技术领域technical field
本发明涉及医疗辅助领域，特别涉及了一种经颅磁刺激智能导航定位装置。The invention relates to the field of medical assistance, in particular to an intelligent navigation and positioning device for transcranial magnetic stimulation.
背景技术Background technique
经颅磁刺激(Transcranial Magnetic Stimulation，TMS)是一种无创、无痛的治疗方法，于1985年由英国谢菲尔德大学Barker和他的助手等人创立。由于该技术具有功能方面的独特性，因此很快被推广到临床和科研的各个领域。TMS的作用原理是基于法拉第效应，利用一个快速电流脉冲通过刺激线圈，在其附近空间产生强大的瞬间磁场和感应电场。当该磁场作用于人体时，相应的神经中组织产生环形感应电流，使神经细胞去极化，进而产生动作点位。目前该技术被广泛的应用与各种疾病的治疗，如神经科的帕金森(PD)病人治疗、精神科的抑郁症治疗、颈椎相关疾病治疗等，据最新报道，TMS技术还可用于戒除海洛因成瘾。Transcranial Magnetic Stimulation (Transcranial Magnetic Stimulation, TMS) is a non-invasive, painless treatment method, which was founded in 1985 by Barker of the University of Sheffield in the United Kingdom and his assistants. Due to the uniqueness of the technology, it was quickly extended to various fields of clinical and scientific research. The working principle of TMS is based on the Faraday effect, which uses a fast current pulse to pass through the stimulating coil to generate a strong instantaneous magnetic field and induced electric field in its nearby space. When the magnetic field acts on the human body, the corresponding nerve tissue will generate a ring-shaped induced current, which will depolarize the nerve cells and generate action points. At present, this technology is widely used in the treatment of various diseases, such as the treatment of Parkinson's (PD) patients in neurology, the treatment of depression in psychiatry, and the treatment of cervical spine-related diseases. According to the latest report, TMS technology can also be used to quit heroin addiction.
在TMS的实际应用中，刺激部位一般是依靠操作者的解剖学知识，根据人脑常规功能分布大致上确定。这种确定方法与最佳的有效刺激区域往往存在较大的误差，使得刺激的效果不佳。治疗过程中一旦患者不小心移动例如打喷嚏、挠痒等，操作人员需进行重复定位，这不仅加大了工作量还给患者带来极大的痛苦。再此基础上，专利CN 104740780A设计了一种经颅磁刺激器的电磁定位导航装置，但患者的头部需被固定在座椅上，无法移动，给患者带来了极大的痛苦；专利CN 105617532 A发明了一种经颅磁定位方法及系统，但针对每个患者需要制作相对应的定位头膜，增加了工作的难度，并且患者佩戴头膜时会使得线圈与头部的距离增加，进而影响刺激精度；专利CN 107007936 A设计了新型经颅磁定位装置，但该装置患者需要佩戴繁重的定位帽，给患者增加了痛苦的同时，定位帽进一步降低线圈和头部的贴合程度，从而降低刺激效果。In the practical application of TMS, the stimulation site is generally determined based on the anatomical knowledge of the operator and roughly determined according to the normal function distribution of the human brain. There is often a large error between this determination method and the optimal effective stimulation area, which makes the stimulation effect not good. Once the patient moves accidentally during the treatment, such as sneezing, scratching, etc., the operator needs to perform repeated positioning, which not only increases the workload but also brings great pain to the patient. On this basis, the patent CN 104740780A designed an electromagnetic positioning and navigation device for a transcranial magnetic stimulator, but the patient's head needs to be fixed on the seat and cannot move, which brings great pain to the patient; the patent CN 105617532 A invented a transcranial magnetic positioning method and system, but for each patient it is necessary to make a corresponding positioning head membrane, which increases the difficulty of the work, and when the patient wears the head membrane, the distance between the coil and the head will increase , thereby affecting the stimulation accuracy; patent CN 107007936 A designed a new type of transcranial magnetic positioning device, but the patient of this device needs to wear a heavy positioning cap, which increases the pain for the patient. At the same time, the positioning cap further reduces the fit between the coil and the head , thereby reducing the stimulating effect.
