CN114224486A - Nerve navigation positioning system for sound field and magnetic field orthogonal positioning - Google Patents

Nerve navigation positioning system for sound field and magnetic field orthogonal positioning Download PDF

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CN114224486A
CN114224486A CN202111538125.6A CN202111538125A CN114224486A CN 114224486 A CN114224486 A CN 114224486A CN 202111538125 A CN202111538125 A CN 202111538125A CN 114224486 A CN114224486 A CN 114224486A
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camera
coil
ultrasonic
error
positioning
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CN114224486B (en
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王贺
刘志朋
殷涛
周晓青
马任
张顺起
王欣
李颖
靳静娜
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Institute of Biomedical Engineering of CAMS and PUMC
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/004—Magnetotherapy specially adapted for a specific therapy
    • A61N2/006—Magnetotherapy specially adapted for a specific therapy for magnetic stimulation of nerve tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound

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Abstract

The embodiment of the invention discloses a nerve navigation positioning system for orthogonal positioning of a sound field and a magnetic field, which comprises an ultrasonic transducer, a magnetic stimulation coil, a binocular camera and a processor, wherein the processor is used for: determining a target point in the three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of a binocular camera; determining the ultrasonic emission camera position of an ultrasonic transducer under the camera coordinate system of the binocular camera and the magnetic field emission camera position of a magnetic stimulation coil under the camera coordinate system of the binocular camera; determining the ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining the coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position; and performing nerve navigation positioning based on the ultrasonic positioning error and the coil positioning error so as to enable the sound field emitted by the ultrasonic transducer to be orthogonal to the magnetic field emitted by the magnetic stimulation coil, thereby realizing accurate orthogonal positioning of the magnetic field and the sound field.

Description

Nerve navigation positioning system for sound field and magnetic field orthogonal positioning
Technical Field
The embodiment of the invention relates to the technical field of medical instruments, in particular to a nerve navigation positioning system for orthogonal positioning of a sound field and a magnetic field.
Background
The transcranial magnetic stimulation can regulate the excitability of cranial nerve, and the transcranial magnetic stimulation generates a pulse magnetic field through a stimulation coil so as to generate an induction electric field in the cerebral cortex to regulate the excitability of the cortex. But stimulates deep brain regions because the magnetic field decays spatially more rapidly. Therefore, how to realize effective stimulation in the deep part of the brain is a technical problem to be solved urgently.
Disclosure of Invention
The embodiment of the invention provides a nerve navigation positioning system for orthogonal positioning of a magnetic field and a magnetic field, which is used for realizing accurate orthogonal positioning of the magnetic field and the magnetic field, further realizing generation of a focused stimulation area in a deep brain area and regulating and controlling nerve excitation in the area.
The embodiment of the invention provides a nerve navigation positioning system for orthogonal positioning of a sound field and a magnetic field, which comprises an ultrasonic transducer, a magnetic stimulation coil, a binocular camera and a processor, wherein the ultrasonic transducer and the magnetic stimulation coil are in the visual field of the binocular camera, and the processor is used for:
determining a target point in a three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of the binocular camera;
determining an ultrasound transmit camera orientation of the ultrasound transducer in a camera coordinate system of the binocular camera and a magnetic field transmit camera orientation of the magnetic stimulation coil in the camera coordinate system of the binocular camera;
determining an ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining a coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position;
performing neuro-navigation positioning based on the ultrasonic positioning error and the coil positioning error to make the sound field emitted by the ultrasonic transducer and the magnetic field emitted by the magnetic stimulation coil orthogonal.
Optionally, on the basis of the above scheme, an ultrasound locator is disposed on the ultrasound transducer, a coil locator is disposed on the magnetic stimulation coil, and the determining of the ultrasound emission camera position of the ultrasound transducer in the camera coordinate system of the binocular camera and the magnetic field emission camera position of the magnetic stimulation coil in the camera coordinate system of the binocular camera includes:
acquiring an ultrasonic positioning position of the ultrasonic positioner, and determining the position of the ultrasonic emission camera according to the ultrasonic positioning position;
and acquiring a coil positioning position of the coil positioner, and determining the position of the magnetic field emission camera according to the coil positioning position.
Optionally, on the basis of the above scheme, the determining the ultrasound emission camera position according to the ultrasound positioning position includes:
and determining the ultrasonic emission camera position according to the ultrasonic positioning position based on the position transformation relation between the ultrasonic positioner and the ultrasonic transducer.
Optionally, on the basis of the above scheme, the determining the magnetic field emission camera position according to the coil positioning position includes:
and determining the magnetic field emission camera position according to the coil positioning position based on the position conversion relation between the coil positioner and the magnetic stimulation coil.
Optionally, on the basis of the above scheme, the determining an ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position includes:
determining an ultrasonic position error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position;
determining an ultrasonic direction error of the ultrasonic transducer according to the ultrasonic emission camera direction and the target point camera direction;
and taking the ultrasonic position error and the ultrasonic direction error as the ultrasonic positioning error.
