CN113041500A - Memorable transcranial magnetic stimulation navigation positioning device and positioning method - Google Patents
Memorable transcranial magnetic stimulation navigation positioning device and positioning method Download PDFInfo
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Abstract
The invention discloses a memorable transcranial magnetic stimulation navigation positioning device and a positioning method, wherein the device comprises a vertical lifting support, a horizontal annular guide rail, a suspension trolley, a laser generator, a 3D structured light camera and a navigation positioning system; the horizontal annular guide rail is installed on the vertical lifting support, the suspension trolley is installed on the horizontal annular guide rail, the laser generator and the 3D structured light camera are both installed on the suspension trolley, the 3D structured light camera is used for collecting image information of the head of a patient and shooting the head and sending the image information to the navigation positioning system, and the laser generator is used for indicating a target point position on the head of the patient; the navigation positioning system analyzes the pose of the head and the head of the patient based on the received image information to form a driving instruction, so that the laser generator points to the target position of the head of the patient. The invention can guide doctor to perform head shooting positioning and pose adjustment, perform head shooting pose matching and solve the problem of head shooting positioning of transcranial magnetic stimulation repeated treatment.
Description
Technical Field
The invention relates to a memorable transcranial magnetic stimulation navigation positioning device and a positioning method, belonging to the technology of transcranial magnetic medical equipment.
Background
The transcranial magnetic stimulation technology is a magnetic stimulation technology which utilizes a pulse magnetic field to act on a central nervous system (mainly the brain) to change the membrane potential of cortical nerve cells, so that induced current is generated, and the intracerebral metabolism and neuroelectric activity are influenced, thereby causing a series of physiological and biochemical reactions. At present, the method is widely used in the fields of neuroscience and brain science research and in the diagnosis and treatment of clinical diseases.
At present, the transcranial magnetic stimulation technology is widely used, the domestic transcranial magnetic stimulation technology reaches the world advanced level, and the transcranial magnetic stimulation technology is applied to various aspects such as epilepsy, neuropsychological departments (depression and spermatic syndrome), rehabilitation departments, pediatrics (cerebral palsy and the like). These therapeutic studies based on transcranial magnetic stimulation are not free of transcranial magnetic stimulation localization methods. Because transcranial magnetic stimulation treatment usually needs a long time, repeated treatment is carried out according to the treatment course, and the accuracy of each treatment cannot be ensured by positioning the target points purely by means of experience and memory. The position of the target point of each treatment of the patient is different, which is a common condition, and if the accuracy of the target point of the treatment cannot be ensured, the curative effect of the treatment is greatly reduced. Therefore, it is necessary to find a method to ensure the accuracy of the target point.
The existing transcranial magnetic stimulation products need professionals to operate and are complex to operate, and the professionals are required to search for the treatment position again in each treatment, so that the defects of poor operability, large deviation of the treatment position and the like exist. In order to solve the problem of magnetic stimulation repeated positioning, the problem of repeated positioning and tracking is realized by adopting a scheme of matching optical camera navigation with a mechanical arm at present, but the method is high in price and is not beneficial to wide popularization and application. And the modes of a positioning cap, a marking head and the like are adopted, the modes are troublesome to use, and the original head-shooting treatment pose cannot be memorized.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a memorable transcranial magnetic stimulation navigation positioning device and a positioning method, which have the advantages of simple structure, convenience in use, low cost and convenience in popularization.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a memorable transcranial magnetic stimulation navigation positioning device comprises a vertical lifting support, a horizontal annular guide rail, a suspension trolley, a laser generator, a 3D structured light camera and a navigation positioning system; the horizontal annular guide rail is arranged on the vertical lifting support; the suspension trolley is arranged on the horizontal annular guide rail and can move along the horizontal annular guide rail; the laser generator and the 3D structure light camera are both installed on the suspension trolley, the 3D structure light camera faces to a vertical central axis of the horizontal annular guide rail and can deflect up and down, and the laser generator can deflect annularly; the 3D structured light camera is used for collecting image information of the head and the head of a patient and sending the image information to the navigation positioning system, and the laser generator is used for indicating the position of a target point on the head of the patient; the navigation positioning system analyzes the pose of the head and the head of the patient based on the received image information to form an instruction for driving the suspension trolley to move along the horizontal annular guide rail and an instruction for driving the laser generator to perform annular deflection, so that the laser generator points to the target position of the head of the patient.
