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58 results about "Transcranial magnetic stimulation" patented technology

Transcranial magnetic stimulation (TMS), also known as repetitive transcranial magnetic stimulation (rTMS), is a noninvasive form of brain stimulation in which a changing magnetic field is used to cause electric current at a specific area of the brain through electromagnetic induction. An electric pulse generator, or stimulator, is connected to a magnetic coil, which in turn is connected to the scalp. The stimulator generates a changing electric current within the coil which induces a magnetic field; this field then causes a second inductance of inverted electric charge within the brain itself.

Cantilever electrodes for transdermal and transcranial stimulation

Cantilever electrode apparatuses for wearable neuromodulation devices configured to be worn on a subject's (user's) head or on the subject's head and neck. These cantilever electrodes may mate with the wearable neuromodulation devices to form a neuromodulation system.
Owner:THYNC GLOBAL INC

Eliciting analgesia by transcranial electrical stimulation

A method of eliciting analgesia in a human subject by Transcranial Electrical Stimulation (TCES, herein “TES”) is provided. Electrodes secured to the skin of the subject's head at particular sites provide an electrical current that includes a direct current combined with rectangular AC current pulses delivered at a particular frequency of between 10 and 100 Hz. In an embodiment the total current transmitted, a sum of the DC component and a Mean Absolute Deviation (MAD) of the current pulses, has a value between 0.2 and 20 mA. The method is used to produce analgesia during perioperative period, surgery and the post-operative procedure. It can also be used for treating acute chronic pain and a wide variety of other conditions.
Owner:THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV

Shaped coils for transcranial magnetic stimulation

Described herein are shaped coil TMS electromagnets formed by two bent magnetic coil loops joined at a vertex having an angle between the outer coil regions of the coils that is typically less than 120 degrees (e.g., between about 45 and about 70 degrees, 60 degrees, etc.). The vertex region shaped to optimize the magnetic field projected from the TMS electromagnet. For example, the vertex region may be horizontal or vertical. In some variations the vertex region is formed by re-arranging the conductive windings forming the two coils so that they are no longer arranged in the same columnar structure that they are in the other portions of the bent magnetic coil loops. These TMS electromagnets may be well suited for use in deep-brain Transcranial Magnetic Stimulation.
Owner:BRAINSWAY

Methods and apparatus for transcranial stimulation

InactiveUS20140207224A1Excessive tissue damageReduce fireExternal electrodesMedicineNeuron
The present invention provides systems, apparatus and methods for applying electric current to neurons in the brain to treat disorders and to improve motor and / or memory functions in a patient. In a method according to the invention, an electrode is positioned adjacent to and spaced from the skin surface of the patient's head and an electric current is applied through the electrode to a target region in the brain to modulate one or more neurons in the target region. The electrode is housed within an enclosure and spaced from the skin surface so that the electrode does not directly contact the patient's tissue, which reduces the potential for collateral tissue damage or necrosis and shields the electrode from the patient's tissue which substantially inhibits Faradic products (e.g., H+, OH−, H2O2) of the electrode from reaching the target site.
Owner:ELECTROCORE

Navigation positioning device and method for transcranial magnetic stimulator

The invention discloses a navigation positioning device for a transcranial magnetic stimulator, and the device comprises a visual positioning module, a computer, a seat, a transcranial magnetic stimulator coil, a mechanical arm, a mechanical arm controller, and a base. The visual positioning module is connected with the computer, and the positioning between the seat and the base and visual positioning module is carried out through a slideway. The transcranial magnetic stimulator coil is disposed at the front end of the mechanical arm, and the mechanical arm is disposed on the base. The mechanical arm is connected with the mechanical arm controller. The mechanical arm controller is connected with the computer. The invention also discloses a positioning method for the device, and the method comprises the steps: building a head model; collecting and processing an image; calculating the coordinates of a target spot; carrying out the coil positioning; carrying out the repeated positioning; carrying out the stimulation treatment; and enabling the coil to return to a standby position after stimulation. The device is characterized in that the device directly detect a human face through employing machine vision, carries out positioning, is high in instantaneity, and enables a patient not to need to wear an auxiliary tool on the head; the device is quick in positioning, is high in repetition precision, and reduces the positioning time and workload; and the device can automatically track the target spot, and guarantees the effectiveness of treatment.
Owner:沈阳爱锐宝科技有限公司