Optionally, on the basis of the above scheme, the determining an ultrasound position error of the ultrasound transducer according to the ultrasound emission camera position and the target point camera position includes:
taking a distance between the ultrasound transmit camera position and a first straight line as a first position error, wherein the first straight line is composed of the target point camera position and a target point first vector in the target point camera direction;
taking a distance between the target camera position and a second straight line as a second position error, wherein the second straight line is composed of the ultrasound transmit camera position and an ultrasound first vector in the ultrasound transmit camera direction;
taking the first position error and the second position error as the ultrasonic position error.
Optionally, on the basis of the above scheme, the determining an ultrasound direction error of the ultrasound transducer according to the ultrasound emission camera direction and the target point camera direction includes:
and taking an included angle between the ultrasonic second vector in the ultrasonic emission camera direction and the target point second vector in the target point camera direction as the coil direction error, wherein the target point first vector is orthogonal to the target point second vector, and the ultrasonic first vector is orthogonal to the ultrasonic second vector.
Optionally, on the basis of the above scheme, the magnetic field emission camera orientation includes a magnetic field emission camera position and a magnetic field emission camera direction, the target point camera orientation includes a target point camera position and a target point camera direction, and determining the coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera orientation and the target point camera orientation includes:
determining a coil position error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position;
determining a coil direction error of the magnetic stimulation coil according to the magnetic field emission camera direction and the target point camera direction;
and taking the coil position error and the coil direction error as the coil positioning error.
Optionally, on the basis of the above scheme, the determining a coil position error of the magnetic stimulation coil according to the magnetic field emission camera orientation and the target point camera orientation includes:
determining a distance between the magnetic field emission camera position and a third line as a third position error, wherein the third line is comprised of the target point camera position and a target point third vector in the target point camera direction;
taking a distance between the target camera position and a fourth line as a fourth position error, wherein the fourth line is comprised of the magnetic field emission camera position and a magnetic field first vector in the magnetic field emission camera direction;
taking the third position error and the fourth position error as the coil position error.
Optionally, on the basis of the above scheme, the determining a coil direction error of the magnetic stimulation coil according to the magnetic field emission camera direction and the target point camera direction includes:
and taking an included angle between a second vector of the magnetic field in the magnetic field emission camera direction and a second vector of a target point in the target point camera direction as the coil direction error, wherein the third vector of the target point is orthogonal to the second vector of the target point, and the first vector of the magnetic field is orthogonal to the second vector of the magnetic field.
Optionally, on the basis of the above scheme, the performing neuronavigation positioning based on the ultrasonic positioning error and the coil positioning error to make the sound field emitted by the ultrasonic transducer and the magnetic field emitted by the magnetic stimulation coil orthogonal includes:
when the ultrasonic positioning error is smaller than an ultrasonic positioning threshold value and the coil positioning error is smaller than a magnetic stimulation positioning threshold value, determining that a sound field emitted by the ultrasonic transducer is orthogonal to a magnetic field emitted by the magnetic stimulation coil.
The neural navigation positioning system for the sound field and magnetic field orthogonal positioning provided by the embodiment of the invention comprises an ultrasonic transducer, a magnetic stimulation coil, a binocular camera and a processor, wherein the processor is used for: determining a target point in the three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of a binocular camera; determining the ultrasonic emission camera position of an ultrasonic transducer under the camera coordinate system of the binocular camera and the magnetic field emission camera position of a magnetic stimulation coil under the camera coordinate system of the binocular camera; determining the ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining the coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position; the nerve navigation positioning is carried out based on the ultrasonic positioning error and the coil positioning error, so that a sound field emitted by the ultrasonic transducer is orthogonal to a magnetic field emitted by the magnetic stimulation coil, the accurate orthogonal positioning of the magnetic field and the sound field is realized, and further, a focused stimulation area is generated in a deep brain area to regulate and control nerve excitation in the area.
Drawings
FIG. 1 is a schematic structural diagram of a neuronavigation positioning system for orthogonal positioning of an acoustic field and a magnetic field according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a neuronavigation positioning apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a three-dimensional orthogonal target point according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a neuronavigation positioning system for orthogonal positioning of an acoustic field and a magnetic field according to an embodiment of the present invention. The present embodiment is applicable to the case of stimulation localization, and particularly to the case of stimulation localization for deep brain portions. As shown in fig. 1, the neuro-navigation positioning system for orthogonal positioning of sound field and magnetic field comprises an ultrasonic transducer 10, a magnetic stimulation coil 20, a binocular camera 30 and a processor, the ultrasonic transducer 10 and the magnetic stimulation coil 20 are in a camera field of view of the binocular camera 30, wherein the processor is configured to:
determining a target point in a three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of the binocular camera;
determining an ultrasound transmit camera orientation of the ultrasound transducer in a camera coordinate system of the binocular camera and a magnetic field transmit camera orientation of the magnetic stimulation coil in the camera coordinate system of the binocular camera;
determining an ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining a coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position;
performing neuro-navigation positioning based on the ultrasonic positioning error and the coil positioning error to make the sound field emitted by the ultrasonic transducer and the magnetic field emitted by the magnetic stimulation coil orthogonal.
The magnetic field in the prior art is used for stimulating brain nerves, so that the technical problem that the magnetic field is fast attenuated in space and cannot stimulate the deep part of the brain is solved. The embodiment provides a method for generating a Hall electric field based on a Hall effect by enabling a magnetic field and an acoustic field to be orthogonal, so that the generated Hall electric field can generate a focused stimulation area in a deep brain area, and further the deep brain nerve regulation is realized.