综述所述，当前有较多的发明用于经颅磁导航和定位，但多数情况下患者需佩戴繁重的定位设备，给治疗带来了极大的不便，并进一步降低刺激效果。虽然也有的发明无需佩繁重戴定位，但其重复定位精度较低，每次治疗前都得重新对标记物和刺激区域的关系进行重新定位。同时，大多数的发明都缺乏一个较为便利、功能较为完整的人机交互界面。因此，本发明在于设计了一种经颅磁刺激智能导航定位装置，让患者无需佩戴繁重的定位装置，利用所设计眼镜的特殊性增加重复定位的精度；采用单目视觉和二维码相结合的视觉定位技术，极大的降低了成本和跟踪过程中的计算量；在导航及定位过程中，融合视觉定位技术和力控轨迹跟踪技术，进一步增加定位及跟踪的精度；在眼镜中添加增强现实技术，使患者在治疗的同时享受虚拟场景所带来的放松感，同时患者在治疗时能在一定范围内移动，使得治疗更加便利轻松；设计了一款功能齐全且便利的人机交互界面。此发明有利于以上问题的解决。According to the summary, there are currently many inventions for transcranial magnetic navigation and positioning, but in most cases, patients need to wear heavy positioning equipment, which brings great inconvenience to the treatment and further reduces the stimulation effect. Although there are also some inventions that do not need to be worn heavily for positioning, their repeated positioning accuracy is low, and the relationship between the marker and the stimulation area must be repositioned before each treatment. Simultaneously, most inventions all lack a comparatively convenient, the relatively complete man-machine interface of function. Therefore, the present invention is to design a transcranial magnetic stimulation intelligent navigation and positioning device, so that patients do not need to wear a heavy positioning device, and use the particularity of the designed glasses to increase the accuracy of repeated positioning; use the combination of monocular vision and two-dimensional code The advanced visual positioning technology greatly reduces the cost and the amount of calculation in the tracking process; in the navigation and positioning process, the integration of visual positioning technology and force control trajectory tracking technology further increases the accuracy of positioning and tracking; adding enhancements to the glasses Realistic technology enables patients to enjoy the relaxation brought by the virtual scene while being treated, and at the same time, patients can move within a certain range during treatment, making treatment more convenient and easy; a fully functional and convenient human-computer interaction interface is designed . This invention is beneficial to the solution of the above problems.
发明内容Contents of the invention
一种经颅磁刺激智能导航定位装置包括中央处理器、视觉定位模块、六维力传感器、人机交互系统、机械臂控制器、机械臂和刺激线圈。其中，视觉定位模块，六维力传感器分别和中央处理器连接；人机交互系统、机械臂控制器分别和中央处理器进行通信；机械臂控制器向机械臂发送运动指令的同时采集机械臂各关节传感器信息；刺激线圈固定在机械臂末端。所述的中央处理器接收患者脑部断层图像重建患者脑部医疗三维头模型，并标记治疗区域和所设计眼镜的相对位姿关系，利用贴附于镜片上二维码，实时确定出治疗区域的在世界坐标系下的位姿。治疗期间，中央处理器融合视觉定位模块和六维力传感器数据实时计算机械臂运动轨迹，并将线圈和刺激区域的相对位姿发送至人机交互系统进行显示；轻型机械臂在接收到机械臂运动控制器指令后，不断更新刺激线圈的位姿，使其始终保持相对于刺激区域的最佳位置。An intelligent navigation and positioning device for transcranial magnetic stimulation includes a central processing unit, a visual positioning module, a six-dimensional force sensor, a human-computer interaction system, a robotic arm controller, a robotic arm, and a stimulating coil. Among them, the visual positioning module and the six-dimensional force sensor are respectively connected to the central processing unit; the human-computer interaction system and the controller of the manipulator communicate with the central processor respectively; Joint sensor information; the stimulation coil is fixed at the end of the mechanical arm. The central processing unit receives the tomographic image of the patient's brain to reconstruct the medical three-dimensional head model of the patient's brain, and marks the relative pose relationship between the treatment area and the designed glasses, and uses the QR code attached to the lens to determine the treatment area in real time pose in the world coordinate system. During the treatment, the central processor fuses the data of the visual positioning module and the six-dimensional force sensor to calculate the trajectory of the manipulator in real time, and sends the relative pose of the coil and the stimulation area to the human-computer interaction system for display; After the instruction of the motion controller, the posture of the stimulation coil is continuously updated so that it always maintains the best position relative to the stimulation area.