Preferably, the light spot generated by the laser generator is a cross cursor, and the cross point of the cross cursor is aligned with the target point position of the head of the patient.
Preferably, the suspension trolley is mounted on the horizontal annular guide rail through a gear structure, and accurate positioning is achieved through gears; the distance between adjacent teeth is set to be the minimum unit scale, and the position of the suspended trolley can be accurately positioned by comparing the current gear with the position of a predefined 0 point.
Preferably, the device also comprises a cart, the vertical lifting support is fixed on the cart, and a brake mechanism is arranged on part or all of wheels of the cart.
Preferably, the vertical lifting support can also be fixed in a suspended manner to the ceiling.
Preferably, the horizontal annular guide rail is in a perfect circle shape and is in a metal double-rail structure, the suspension trolley is supplied with power through a direct current through a metal double-rail, one rail is a positive electrode, and the other rail is a negative electrode; the horizontal ring-shaped guide rails are connected by a pre-dc power supply of cables deployed along the vertical lifting support.
Preferably, the navigation positioning system performs data transmission and instruction sending with the suspension trolley, the 3D structured light camera and the laser generator in a wireless mode.
Preferably, the navigation positioning system comprises a face recognition module, a pose analysis module and a path planning module, the face recognition module is used for recognizing the face of the patient, the pose analysis module is used for analyzing the head pose and the head capture pose of the patient, the path planning module is used for generating a lifting instruction, a circular moving instruction and a circular deflection instruction, the lifting instruction is used for driving the lifting support to move up and down to the relative height between the horizontal circular guide rail and the head of the patient to reach a set value, the circular moving instruction is used for driving the suspension trolley to move to the 3D structured light camera to face the face of the patient, and the circular deflection instruction is used for driving the laser generator to face the target position of.
Preferably, the navigation positioning system further comprises a 3D reconstruction module and a display module, and the 3D reconstruction pose image of the head of the patient and the 3D reconstruction pose image of the head of the patient are constructed in real time through the 3D reconstruction module; displaying the 3D reconstruction pose image of the head of the patient and the 3D reconstruction pose image of the head in a simulation space, and simultaneously displaying the pose of the head shooting target in the simulation space; when the 3D reconstruction pose image of the head is coincided with the target pose of the head in the precision range, the successful matching is prompted.
The positioning method based on the memorable transcranial magnetic stimulation navigation positioning device comprises two parts of a primary treatment pose recording process and a secondary treatment navigation positioning process:
s1: the primary treatment pose recording process comprises the following steps:
s11, registered patient information: establishing a treatment information table of a patient in a database, and storing basic information of the patient;
s12, treatment pose preparation: the patient enters a treatment body position, the head of the patient is adjusted to be aligned to the target position of the head of the patient, and the head of the patient and the head position are kept;
s13, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s14, starting pose recording: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s15, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s16, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s17, recording the 3D shape of the head and the head of the patient: the face recognition module carries out face recognition on the patient and stores facial features of the patient in a treatment information table; the pose analysis module analyzes the 3D shapes of the head and the head of the patient and stores the 3D shapes of the head and the head of the patient in a treatment information table;
s18, recording the relative pose of the target: the pose analysis module analyzes the poses of the head and the head of the patient, calculates the relative pose of the head and the head of the patient at the moment, takes the relative pose at the moment as the relative pose of the target, and stores the relative pose of the target in a treatment information table;
s2: the retreatment navigation positioning process comprises the following steps:
s21, treatment preparation: the patient enters a treatment body position and is consistent with the primary treatment pose;
s22, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s23, starting a navigation positioning system: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s24, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s25, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s26, recognizing the head pose of the patient: performing face recognition on the patient through a face recognition module, and if the patient is a registered patient who has undergone the step S1, readjusting the relative height between the horizontal annular guide rail and the head of the patient and the angle of the 3D structured light camera according to the treatment information table of the patient after confirmation;
s27, calculating the pose of the shooting target: displaying a 3D reconstruction pose image of the head of the patient in real time in a simulation space, calculating a head shooting target pose in the current head pose state of the patient according to the head, head shooting 3D shape and target relative pose of the patient recorded in a treatment information table, and then calculating the target position of the head of the patient according to the head shooting target pose; the path planning module generates an annular deflection instruction to drive the laser generator to face the target position of the head of the patient, and the laser is emitted on the head of the patient to indicate the target position;
s28, matching the head shooting pose: and displaying the pose of the head shooting target in the simulation space, manually adjusting the head shooting until the center point of the head shooting and the laser indication position (the cross point of the cross cursor) coincide in the precision range, and enabling the 3D reconstruction pose image of the head shooting and the pose of the head shooting target to coincide in the precision range, thereby prompting the success of matching.