In general, an ultrasonic transducer generates a sound field, a magnetic stimulation coil generates a magnetic field, and the sound field generated by the ultrasonic transducer is ensured to be orthogonal to the magnetic field emitted by the magnetic stimulation coil by controlling ultrasonic positioning errors and coil positioning errors.
In this embodiment, the positions of the ultrasonic transducer and the magnetic stimulation coil may be manually adjusted by an operator, the positions of the ultrasonic transducer and the magnetic stimulation coil are positioned in real time by the binocular camera sensor, and a positioning error of the ultrasonic transducer and a positioning error of the magnetic stimulation coil are calculated based on the positioned positions, so that the sound field emitted by the ultrasonic transducer and the magnetic field emitted by the magnetic stimulation coil are orthogonal. It will be appreciated that the positioning error needs to be calculated according to preset standard parameters, i.e. based on the preset target point and the orientation of the target point. If the target is that the sound field generated by the ultrasonic transducer is orthogonal to the magnetic field generated by the magnetic stimulation coil, the direction of the target point needs to be set to include mutually orthogonal vectors in space.
The target point is set based on the three-dimensional structure model image of navigation and positioning. Wherein the three-dimensional structure model image can be constructed based on the head structure image of the subject. Optionally, the head structure image of the subject is acquired by a scanning device (e.g., an electronic computed tomography device, a magnetic resonance imaging device, etc.), and the acquired head structure image is processed and reconstructed to obtain a three-dimensional structure model image. In one embodiment, a CT image of a subject is acquired by an electronic computed tomography apparatus, or a magnetic resonance image of the subject is acquired by a magnetic resonance imaging apparatus, and after the acquired image is subjected to image segmentation, smoothing and the like, three-dimensional reconstruction is performed to acquire a three-dimensional structure model image of the brain and the scalp. The three-dimensional reconstruction method may refer to a three-dimensional reconstruction method in the prior art, which is not limited herein. And after obtaining the three-dimensional structure model image, selecting points in the three-dimensional structure model image as target points. An operator can select a point in the displayed three-dimensional structure model image as a target point and determine the direction of the target point. In this embodiment, in order to make the acoustic field and the magnetic field determined based on the target point orthogonal to each other, a three-dimensional orthogonal target point needs to be set. The direction of the target point of interest includes orthogonal vectors in 3 spaces. The three-dimensional model of the skin or brain can be cut along the x, y and z directions by cutting the image button in software, and then the surface of the model is right clicked to generate a matrix orthogonal stimulation target point. The target position is moved to a position desired by the operator by setting the center coordinates of the matrix (with the center of the image coordinates as the origin). The operator can adjust the orientation of the target point by 90 degrees through the 90-degree adjusting button. An operator can adjust the orientation of the target point by taking 1 degree as a unit through the matrix angle adjusting slide block. Of the three orthogonal vectors, the first vector is mainly used for positioning the focus point of the ultrasonic transducer, the second vector is mainly used for positioning the focus point of the stimulating coil, and the third vector is used for positioning the stimulating magnetic field and the ultrasonic direction so that the two fields are kept in an orthogonal state. And when an operator clicks the new button, the target spot is stored in the target spot list, when an operator clicks the delete button, the target spot is deleted, and when an operator clicks the execute button, the spatial position (coordinate) and the orientation (vector three-dimensional coordinate) of the three-dimensional orthogonal target spot are stored in the text file.
The neural navigation positioning system for the sound field and magnetic field orthogonal positioning provided by the embodiment of the invention comprises an ultrasonic transducer, a magnetic stimulation coil, a binocular camera and a processor, wherein the processor is used for: determining a target point in the three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of a binocular camera; determining the ultrasonic emission camera position of an ultrasonic transducer under the camera coordinate system of the binocular camera and the magnetic field emission camera position of a magnetic stimulation coil under the camera coordinate system of the binocular camera; determining the ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining the coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position; the nerve navigation positioning is carried out based on the ultrasonic positioning error and the coil positioning error, so that a sound field emitted by the ultrasonic transducer is orthogonal to a magnetic field emitted by the magnetic stimulation coil, the accurate orthogonal positioning of the magnetic field and the sound field is realized, and further, a focused stimulation area is generated in a deep brain area to regulate and control nerve excitation in the area.
In one embodiment, the positioning of the ultrasound transducer and the magnetic stimulation coil may be achieved by a positioner. Optionally, the determining the ultrasound transmitting camera position of the ultrasound transducer under the camera coordinate system of the binocular camera and the magnetic field transmitting camera position of the magnetic stimulation coil under the camera coordinate system of the binocular camera includes: acquiring an ultrasonic positioning position of the ultrasonic positioner, and determining the position of the ultrasonic emission camera according to the ultrasonic positioning position; and acquiring a coil positioning position of the coil positioner, and determining the position of the magnetic field emission camera according to the coil positioning position.