Electromagnetic positioning and navigation device for transcranial magnetic stimulator

An electromagnetic positioning and navigation device for a transcranial magnetic stimulator is composed of an electromagnetic positioning and navigation module (1), a coil gesture control module (2), a three-dimensional seat (3), an image collection and processing module (4), an electromagnetic calculation module (5), a display module (6) and a transcranial magnetic stimulator coil (7). The electromagnetic positioning and navigation module (1) is connected with the coil gesture control module (2) and the three-dimensional seat (3), and the coil gesture control module (2) is installed on the transcranial magnetic stimulator coil (7). The image collection and processing module (4) can rebuild a three-dimensional head model of a patient in the image space to mark therapeutic targets. The electromagnetic positioning and navigation module (1) records space position and coil gesture of the head (8) of the patient and conducting alignment on head positions in the image space and the sensor space and the position of the transcranial magnetic stimulator coil (7). Induction field distribution of the head of the patient is displayed in the display module (6) by means of calculation of the electromagnetic calculation module (5).
Owner:INST OF ELECTRICAL ENG CHINESE ACAD OF SCI

Transcranial stimulation

ActiveUS8965514B2Safe and highly effective neurocranial stimulation techniqueReduce complexityResistance/reactance/impedenceExternal electrodesElectricityMedicine
A method includes coupling electrodes to a patient's head and identifying whether any of the electrodes form a functional set, such that a desired therapeutic effect is achieved when the two or more electrodes deliver a total amount of current to the patient regardless of what portion of the total amount of current each respective electrode carries. One or more constant current sources are provided, each having a supply and return terminal, which supply and return equal amounts of current at any given time. The constant current source(s) are coupled to the electrodes in such a manner that each supply terminal and each return terminal is coupled to no more than the electrodes of a single one of the functional sets, if any, or to a single one of the electrodes not included in one of the functional sets.
Owner:RES FOUND THE CITY UNIV OF NEW YORK

Transcranial stimulation-based mental state assessment and regulation system and working method thereof

The invention provides a mental state assessment and regulation system based on transcranial stimulation. The mental state assessment and regulation system is characterized by comprising the followingparts: a physiological signal acquisition module for acquiring a physiological signal of a tested subject; a mental state assessment module used for performing physiological signal preprocessing, feature extraction and mental state analysis to obtain a mental state assessment result; control equipment used for judging the mental state evaluation result and adjusting stimulation parameters according to the mental state evaluation result; and transcranial stimulation equipment used for performing transcranial stimulation on the tested subject according to the stimulation parameters. The mentalstate assessment and regulation system can carry out personalized targeted mental state regulation on the tested subject, has a good mental state adjustment effect, is convenient and effective to use,and has the advantages of noninvasiveness, effectiveness, safety, easiness in operation and the like. The invention further provides a working method of the mental state assessment and regulation system.
Owner:SOUTH CHINA UNIV OF TECH

Multi-functional transcranial magnetic stimulator

InactiveCN101985058AAchieve a single stimulusAchieve repetitive stimulationElectrotherapyThermometers using electric/magnetic elementsNeurology departmentLabview software
The invention relates to a multi-functional transcranial magnetic stimulator. The multi-functional transcranial magnetic stimulator mainly comprises a high-voltage pulse power supply, a myoelectricity acquisition device and a temperature measurement device which are connected to a data acquisition card respectively, wherein the data acquisition card is connected to Labview control software of a microcomputer; and the high-voltage pulse power supply is connected with a stimulation coil. By the multi-functional transcranial magnetic stimulator, a high-voltage pulse generator is controlled to act on the coil through the labview software, so that various kinds of stimulation such as magnetic stimulation single pulse, repetitive pulse, random pulse and train pulse can be realized; the temperature measurement device is combined with the Labview software, so that the temperature of the coil can be acquired and alarm can be controlled; and the Labview software is combined with the myoelectricity acquisition device, so that myoelectricity signals can be acquired. In addition, the multi-functional transcranial magnetic stimulator also has multiple additional functions of database management, report printing, remote control, data communication and the like and can be widely used for diagnosis and treatment in psychiatry departments, neurology departments and laboratories.
Owner:香港脑泰科技有限公司

System for transcranial ultrasonic stimulation of mouse and synchronous acquisition of electroencephalogram and electromyogram signals