Preferably, a reflective marker is pasted at the center point of the racket head to reflect the laser, so that the matching precision is further improved.
Has the advantages that: according to the memorable transcranial magnetic stimulation navigation positioning device and the positioning method, the navigation positioning probe is separated from the beat head, and the navigation positioning probe can be directly used for the existing transcranial magnetic stimulation treatment equipment without modifying or replacing the existing equipment, so that the application range of the navigation positioning device is greatly expanded, and the upgrading and modifying cost of a user is reduced; compared with other schemes adopting mechanical arms, the mechanical arm has a simple structure, can greatly reduce the cost of research and development, production and maintenance, and is convenient for large-scale popularization and use.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a diagram of a hardware architecture of a navigation positioning system in the apparatus of the present invention;
FIG. 3 is a diagram illustrating the software architecture of a navigation positioning system in the apparatus of the present invention;
FIG. 4 is a schematic flow chart of a recording process of the primary treatment pose;
fig. 5 is a flow chart of the retreatment navigation positioning process.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the memorable transcranial magnetic stimulation navigation positioning device mainly comprises a cart 6, a vertical lifting support 5, a horizontal annular guide rail 1, a navigation positioning probe and a control host; as shown in fig. 2, the control host is a tablet computer or an all-in-one computer, and mainly includes a central processing unit, a memory, a storage, a wireless connection device, a sound box, and the like, and is used for loading and operating a navigation positioning system 7; the respective main portions will be described below.
First, go-cart 6
The cart 6 mainly comprises a cart box body, universal wheels and a brake 8; the box is used for fixedly mounting the vertical lifting support 5, the power module is mounted inside the box, the surface of the box is provided with a power interface, and a heat dissipation opening is formed in the box. In the scheme, four universal wheels are arranged below the box body, so that the movement in any direction can be realized; and a brake 8 is arranged on part or all of the universal wheels, so that the position of the whole device is fixed in navigation and positioning.
The vertical lifting support 5 mainly comprises a vertical main supporting column and a guide rail support; the vertical main supporting column adopts a nested two-section structure and is electrically driven to lift; the guide rail support is always kept horizontal, and the damping bearing connection mode is used between the guide rail support and the vertical main support column, so that the guide rail support can rotate at any angle by 360 degrees and can be fixed in angle when the guide rail support stops.
The control host is installed on the main tributary dagger of standing vertically, and the control host can reciprocate and rotate at certain extent relatively the main tributary dagger of standing vertically.
Two, horizontal ring-shaped guide rail 1
The horizontal annular guide rail 1 is in a perfect circle shape and is in a metal double-rail structure, the suspension trolley 2 is supplied with direct current through metal double rails, one rail is a positive electrode, and the other rail is a negative electrode; the horizontal ring rails 1 are connected by a cable pre-dc power supply deployed along the vertical lifting brackets 5.
Navigation positioning probe
The navigation positioning probe consists of a suspension trolley 2, a laser generator 3 and a 3D structure light camera 4, wherein the laser generator 3 and the 3D structure light camera 4 are both arranged on the suspension trolley 2, the suspension trolley 2 is arranged on a horizontal annular guide rail 1, and the horizontal annular guide rail 1 is arranged on a guide rail bracket; hang dolly 2 and can follow horizontal ring rail 1 and remove, 3D structure light camera 4 can deflect from top to bottom towards the vertical axis of horizontal ring rail 1, and laser generator 3 can the annular deflection.