The ultrasonic positioner can be arranged at any position of the ultrasonic transducer, and the coil positioner can also be arranged at any position of the magnetic stimulation coil. In general, the orientation of the acoustic field emitted by the ultrasound transducer may be determined based on the center position of the ultrasound transducer, and the orientation of the magnetic field emitted by the magnetic stimulation coil may be determined based on the center position of the magnetic stimulation coil. Therefore, when calculating the ultrasound positioning error, it is usually calculated from the center position of the ultrasound transducer, and also when calculating the coil positioning error, it is calculated from the center position of the magnetic stimulation coil. Therefore, the ultrasonic locator can be arranged at the center position of the ultrasonic transducer, and the ultrasonic locating position in the camera coordinate can be directly used as the ultrasonic emission camera position. The coil positioner can be arranged at the central position of the magnetic stimulation coil, and the coil positioning position under the camera coordinate can be directly used as the magnetic field emission camera position.
However, due to the structural characteristics of the ultrasonic transducer and the structural characteristics of the magnetic stimulation coil, the positioner cannot be arranged at the central position, and therefore, the ultrasonic transducer and the ultrasonic positioner need to be subjected to position registration, and the magnetic stimulation coil and the coil positioner need to be subjected to position registration, so that the orientation transformation relationship between the ultrasonic positioner and the ultrasonic transducer and the orientation transformation relationship between the coil positioner and the magnetic stimulation coil are obtained. And after the ultrasonic positioning position under the camera coordinate and the coil positioning position under the camera coordinate are obtained, determining the ultrasonic transmitting camera position and the magnetic field transmitting camera position according to the position transformation relation obtained in advance.
Generally, to facilitate tracking, an ultrasound positioner is fixed above the ultrasound transducer, which focuses the ultrasound below the area array. When the ultrasonic positioner is not arranged at the center position of the ultrasonic transducer, the ultrasonic positioning position needs to be subjected to coordinate transformation to obtain the position of the ultrasonic emission camera. Optionally, the determining the ultrasound emission camera position according to the ultrasound locating position includes: and determining the ultrasonic emission camera position according to the ultrasonic positioning position based on the position transformation relation between the ultrasonic positioner and the ultrasonic transducer. Assume that the position transformation matrix between the ultrasonic positioner and the ultrasonic transducer is A, i.e. Vh＝A*Vd，VhAs the coordinate of the center position of the ultrasonic transducer, VdIs the ultrasonic locator position coordinate. The product of the ultrasound localization position and a may be taken as the ultrasound transmit camera position.
In the above process, the position change matrix between the ultrasonic positioner and the ultrasonic transducer can be determined in advance through calibration. Optionally, the positioning calibration of the ultrasonic transducer is implemented by using an L-shaped ultrasonic calibration plate. The shape of the L-shaped positioner is matched with the ultrasonic transducer, so that the calibration result is more accurate. The calibration process may be: the square area array ultrasonic transducer is tightly attached to the L-shaped mark points of the calibration plate, the spatial positions of the ultrasonic calibration plate and the ultrasonic positioning frame are collected through the binocular camera, and the relative position between the ultrasonic calibration plate and the ultrasonic positioning frame is calculated to complete spatial calibration.
The stimulating coil focuses the magnetic field below the coil, and the coil positioner is fixed above the coil for convenient tracking. When the coil positioner is not arranged at the central position of the magnetic stimulation coil, the magnetic field positioning position needs to be subjected to coordinate transformation to obtain the position of the magnetic field emission camera. Optionally, the determining the magnetic field emission camera position according to the coil positioning position includes: positioning based on the coilAnd determining the orientation of the magnetic field emission camera according to the coil positioning orientation through the orientation transformation relation between the device and the magnetic stimulation coil. Suppose that the position transformation matrix between the coil localizer and the magnetic stimulation coil is B, i.e. Vx＝B*Vw，VxAs a coordinate of the central position of the magnetic stimulation coil, VwAre the coil locator position coordinates. The product of the coil location orientation and B can be taken as the magnetic field emission camera orientation.
In the above process, the position change matrix between the coil positioner and the magnetic stimulation coil can be determined in advance through calibration. Coil calibration may be accomplished using a coil calibration plate. Specifically, the copper columns for calibrating the coordinates on the calibration plate correspond to the marking points on the lower portion of the coil one by one, then an operator triggers calibration operation, the spatial positions of the coil calibration plate and the coil positioning frame are collected through a binocular camera, and the relative position between the coil calibration plate and the coil positioning frame is calculated to complete spatial calibration.
After the position of the ultrasonic emission camera and the position of the magnetic field emission camera are determined, the ultrasonic positioning error and the magnetic field positioning error are calculated, and whether the sound field and the magnetic field are orthogonal or not is judged based on the ultrasonic positioning error and the magnetic field positioning error.
In one embodiment, the ultrasound transmit camera orientation includes an ultrasound transmit camera position and an ultrasound transmit camera direction, the target camera orientation includes a target camera position and a target camera direction, the determining the ultrasound positioning error of the ultrasound transducer from the ultrasound transmit camera orientation and the target camera orientation includes: determining an ultrasonic position error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position; determining an ultrasonic direction error of the ultrasonic transducer according to the ultrasonic emission camera direction and the target point camera direction; and taking the ultrasonic position error and the ultrasonic direction error as the ultrasonic positioning error. It is understood that both the location and direction of the ultrasound emission can have an effect on the acoustic field. In order to ensure the accuracy of the ultrasonic positioning error, the ultrasonic positioning error is divided into an ultrasonic position error and an ultrasonic direction error, and the positioning error in the position and the positioning error in the direction are respectively calculated. Wherein, the ultrasonic position error represents the error between the position of the ultrasonic transducer and the standard position, and the ultrasonic direction error represents the error between the ultrasonic emission direction and the standard direction.