The invention discloses a system for transcranial ultrasonic stimulation of mouse and synchronous acquisition of electroencephalogram and electromyogram signals and relates to the field of transcranial ultrasonic stimulation research and synchronous signal acquisition. The system comprises a transcranial ultrasonic stimulation module, a pulse transcranial ultrasonic signal generation module, a brain myoelectric signal acquisition and processing module and a power supply. The device has a series of advantages of stable signal acquisition, strong expansion storage capacity, portability, small size, easiness in operation and the like, and can be effectively applied to real-time synchronous acquisition of electroencephalogram and electromyogram signals of conscious and freely movable mice in transcranial ultrasonic stimulation experiments of various samples. Moreover, the storage module is expanded, and the problems of overlarge storage amount of long-time use data, distortion of wirelesstransmission data and the like are avoided. The system is convenient for subsequent off-line processing of brain myoelectric signals stimulated by transcranial ultrasound, and provides technical support for future mechanism research of transcranial ultrasound stimulation and clinical application of neuromodulation technology.
Owner:YANSHAN UNIV

System for synchronizing transcranial ultrasonic stimulation and electroencephalography recording of human body

InactiveCN107362465AAchieving Sequential Ultrasound StimulationUltrasound therapyDiagnostic recording/measuringEngineeringRadio frequency
The invention provides a system for synchronizing transcranial ultrasonic stimulation and electroencephalography recording of the human body, which comprises a computer (110) containing control software, a signal generator (130), a radio frequency amplifier (140), an ultrasonic transducer (150), a synchronization control module (120), a transducer-scalp coupling module (151), an electroencephalography system (160) and a signal receiving terminal (161), and is characterized in that real-time communication between the signal generator (130) and the electroencephalography system (160) can be realized by using the synchronization control module (120), and complete synchronization of ultrasonic stimulation and electroencephalographic signal collection is realized. The system provided by the invention for synchronizing transcranial ultrasonic stimulation and electroencephalography recording of the human body can be applied to basic brain cognitive function research and clinical brain disease intervention treatment research, can realize synchronization of ultrasonic stimulation and electroencephalographic signal recording and solves the technical problems of multi-channel synchronous or asynchronous independent ultrasonic stimulation and corresponding electroencephalographic signal synchronous recording and stimulation marking.
Owner:SHANGHAI JIAO TONG UNIV

Personalized closed-loop pulsed transcranial stimulation system for cognitive enhancement

A system for closed-loop pulsed transcranial stimulation for cognitive enhancement. During operation, the system identifies a region of interest (ROI) in a subject's brain and then estimates ROI source activations based on the estimated source of the ROI. It is then determined if a subject is in a bad encoding state based on the ROI source activations. Finally, one or more electrodes are activated to apply a pulsed transcranial stimulation (tPS) therapy when the subject is in a bad encoding state, a predefined external event or behavior occurs, or the subject is in a consolidation state during sleep.
Owner:HRL LAB

Ultralow frequency transcranial magnetic induction stimulation device

The invention relates to an ultralow frequency transcranial magnetic induction stimulation device, belonging to the technical field of medical instruments. The ultralow frequency transcranial magnetic induction stimulation device comprises a main body and a transcranial magnetic induction acting chair armrest, the main body is provided with a display console, an ultralow frequency magnetic induction delivery spool is arranged on the right side of the main body, the ultralow frequency magnetic induction delivery spool is connected with the transcranial magnetic induction acting chair armrest through an input sleeve opening, a head rest is arranged in back of a leg supporting cushion, a head resting groove is formed in the front of the head rest, meridian massage grooves are formed on the left and right sides of the head resting groove, strip massage protrusions are formed in the meridian massage grooves, a hood lifting adjustor is arranged on the back of the head rest, a scattering channel is formed inside a transcranial magnetic induction acting cover, the scattering channel is provided with an integrated opening, and a delivering straight pipe is arranged below the scattering channel. The device is complete in function and convenient to use, and is time-saving, labor-saving, scientific, convenient, safe and efficient when being used for cerebral magnetic induction stimulation therapy of psychiatric patients, thus relieving the working difficulty of medical staffs.
Owner:谭新国

Magnetic field focus coil array used for conductivity imaging and functional magnetic stimulation

