A kind of efficient TMS resetting methodTechnical field
The present invention relates to TMS treatment technology fields, and in particular to a kind of efficient TMS resetting method.
Background technique
TMS technology is that the widely applied a kind of physics in mental rehabilitation and neuromodulation field is examined in worldwide at presentTreatment technology generates pulsed magnetic field using conductive coil, to treat to patient.Traditional TMS therapeutic modality generally includesFollowing steps: operator finds therapy target region (positioning by rule of thumb) in patients head；TMS coil is placed on the region,Guarantee that hub of a spool face target spot, coil plane are tangent with scalp；TMS coil is gripped using mechanical device；StartingTMS starts to treat.
Since TMS treatment usually requires for a long time, by course of therapy, the target purely positioned by experience and the mode of memoryPoint not can guarantee the accuracy treated every time.The all different target position of patient per's treatment is common situation, and due toThe lesser reason of fading characteristic and Effective target site region in magnetic field, if it cannot be guaranteed that the target spot accuracy for the treatment of, TMS treatmentCurative effect will have a greatly reduced quality.It is precisely necessary for thus finding a kind of method guarantee target spot.
, worldwide there are some researchs in the problem of TMS accurate resetting, but other methods are base mostly at presentIn the infrared positioning mode of guide-lighting ball.Dedicated guide-lighting ball must be all worn when this method positions every time to patient and TMS coil, according toRelative position of the guide-lighting ball in infrared shooting device is positioned.Because the position worn every time is all not fixed, alsoIt needs additionally to determine the relative position of guide-lighting ball and the number of people by complicated positioning using a kind of dedicated pen with means for holding it in right position, therefore graspsWork gets up to be inconvenient, and inefficiency, uses in the infrared positioning mode based on guide-lighting ball at present, for wearing and positioning leaded lightThe time of ball is about 30 minutes/people, since a TMS treatment also only needs 10-20 minutes, current this localization methodIt is not suitable for the efficient resetting of TMS.
The Chinese patent of application number 2017207206945 discloses a kind of transcranial magnetic stimulation treatment equipment, including TMS lineCircle, bracket, mechanical arm, controller and positioning device, positioning device can detect the accurate location of human body head, to controlTMS coil is precisely located to human body head mechanical arm, reduces manual operation, but obtains the disadvantage is that relying only on filming apparatusThe position of patients head and TMS coil are taken, the accuracy of resetting is lower, not can guarantee the accuracy treated every time.
Therefore, it is badly in need of providing a kind of efficient TMS resetting method, was not only positioned without wearing guide-lighting ball, but also can guaranteeTarget spot is accurate when treating every time.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, the present invention provides a kind of efficient TMS resetting method, is based on peopleFace recognizer obtains TMS coil and the relative position of patients head by way of manipulator combination filming apparatus, subsequentWhen repetitive treatment, the resetting of TMS coil is carried out by being compared with the relative position recorded when treating for the first time, is improvedThe precision of TMS resetting, reduces the time of TMS resetting, and easy to operate, practical, substantially improvesTMS therapeutic efficiency.
The present invention is achieved by the following technical programs:
A kind of efficient TMS resetting method, comprising the following steps:
S01, operator open TMS treatment system, and after patient prepares in place, operator adjusts TMS coil, and determination is controlledTarget spot is treated, and relative distance and angle of the TMS coil for patients head when by being treated under software records for the first time；
S02, patient, using the location information of filming apparatus shooting patients head, pass through when carrying out TMS treatment next timeRecognizer obtains patients head for the relative distance and angle of filming apparatus；
S03, TMS coil is calculated by pre-set reference value for the relative distance and angle of filming apparatus；
S04, based on the patients head for filming apparatus relative distance and angle and TMS coil for shootingTMS coil is calculated for the relative distance and angle of patients head in the relative distance and angle of device；
S05, by current TMS coil for patients head relative distance and angle with what is recorded when treating for the first time it is opposite away fromWalk-off angle degree is compared, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for suffering fromThe relative distance and angle on person head.