Further, the determining an ultrasound position error of the ultrasound transducer according to the ultrasound emission camera position and the target point camera position includes: taking a distance between the ultrasound transmit camera position and a first straight line as a first position error, wherein the first straight line is composed of the target point camera position and a target point first vector in the target point camera direction; taking a distance between the target camera position and a second straight line as a second position error, wherein the second straight line is composed of the ultrasound transmit camera position and an ultrasound first vector in the ultrasound transmit camera direction; taking the first position error and the second position error as the ultrasonic position error. Alternatively, a first straight line may be determined based on the target point camera position of the target point, a second straight line may be determined based on the ultrasound emitting camera position, and the distance between the ultrasound emitting camera position and the first straight line and the distance between the target point camera position and the second straight line may be taken as the ultrasound position error. That is, the ultrasonic position error can be understood as a positional deviation of the ultrasonic emission camera position on the first straight line, and a positional deviation of the target point position of interest on the second straight line.
Illustratively, assume an ultrasound transmitter camera position of CTThe target point camera position of the target point is CtargeThe first vector of the target point is sigmagreenThe first vector of the ultrasound is ZtWherein the ultrasonic first vector may be a vector of the area array ultrasonic transducer perpendicular to an axis of the surface. Then the target camera position C will be passedtargeAnd the direction is the first vector sigma of the target pointgreenIs defined as the first line, will pass through the ultrasound transmit camera position CTAnd the direction is the ultrasonic first vector ZtThe straight line of (b) is defined as a second straight line. Transmitting ultrasound with a camera position CTThe distance between the target point camera and the first straight line is used as a first position error, and the position C of the target point camera is determinedtargeThe distance from the second line is taken as the second position error.
On the basis of the above scheme, the determining an ultrasound direction error of the ultrasound transducer according to the ultrasound emission camera direction and the target point camera direction includes: and taking an included angle between the ultrasonic second vector in the ultrasonic emission camera direction and the target point second vector in the target point camera direction as the coil direction error, wherein the target point first vector is orthogonal to the target point second vector, and the ultrasonic first vector is orthogonal to the ultrasonic second vector. Alternatively, the ultrasound directional error may be expressed in the form of an angle. The second vector of the ultrasound and the second vector sigma of the target point can be combinedredIs taken as the ultrasonic direction error. The ultrasonic second vector can be understood as a vector parallel to an axis of the surface in the area array ultrasonic transducer, and the ultrasonic first vector and the ultrasonic second vector are orthogonal.
The magnetic field positioning error is calculated in a similar manner to the ultrasonic positioning error. Likewise, the magnetic field emission camera orientation including a magnetic field emission camera position and a magnetic field emission camera direction, the target camera orientation including a target camera position and a target camera direction, the determining a coil positioning error of the magnetic stimulation coil from the magnetic field emission camera orientation and the target camera orientation, comprising: determining a coil position error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position; determining a coil direction error of the magnetic stimulation coil according to the magnetic field emission camera direction and the target point camera direction; and taking the coil position error and the coil direction error as the coil positioning error. It will be appreciated that the position and orientation of the coil can have an effect on the magnetic field generated by it. In order to ensure the accuracy of the coil positioning error, the coil positioning error is divided into a coil position error and a coil direction error, and the positioning error in the position and the positioning error in the direction are respectively calculated. Wherein the coil position error represents an error between a position of the magnetic stimulation coil and a standard position, and the coil direction error represents an error between a magnetic field emission direction and a standard direction.
Further, the determining a coil position error of the magnetic stimulation coil from the magnetic field emission camera orientation and the target camera orientation includes: determining a distance between the magnetic field emission camera position and a third line as a third position error, wherein the third line is comprised of the target point camera position and a target point third vector in the target point camera direction; taking a distance between the target camera position and a fourth line as a fourth position error, wherein the fourth line is comprised of the magnetic field emission camera position and a magnetic field first vector in the magnetic field emission camera direction; taking the third position error and the fourth position error as the coil position error. That is, the coil position error may be a positional deviation of the magnetic field emission camera position on the third straight line and a positional deviation of the target point camera position on the fourth straight line.
Illustratively, assume the magnetic field transmitting camera position is CcThe target point camera position of the target point is CtargeThe first vector of the magnetic field is ZtThe third vector of the target point is sigmablue. Then the target camera position C will be passedtargeAnd the direction is the third vector sigma of the target pointblueIs defined as the third line, will transmit camera position C through the magnetic fieldcAnd the direction is the first vector Z of the magnetic fieldtThe straight line of (2) is defined as a fourth straight line. Transmitting magnetic field to camera position CcThe distance between the target point camera and the third straight line is used as a third position error, and the position C of the target point camera is determinedtargeThe distance from the fourth straight line is taken as the fourth position error. When the third position error and the fourth position error are both 0, the first vector of the magnetic field is superposed with the third vector of the target point, and the magnetic field generated by the magnetic stimulation coil accurately reaches the position of the target point along the first vector direction of the magnetic field.