InactiveCN1868398AMagnetic field focusing effect is goodSmall focus areaMaterial analysis by electric/magnetic meansMagnetotherapy using coils/electromagnetsPower flowCoil array
A magnetic-field focusing coil array used for electric conductivity imaging and functional magnetic stimulation features that 17 unit coils arranged on a semi-spherical surface is divided into 3 layers of 1, 6 and 10 coils for different layers. Their arranging mode and parameters are also disclosed. The magnetic field generated by them can be focused in one or more areas by regulating their exciting currents.
Owner:SICHUAN UNIV

Integrated device of transcranial magnetoacoustic stimulation and electroencephalogram detection

InactiveCN105251125AStimulate or inhibit activityEasy to observe in real timeUltrasound therapyElectrotherapySonificationUltrasonic sensor
The invention relates to an integrated device of transcranial magnetoacoustic stimulation and electroencephalogram detection, which comprises a signal generator, a power amplifier, an ultrasonic transducer, a microfilament electrode array, a differential amplifier, a signal acquisition card, a computer and magnets, and is characterized in that the output end of the signal generator is connected with the input end of the power amplifier through a coaxial connecting wire, the output end of the power amplifier is connected with the ultrasonic transducer through a coaxial connecting wire, a sample is placed at the bottom part of the ultrasonic transducer, and the magnets are placed at two sides of the test sample respectively; and the output end of a nickel-cadmium microfilament electrode is connected with the input end of the differential amplifier through a coaxial connecting wire, the output end of the differential amplifier is connected with the input end of the signal acquisition card through a coaxial connecting wire, and the output end of the signal acquisition card is connected with the computer through a coaxial connecting wire. The integrated device provided by the invention has the advantages of simple operation, flexible control, accurate stimulation and the like.
Owner:YANSHAN UNIV

Transcranial ultrasonic stimulation device and stimulation method

InactiveCN104548392AReduce volumeHigh spatial positioning resolutionUltrasound therapySpatial OrientationsSonification
The invention provides a transcranial ultrasonic stimulation device and a stimulation method for carrying out nervous tissue orientation and neuromodulation through transcranial ultrasonic stimulation. The transcranial ultrasonic stimulation device comprises an upper computer unit, an ultrasonic pulse transmission unit, an ultrasonic transduction unit and a power circuit. The transcranial ultrasonic stimulation device adopts the integrated circuit mode and further comprises an echo amplification circuit. The focal distance of the ultrasonic transduction unit is 30 mm. The ultrasonic pulse transmission voltage is adjusted by adjusting the power supply voltage, and therefore the transcranial ultrasonic stimulation device is small in size and high in spatial orientation resolution ratio and can achieve system self-inspection. Meanwhile, because the ultrasonic intensity can be adjusted, a low ultrasonic intensity can be selected for carrying out nervous tissue orientation and neuromodulation, a high ultrasonic intensity can be selected for carrying out tissue damage, and the positional information of the stimulation part can be verified.
Owner:UNIV OF SHANGHAI FOR SCI & TECH

Anisotropic conductivity head model modeling method and device combined with cortical excitability

The invention relates to the field of transcranial magnetic stimulation head model modeling, in particular to an anisotropic conductivity head model modeling method and device combined with cortical excitability. The method includes: establishing an anisotropic conductivity head model based on MRI and DTI images; obtaining an individual cortical excitability comprehensive index through an array target TMS experiment; and constructing an anisotropic conductivity head model containing the cortical excitability according to the anisotropic conductivity head model and the individual cortical excitability comprehensive index. The transcranial magnetic stimulation head model modeling method is combined with functional information on the basis of structural information, reflects the cortical excitability of an individual, is close to a real brain, can further improve the authenticity and reliability of the TMS modeling simulation, has important research significance in simulating the effect of TMS, optimizing TMS coils and stimulation parameters, and has good development and application prospect.
Owner:SHENZHEN DELICA MEDICAL EQUIP CO LTD

Transcranial stimulation system and method to improve cognitive function after traumatic brain injury

Described is a system for transcranial stimulation to improve cognitive function. During operation, the system generates a customized stimulation pattern based on damaged white matter. Further, data is obtained representing natural brain oscillations of a subject. Finally, while the subject is awake, one or more electrodes are activated in phase with the natural brain oscillations and based on the customized stimulation pattern.
Owner:HRL LAB