其中，融合视觉定位模块和六维力传感器对治疗区域进行定位。以视觉定位为主，力控轨迹跟踪为辅的治疗区域轨迹跟踪。当患者有移动的趋势时，机械臂末端所装载的力传感器测量值会产生一定的变化，通过变化量预测患者头部的运动，配合视觉定位，实时定位导航。由于力传感器的检测速度比视觉传感器快且灵敏度高，当患者突然产生快速的不自主移动时，如打喷嚏等，可利用力传感器的快速检测能力避免人体与机械臂的碰撞。Among them, the fusion vision positioning module and six-dimensional force sensor are used to locate the treatment area. Focusing on visual positioning, supplemented by force control trajectory tracking, the trajectory tracking of the treatment area. When the patient tends to move, the measured value of the force sensor mounted on the end of the robotic arm will change to a certain extent, and the movement of the patient's head can be predicted through the change, and the visual positioning can be used for real-time positioning and navigation. Since the detection speed of the force sensor is faster and the sensitivity is higher than that of the vision sensor, when the patient suddenly has a rapid involuntary movement, such as sneezing, the rapid detection capability of the force sensor can be used to avoid the collision between the human body and the robotic arm.
视觉定位模块由ARToolKitPlus库的二维码定位主导完成，主要由特制的眼镜、二维码及单目相机组成。二维码定位只需单目相机即可获得二维码相对于相机的位置和姿态，具有低成本、高定位精度的特点。The visual positioning module is mainly completed by the two-dimensional code positioning of the ARToolKitPlus library, and is mainly composed of special glasses, two-dimensional codes and a monocular camera. Two-dimensional code positioning only needs a monocular camera to obtain the position and attitude of the two-dimensional code relative to the camera, which has the characteristics of low cost and high positioning accuracy.
利用机械臂末端装载的六维力传感器测量值的变化情况，预测目标区域的移动并进行轨迹跟踪。The movement of the target area is predicted and the trajectory is tracked by using the change of the measured value of the six-dimensional force sensor mounted on the end of the manipulator.
眼镜能进行断层扫描；其镜框为圆形，镜片是不带曲面的平面，同时能根据患者头部的大小调整左右镜片的距离和镜腿的长度。Glasses can carry out tomographic scanning; Its frame is circular, and eyeglass is the plane without curved surface, can adjust the distance of left and right eyeglasses and the length of mirror leg according to the size of patient's head simultaneously.
所述的眼镜，添加了现实增强技术，患者在治疗过程中能体验虚拟场景，放松自己。The glasses are added with augmented reality technology, so that patients can experience virtual scenes and relax themselves during treatment.
所述的人机交互系统具有以下特征：实时显示刺激线圈及刺激区域相对位置；实时显示机械臂工作状态；显示本套装置操作指南；以曲线的形式显示经过大数据处理的患者治疗后身体某些指标情况；可通过按钮发送相关指令要求；添加人脸识别功能，进一步增加治疗的便利性；具有视频画面监控治疗过程。The human-computer interaction system has the following features: real-time display of the relative position of the stimulation coil and the stimulation area; real-time display of the working status of the mechanical arm; display of the operating guide for this set of devices; display in the form of curves of the patient's body after treatment with big data. Some indicators can be monitored; relevant instructions can be sent through buttons; face recognition function is added to further increase the convenience of treatment; there is a video screen to monitor the treatment process.
所述的机械臂为轻型六自由度机械臂，能夹持线圈到达工作空间内任一位置和姿态。The manipulator described above is a light-duty six-degree-of-freedom manipulator, which can hold the coil to any position and posture in the working space.
所述的二维码中心点和镜片的中心点重合，且左右镜片各贴附一张二维码。The center point of the two-dimensional code coincides with the center point of the lens, and a two-dimensional code is attached to each of the left and right lenses.
