CN113350698A - Electromagnetic navigation system and method for TMS coil - Google Patents
Electromagnetic navigation system and method for TMS coil Download PDFInfo
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- CN113350698A CN113350698A CN202110599968.0A CN202110599968A CN113350698A CN 113350698 A CN113350698 A CN 113350698A CN 202110599968 A CN202110599968 A CN 202110599968A CN 113350698 A CN113350698 A CN 113350698A
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- A61N2/00—Magnetotherapy
- A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
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- A61N2/006—Magnetotherapy specially adapted for a specific therapy for magnetic stimulation of nerve tissue
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Abstract
The invention discloses an electromagnetic navigation system and method for a TMS coil, wherein the system comprises a navigation operation module and a closed coil, wherein the closed coil is provided with a voltage acquisition module, the closed coil is provided with a X, Y, Z axial three-way winding coil, and the voltage acquisition module is connected to the navigation operation module; the voltage acquisition module is used for acquiring the electromotive force value epsilon of the closed coil on the X, Y, Z axisx,εy,εzThen, a navigation operation module calculates the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-directionx，By，Bz(ii) a The magnetic induction intensity and the direction of the position of the closed coil are obtained through calculation, the relative position of the current closed coil relative to the TMS coil can be obtained after the electromagnetic simulation results are matched, and the position of the current TMS coil can be determined based on the fixed position because the mounting position of the closed coil on the head is fixed, so that the positioning and the navigation of the TMS coil are realized.
Description
Technical Field
The invention relates to a matched system for a TMS coil, in particular to an electromagnetic navigation system and method for the TMS coil.
Background
The Transcranial Magnetic Stimulation (TMS) is a non-invasive method for exciting or inhibiting cerebral neurons, and is characterized by that it utilizes high-strength coil to produce quickly-changed magnetic field pulse, and makes it pass through scalp and skull of tested person and act on cerebral cortex layer so as to induce nerve cells to produce change of potential activity; the whole process is non-invasive and painless, and only a little current passes through the sound of the coil. However, when the TMS coil is used, the TMS coil needs to be positioned and navigated on a computer screen to improve the use accuracy of the TMS coil, but the currently used TMS coil navigation system is high in cost and complex in structure, or low in positioning and navigating accuracy and cannot meet the daily use requirements, so that research and improvement must be performed on the TMS coil navigation system.
Disclosure of Invention
One of the objectives of the present invention is to provide an electromagnetic navigation system and method for a TMS coil, so as to solve the technical problems in the prior art that the navigation system of the same kind of TMS coil has high use cost and complex structure, or the accuracy of positioning and navigation is low, and the requirement of daily use cannot be met.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides an electromagnetic navigation system for a TMS coil, which comprises a navigation operation module and a closed coil, wherein the closed coil is provided with a voltage acquisition module, the closed coil is provided with a X, Y, Z axial three-way winding coil, and the voltage acquisition module is connected with the navigation operation module; the voltage acquisition module is used for acquiring the electromotive force value epsilon of the closed coil on the X, Y, Z axisx,εy,εzThen, the navigation calculation module respectively calculates the magnetic induction intensity values B of the closed coil in the X, Y, Z axial three directions by the following formulax，By,，Bz：
Where N is the number of turns of the closed coil, phiBThe magnetic flux passing through the closed coil, t is the time for changing the magnetic flux, S is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
then, the magnetic induction intensity B of the current position point is calculated by the following formula:
and matching the magnetic induction intensity B and the direction thereof with the result of electromagnetic simulation, thereby obtaining the relative position of the current closed coil relative to the TMS coil.
Preferably, the further technical scheme is as follows: the device comprises a plurality of voltage acquisition modules, a navigation operation module, a voltage acquisition module, a navigation simulation module and an electromagnetic simulation result, wherein the voltage acquisition modules are respectively connected into the navigation operation module, the voltage acquisition modules are used for respectively acquiring electromotive force values of closed coils at all positions, the navigation operation module is used for respectively calculating the magnetic induction intensity B of the closed coils at all positions, and the magnetic induction intensity B is matched with the direction of the magnetic induction intensity and the result of the electromagnetic simulation, so that the relative positions of the closed coils relative to the TMS coil are respectively acquired, and the position of the current TMS coil is finally determined.