Preferably, S02 further comprises: allowing patient to keep head tranquil in the state of sitting or lying, filming apparatus is consolidatedIt is fixed to patients head can be fully incorporated into position within the vision.
Preferably, S02 further comprises: the depth information of patients head's location drawing picture, and root are obtained by filming apparatusPatients head is calculated for the relative distance and angle of filming apparatus according to the location drawing picture depth information of acquisition.
Preferably, S03 further comprises: TMS coil is by gripping apparatus grips, the clamping device and the filming apparatusBe connected, the TMS coils of the gripping apparatus grips for the filming apparatus relative distance and angle reference value in advanceSetting, when the clamping device is mobile, the TMS coil is for the relative distance of the filming apparatus and the value of angleChange therewith, the real-time value of the relative distance and angle is calculated according to pre-set reference value.
Preferably, S05 further comprises: the step of adjusting relative distance and angle of the TMS coil for patients head is logicalManual operation is crossed to complete or complete by manipulator.
A kind of efficient TMS repeated positioning device, comprising:
Filming apparatus, for shooting the location information of patients head；
Bracket, for fixing the filming apparatus；
Clamping device, for clamping TMS coil；
Manipulator is connect with the clamping device, for adjust the TMS coil for patients head relative distance andAngle；
Processing unit is connect with the filming apparatus and clamping device, the patient sent for receiving the filming apparatusThe location information on head and carry out processing identification obtain patients head for the relative distance and angle of the filming apparatus, receptionSimultaneously TMS coil is calculated for the relative distance and angle of the filming apparatus in the change in location information of the clamping device,And TMS coil is calculated for the relative distance and angle of patients head；
Controller is connect with the processing unit and manipulator, for receiving the processing result and root of the processing unitThe activity of the manipulator is controlled according to the processing result.
Preferably, the filming apparatus is fixed on the bracket position that patients head can be fully incorporated into field rangeIt sets；The clamping device is set to the robot end, and the order that the manipulator receives the controller controls the folderIt holds device clamping TMS coil and is placed in patients head, the processing unit is to the location information of patients head, the clamping deviceChange in location information carries out the relative distance and angle that TMS coil is calculated for patients head in processing, the controller rootThe manipulator activity is controlled according to the processing result of the processing unit, and then the gripping apparatus grips TMS coil is driven to setIn the correct position of patients head.
Compared with prior art, the beneficial effects of the present invention are 1) present invention directly acquired using face recognition algorithmsPatients head obtains the location information of filming apparatus including patients head for the relative distance and angle of filming apparatusMode is quickly direct, and the location information obtained after face recognition algorithms are handled is more accurate；2) relative to it is existing merely according toFor the mode that filming apparatus obtains relative position, the present invention obtains TMS line by way of manipulator combination filming apparatusThe relative position for patients head is enclosed, TMS coil can be carried out without configuring additional positioning auxiliary device for TMS coilResetting, improves the accuracy of the resetting of TMS, while also improving the validity of TMS treatment；3) of the inventionTMS resetting method avoids the location aid device using guide-lighting ball etc, and required cost price is cheaper, operatesEasier and of the invention method completely eliminates the time for wearing and positioning guide-lighting ball, substantially increases TMS treatmentEfficiency, be conducive to TMS treatment further development and application.
Detailed description of the invention
Fig. 1 is the flow chart according to a kind of efficient TMS resetting method of embodiment；
Fig. 2 is the schematic diagram according to a kind of efficient TMS repeated positioning device of embodiment；
Fig. 3 is the schematic diagram according to the space coordinates constructed in the present invention of embodiment；
In figure: 1, filming apparatus；2, bracket；3, clamping device；4, manipulator；5, TMS coil；6, patients head.
Specific embodiment
Clear, complete description is carried out below with reference to technical solution of the attached drawing to various embodiments of the present invention, it is clear that is retouchedStating hair embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, originallyField those of ordinary skill obtained all other embodiment without making creative work, belongs to this hairBright protected range.
