the image preprocessing module is connected with the acquisition module and is used for de-noising, registering and standardizing the multi-modal image data to generate fused image data under a unified coordinate system; the target analysis module is connected with the preprocessing module and calculates initial coordinates of the target based on the fused data; the dynamic correction module is connected with the analysis module, monitors the head movement in real time and dynamically corrects the target position; and the target spot guiding terminal is connected with the correction module and controls the mechanical arm to accurately position according to the corrected coordinates. According to the system, the transcranial magnetic stimulation target spot positioning accuracy and the personalized adaptive capacity can be remarkably improved, the problems that a traditional method depends on experience and the single-mode image accuracy is insufficient are solved, and meanwhile the positioning stability and the effect evaluability in treatment are ensured.

Disclosed is a multi-locus TMS (transcranial magnetic stimulation) transducer, including one or more transducer modules configured (i.e., adapted) to be positioned on a scalp of a subject for TMS, each of the one or more transducer modules including five or more coils for TMS of a cortical target of a subject.

The application relates to a special device and method for detecting the magnetic field and temperature of a transcranial magnetic stimulation therapeutic instrument, wherein the special device comprises a bionic head model, a special support, a magnetic field measuring probe, a temperature measuring module, a device host, a control computer and a data line; the bionic head model is arranged at the bottom of the special support, the magnetic field measuring probe is arranged at the top of the special support, and the device host is connected with the magnetic field measuring probe, the temperature measuring module and the control computer through the data line. The method is characterized in that a bionic head model equivalent to the electromagnetic characteristics of the head is designed, the magnetic field in the space where the model is located and the temperature on the surface of the coil are measured, the magnetic field measurement results are calculated and analyzed, and the measurement results of the maximum magnetic induction intensity, the spatial magnetic field distribution, the output frequency, the stimulation pulse width and the coil surface temperature are obtained. The method is suitable for detecting and calibrating the core parameters in the research and development and clinical use of the transcranial magnetic stimulation therapeutic instrument, and ensures the safety and effectiveness of the transcranial magnetic stimulation therapeutic instrument.

The invention relates to a device (10) for transcranial magnetic stimulation of a target region in a body part of a patient, comprising a stimulation unit (20) having at least one magnetic coil (30), wherein the device (10) comprises at least one contact sensor (40) which is designed to detect a contact point (60) between the stimulation unit (20) and a surface (50) of the body part in order to align the stimulation unit (20) with the target region.

The application relates to the technical field of electroencephalogram rehabilitation, and particularly discloses a depression neural regulation method and system based on TMS-EEG and machine learning driving, which comprises the following steps: S1: collecting electroencephalogram signals before transcranial magnetic stimulation of a patient; S2: pre-processing the electroencephalogram signals and extracting biomarker features; S3: inputting the extracted biomarker features into a trained machine learning model to obtain decision reference data; S4: using the above parameters as auxiliary reference data to adjust the transcranial magnetic stimulation control parameters; and S5: collecting the electroencephalogram signals again after the transcranial magnetic stimulation and using the electroencephalogram signals for optimizing subsequent personalized transcranial magnetic stimulation parameter suggestions. The application converts multi-time-point electroencephalogram signals into quantitative biomarkers, thereby providing doctors with objective decision reference data throughout the whole diagnosis and treatment process. This enables doctors to predict the patient's reactivity before stimulation regulation, thereby avoiding invalid stimulation; and the doctors can dynamically optimize the parameters according to the neurophysiological feedback during the stimulation, thereby realizing personalized and accurate regulation.

The application provides a transcranial magnetic stimulation coil surface electric field identification method, which comprises the following steps: obtaining the measurement value of the electric field or the magnetic field on the surface of the transcranial magnetic stimulation coil, and drawing a closed energy distribution curve on the shell of the transcranial magnetic stimulation coil according to the projection of the measurement value on the shell of the transcranial magnetic stimulation coil. In use, the energy curve of the high-energy part is aligned with the treatment site of the patient, so that the energy utilization of the transcranial magnetic stimulation coil is improved, and better treatment effect is achieved.