On the basis of the above scheme, the determining a coil direction error of the magnetic stimulation coil according to the magnetic field emission camera direction and the target point camera direction includes: taking an included angle between a second vector of the magnetic field in the direction of the magnetic field emission camera and a second vector of a target point in the direction of the target point camera as the coil direction error, wherein a third vector of the target point is orthogonal to the second vector of the target point, and the magnetism is appliedThe first vector of the field and the second vector of the magnetic field are orthogonal. Alternatively, the coil orientation error may be expressed in the form of an angle. Taking the splayed coil as an example, the splayed coil can extend to a vector X of the handle forwardcDefined as a second vector of the magnetic field, a second vector X of the magnetic fieldcAnd the second vector sigma of the target pointredThe angle between them is taken as the coil direction error.
And after the ultrasonic positioning error and the coil positioning error are determined, carrying out nerve navigation positioning based on the ultrasonic positioning error and the coil positioning error. In one embodiment, said performing neuro-navigational positioning based on said ultrasound positioning error and said coil positioning error to orthogonalize a sound field emitted by said ultrasound transducer and a magnetic field emitted by said magnetic stimulation coil comprises: when the ultrasonic positioning error is smaller than an ultrasonic positioning threshold value and the coil positioning error is smaller than a magnetic stimulation positioning threshold value, determining that a sound field emitted by the ultrasonic transducer is orthogonal to a magnetic field emitted by the magnetic stimulation coil. With reference to the above embodiments, the ultrasonic positioning error includes an ultrasonic position error and an ultrasonic direction error, and the ultrasonic position error further includes a first position error and a second position error; the coil positioning error includes a coil position error and a coil direction error, and the coil position error includes a third position error and a fourth position error. A respective threshold value may be set for each error. And judging whether the sound field and the magnetic field are orthogonal or not based on the set threshold value.
Taking the ultrasonic positioning error as an example, a first position threshold of the first position error, a second position threshold of the second position error, and an ultrasonic direction threshold of the ultrasonic direction error may be set, respectively, and when the first position error is smaller than the first position threshold, the second position error is smaller than the second position threshold, and the ultrasonic direction error is smaller than the ultrasonic direction threshold, it is determined that the ultrasonic positioning error is smaller than the ultrasonic positioning threshold. The first position threshold and the second position threshold may be the same value or different values.
Taking the coil positioning error as an example, a third position threshold of the third position error, a fourth position threshold of the fourth position error, and a coil direction threshold of the coil direction error may be set, respectively, and when the third position error is smaller than the third position threshold, the fourth position error is smaller than the fourth position threshold, and the coil direction error is smaller than the coil direction threshold, it is determined that the coil positioning error is smaller than the coil positioning threshold. The third position threshold and the fourth position threshold may be the same value or different values.
When the ultrasonic positioning error is smaller than the ultrasonic positioning threshold value and the coil positioning error is smaller than the coil positioning threshold value, judging that the sound field emitted by the ultrasonic transducer is orthogonal to the magnetic field generated by the magnetic stimulation coil; otherwise, the sound field emitted by the ultrasonic transducer is not orthogonal to the magnetic field generated by the magnetic stimulation coil. When the sound field emitted by the ultrasonic transducer is orthogonal to the magnetic field generated by the magnetic stimulation coil, the pulse magnetic field and the sound field can be ensured to be focused on one site of the three-dimensional space in the deep part of the human brain in an orthogonal mode, and the neural regulation and control in the deep part of the brain can be realized.
In the process of calculating the ultrasonic positioning error and the coil positioning error, the calculation needs to be carried out under the same coordinate system. That is, the calculation may be performed in the camera coordinate system of the binocular camera, or in the video coordinate system. Considering that the target point is fixed during the positioning process, the position of the ultrasonic transducer and the position of the magnetic stimulation coil may be changed, and in order to simplify the calculation amount, the calculation is preferably performed under a binocular camera coordinate system. So that the calculation in the positioning process can be completed only by carrying out coordinate change once.
When calculating under the binocular camera coordinate system, the image coordinates of the target point need to be converted into the camera coordinates under the camera coordinate system. The target point camera orientation of the target point can be converted to a camera coordinate system through a predetermined registration coordinate transformation relation.
In one embodiment, the registration of the image space coordinate system and the camera coordinate system can be completed by two registration methods, and the mapping relationship between the image coordinates and the coordinates of the head positioning and tracking frame (i.e., the camera coordinates) is obtained. The head positioning and tracking frame may be secured to the subject or patient's head using straps. Firstly, registration based on anatomical mark points is completed, an operator clicks points needing to participate in registration in a displayed image, simultaneously, the needle tip of a positioning probe is used for positioning to a corresponding position of the head of a subject or a patient, then the operator acquires the spatial positions of the positioning probe of a binocular camera and a head positioning and tracking frame, and the registration based on the anatomical mark points is completed based on the positions of the positioning probe of the binocular camera and the head positioning and tracking frame. Then, the operator positions the positioning probe to the scalp surface of the subject or the patient, sequentially collects 96 different positions, and completes the second registration work by using an iterative close point method ICP (iterative close point) to obtain the coordinate transformation relation between the image space coordinate system and the camera coordinate system. The target point image coordinates of the target point can be converted into camera coordinates under the camera coordinate system according to the coordinate transformation relation between the image space coordinate system and the camera coordinate system, and the positioning error is calculated.