具体治疗流程如下：The specific treatment process is as follows:
1.根据患者头部的大小和实际佩戴的情况调整眼镜左右镜片和镜腿的距离，测量佩戴后鼻梁杆与鼻尖在头部垂直方向的距离L(如图6所示)，并记录这三者的值。患者佩戴好眼镜后进行头部断层扫描。1. Adjust the distance between the left and right lenses and the temples according to the size of the patient's head and the actual wearing conditions, measure the distance L between the bridge of the nose and the tip of the nose in the vertical direction of the head after wearing it (as shown in Figure 6), and record these three value of the After the patient wears the glasses, a tomographic scan of the head is performed.
2.将断层扫描图发送至中央处理器建立患者脑部三维头模型，分别建立治疗区域坐标系和左右镜片坐标系，并计算出治疗区域坐标系相对于左右镜片坐标系的变换关系。其中，左右镜片的坐标系原点在镜片的中心点。2. Send the tomographic image to the central processor to establish a three-dimensional head model of the patient's brain, respectively establish the coordinate system of the treatment area and the coordinate system of the left and right lenses, and calculate the transformation relationship between the coordinate system of the treatment area and the coordinate system of the left and right lenses. Wherein, the origin of the coordinate system of the left and right lenses is at the center point of the lenses.
3.患者就坐于8(座椅)上，在左右镜片正面贴附二位码，二维码的中心和镜片中心重合，如图2所示，同时建立二维码坐标系，二维码坐标系和镜片坐标系重合。在左右镜片反面装载AR镜片。在装置中建立多个坐标系，如图3所示，坐标系0为世界坐标系，坐标系1为相机坐标系，坐标系2为机械臂基坐标系，坐标系3为传感器坐标系，坐标系4为刺激线圈坐标系。通过坐标系1、2和世界坐标系的关系，标定相机坐标系和机械臂基坐标系的变换关系。3. The patient sits on 8 (seat), and attaches a two-digit code on the front of the left and right lenses. The center of the two-dimensional code coincides with the center of the lens, as shown in Figure 2. At the same time, a two-dimensional code coordinate system is established, and the two-dimensional code coordinates system coincides with the lens coordinate system. Install AR lenses on the reverse side of the left and right lenses. Establish multiple coordinate systems in the device, as shown in Figure 3, coordinate system 0 is the world coordinate system, coordinate system 1 is the camera coordinate system, coordinate system 2 is the base coordinate system of the manipulator, and coordinate system 3 is the sensor coordinate system. System 4 is the stimulation coil coordinate system. Through the relationship between coordinate system 1, 2 and the world coordinate system, the transformation relationship between the camera coordinate system and the base coordinate system of the manipulator is calibrated.
4.单目视觉检测二维码位姿，二维码的位姿即为步骤2中左右镜片的位姿，根据步骤2所计算的变换关系对患者头部进行配准，确定出当前时刻治疗区域在相机坐标系下的位姿；根据步骤3所求得变换关系，获取机械臂基座标系下治疗区域的位姿，并驱动机械臂到达指定位置进行治疗。4. Monocular vision detects the pose of the two-dimensional code. The pose of the two-dimensional code is the pose of the left and right lenses in step 2. According to the transformation relationship calculated in step 2, the patient's head is registered to determine the current treatment The pose of the area in the camera coordinate system; according to the transformation relationship obtained in step 3, the pose of the treatment area in the base frame of the manipulator is obtained, and the manipulator is driven to the designated position for treatment.
5.治疗过程中，当患者头部移动时，结合单目相机检测到的位姿和力传感器测量值的变化情况预测并跟踪患者头部的运动。左右两张二维码的相对位姿是事先已知并且治疗中不发生改变，通过相机也可获取两张二维码相对关系，可通过治疗前所获取的二者的变换关系对相机检测到的二维码位姿进行修正。由于力传感器的检测速度比视觉传感器快且灵敏度高，当患者突然产生快速的不自主移动时，如打喷嚏等，可利用力传感器的快速检测能力避免人体与机械臂的碰撞。5. During the treatment process, when the patient's head moves, the movement of the patient's head is predicted and tracked in combination with the position and orientation detected by the monocular camera and the changes in the measured value of the force sensor. The relative pose of the left and right two QR codes is known in advance and does not change during the treatment. The relative relationship between the two QR codes can also be obtained through the camera. Pose is corrected. Since the detection speed of the force sensor is faster and the sensitivity is higher than that of the vision sensor, when the patient suddenly has a rapid involuntary movement, such as sneezing, the rapid detection capability of the force sensor can be used to avoid the collision between the human body and the robotic arm.