The present invention provides a kind of efficient TMS resetting method, as shown in the picture, comprising the following steps:
A kind of efficient TMS resetting method, comprising the following steps:
S01, operator open TMS treatment system, and after patient prepares in place, operator adjusts TMS coil, and determination is controlledTarget spot is treated, and relative distance and angle of the TMS coil for patients head when by being treated under software records for the first time；Here it recordsUnder TMS coil be the reference value being compared when subsequent TMS resetting for the relative distance and angle of patients head；
S02, patient, using the location information of filming apparatus shooting patients head, pass through when carrying out TMS treatment next timeRecognizer obtains patients head for the relative distance and angle of filming apparatus；Further comprise: allowing patient in the shape of recumbencyKeep head tranquil under state, filming apparatus, which is fixed to, can be fully incorporated into patients head position within the vision, pass through batThe depth information that device obtains patients head's location drawing picture is taken the photograph, the depth information includes nose, the nasion, canthus, the corners of the mouth, eyebrowEqual face features, and patients head is calculated for the relative distance of filming apparatus according to the location drawing picture depth information of acquisitionAnd angle；
Specifically, the step of calculating relative distance and angle of the patients head for filming apparatus further comprises: firstSpace coordinates are constructed, face feature point (nose, the nasion, canthus, the corners of the mouth, eyebrow etc.) structure of people is utilized according to existing methodThe head model of people is built, then the patients head's image that will acquire is mapped on head model, each face feature point respectively corresponds headCharacteristic point on portion's model；As shown in figure 3, on head model, with the left eye tail of the eye (A point) of people, the right eye tail of the eye (B point)A plane is created with three points of nose (C point), using the midpoint O point of A point and B point as coordinate origin, the vertical planeDirection is Z axis, and the direction of A point and B point line is X-axis, and the line direction of C point and O point is used as Y-axis, sky of the building based on faceBetween coordinate system, wherein X-axis is vertical with Y-axis；In the space coordinates, the coordinate of A point, B point and C point by calculating it is known that satThe line of mark system origin to filming apparatus obtains patients head for the relative distance of filming apparatus, then calculates separately describedOrigin can be obtained patients head and shooting filled to angle α, β, γ between the line and X-axis of filming apparatus, Y-axis, Z axisThe angle (rx, ry, rz) set, specifically, the filming apparatus select infrared camera；
S03, TMS coil is calculated by pre-set reference value for the relative distance and angle of filming apparatus；Further comprise: using gripping apparatus grips TMS coil, the clamping device is connected with the filming apparatus, the clampingDevice is arranged on a mobilizable manipulator, and the manipulator has preset scope of activities, the position of the clamping deviceChange with the activity of the manipulator, the TMS coils of the gripping apparatus grips for the filming apparatus it is opposite away fromWalk-off angle degree also changes correspondingly；Relative distance and angle of the TMS coil of the gripping apparatus grips for the filming apparatusReference value preset and store, the clamping device often moves a certain distance or rotates an angle, can be by pre-Existing clamp device is calculated for the actual relative distance and angle of filming apparatus in the reference value for being first arranged and storing, and obtainsTo gripping apparatus grips TMS coil for filming apparatus relative distance and angle；
Specifically, the clamping device for a certain fixed point relative distance and angle in product export with regard to having carried outSetting, the TMS coil that the clamping device is clamped with it are regarded as an entirety, and the relative distance and angle are pre-Known to elder generation, in actual use, by adjusting the position that filming apparatus is arranged in the fixed point, the clamping can be obtainedDevice for filming apparatus relative distance and angle to get to the gripping apparatus grips TMS coil for the shootingThe relative distance and angle of device；
S04, based on the patients head for filming apparatus relative distance and angle and TMS coil for shootingTMS coil is calculated for the relative distance and angle of patients head in the relative distance and angle of device；Specifically, it is obtainingKnow patients head for the relative distance and angle for filming apparatus of relative distance and angle and clamping device of filming apparatusIn the case where spending the two, current TMS coil is calculated in real time for the relative distance and angle of patients head；
Specifically, the TMS coil of patients head, filming apparatus, gripping apparatus grips is considered three points in space,A solid axes is constructed using patients head as coordinate origin in conjunction with above description, utilizes the patient's head being calculatedThe relative distance and angle and TMS coil of relative distance and angle to(for) filming apparatus of the portion for filming apparatus, Ji KejiCalculation obtains TMS coil for the relative distance and angle of patients head；In actual use, these calculating process pass through computerProgram realizes that it is accurate and efficient to calculate；
S05, by current TMS coil for patients head relative distance and angle with what is recorded when treating for the first time it is opposite away fromWalk-off angle degree is compared, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for suffering fromThe relative distance and angle on person head, adjustment TMS coil for patients head relative distance and angle the step of by manualOperation is completed or is completed by manipulator.