The further technical scheme is as follows: the plurality of closed coils are all used for being installed at any position of the head of a human body.
The further technical scheme is as follows: the electromagnetic simulation result is the magnitude and direction of the magnetic field generated by the current obtained by finite element simulation and the corresponding change trend of the magnetic field along with the change of the current.
The invention also provides an electromagnetic navigation method for the TMS coil, which comprises the following steps:
step A, a voltage acquisition module acquires the electromotive force value epsilon of each closed coil on the X, Y, Z axisx, εy,εzThen, a navigation operation module respectively calculates the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-direction by the following formulax，By,，Bz：
Where N is the number of turns of the closed coil, phiBFor the flux passing through the closed coil, t is the time taken for the flux to change,s is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
and step B, calculating the magnetic induction intensity B of the current position point according to the following formula:
and C, matching the magnetic induction intensity B and the direction thereof with the result of electromagnetic simulation, so as to obtain the relative position of the current closed coil relative to the TMS coil.
Preferably, the further technical scheme is as follows: the method comprises the following steps that a plurality of voltage acquisition modules are used for acquiring electromotive force values of closed coils at various positions respectively, the navigation operation module calculates the magnetic induction intensity B of the closed coils at various positions respectively according to the step A and the step B, and then the magnetic induction intensity B is matched with the electromagnetic simulation result together with the direction of the magnetic induction intensity, so that the relative positions of the closed coils relative to the TMS coil are obtained respectively, and the position of the current TMS coil is finally determined.
The further technical scheme is as follows: the closed coil at each position is any position which is arranged on the head of a human body when the method is used.
The further technical scheme is as follows: the electromagnetic simulation result is the magnitude and direction of the magnetic field generated by the current obtained by finite element simulation and the corresponding change trend of the magnetic field along with the change of the current.
Compared with the prior art, the invention has the following beneficial effects: the closed coil is placed at the fixed position of the head, the Faraday electromagnetic induction principle that induced electromotive force generates in the closed coil when the magnetic flux passing through the closed coil changes is utilized, the magnetic induction intensity and the direction of the position of the closed coil are obtained through calculation, and the relative position of the current closed coil relative to the TMS coil can be obtained after matching of electromagnetic simulation results.
Detailed Description
The invention is further illustrated by the following specific examples.
One embodiment of the invention is an electromagnetic navigation system for TMS coil, which is characterized in that the system comprises a navigation operation module and a closed coil, wherein the closed coil is provided with a voltage acquisition module, the closed coil is provided with a X, Y, Z axial three-way winding coil, the winding directions of the three-way winding coil are mutually vertical, and the voltage acquisition module is connected into the navigation operation module; the voltage acquisition module is used for acquiring the electromotive force value epsilon of the closed coil on the X, Y, Z axisx,εy,εzThen, the navigation operation module passes the formula (1) and based on the electromotive force value epsilonx,εy,εzRespectively calculating the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-directionx，By,，Bz：
In the formula (1), N is the number of turns of the closed coil, phiBThe magnetic flux passing through the closed coil, t is the time for changing the magnetic flux, S is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
then, calculating the magnetic induction intensity B of the current position point by using an equation (2):
and matching the magnitude B and the direction of the magnetic induction intensity with the result of electromagnetic simulation, so as to obtain the relative position of the current closed coil relative to the TMS coil. The aforementioned directions refer to the magnetic induction values of the X, Y, Z axial three-way winding coils respectively.
Further, based on the above principle in this embodiment, if the closed coil is designed to be multiple, the corresponding voltage acquisition module is also designed to be multiple; meanwhile, when in use, a plurality of closed coils are arranged at the position of the head of the human body according to a specified distribution mode and are used for navigation and positioning. And then when a plurality of voltage acquisition modules are respectively connected into the navigation operation module, the voltage acquisition modules can respectively acquire electromotive force values of the closed coils at different positions, the navigation operation module is used for respectively calculating the magnetic induction intensity B of the closed coils at each position, and matching the magnetic induction intensity B with the direction of the magnetic induction intensity with the result of electromagnetic simulation, so that the relative positions of the closed coils relative to the TMS coil are respectively obtained, and the position of the current TMS coil is finally determined.