6.重复步骤5的过程。6. Repeat the process of step 5.
7.治疗结束，机械臂运动到安全区域。7. After the treatment is over, the robotic arm moves to a safe area.
8.当患者取下眼镜再次佩戴时，可根据步骤1中所记录的三个调整量对眼镜相对于头部的位置进行精确的重复定位。8. When the patient takes off the glasses and wears them again, the position of the glasses relative to the head can be accurately and repeatedly positioned according to the three adjustments recorded in step 1.
本发明有益效果如下：The beneficial effects of the present invention are as follows:
本发明在头部三维重建中结合了断层图像，进一步提高了在三维模型中确定治疗区域的准确性；采用基于ARToolKitPlus库的二维码视觉定位方式，仅用单目视觉即可完成对治疗区域定位，成本低，且简单便于操作。将视觉定位技术和力控轨迹跟踪技术相结合，对患者头部的移动进行实时定位跟踪，增加跟踪流畅性的同时，避免了患者因快速的移动碰撞机械臂造成伤害；六自由度轻型机械臂夹持线圈跟踪治疗区域，实时性强，使得线圈持续处于最佳的刺激位置，解决了经颅磁刺激线圈的智能导航和重复定位等问题，进一步增加了刺激的效果；治疗过程中，患者不必像以往一样长期保持静止状态，允许患者在一定和范围内移动，同时在眼镜反面加装AR镜片，患者边治疗可以边体验虚拟场景带来的放松感，减少了治疗所带来的痛苦，使得治疗更加轻松；人机交互系统不仅能显示各类相关信息，如机械臂运行状态、机械臂与治疗区域相对位置、操作指南等，还能利用大数据对患者治疗前后身体各项指标进行处理，并在界面以曲线的方式显示，具有很强的直观性。The present invention combines tomographic images in the 3D reconstruction of the head, which further improves the accuracy of determining the treatment area in the 3D model; adopts the two-dimensional code visual positioning method based on the ARToolKitPlus library, and can complete the treatment area only with monocular vision Positioning, low cost, and simple and easy to operate. Combining visual positioning technology and force control trajectory tracking technology, real-time positioning and tracking of the movement of the patient's head is carried out, which increases the tracking fluency and at the same time avoids the patient's injury caused by the rapid movement of the robot arm; the six-degree-of-freedom light robot arm The clamping coil tracks the treatment area with strong real-time performance, which keeps the coil at the best stimulation position, solves the problems of intelligent navigation and repeated positioning of the transcranial magnetic stimulation coil, and further increases the stimulation effect; during the treatment process, the patient does not have to Keeping still for a long time as in the past allows patients to move within a certain range. At the same time, AR lenses are installed on the back of the glasses. Patients can experience the relaxation brought by the virtual scene while treating, reducing the pain caused by treatment. The treatment is easier; the human-computer interaction system can not only display all kinds of relevant information, such as the operating status of the robotic arm, the relative position of the robotic arm and the treatment area, and operation guidelines, but also use big data to process various indicators of the patient's body before and after treatment. And it is displayed in the form of a curve on the interface, which is very intuitive.