The suspension trolley 2 is mounted on the horizontal annular guide rail 1 in a suspension mode through a gear structure, and accurate positioning is achieved through gears; the distance between adjacent teeth is set to be the minimum unit scale, and the position of the suspended trolley 2 can be accurately positioned by comparing the current gear with the position of a predefined 0 point. The wheels of the suspension trolley 2 are made of conductive materials and are supplied with power through the horizontal annular guide rail 1. The suspension trolley 2 receives the instruction of the navigation positioning system 7 in a wireless mode, and the suspension trolley 2 moves at a constant speed at a preset speed during navigation positioning.
The laser generator 3 can emit a visible and weak laser without hurting eyes, and is used for indicating the target position on the head of a patient; the light spot generated by the laser generator 3 is a cross cursor, and the cross point of the cross cursor is aligned with the target point position of the head of the patient. The laser generator 3 is arranged on an electric direction-variable micro bracket, and receives a circular deflection instruction from a navigation positioning system 7 in a wireless mode so as to accurately point to a target point position. A light reflection marker is adhered to the center of the shooting head, and when laser generated by the laser generator 3 strikes the light reflection marker and is reflected, the laser is captured by the 3D structured light camera 4, so that the pose matching precision can be further improved.
The 3D structured light camera 4 is used for collecting image information of the head and the head of a patient and sending the image information to the navigation and positioning system 7, the 3D structured light camera 4 rotates up and down through manual adjustment or manual adjustment on an operation interface of the control host, and the 3D structured light camera 4 receives instructions of the navigation and positioning system 7 in a wireless mode.
Fourthly, navigation positioning system 7
The navigation positioning system 7 mainly comprises a data management module, a face recognition module, a pose analysis module, a path planning module, a 3D reconstruction module, a display module, a control interface module, a camera interface module and an Internet of things interface module, and each module is specifically described below
(4.1) the display module has the following functions:
(4.1.1) displaying the 3D reconstruction pose image of the head of the patient and the 3D reconstruction pose image of the head of the patient in a simulation space;
(4.1.2) in the navigation positioning process, displaying the pose of the head shooting target in the simulation space;
(4.1.3) when the 3D reconstruction pose image of the head is coincided with the target pose of the head in the precision range, indicating that the matching is successful;
(4.1.4) providing a patient information registration interface, inputting or editing patient information, and performing face input on the registration interface; when the human face is recorded, the navigation positioning probe automatically searches the optimal position to obtain the human face with clear front.
(4.2) the data management module has the following functions:
(4.2.1) establishing a patient treatment information table, editing or storing patient information (diagnosis and treatment card number, name and other information);
(4.2.2) calling a face recognition module to recognize the identity of the patient;
(4.2.3) using a relational database, such as Mysql;
(4.2.4) establishing an incidence relation between the patient and the pose data thereof;
and (4.2.5) synchronizing data among different navigation positioning devices through the Internet of things interface module to realize data sharing, and after any navigation positioning device is registered and treated, other navigation positioning devices do not need to register again and directly use related information and data.
(4.3) the path planning module has the following functions:
(4.3.1) obtaining the pose of the head of the current patient through a pose analysis module;
(4.3.2) sending the calculated path to a control module to control a navigation positioning probe to position;
(4.3.3) firstly, searching and positioning a face, if no face exists in a shot, planning an annular motion track, and searching a 360-degree annular motion face;
(4.3.4) after the human face is detected, calculating the difference between the current head pose and the target pose by taking the characteristic points of the human face as anchor points to obtain a planned path formed by the movement distance of the trolley and the angle of the laser probe, and sending the planned path to a control module to control the movement of the navigation positioning probe;
(4.3.5) dynamically planning a path in real time in the motion process of the navigation positioning probe until the current head pose is successfully matched with the target pose;
(4.3.6) if the brain structure image generated by the magnetic resonance image 3D reconstruction module exists, receiving the brain structure image of the magnetic resonance image 3D reconstruction module, and registering the human face characteristic points with the real-time 3D optical reconstruction image to further improve the positioning accuracy.