In the embodiment, the closed coil is placed at the fixed position of the head, a Faraday electromagnetic induction principle that induced electromotive force generates in the closed coil is utilized when the magnetic flux passing through the closed coil changes, the magnitude and the direction of the magnetic induction intensity at the position of the closed coil are obtained through calculation, and the magnitude and the direction of the current relative position of the closed coil to the TMS coil can be obtained through matching of electromagnetic simulation results, wherein the electromagnetic simulation results refer to the magnitude and the direction of a current generated magnetic field obtained through finite element simulation and the corresponding change trend of the magnetic field along with the change of the current; because the mounting positions of the closed coils on the head are fixed, the current position of the TMS coil can be determined based on the fixed position, and therefore positioning and navigation of the TMS coil are achieved. Compared with the existing camera navigation mode, the navigation system provided by the embodiment does not need to be additionally provided with equipment such as a camera, is more convenient to carry, and can also ensure the navigation accuracy of the TMS coil.
Specifically, the electromagnetic simulation positioning method used in the invention comprises the following steps:
carrying out three-dimensional modeling on the TMS functional effective component according to physical characteristics to obtain an artificial model of a computer;
then, the model is led into a simulation program, and excitation conditions (TMS is time domain current, and the time domain current under various working conditions is different) which are the same as those of reality are added;
setting a simulation environment, wherein the simulation environment comprises all external factors which can influence the actual utility of the product in actual use, and setting simulation precision on the premise of ensuring the result;
after the computer simulation is finished, the space is divided equally according to the given precision, the magnetic field transformation condition of each position in the given range is derived according to the coordinates, and the data set is imported into a database. And obtaining the time domain magnetic field information on each coordinate position. Because the working time domain current under the TMS specific state (referring to treating different diseases) is determined, the magnetic field information around the TMS working area can be obtained according to the method. Whether from simulation results or physical calculations, the following conclusions can be easily drawn: when the TMS works, a reasonable space coordinate system is constructed by taking the TMS structure as a base (the axis is coincided with the axis of the TMS, and the circle center is coincided with the center of the TMS), and in each single quadrant, time-domain magnetic field functions of two different points are not the same;
this conclusion means that if we get the time domain magnetic field function information of a certain point in the space during the TMS operation, or the equipotential set information mapped one-to-one with this time domain magnetic field function set, we can get the coordinate of this point in the TMS coordinate system by using the table look-up method.
The relative position between the tool for inducing current and the TMS is obtained by utilizing an electric field induced by the magnetic field, and TMS navigation positioning is carried out according to the data.
Based on the above navigation system, another embodiment of the present invention is an electromagnetic navigation method for a TMS coil based on the above navigation system, the method comprising the steps of:
step S1, the voltage acquisition module acquires the electromotive force value epsilon of each closed coil on the X, Y, Z axisx, εy,εzThen, a navigation operation module respectively calculates the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-direction by the formula (1)x，By,，Bz：
In the formula (1), N is the number of turns of the closed coil, phiBThe magnetic flux passing through the closed coil, t is the time for changing the magnetic flux, S is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
step S2, then calculating the magnetic induction intensity B of the current position point by using equation (2):
in this embodiment, the number of the voltage acquisition modules is also multiple, and the voltage acquisition modules respectively acquire electromotive force values of the closed coils at each position, at this time, the closed coils at each position are placed at different positions of the head of the human body according to a specific manner, then the navigation operation module respectively calculates the magnetic induction intensity B of the closed coils at each position according to the steps S1 and S2, and then matches the result of the electromagnetic simulation, so as to respectively obtain the relative positions of the closed coils with respect to the TMS coil, and finally determine the current TMS coil position;
and step S3, matching the magnetic induction intensity B and the direction thereof with the result of electromagnetic simulation, thereby obtaining the relative position of the current closed coil relative to the TMS coil. As in the above embodiments, the results of the electromagnetic simulation refer to the magnitude and direction of the current-generating magnetic field obtained by finite element simulation, and the corresponding variation trend of the magnetic field with the current variation. It should be noted here that the present invention actually utilizes the principle of faraday's law of electromagnetic induction, that is, when the magnetic flux passing through the closed circuit changes, there is a current generated in the closed circuit, and then the closed coils at different positions are used as reference points through simulation result matching, so that the actual position of the TMS coil is positioned during the movement of the human head, and the positioning information is displayed on the computer screen, thereby assisting the use of the TMS coil.
