技术领域technical field
本发明涉及一种劲旅磁刺激系统，具体涉及一种基于多轴机器人视觉动态跟踪的磁刺激系统和方法。The invention relates to a powerful magnetic stimulation system, in particular to a magnetic stimulation system and method based on multi-axis robot visual dynamic tracking.
背景技术Background technique
经颅磁刺激(TMS)是一种无创无痛、有效刺激大脑皮层作用的新方法，被广泛应用于临床治疗。传统的磁刺激方法是将拍头位置固定不变，标定好拍头和患者特定穴位位姿态后，患者躺在特定的座椅上进行治疗。TMS疗效很大程度上受到拍头与颅腔相对位姿决定，但患者长时间保持一个特定姿态是非常困难的。Transcranial Magnetic Stimulation (TMS) is a new method of non-invasive, painless and effective stimulation of cerebral cortex, which is widely used in clinical treatment. The traditional magnetic stimulation method is to fix the position of the racket head, and after the posture of the racket head and the patient's specific acupoints are calibrated, the patient lies on a specific seat for treatment. The efficacy of TMS is largely determined by the relative posture of the head and the cranial cavity, but it is very difficult for patients to maintain a specific posture for a long time.
发明内容Contents of the invention
为解决现有技术的不足，本发明的目的在于提供一种可有效提高患者治疗的舒适度、同时显著增强TMS拍头的磁刺激效果的基于多轴机器人视觉动态跟踪的磁刺激系统和方法。In order to solve the deficiencies of the prior art, the object of the present invention is to provide a magnetic stimulation system and method based on multi-axis robot visual dynamic tracking that can effectively improve the comfort of patients' treatment and significantly enhance the magnetic stimulation effect of the TMS racket head.
为了实现上述目标，本发明采用如下的技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种基于多轴机器人视觉动态跟踪的磁刺激系统，其特征在于，包括：A magnetic stimulation system based on multi-axis robot visual dynamic tracking, characterized in that it includes:
末端设置有执行器的多轴机器人；A multi-axis robot with an actuator at the end;
固定于多轴机器人的执行器上的TMS拍头；The TMS racket head fixed on the actuator of the multi-axis robot;
设置于患者头部待治疗区域、与TMS拍头保持相对位置不变的靶点；A target point set in the area to be treated on the patient's head and kept relative to the TMS head;
用于监测并反馈靶点位姿的视觉相机；A visual camera for monitoring and feeding back the pose of the target;
接收视觉相机的监测信息并控制多轴机器人调整TMS拍头空间姿态的控制系统。The control system that receives the monitoring information from the visual camera and controls the multi-axis robot to adjust the spatial attitude of the TMS racket head.
进一步，上述的TMS拍头与靶点的相对位置为TMS拍头的法线方向与靶点的法线方向垂直。且，上述的TMS拍头与靶点之间的距离为2-20mm。Further, the above-mentioned relative position between the TMS head and the target point is that the normal direction of the TMS head is perpendicular to the normal direction of the target point. Moreover, the distance between the above-mentioned TMS racket head and the target point is 2-20mm.
且上述的多轴机器人具有六个自由度。And the above-mentioned multi-axis robot has six degrees of freedom.
而为了保证监测效果，上述的视觉相机设置于患者头部上方，且视野覆盖患者头部磁刺激区域。In order to ensure the monitoring effect, the above-mentioned visual camera is set above the patient's head, and the field of view covers the magnetic stimulation area of the patient's head.
本发明还提供了一种基于多轴机器人视觉动态跟踪的磁刺激系统的方法，包括以下步骤：The present invention also provides a method for a magnetic stimulation system based on the visual dynamic tracking of a multi-axis robot, comprising the following steps:
S1：系统初始化：系统启动开始运行后，首先进行视觉相机初始化标定，调整多轴机器人的TMS拍头与靶点位姿相对位置；S1: System initialization: After the system starts to run, first perform visual camera initialization and calibration, and adjust the relative position of the TMS head of the multi-axis robot to the target pose;
S2：动态跟踪靶点：视觉相机实时监测位于患者头部的靶点，如靶点位姿变化，则进入下一步，如靶点位姿未发生变化，则直接进行磁刺激治疗；S2: Dynamically track the target point: the visual camera monitors the target point on the patient's head in real time. If the position of the target point changes, it will enter the next step. If the position of the target point does not change, the magnetic stimulation treatment will be performed directly;
S3：TMS拍头的空间姿态与靶点的位姿匹配：视觉相机获取最新的靶点位姿，并将最新的靶点位姿传输给控制系统，控制系统控制多轴机器人运动，调整执行器末端的TMS拍头的空间姿态，TMS拍头与靶点的相对位置达到初始化状态，则进行磁刺激治疗。S3: The spatial attitude of the TMS head matches the pose of the target: the vision camera acquires the latest target pose and transmits the latest target pose to the control system, which controls the multi-axis robot movement and adjusts the actuator When the spatial attitude of the TMS head at the end and the relative position between the TMS head and the target point reach the initialization state, magnetic stimulation therapy will be performed.