Control method and system of transcranial microcurrent stimulation on basis of induction alpha brain waves

The invention relates to the field of alpha brain waves and provides a control method of transcranial microcurrent stimulation on basis of induction alpha brain waves. Existing transcranial microcurrent stimulation methods have polarization phenomenon easily and the stimulation effect can be weakened obviously. The control method comprises the steps as follows: step 1, obtaining energy ratio deltaalpha of alpha brain waves in user brain waves; step 2, setting a target preset value delta alpha-Thread of the alpha brain waves, determining output parameters of transcranial microcurrent by selecting the working mode of the transcranial microcurrent according to the acquired relation between the energy ratio delta alpha and delta alpha-Thread in the alpha brain waves in the user brain waves, in the state of a mode I, the power of output waveforms of the transcranial microcurrent is kept unchanged, and the frequency of output electric waves of the transcranial microcurrent is continuously adjusted; in the state of a mode II, the frequency of the output electric waves of the transcranial microcurrent is kept unchanged, and the duty ratio of output waveforms of the transcranial microcurrent is adjusted continuously; and step 3, in any work mode, the accumulated release time of the transcranial microcurrent is stopped after reaching preset total output time.
Owner:XILINMEN FURNITURE

Transcranial magnetic stimulator system of control stimulation coil end

The invention provides a transcranial magnetic stimulator system of a control stimulation coil end. The transcranial magnetic stimulator system comprises a magnetic stimulation module, a control module, a remote regulating module, a remote display module, a signal input module, a motion threshold determination module, and a signal induction module. The motion threshold of a stimulated person can be measured just by one operator. Thus, the transcranial magnetic stimulator system greatly saves manpower, prevents faults possibly generated by cooperative work of multiple people, automatically determines the motion threshold, simplifies a workflow, increases measurement efficiency and measurement speed, improves accuracy of magnetic stimulation effectiveness judgment, and reduces a misjudgment probability of artificial judgment.
Owner:北京脑泰科技发展有限公司

Transcranial magnetic stimulator and system for generating repeated pairwise stimulation

The utility model discloses a transcranial magnetic stimulator and system for generating repeated pairwise stimulation, the transcranial magnetic stimulator adopts a main control module, a stimulation module and a coil module which are electrically connected in sequence, and a plurality of replacement modules are respectively connected with the single coil module. Or the plurality of replacement modules are respectively connected with the plurality of coil modules in a one-to-one correspondence manner, a stimulation instruction is issued to the plurality of control units in the stimulation module through the main control module, and the stimulation instruction comprises a started lock time interval, so that the plurality of stimulation units start stimulation at a certain time interval, and multi-beat paired stimulation or single-beat paired stimulation is realized. The transcranial magnetic stimulator for generating repeated paired stimulation is simple in technology, convenient to operate, low in cost and easy to widely popularize.
Owner:SHENZHEN YINGCHI TECH CO LTD

TES (transcranial electrical stimulation) electrode falling-off monitoring alarm device and application thereof

The invention provides a tES (transcranial electrical stimulation) electrode falling-off monitoring alarm device and an application thereof. The device comprises a signal acquisition module, a detection judgment module and an alarm module, wherein the signal acquisition module is connected with the detection judgment module, and the detection judgment module is connected with the alarm module. Thedevice is reasonable in design, simple and convenient to prepare, low in cost and capable of detecting whether each electrode falls off in real time and giving an alarm in time under the condition offalling off; the problem about monitoring alarm of electrode falling off of a current transcranial electric stimulator is solved, and safety and convenience of the transcranial electric stimulator inthe using process are improved.
Owner:ZHEJIANG UNIV

Transcranial magnetic stimulation and near-infrared brain function imaging detection integrated device