In addition to the foregoing, it should be noted that reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally throughout this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.
Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the description and claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.
Claims (8)
1. An electromagnetic navigation system for a TMS coil is characterized by comprising a navigation operation module and a closed coil, wherein a voltage acquisition module is arranged on the closed coil, the closed coil is provided with an X, Y, Z axial-three-way winding coil, and the voltage acquisition module is connected to the navigation operation module; the voltage acquisition module is used for acquiring the electromotive force value epsilon of the closed coil on the X, Y, Z axisx,εy,εzThen, a navigation operation module respectively calculates the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-direction by the following formulax，By,，Bz：
Where N is the number of turns of the closed coil, phiBThe magnetic flux passing through the closed coil, t is the time for changing the magnetic flux, S is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
then, the magnetic induction intensity B of the current position point is calculated by the following formula:
and matching the magnetic induction intensity B and the direction thereof with the result of electromagnetic simulation, thereby obtaining the relative position of the current closed coil relative to the TMS coil.
2. The electromagnetic navigation system for a TMS coil, as set forth in claim 1, wherein: the device comprises a plurality of voltage acquisition modules, a navigation operation module, a voltage acquisition module, a navigation operation module and an electromagnetic simulation module, wherein the voltage acquisition modules are respectively connected into the navigation operation module, the voltage acquisition modules are used for respectively acquiring electromotive force values of closed coils of all positions, the navigation operation module is used for respectively calculating the magnetic induction intensity B of the closed coils of all positions and matching with the result of the electromagnetic simulation, so that the relative positions of the closed coils relative to the TMS coil are respectively obtained, and then the position of the current TMS coil is finally determined.
3. The electromagnetic navigation system for a TMS coil, of claim 2, wherein: the plurality of closed coils are all used for being installed at any position of the head of a human body.
4. The electromagnetic navigation system for a TMS coil, as set forth in claim 1, wherein: the electromagnetic simulation result is the magnitude and direction of the current-generated magnetic field obtained through finite element simulation and the corresponding change trend of the magnetic field along with the change of the current.
5. An electromagnetic navigation method for a TMS coil, which is characterized by comprising the following steps:
step A, a voltage acquisition module acquires the electromotive force value epsilon of each closed coil on the X, Y, Z axisx,εy,εzThen, a navigation operation module respectively calculates the magnetic induction intensity value B of the closed coil in the X, Y, Z axial three-direction by the following formulax，By,，Bz：
Where N is the number of turns of the closed coil, phiBThe magnetic flux passing through the closed coil, t is the time for changing the magnetic flux, S is the area enclosed by the closed coil, and B is the magnetic induction intensity value;
and step B, calculating the magnetic induction intensity B of the current position point according to the following formula:
and C, matching the magnetic induction intensity B and the direction thereof with the result of electromagnetic simulation, thereby obtaining the relative position of the current closed coil relative to the TMS coil.
6. The electromagnetic navigation method for the TMS coil of claim 5, characterized in that: the device comprises a plurality of voltage acquisition modules, wherein the voltage acquisition modules acquire electromotive force values of the closed coils at all positions respectively, the navigation operation module calculates the magnetic induction intensity B of the closed coils at all positions respectively according to the step A and the step B and then matches with the result of electromagnetic simulation, so that the relative positions of the closed coils relative to the TMS coil are obtained respectively, and the position of the current TMS coil is finally determined.
7. The electromagnetic navigation method for the TMS coil of claim 5, characterized in that: the closed coil at each position is any position which is arranged on the head of a human body when the method is used.
8. The electromagnetic navigation system for a TMS coil, of claim 5, wherein: the electromagnetic simulation result is the magnitude and direction of the current-generated magnetic field obtained through finite element simulation and the corresponding change trend of the magnetic field along with the change of the current.
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Application publication date: 20210907 |