附图说明Description of drawings
图1为本发明的经颅磁刺激智能导航定位装置结构示意图；Fig. 1 is a structural schematic diagram of a transcranial magnetic stimulation intelligent navigation and positioning device of the present invention;
图2为本发明用于经颅磁刺激智能导航定位装置二维码与所设计眼镜示意图；Fig. 2 is a schematic diagram of the two-dimensional code and the designed glasses of the intelligent navigation and positioning device for transcranial magnetic stimulation of the present invention;
图3为本发明用于经颅磁刺激智能导航定位装置所建立的坐标系示意图；3 is a schematic diagram of the coordinate system established by the present invention for the transcranial magnetic stimulation intelligent navigation and positioning device;
图4为本发明用于经颅磁刺激智能导航定位装置所设计眼镜的左右镜片调整机构；Fig. 4 is the left and right lens adjustment mechanism of the glasses designed for the transcranial magnetic stimulation intelligent navigation and positioning device of the present invention;
图5为本发明用于经颅磁刺激智能导航定位装置所设计眼镜的镜腿示意图；Fig. 5 is a schematic diagram of the temples of the glasses designed for the transcranial magnetic stimulation intelligent navigation and positioning device of the present invention;
图6为本发明用于经颅磁刺激智能导航定位装置患者佩戴眼镜和鼻梁杆与鼻尖在头部垂直方向距离测量示意图；Fig. 6 is a schematic diagram of measuring the distance between the bridge of the nose and the tip of the nose in the vertical direction of the head when the patient wears glasses and the bridge of the nose and the tip of the nose are used in the transcranial magnetic stimulation intelligent navigation and positioning device according to the present invention;
图7为本发明用于经颅磁刺激智能导航定位装置人机交互系统功能图。Fig. 7 is a functional diagram of the human-computer interaction system for the transcranial magnetic stimulation intelligent navigation and positioning device of the present invention.
图8为本发明用于经颅磁刺激智能导航定位装置的具体工作流程图。Fig. 8 is a specific working flow chart of the intelligent navigation and positioning device for transcranial magnetic stimulation according to the present invention.
图9为本发明的一种经颅磁刺激智能导航定位装置功能模块连接图。Fig. 9 is a connection diagram of functional modules of a transcranial magnetic stimulation intelligent navigation and positioning device of the present invention.
具体实施方式下面通过具体实施例和附图对本发明做进一步详细说明。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be further described in detail through specific embodiments and accompanying drawings.
图1为本发明的经颅磁刺激智能导航定位装置结构示意图，经颅磁刺激智能导航定位装置由8个部分组成，分别为1.人机交互系统、2.中央处理器、3.单目视觉、4.机械臂控制器、5.机械臂、6.六维力传感器、7.刺激线圈、8.座椅。Fig. 1 is a structural schematic diagram of the transcranial magnetic stimulation intelligent navigation and positioning device of the present invention. The transcranial magnetic stimulation intelligent navigation and positioning device is composed of 8 parts, which are respectively 1. Human-computer interaction system, 2. Central processing unit, 3. Monocular Vision, 4. Manipulator controller, 5. Manipulator, 6. Six-dimensional force sensor, 7. Stimulation coil, 8. Seat.
其中，六维力传感器安装在机械臂5的末端，刺激线圈7固定于传感器上，人机交互系统、单目视觉、机械臂控制器分别与中央处理器连接，机械臂控制器与轻型机械臂实时通讯。单目视觉3将采集到的图片实时发送给中央处理器2进行二维码检测，确定患者当前头部的位姿；机械臂控制器4接收中央处理器2发送过来的运动指令，驱动机械臂5到达指定位置；力传感器6将测量值传输至中央处理器2，中央处理根据测量值的变换情况，实时修正刺激线圈7的位姿，达到力控轨迹跟踪的效果。Among them, the six-dimensional force sensor is installed at the end of the mechanical arm 5, and the stimulation coil 7 is fixed on the sensor. instant messaging. The monocular vision 3 sends the collected pictures to the central processor 2 in real time for QR code detection to determine the current head position of the patient; the robotic arm controller 4 receives the movement instructions sent by the central processor 2 to drive the robotic arm 5 reaches the designated position; the force sensor 6 transmits the measurement value to the central processing unit 2, and the central processing unit corrects the pose of the stimulation coil 7 in real time according to the change of the measurement value, so as to achieve the effect of force control trajectory tracking.
图2中，二维码贴附于作用镜片，且二维码的中心点和镜片的中心点重合。In Figure 2, the two-dimensional code is attached to the active lens, and the center point of the two-dimensional code coincides with the center point of the lens.