Example two
The present embodiment provides a preferred embodiment based on the above-described scheme. The embodiment of the invention provides a method for stimulating a deep brain region by focusing a sound field and a magnetic field on one point in the deep brain in an orthogonal mode. In addition to the magnetic induction electric field and the acoustic field, the stimulation mode can generate a Hall electric field based on the Hall effect because the magnetic field is orthogonal to the acoustic field. Thus, a focused stimulation zone can be created in a deep brain region to modulate neural excitability within the region.
The embodiment of the invention provides a nerve navigation locator which has the functions of image processing, three-dimensional reconstruction, registration and registration, target spot setting, coil calibration, ultrasonic transducer calibration and the like, and finally, the positions of a magnetic stimulation coil and an ultrasonic transducer can be observed in an image space in real time, and the positioning errors between the magnetic stimulation coil and the ultrasonic transducer and the target spots are calculated in real time, so that the accurate orthogonal positioning of a magnetic field and a sound field in a tested brain space is realized.
Fig. 2 is a schematic structural diagram of a neuronavigation locator according to a second embodiment of the present invention. As shown in fig. 2, the neuronavigation locator comprises an ultrasonic transducer 1, an ultrasonic transducer positioning and tracking frame 2, a stimulation coil 3, a stimulation coil positioning and tracking frame 4, an ultrasonic calibration plate 5, a coil calibration plate 6, a head positioning and tracking frame and binding band 7, an NDI binocular vision positioning sensor 8, a system host 9 and a positioning probe 10.
The neuronavigation locator can be developed based on VS2019, VTK and ITK software packages, is arranged in a system host, and mainly has the functions of image processing, registration and calibration, real-time tracking, error calculation and the like.
The step of performing navigation positioning may comprise:
1. hardware preparation
And fixing the ultrasonic transducer positioning and tracking frame on the area array ultrasonic transducer, and positioning the ultrasonic transducer through the tracking frame. The stimulating coil positioning and tracking frame is fixed on the stimulating coil, and the stimulating coil is positioned through the tracking frame. An ultrasonic transducer positioning and tracking frame, a stimulation coil positioning and tracking frame, an ultrasonic calibration plate, a coil calibration plate, a head positioning and tracking frame and a positioning probe are placed in the visual field of the NDI binocular camera, and whether the system can synchronously track the six components or not is observed.
2. Image preparation
The method comprises the steps of collecting head structure images of a subject or a patient such as CT/MRI and the like, and obtaining three-dimensional (3D) structure model images of the brain and the scalp from the head structure images through image segmentation, smoothing and three-dimensional reconstruction.
3. And (3) setting anatomical marking points on the three-dimensional model of the scalp to be tested by using a mouse. When a mouse is used for right-clicking the model position (generally, the positions of the tip of the nose, the root of the nose, the auricle, the canthus and the like), the software can generate a red small ball at the corresponding position, a new button is clicked, the small ball becomes yellow, the system records the position of the small ball, and the currently selected small ball can be deleted when the mouse is clicked. Clicking the execute button will store the added ball position (image coordinates in image space) in the txt file in its entirety.
4. Target spot setting
The three-dimensional orthogonal target point set comprises orthogonal vectors in 3 spaces. Fig. 3 is a schematic diagram of a three-dimensional orthogonal target point according to a second embodiment of the present invention. After setting the target point, the software can cut the three-dimensional model of the skin or brain along the x, y and z directions by cutting the image button, and then right click the surface of the model to generate a matrix to orthogonally stimulate the target point, as shown in fig. 3. The target position is moved to a position desired by the operator by setting the center coordinates of the matrix (with the center of the image coordinates as the origin). An operator can adjust the direction of the target point by taking 90 degrees as a unit through the 90-degree adjusting button, and the direction of the target point is adjusted by taking 1 degree as a unit through the matrix angle adjusting slider. Of the three orthogonal vectors, the second vector is mainly used for positioning the focus point of the stimulation coil, the first vector is mainly used for positioning the focus point of the ultrasonic transducer, and the third arrow is used for positioning the stimulation magnetic field and the ultrasonic position so that the two fields are kept in an orthogonal state. The target point can be stored in the target point list by clicking the new button, the target point can be deleted by clicking the delete button, and the spatial position (coordinate) and the orientation (vector three-dimensional coordinate) of the three-dimensional orthogonal target point can be stored in the text file by clicking the execution button by an operator.
5. Image coordinate and spatial coordinate registration
And completing the registration work of the system by two registration methods. The registration and registration mainly aims to obtain the mapping relation between the image coordinate center Ci and the coordinates of the head positioning and tracking frame. Firstly, the registration based on the anatomical mark points is completed, the points needing to participate in the registration are clicked, meanwhile, the needle tip of the positioning probe is used for positioning to the corresponding position of the head of a subject or a patient, then an operator clicks an acquisition button, NDI acquires the space positions of the positioning probe and a head positioning and tracking frame, a Landmark registration button is clicked, and the registration based on the anatomical mark points is completed by a program. Then the operator positions the positioning probe to the scalp surface of the subject or the patient, sequentially collects 96 different positions, and completes the second registration work by using an iterative close point method ICP (iterative close point). After the registration and registration are completed, the NDI camera can monitor the spatial position and the angle of the three-dimensional orthogonal target point set in the step 4 in real time through the head positioning and tracking frame.