进一步，步骤S1中所述的视觉相机动态实时监测的方式为：视觉相机基于3D人脸识别技术将患者的面部特征点位姿通过坐标变换解算出靶点位姿，并实时更新靶点位姿。Further, the visual camera dynamic real-time monitoring method described in step S1 is: the visual camera calculates the target point pose through coordinate transformation based on the 3D face recognition technology of the patient's facial feature points, and updates the target point pose in real time .
而上述的多轴机器人的动态响应时间小于50ms。However, the dynamic response time of the above-mentioned multi-axis robot is less than 50 ms.
本发明的有益之处在于：本发明通过实时动态跟踪靶点，保证了TMS拍头与靶点之间的相对位置，一方面提高了患者的使用舒适度，另一方面，大幅度增强了磁刺激的精度和效率。The benefit of the present invention lies in that the present invention ensures the relative position between the TMS racket head and the target point by real-time dynamic tracking of the target point, on the one hand improves the comfort of the patient, and on the other hand greatly enhances the magnetic Stimulation precision and efficiency.
附图说明Description of drawings
图1是本发明一个优选实施例的结构示意图；Fig. 1 is the structural representation of a preferred embodiment of the present invention;
图2为本发明所述的方法流程图。Fig. 2 is a flow chart of the method of the present invention.
图中附图标记的含义：Meanings of reference signs in the figure:
1、多轴机器人 2、TMS拍头 3、视觉相机 4、靶点 5、患者。1. Multi-axis robot 2. TMS head 3. Vision camera 4. Target 5. Patient.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明作具体的介绍。The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.
实施例Example
图1是本发明一个优选实施例的结构示意图。Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
参见图1，基于多轴机器人视觉动态跟踪的磁刺激系统，包括：末端设置有执行器且具有六个自由度的多轴机器人1；固定于多轴机器人1的执行器上的TMS拍头2；设置于患者5头部待治疗区域、与TMS拍头2保持相对位置不变的靶点4；用于监测并反馈靶点位姿的视觉相机3(本实施例采用的是双目深度相机)，视觉相机3设置于患者5头部上方，且视野覆盖患者5头部磁刺激区域；以及接收视觉相机3的监测信息并控制多轴机器人1调整TMS拍头2空间姿态的控制系统。Referring to Fig. 1, the magnetic stimulation system based on multi-axis robot visual dynamic tracking includes: a multi-axis robot 1 with an actuator at the end and six degrees of freedom; a TMS racket head 2 fixed on the actuator of the multi-axis robot 1 ; The target point 4 that is arranged in the area to be treated on the head of the patient 5 and keeps the relative position constant with the TMS head 2; the visual camera 3 for monitoring and feeding back the target point pose (this embodiment adopts a binocular depth camera ), the visual camera 3 is arranged above the head of the patient 5, and the visual field covers the magnetic stimulation area of the patient 5 head; and the control system that receives the monitoring information of the visual camera 3 and controls the multi-axis robot 1 to adjust the spatial attitude of the TMS racket head 2.
在本实施例中，TMS拍头2与靶点4的相对位置为TMS拍头2的法线方向与靶点4的法线方向垂直，且TMS拍头2与靶点4之间的距离为15-20mm。In this embodiment, the relative position between the TMS racket head 2 and the target point 4 is that the normal direction of the TMS racket head 2 is perpendicular to the normal direction of the target point 4, and the distance between the TMS racket head 2 and the target point 4 is 15-20mm.
图2为本发明所述的方法流程图。Fig. 2 is a flow chart of the method of the present invention.