如图3所示，坐标系0为世界坐标系，坐标系1为相机坐标系，坐标系2为机械臂基坐标系，坐标系3为传感器坐标系，坐标系4为刺激线圈坐标系As shown in Figure 3, coordinate system 0 is the world coordinate system, coordinate system 1 is the camera coordinate system, coordinate system 2 is the base coordinate system of the manipulator, coordinate system 3 is the sensor coordinate system, and coordinate system 4 is the stimulus coil coordinate system
在图4的调整机构中，1和3为两个相对滑动杆，调整好二者的距离以后，利用2螺钉将二者固定。In the adjusting mechanism of Fig. 4, 1 and 3 are two relative sliding rods, after adjusting the distance between the two, utilize 2 screws to fix the two.
图5中镜腿长度的调整原理和图4一样。为了增加重复定位的精度，减少治疗的繁琐过程，每次治疗前只需根据所记录的左右镜片的距离、镜腿的距离以及鼻梁杆与鼻尖在头部垂直方向的距离L三个值来确定眼镜佩戴的位置，即可实现重复定位，无需多次计算定位标记物(二维码)与治疗区域的相对位姿。The adjustment principle of the mirror leg length among Fig. 5 is the same as Fig. 4. In order to increase the accuracy of repeated positioning and reduce the cumbersome process of treatment, before each treatment, it only needs to be determined according to the recorded distance between the left and right lenses, the distance between the temples and the distance L between the bridge of the nose and the tip of the nose in the vertical direction of the head. Repeated positioning can be achieved at the position where the glasses are worn, without multiple calculations of the relative pose between the positioning marker (QR code) and the treatment area.
图6为本发明用于经颅磁刺激智能导航定位装置患者佩戴眼镜和鼻梁杆与鼻尖在头部垂直方向距离测量示意图，鼻梁杆与鼻尖在头部垂直方向的距离L是用来确定眼镜相对为头部的位姿，进行多次治疗时，可根据该距离来调整患者的佩戴眼镜位置，无需在每次治疗前计算二维码与治疗区域的相对关系。Fig. 6 is a schematic diagram of measuring the distance between the bridge of the nose and the tip of the nose in the vertical direction of the head when the patient wears glasses and the bridge of the nose and the tip of the nose in the vertical direction of the head for the transcranial magnetic stimulation intelligent navigation and positioning device of the present invention. The position and posture of the head, when multiple treatments are performed, the position of the patient wearing glasses can be adjusted according to the distance, and there is no need to calculate the relative relationship between the QR code and the treatment area before each treatment.
图7所示的人机交互系统功能图，包含机械臂运行状态显示模块、刺激线圈与治疗区域相对位姿显示模块、患者人脸识别和操作指南查询模块及患者身体指标显示模块。其中机械臂运行状态显示模块用来实时显示机械臂运行的状态，如机械臂当前位姿、温度等；刺激线圈与治疗区域相对位姿显示模块用来显示刺激线圈与头部治疗区域的相对位姿，方便工作人员的监控；患者人脸识别和操作指南查询模块用来识别患者人脸，刺激前只需对患者的人脸进行识别，通过识别的结果导出患者相对应的病历和患者刺激的参数，如刺激强度、刺激时间、镜腿的距离、左右镜片的距离等，工作人员可根据该参数进行刺激前的系统设置和相关操作。同时，工作人员还可以在该模块中查看操作指南，为不熟悉的操作者提供操作指南；患者身体指标显示模块以曲线的形式显示经过处理后的患者数据，该数据为患者治疗前后身体的某些指标。通过对患者治疗前后身体某些指标的对比来判断治疗的效果，该模块使得显示的数据更加直观。The functional diagram of the human-computer interaction system shown in Figure 7 includes a display module for the operating status of the robotic arm, a display module for the relative pose of the stimulation coil and the treatment area, a patient face recognition and operation guide query module, and a patient body index display module. The operating state display module of the manipulator is used to display the operating state of the manipulator in real time, such as the current pose and temperature of the manipulator; the relative pose display module of the stimulation coil and the treatment area is used to display the relative position of the stimulation coil and the head treatment area It is convenient for the staff to monitor; the patient face recognition and operation guide query module is used to recognize the patient's face, only need to recognize the patient's face before stimulation, and export the patient's corresponding medical records and patient stimulation results through the recognition results Parameters, such as stimulation intensity, stimulation time, distance between temples, distance between left and right lenses, etc., staff can perform system settings and related operations before stimulation according to these parameters. At the same time, the staff can also view the operation guide in this module to provide operation guide for unfamiliar operators; the patient body index display module displays the processed patient data in the form of a curve, which is a certain amount of the patient's body before and after treatment. some indicators. By comparing certain indicators of the patient's body before and after treatment to judge the effect of treatment, this module makes the displayed data more intuitive.