(4.4) the 3D reconstruction module has the following functions:
(4.4.1) carrying out 3D image reconstruction through the magnetic resonance functional image and the magnetic resonance structural image;
(4.4.2) obtaining a suggested target point or a target area of a 3D reconstruction image through a magnetic resonance functional image, or manually marking the target point through an interface provided by the module;
(4.4.3) sending the brain 3D reconstruction image of the marked target point or the target area to a path planning module so as to further provide positioning accuracy;
(4.4.4) this module is not necessary for the whole navigation positioning process.
(4.5) the pose analysis module has the following functions:
(4.5.1) acquiring a current real-time depth image through a camera interface;
(4.5.2) calculating and analyzing the current head pose and probe pose according to the real-time depth image;
(4.5.3) carrying out 3D reconstruction, and displaying the 3D poses of the head and the head of the user on a display screen of the control host in real time through a display module;
(4.5.4) after the laser positioning indication, the real-time pose of the magnetic stimulation beat is analyzed and compared to the recorded position, indicating to the user by a dashed box that the beat pose is adjusted.
(4.6) the control module has the following functions:
(4.6.1) controlling the motion of the navigation positioning probe through the control interface, and realizing the tracking, navigation and positioning of the head and the head by uniform motion at a fixed speed;
(4.6.2) controlling the emission angle and position of the laser locator, and controlling the laser generator to emit laser to carry out positioning indication after the in-place posture matching is successful;
(4.6.3) receiving a real-time dynamic planning track of the track planning module, and controlling the position of the navigation positioning probe and the pointing angle of the laser positioner according to the track;
(4.6.4) acquiring a current position of the navigational positioning probe through the control interface;
and (4.6.5) controlling the main supporting column (with trolley configuration)/the suspension hanger (without trolley) of the trolley to be electrically driven to automatically lift according to the detected face information, and further adjusting the relative height of the laser probe and the head.
(4.7) the control interface module has the following functions:
(4.7.1) receiving a control command formed by the position of a probe of the control module and the angle of the laser generator;
(4.7.2) converting the command into a running distance of the suspended trolley and a trolley control command, and controlling the trolley to run to a specified position at a constant speed;
(4.7.3) converting the control command into a control command of the laser generator bracket, and controlling the laser generator to deflect according to a specified angle;
(4.7.4) acquiring the current accurate position of the trolley and the current deflection angle of the laser generator;
(4.7.5) sending a trolley control command and a laser generator command in a WIFI/Bluetooth wireless mode to obtain the real-time states of the current trolley and the current laser generator;
(4.7.6) the height of the motor of the main supporting column (when the trolley is arranged) or the suspension hanger (when the trolley is not arranged) is controlled by the CAN bus to adjust.
(4.8) the face recognition module has the following functions:
(4.8.1) acquiring a current real-time image through a camera interface;
(4.8.2) extracting the face information in the real-time image;
(4.8.3) comparing the face characteristic data with the existing face characteristic data in the data management module to identify the identity of the patient;
(4.8.4) when the patient information is registered for the first time, extracting the face feature information, and storing the face feature information into the identity data of the corresponding patient through the data management module.
(4.9) the camera interface module has the following functions:
(4.9.1) collecting the current real-time image through a 3D structured light camera;
(4.9.2) receiving the real-time image of the depth camera in a wireless mode through a WIFI network card;
(4.9.3) sending camera parameter configuration and control instructions in a wireless mode through the WIFI network card.
(4.10) the Internet of things interface module has the following functions:
(4.10.1) establishing network connection with other navigation positioning devices through the WIFI network card;
(4.10.2) sending the data change of the local device to other navigation positioning devices;
(4.10.3) receiving data changes from other navigational positioning devices.