The invention relates to the technical field of medical instruments, in particular to a transcranial magnetic stimulation positioning rule and a positioning method thereof.The transcranial magnetic stimulation positioning rule comprises a comprehensive positioning system, and the comprehensive positioning system comprises a data acquisition module, a data analysis module, a target point coordinate conversion module and a positioning execution module. The data acquisition module constructs a three-dimensional model of the head of a patient, acquires brain function state indexes of the patient and transmits the indexes to the data analysis module. The data analysis module is used for establishing a curved surface coordinate system of the patient head. Through the design of the data analysis module, a curved-surface coordinate system can be constructed according to a three-dimensional head model of a patient, the abnormal brain function area of the patient is analyzed according to brain function state indexes of the patient, and then the abnormal brain function area of the patient is projected into the curved-surface coordinate system through the design of the target point coordinate conversion module. Therefore, the comprehensive positioning data of the treatment target is obtained, the comprehensiveness of the positioning data is effectively improved, positioning error interference is reduced, and the positioning accuracy is improved.

The invention relates to a small transcranial magnetic stimulation positioning device and method based on remote control, and the device comprises a helmet, a control host, and a medical control host. A detection space is arranged in the helmet, a camera module and a three-axis moving module are arranged in the detection space, and a positioning unit and an angle adjusting module are arranged at the movable end of the three-axis moving module; the positioning unit comprises a mounting plate, guide sleeves are vertically arranged at four corners of the lower surface of the mounting plate, guide columns are slidably arranged on the guide sleeves in a penetrating manner, and a treatment coil is arranged on the lower surface of the mounting plate; the cost can be greatly reduced, and meanwhile, the method can be well implemented; the four pressure sensors not only can detect the head shape, but also can be directly associated with the treatment coil in hardware, the position of the treatment coil can be accurately and directly obtained, and meanwhile angle adjustment and height adjustment of the treatment coil can be conducted according to needs. By means of the device, continuous treatment of the erythema rosacea can be conveniently conducted on a patient at home.

A method of modulating a brain activity of a mammal is achieved by subjecting the mammal to transcranial magnetic stimulation (TMS) with a TMS apparatus at random variable pulse intervals for a time sufficient to modulate said brain activity. The method can also be used by administering electric stimulation to the brain. Improvement in a physiological condition or a clinical condition is achieved. Conditions to be treated include but are not limited to PTSD, autism spectrum disorder addiction (SUD) and Alzheimer's disease.

This invention discloses a transcranial magnetic stimulation (TMS) system and method. The system includes a head data acquisition module, a stimulation subject simulation module, and a coil parameter recommendation module. The head data acquisition module acquires head data of the target stimulation subject, including scalp data, skull data, and brain tissue data. The stimulation subject simulation module, connected to the head data acquisition module, constructs a head model of the target stimulation subject based on the acquired head data. The coil parameter recommendation module, connected to the stimulation subject simulation module, generates coil structure test parameters and performs simulation tests on the head model based on preset stimulation parameters and coil structure test parameters to obtain test data. Based on the test data, a TMS coil adapted to the head model is determined. Through the technical solution of this invention, the technical effect of improving the compatibility between the TMS coil and the target stimulation subject is achieved.

The invention provides an automatic alignment device used in transcranial magnetic stimulation (TMS) treatment, and relates to the field of transcranial magnetic stimulation. The method comprises the following steps: acquiring brain medical image data of a patient for segmentation and three-dimensional reconstruction, and generating a patient-specific brain three-dimensional virtual model containing a target stimulation target spot and key anatomical points around the target stimulation target spot; real-time pose data of the head of a patient is collected in real time, and spatial registration is carried out to establish an analytic coordinate system which comprises a three-dimensional virtual model and is synchronized with the spatial position of the real-time pose data of a physical state; and in combination with an electromagnetic field physical model of a TMS coil, current head pose data is calculated through a stimulation target mapping algorithm. And collecting current space pose data of the TMS coil in real time, comparing the current space pose data with the target space pose, resolving to obtain pose adjustment parameters, and driving a coil control mechanism to adjust the position and angle of the coil. The technical problems that due to unstable operation, a stimulation point deviates, and accurate positioning is difficult to achieve within a short time are solved.