In a kind of efficient TMS resetting method of the invention, the empirically determined treatment of TMS for the first time of operatorTarget spot, and relative distance and angle software records of the corresponding TMS coil at this time for patients head are got off；Next timeWhen TMS is treated, filming apparatus is fixed on to the position that can be fully incorporated into patients head in its visual field first, is known using faceOther algorithm obtains patients head for the relative position of filming apparatus, and the relative position includes relative distance and angle；ThenUsing gripping apparatus grips TMS coil, and the clamping device for being clamped with TMS coil is connected with filming apparatus, calculatesThe clamping device is obtained for the relative distance and angle of filming apparatus, the reference value of relative distance and angle here is pre-First it is arranged, during the subsequent clamping device is mobile with manipulator, the angle of the distance and rotation that actually moveDegree can be calculated by pre-set reference value, for example, clamping device rotates one week, corresponding clamping deviceFor 5 ° or -5 ° of angle change of filming apparatus, alternatively, clamping device moves a certain distance, corresponding clamping device is for clappingThe relative distance for taking the photograph device increases or reduces a reference distance, can be calculated in real time using these pre-set reference valuesRelative distance and angle of the current TMS coil for filming apparatus；Finally, using patients head for the opposite of filming apparatusTMS coil is calculated for the relative position of patients head for the relative position of filming apparatus in position and TMS coil,The relative position of patients head is compared with relative position when treating for the first time of record for current TMS coil, ifUnanimously, then TMS treatment is carried out, if inconsistent, the scope of activities of manipulator is adjusted, makes in current relative position and recordRelative position is consistent, and TMS coil can treat the same position of patients head when ensuring to treat every time with this, improves TMS and controlsThe validity for the treatment of.
As another technical solution of the invention, a kind of efficient TMS repeated positioning device is also provided, such as attached drawing instituteShow, comprising:
Filming apparatus, for shooting the location information of patients head；The filming apparatus includes camera；
Bracket, for fixing the filming apparatus；
Clamping device, for clamping TMS coil；
Manipulator is connect with the clamping device, for adjust the TMS coil for patients head relative distance andAngle；
Processing unit is connect with the filming apparatus and clamping device, the patient sent for receiving the filming apparatusThe location information on head and carry out processing identification obtain patients head for the relative distance and angle of the filming apparatus, receptionSimultaneously TMS coil is calculated for the relative distance and angle of the filming apparatus in the change in location information of the clamping device,And TMS coil is calculated for the relative distance and angle of patients head；
Controller is connect with the processing unit and manipulator, for receiving the processing result and root of the processing unitThe activity of the manipulator is controlled according to the processing result.For the sake of for convenience of description, major mechanical interconnecting piece is only shown in Fig. 2Point, the connection relationship of processing unit, controller and other parts can be learnt with reference to the prior art, therefore be not shown in the figure.
Specifically, the filming apparatus is fixed on the bracket position that patients head can be fully incorporated into field rangeIt sets；The clamping device is set to the robot end, and the order that the manipulator receives the controller controls the folderIt holds device clamping TMS coil and is placed in patients head, the processing unit is to the location information of patients head, the clamping deviceChange in location information carries out the relative distance and angle that TMS coil is calculated for patients head in processing, the controller rootThe manipulator activity is controlled according to the processing result of the processing unit, and then the gripping apparatus grips TMS coil is driven to setIn the correct position of patients head.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；AlthoughPresent invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be usedTo modify to technical solution documented by previous embodiment, or some or all of the technical features are equalReplacement；And these are modified or replaceed, technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.