The positioning method based on the memorable transcranial magnetic stimulation navigation positioning device comprises two parts of a primary treatment pose recording process and a secondary treatment navigation positioning process:
s1: the primary treatment pose recording process comprises the following steps:
s11, registered patient information: establishing a treatment information table of a patient in a database, and storing basic information of the patient;
s12, treatment pose preparation: the patient enters a treatment body position, the head of the patient is adjusted to be aligned to the target position of the head of the patient, and the head of the patient and the head position are kept;
s13, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s14, starting pose recording: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s15, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s16, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s17, recording the 3D shape of the head and the head of the patient: the face recognition module carries out face recognition on the patient and stores facial features of the patient in a treatment information table; the pose analysis module analyzes the 3D shapes of the head and the head of the patient and stores the 3D shapes of the head and the head of the patient in a treatment information table;
s18, recording the relative pose of the target: the pose analysis module analyzes the poses of the head and the head of the patient, calculates the relative pose of the head and the head of the patient at the moment, takes the relative pose at the moment as the relative pose of the target, and stores the relative pose of the target in a treatment information table;
s2: the retreatment navigation positioning process comprises the following steps:
s21, treatment preparation: the patient enters a treatment body position and is consistent with the primary treatment pose;
s22, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s23, starting a navigation positioning system: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s24, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s25, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s26, recognizing the head pose of the patient: performing face recognition on the patient through a face recognition module, and if the patient is a registered patient who has undergone the step S1, readjusting the relative height between the horizontal annular guide rail and the head of the patient and the angle of the 3D structured light camera according to the treatment information table of the patient after confirmation;
s27, calculating the pose of the shooting target: displaying a 3D reconstruction pose image of the head of the patient in real time in a simulation space, calculating a head shooting target pose in the current head pose state of the patient according to the head, head shooting 3D shape and target relative pose of the patient recorded in a treatment information table, and then calculating the target position of the head of the patient according to the head shooting target pose; the path planning module generates an annular deflection instruction to drive the laser generator to face the target position of the head of the patient;
s28, matching the head shooting pose: and displaying the pose of the shooting target in the simulation space, and manually adjusting the shooting until the 3D reconstruction pose image of the shooting and the pose of the shooting target coincide in the precision range, so as to prompt the success of matching.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (10)
1. A kind of memorable transcranial magnetic stimulation navigation locating device, characterized by that: the device comprises a vertical lifting support (5), a horizontal annular guide rail (1), a suspended trolley (2), a laser generator (3), a 3D structured light camera (4) and a navigation positioning system (7); the horizontal annular guide rail (1) is arranged on the vertical lifting support (5); the suspension trolley (2) is arranged on the horizontal annular guide rail (1) and can move along the horizontal annular guide rail (1); the laser generator (3) and the 3D structure optical camera (4) are both installed on the suspension trolley (2), the 3D structure optical camera (4) faces to a vertical central axis of the horizontal annular guide rail (1) and can deflect up and down, and the laser generator (3) can deflect annularly; the 3D structured light camera (4) is used for collecting image information of the head and the head of a patient and sending the image information to the navigation positioning system (7), and the laser generator (3) is used for indicating the position of a target point on the head of the patient; the navigation positioning system (7) analyzes the pose of the head and the head of the patient based on the received image information, and forms an instruction for driving the suspension trolley (2) to move along the horizontal annular guide rail (1) and an instruction for driving the laser generator (3) to deflect circularly, so that the laser generator (3) points to the target position of the head of the patient.
2. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: the light spot generated by the laser generator (3) is a cross cursor, and the cross point of the cross cursor is aligned to the target position of the head of the patient.
3. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: the suspension trolley (2) is arranged on the horizontal annular guide rail (1) through a gear structure and is positioned through a gear.
4. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: the vehicle-mounted brake system is characterized by further comprising a trolley (6), wherein the vertical lifting support (5) is fixed on the trolley (6), and a brake mechanism is mounted on part or all of wheels of the trolley (6).
5. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: the horizontal annular guide rail (1) is in a regular circle shape and is in a metal double-rail structure, direct current is supplied to the suspended trolley (2) through the metal double rails, one rail is a positive electrode, and the other rail is a negative electrode.
6. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: and the navigation positioning system (7) performs data transmission and instruction sending with the suspension trolley (2), the 3D structured light camera (4) and the laser generator (3) in a wireless mode.
7. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 1, wherein: the navigation positioning system (7) comprises a face recognition module, a pose analysis module and a path planning module, the face recognition module is used for recognizing the face of a patient, the pose analysis module is used for analyzing the head pose and the head photographing pose of the patient, the path planning module is used for generating a lifting instruction, a circular moving instruction and a circular deflection instruction, the lifting instruction is used for driving the lifting support (5) to move up and down until the relative height between the horizontal circular guide rail (1) and the head of the patient reaches a set value, the circular moving instruction is used for driving the suspension trolley (2) to move to the 3D structured light camera (4) to face the face of the patient, and the circular deflection instruction is used for driving the laser generator (3) to face the target position of.