The invention provides an active shimming method for TMS-fMRI dynamic compatibility regulation and control, and relates to the field of dynamic electromagnetic compatibility regulation and control in a synchronous transcranial magnetic stimulation and magnetic resonance imaging system. The active shimming device comprises a coil shell, a multi-channel shimming coil is arranged on the side wall of the coil shell, the multi-channel shimming coil comprises a plurality of coil channels, and a uniform magnetic field generated by the multi-channel shimming coil is used for counteracting an interference magnetic field generated by a TMS coil. The active shimming method is adopted, the magnetic field uniformity can be remarkably improved, the problems of image artifacts, geometric distortion, signal non-uniformity, signal loss and the like are effectively restrained, static magnetic field disturbance introduced by a TMS coil is greatly weakened, real-time dynamic compensation based on algorithm control is supported, and the method is suitable for large-scale popularization and application. The method can adapt to the space change of the static magnetic field caused by the TMS coil at different target positions, and solves the problems of poor space flexibility and the like.

The invention discloses a transcranial magnetic stimulation system, and relates to the technical field of transcranial magnetic stimulation, and the system comprises a stimulation head module which is used for accommodating a plurality of stimulation heads which can be independently controlled, and the plurality of stimulation heads respectively correspond to preset brain function regions so as to generate magnetic field stimulation; and the control module is used for receiving a treatment instruction, selectively activating one or more stimulation heads in the stimulation head module according to the treatment instruction, and controlling treatment parameters of the activated stimulation heads. According to the invention, the plurality of stimulation heads which can be independently controlled correspond to different brain functional areas, so that differential adjustment aiming at different diseases is realized, and'undifferentiated coverage 'is avoided; a special disease treatment scheme is preset, a stimulation head combination corresponding to a specific disease can be rapidly matched, operation is simplified, and pertinence is high.

The invention relates to an electromagnetic synchronous stimulation control device and method, equipment, a medium and a program product, and the device comprises a target spot information generation module which is used for generating target spot position information; the stimulation parameter configuration module is used for generating a combined stimulation scheme data packet based on the stimulation parameter template and the target position information; the synchronous control instruction generation module is used for analyzing the combined stimulation scheme data packet and generating a first time sequence control signal and a second time sequence control signal; and the stimulation execution and feedback module is used for driving the transcranial direct current stimulation unit and the repeated transcranial magnetic stimulation unit to synchronously apply physical stimulation to the target spot position through the first time sequence control signal and the second time sequence control signal, collecting an electroencephalogram signal of the target object in real time and generating a stimulation execution log. Electromagnetic synchronous stimulation is applied to the same target spot at the same time, and the physiological addition and synergistic effect of an electric field and a magnetic field are utilized, so that the effect on reducing the epileptic seizure frequency and electroencephalogram epilepsy-like discharge is remarkable.

The invention discloses a transcranial magnetic stimulation positioning system and method based on fusion of vision and Hall sensors. The system comprises a visual positioning module which is used for acquiring visual positioning data including three-dimensional position and attitude information of the head of a stimulated object; the magnetic induction positioning module is used for acquiring magnetic induction positioning data; the data fusion processing module is used for fusing the visual positioning data and the magnetic induction positioning data; and the control execution module is used for controlling the position and posture of the TMS coil in real time according to the visual magnetic induction positioning fusion data. The method comprises the steps of system initialization and mark point configuration; rGBD image acquisition and preprocessing; facial feature detection and mark point accurate positioning; performing face space positioning and attitude calculation; acquiring and processing magnetic induction positioning data; carrying out head 3D modeling and point cloud registration; carrying out multi-modal data fusion and error compensation; and controlling the position and posture of the TMS coil. According to the method, the positioning precision can be remarkably improved, and normal work can be maintained under the condition that the mark points are partially shielded.