如图2所示：基于多轴机器人视觉动态跟踪的磁刺激系统的方法，包括以下步骤：As shown in Figure 2: the method of the magnetic stimulation system based on the visual dynamic tracking of multi-axis robot comprises the following steps:
首先，患者躺在医用躺椅上，将靶点4贴在患者头部相应位置。First, the patient lies on a medical recliner, and the target point 4 is attached to the corresponding position of the patient's head.
S1：系统初始化：系统启动开始运行后，首先进行视觉相机3初始化标定，调整多轴机器人1的TMS拍头2与靶点4位姿的相对位置，对靶点4位置进行标定，保证TMS拍头2与靶点4的法线方向垂直，且距离2-20mm之间；S1: System initialization: After the system starts to run, first perform the initialization calibration of the visual camera 3, adjust the relative position of the TMS head 2 of the multi-axis robot 1 and the pose of the target point 4, and calibrate the position of the target point 4 to ensure that the TMS Head 2 is perpendicular to the normal direction of target point 4, and the distance is between 2-20mm;
S2：动态跟踪靶点：视觉相机3实时监测位于患者5头部的靶点4，如靶点4位姿变化，即当患者5在进行磁刺激的过程中，如头部移动，视觉相机3会实时跟踪并捕捉靶点4的位姿，然后进入下一步，如靶点4的位姿未发生变化，则直接进行磁刺激；S2: Dynamically track the target point: the visual camera 3 monitors the target point 4 on the head of the patient 5 in real time, such as the change of the position of the target point 4, that is, when the patient 5 is performing magnetic stimulation, such as head movement, the visual camera 3 It will track and capture the pose of the target point 4 in real time, and then enter the next step. If the pose of the target point 4 has not changed, the magnetic stimulation will be performed directly;
S3：TMS拍头的空间姿态与靶点的位姿匹配：视觉相机3基于3D人脸识别技术将患者5的面部特征点(鼻子、嘴、耳朵等)位姿通过坐标变换解算出靶点4位姿，并实时更新靶点4位姿，并将最新的靶点4位姿传输给控制系统，控制系统接收到更新后的靶点4位姿信息后控制多轴机器人1运动，调整执行器末端的TMS拍头2的空间姿态，TMS拍头2与靶点4的相对位置达到初始化状态(预先设定的状态)，则进行磁刺激治疗，此过程中，TMS拍头2的运动轨迹与患者5的头部无干涉(不发生碰撞)，且保证多轴机器人1的动态响应时间小于50ms。S3: The spatial posture of the TMS camera head matches the posture of the target point: the visual camera 3 calculates the target point 4 based on the 3D face recognition technology to solve the posture of the facial feature points (nose, mouth, ears, etc.) of the patient 5 through coordinate transformation pose, and update the 4 poses of the target point in real time, and transmit the latest 4 poses of the target point to the control system. After receiving the updated 4 pose information of the target point, the control system controls the movement of the multi-axis robot 1 and adjusts the actuator The spatial posture of the TMS racket head 2 at the end, the relative position of the TMS racket head 2 and the target point 4 reach the initialization state (pre-set state), then the magnetic stimulation treatment is performed. During this process, the trajectory of the TMS racket head 2 and the The head of the patient 5 does not interfere (no collision occurs), and the dynamic response time of the multi-axis robot 1 is guaranteed to be less than 50ms.
后续过程与传统磁刺激流程相同，如磁刺激完成后，多轴机器人1按照设定的轨迹回归初始化，患者5站起或者坐起过程，视觉相机3动态跟踪患者5头部的靶点4，直至患者5移出到视觉相机3的视野，揭下头部的靶点4，流程完成。The follow-up process is the same as the traditional magnetic stimulation process. For example, after the magnetic stimulation is completed, the multi-axis robot 1 returns to initialization according to the set trajectory, and the patient 5 stands up or sits up. The visual camera 3 dynamically tracks the target point 4 on the head of the patient 5, Until the patient 5 moves out of the field of view of the visual camera 3 and the target point 4 on the head is removed, the process is completed.
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，上述实施例不以任何形式限制本发明，凡采用等同替换或等效变换的方式所获得的技术方案，均落在本发明的保护范围内。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
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| CN201910674363.6ACN110339480A (en) | 2019-07-24 | 2019-07-24 | A magnetic stimulation system and method based on multi-axis robot visual dynamic tracking |
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| CN201910674363.6ACN110339480A (en) | 2019-07-24 | 2019-07-24 | A magnetic stimulation system and method based on multi-axis robot visual dynamic tracking |
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