8. The memorable transcranial magnetic stimulation navigation and positioning device according to claim 6, wherein: the navigation positioning system (7) further comprises a 3D reconstruction module and a display module, and a 3D reconstruction pose image of the head of the patient are constructed in real time through the 3D reconstruction module; displaying the 3D reconstruction pose image of the head of the patient and the 3D reconstruction pose image of the head in a simulation space, and simultaneously displaying the pose of the head shooting target in the simulation space; when the 3D reconstruction pose image of the head is coincided with the target pose of the head in the precision range, the successful matching is prompted.
9. The positioning method of the memorable transcranial magnetic stimulation navigation positioning device is characterized in that: the method comprises two parts of a primary treatment pose recording process and a secondary treatment navigation positioning process:
s1: the primary treatment pose recording process comprises the following steps:
s11, registered patient information: establishing a treatment information table of a patient in a database, and storing basic information of the patient;
s12, treatment pose preparation: the patient enters a treatment body position, the head of the patient is adjusted to be aligned to the target position of the head of the patient, and the head of the patient and the head position are kept;
s13, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s14, starting pose recording: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s15, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s16, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s17, recording the 3D shape of the head and the head of the patient: the face recognition module carries out face recognition on the patient and stores facial features of the patient in a treatment information table; the pose analysis module analyzes the 3D shapes of the head and the head of the patient and stores the 3D shapes of the head and the head of the patient in a treatment information table;
s18, recording the relative pose of the target: the pose analysis module analyzes the poses of the head and the head of the patient, calculates the relative pose of the head and the head of the patient at the moment, takes the relative pose at the moment as the relative pose of the target, and stores the relative pose of the target in a treatment information table;
s2: the retreatment navigation positioning process comprises the following steps:
s21, treatment preparation: the patient enters a treatment body position and is consistent with the primary treatment pose;
s22, adjusting the horizontal annular guide rail: adjusting the circle center of the horizontal annular guide rail to be aligned to the position right above the head of the patient;
s23, starting a navigation positioning system: starting a 3D reconstruction module, and displaying a 3D reconstruction pose image of the head of the patient and a 3D reconstruction pose image of the head of the patient in real time in a simulation space;
s24, positioning the human face: the path planning module generates an annular moving instruction to drive the suspension trolley to move at a constant speed along the horizontal annular guide rail, and the 3D structured light camera acquires image information of the head of the patient in real time and sends the image information to the navigation positioning system until the face recognition module recognizes the face front; adjusting the angle of the 3D structured light camera;
s25, height adjustment: the path planning module generates a lifting instruction and drives the lifting support to move to a position where the relative height between the horizontal annular guide rail and the head of the patient reaches a set value; adjusting the angle of the 3D structured light camera;
s26, recognizing the head pose of the patient: performing face recognition on the patient through a face recognition module, and if the patient is a registered patient who has undergone the step S1, readjusting the relative height between the horizontal annular guide rail and the head of the patient and the angle of the 3D structured light camera according to the treatment information table of the patient after confirmation;
s27, calculating the pose of the shooting target: displaying a 3D reconstruction pose image of the head of the patient in real time in a simulation space, calculating a head shooting target pose in the current head pose state of the patient according to the head, head shooting 3D shape and target relative pose of the patient recorded in a treatment information table, and then calculating the target position of the head of the patient according to the head shooting target pose; the path planning module generates an annular deflection instruction to drive the laser generator to face the target position of the head of the patient, and the laser is emitted on the head of the patient to indicate the target position;
s28, matching the head shooting pose: and displaying the pose of the shooting target in the simulation space, manually adjusting the shooting until the center point of the shooting is coincided with the laser indication position in the precision range, and enabling the 3D reconstruction pose image of the shooting to be coincided with the pose of the shooting target in the precision range, thereby prompting the success of matching.
10. The method for positioning a memorable transcranial magnetic stimulation navigation and positioning device according to claim 8, wherein the method comprises the following steps: and a light-reflecting marker is adhered to the center point of the racket head to reflect the laser.
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