The utility model provides a transcranial magnetic stimulation and near-infrared brain function imaging detection integrated device. The transcranial magnetic stimulation and near-infrared brain function imaging detection integrated device comprises a transcranial magnetic stimulation coil and a probe mounting seat, the transcranial magnetic stimulation coil comprises a plurality of coil bodies, and the paired coil bodies are matched to form a V-shaped structure on the sides facing the head of a user. The probe mounting seat is arranged on the side, facing the head of a user, of the coil body, a plurality of mounting holes are formed in the probe mounting seat and used for mounting near-infrared probes, and the near-infrared probes are used for transmitting or receiving near-infrared light to the head of the user. By means of the structure, stimulation focusing can be achieved, the stimulation depth can be increased, the treatment effect can be improved, the detection area of the near-infrared probe installed on the probe installation base can cover the treatment area of transcranial magnetic stimulation more, the coil body of the V-shaped structure enables the near-infrared probe to be attached to the head of a user, and therefore the treatment effect of transcranial magnetic stimulation is improved. The detection effect of the near-infrared probe is effectively improved, and the overall structure is more reasonable and compact.
Owner:DANYANG HUICHUANG MEDICAL EQUIP CO LTD

Coil for transcranial magnetic stimulation and fixing device thereof

The utility model discloses a coil for transcranial magnetic stimulation and a fixing device of the coil. The coil comprises a support and the fixing device. A stimulation host is arranged at the upper end of the support, and the input end of the stimulation host is electrically connected to an external power supply; the fixing device comprises an elastic clamping ring, a first rotating plate, a second rotating plate and a supporting plate, the supporting plate is arranged at the left end of the support, the front end of the supporting plate is rotationally connected with the second rotating plate through a first rotating shaft, the lower end of the second rotating plate is rotationally connected with the first rotating plate through a second rotating shaft, and the upper end of the first rotating plate is rotationally connected with the elastic clamping ring through the first rotating shaft. According to the fixing device for the transcranial magnetic stimulation coil, the position of the transcranial magnetic stimulation coil is automatically and temporarily limited, the position of the transcranial magnetic stimulation coil is conveniently adjusted, the position of the transcranial magnetic stimulation coil can be fixed only by pressing the limiting component, the transcranial magnetic stimulation coil can be fixed more simply, conveniently and rapidly, and the fixing efficiency is improved. And clinical use of the transcranial magnetic stimulator is facilitated.
Owner:THE THIRD AFFILIATED HOSPITAL OF SUN YAT SEN UNIV

Transcranial magnetic stimulation coil based on magnetic negative metamaterial and method thereof

The invention discloses a transcranial magnetic stimulation coil based on a magnetic negative metamaterial and a method of the transcranial magnetic stimulation coil. The transcranial magnetic stimulation coil comprises a flat plate magnetic core located above an 8-shaped coil, the 8-shaped coil and the resonance type magnetic negative metamaterial located below the 8-shaped coil. On the basis of the 8-shaped coil, the flat plate magnetic core with high magnetic conductivity and the electromagnetic metamaterial with negative equivalent magnetic conductivity are introduced at the same time, and the magnetic field in the space is regulated and controlled by the flat plate magnetic core and the electromagnetic metamaterial on the basis of not changing the driving source and the 8-shaped coil winding structure; and the stimulation intensity and the stimulation precision of the stimulation coil on the brain model are greatly improved.
Owner:SOUTH CHINA UNIV OF TECH

Folding transcranial magnetic stimulation coil

The utility model provides a folding transcranial magnetic stimulation coil, which comprises a left coil and a right coil, the left coil and the right coil are symmetrically arranged, the left coil and the right coil are respectively folded along a transverse axis and a longitudinal axis, and the folding angle is variable. The folding angles of the two coils along the transverse axis and the longitudinal axis are adjusted, the fitting degree of the coils and the human brain is improved, the stimulation intensity and the stimulation depth of the transcranial magnetic stimulation coil on the cerebral cortex layer are improved on the basis that focusing performance is kept, and the transcranial magnetic stimulation coil is simple in structure, convenient to machine and capable of being widely applied to the technical field of medical equipment.
Owner:SOUTH CHINA UNIV OF TECH

A method for locating treatment targets of transcranial magnetic therapy device based on Optitrack

A method for locating treatment targets of a transcranial magnetic therapy device based on Optitrack. OptiTrack is an optical system that realizes high-precision three-dimensional reconstruction of marker points. The main hardware is an intelligent camera equipped with a processor, and a built-in high-precision marker processing algorithm. The three-dimensional information of a single marker point can be used to create a rigid body and obtain six-degree-of-freedom data. The present invention is used for a transcranial magnetic stimulator. The Optitrack camera group continuously locates the marker ball on the treatment instrument, and realizes real-time positioning of the treatment instrument and its treatment target through coordinate system transformation.
Owner:XIDIAN UNIV