图8为本发明装置的工作流程图，主要流程为患者佩戴眼镜进行头部断层扫描，利用断层扫描图片重建患者医疗三维头模型，医护人员确定治疗区域，并分别建立左右镜片坐标系和治疗区域坐标系，同时求得左右镜片坐标系和治疗区域坐标系的关系；在刺激装置中建立多个坐标系，并对机械臂和相机的相对位姿进行标定，确定二者的相对位姿；往眼镜上贴附二维码，建立二维码坐标系(该坐标系和左右镜片坐标系重合)，相机检测二维码位姿，通过上述各步骤求得的坐标系之间变换关系，将治疗区域在相机的位姿变换到机械臂基座标系，并驱动机械臂到达指定治疗区域；治疗过程之中，患者头部发生移动时，利用二维码的位姿变化和机械臂末端力传感器的测量值变化情况对患者头部实时定位跟踪；治疗结束后，机械臂回到初始状态。Fig. 8 is a working flow chart of the device of the present invention, the main process is that the patient wears glasses to perform head tomography, reconstructs the patient's medical three-dimensional head model using the tomographic images, and the medical staff determine the treatment area, and respectively establish the left and right lens coordinate systems and the treatment area At the same time, obtain the relationship between the coordinate system of the left and right lens and the coordinate system of the treatment area; establish multiple coordinate systems in the stimulation device, and calibrate the relative pose of the mechanical arm and the camera to determine the relative pose of the two; A two-dimensional code is attached to the glasses, and a two-dimensional code coordinate system is established (the coordinate system coincides with the coordinate system of the left and right lenses). The camera detects the pose of the two-dimensional code. The area is transformed from the pose of the camera to the coordinate system of the base of the manipulator, and drives the manipulator to reach the designated treatment area; during the treatment, when the patient's head moves, the position change of the two-dimensional code and the force sensor at the end of the manipulator are used The measured value changes of the patient's head are tracked in real time; after the treatment, the robotic arm returns to its initial state.
图9为本发明的一种经颅磁刺激智能导航定位装置功能模块连接图，包括中央处理器、视觉定位模块、六维力传感器、人机交互系统、机械臂控制器、机械臂和刺激线圈。其中，视觉定位模块、六维力传感器分别和中央处理器连接；人机交互系统、机械臂控制器分别和中央处理器进行通信；机械臂控制器向机械臂发送运动指令的同时采集机械臂各关节传感器信息；刺激线圈固定在机械臂末端。Figure 9 is a connection diagram of functional modules of a transcranial magnetic stimulation intelligent navigation and positioning device of the present invention, including a central processing unit, a visual positioning module, a six-dimensional force sensor, a human-computer interaction system, a robotic arm controller, a robotic arm, and a stimulating coil . Among them, the visual positioning module and the six-dimensional force sensor are respectively connected to the central processor; the human-computer interaction system and the controller of the manipulator communicate with the central processor respectively; Joint sensor information; the stimulation coil is fixed at the end of the mechanical arm.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810154296.0ACN108344420A (en) | 2018-02-22 | 2018-02-22 | An intelligent navigation and positioning device for transcranial magnetic stimulation |
| Application Number | Priority Date | Filing Date | Title |
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| CN201810154296.0ACN108344420A (en) | 2018-02-22 | 2018-02-22 | An intelligent navigation and positioning device for transcranial magnetic stimulation |
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| CN108344420Atrue CN108344420A (en) | 2018-07-31 |
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| CN201810154296.0APendingCN108344420A (en) | 2018-02-22 | 2018-02-22 | An intelligent navigation and positioning device for transcranial magnetic stimulation |
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