6. Judging the registration accuracy in real time through the positioning probe, using the needle point of the positioning probe to scratch the scalp surface of a subject or a patient, and calculating the distance from the needle point of the probe to the skin to judge the registration accuracy; and (3) judging the registration accuracy by positioning the position of the anatomical mark point of the needle-point subject or patient of the probe and acquiring the distance from the probe to the anatomical mark point.
7. Coil calibration
The stimulating coil focuses the magnetic field below the coil, and for convenience, the coil positioning frame is fixed above the coil, and the coil is calibrated to determine the coordinate relationship between the coil focusing point and the coil positioning frame. The coil calibration work can be done using a coil calibration board. Specifically, copper columns for calibrating coordinates on the calibration plate correspond to the marking points on the lower portion of the coil one by one, then an operator clicks a calibration coil button, the NDI acquires the spatial positions of the coil calibration plate and the coil positioning frame, and the relative positions of the coil calibration plate and the coil positioning frame are calculated to complete spatial calibration. After the coil calibration is completed, the NDI camera can monitor the spatial position and the angle of the center of the coil in real time through the coil positioning and tracking frame.
8. Ultrasound transducer calibration
In order to solve the problem of spatial positioning and calibration of the ultrasonic transducer, the ultrasonic transducer focuses the ultrasound below the area array, the ultrasonic positioning frame is fixed above the ultrasonic transducer for the convenience of tracking, the ultrasonic transducer is calibrated to determine the coordinate relationship between the area array central point of the ultrasonic transducer and the ultrasonic positioning frame, and an L-shaped ultrasonic calibration plate is used for completing the calibration work of the ultrasonic transducer. Specifically, a square area array ultrasonic transducer is tightly attached to an L-shaped marking point of a calibration plate, then NDI acquires the spatial positions of the ultrasonic calibration plate and an ultrasonic positioning frame, and calculates the relative position between the two to complete spatial calibration. After the ultrasonic calibration is completed, the NDI camera can monitor the spatial position and the angle of the area array center of the ultrasonic transducer in real time through the ultrasonic positioning and tracking frame.
9. Quadrature-focus localization of pulsed magnetic and acoustic fields
And monitoring the spatial positions of a three-dimensional orthogonal target point, a stimulating coil center and an ultrasonic transducer area array center in the brain in real time in the three-dimensional space of the NDI camera.
The center coordinates of the target point (i.e., the camera position of the target point) can be defined as CtargetDefining the first vector coordinate of the target point as sigmagreenDefining the second vector coordinate of the target point as sigmaredDefining the third vector coordinate of the target point as sigmablueThe coordinates of the coil center (i.e., the position of the magnetic field emission camera) are CcThe vector of the splayed coil extending along the forward direction of the handle (namely the second vector of the magnetic field) is defined as XcWith the figure-of-eight coils facing downwards perpendicular to the surfaceThe vector of (i.e. the first vector of the magnetic field) is defined as ZcThe central coordinate (namely the transmitting position of the ultrasonic camera) of the area array ultrasonic transducer is CTThe vector coordinate parallel to the plane X axis of the area array ultrasonic transducer (i.e. the ultrasonic second vector) is defined as XtThe vector coordinate parallel to the plane Y axis of the area array ultrasonic transducer (i.e. the ultrasonic first vector) is defined as ZtThe vector coordinate of the area array ultrasonic transducer perpendicular to the Z axis of the surface is defined as Zt. The spatial positions of the coils and the ultrasonic transducer are controlled by calculating the ultrasonic positioning error and the coil positioning error so as to realize the spatial orthogonal positioning of the focused ultrasonic and the focused pulsed magnetic field.
Can be passed through Epc1＝|CcCtarget×σblue|、Epc2＝|CcCtarget×ZcThe | calculation defines the coil position error. Specifically, the center point Cc of the stimulating coil is arranged to the center point C of the target pointtargetAnd the third vector sigma of the target pointblueThe distance between the defined straight lines is defined as the third position error Epc1, passing through the center of the target point to the center point Cc of the stimulating coil and the first vector Z of the magnetic fieldcThe distance between the defined straight lines is defined as the fourth position error Epc 2. And taking the third position error and the fourth position error as coil position errors.
Can pass through
Figure BDA0003413170290000201
A coil orientation error is defined. The splayed coil extends the second vector X of the forward magnetic field of the handlecAnd the second vector sigma of the target pointredThe angle of (d) is defined as the coil orientation error Eoc.
Can be passed through Ept1＝|CtCtarget×σgreen|、Ept2＝|CtCtarget×ZTThe | defines the ultrasound position error. Through the ultrasonic transducer center point CTTo the center of the target CtargetAnd the first vector sigma of the target pointgreenThe distance between the defined straight lines, defined as the first position error Ept1, passes from the center of the target point to the center point C of the area array ultrasonic transducerTAnd the ultrasonic first vector ZtIs defined byThe distance between the lines is defined as the second position error Ept 2. And taking the first position error and the second position error as ultrasonic position errors.
Can pass through
Figure BDA0003413170290000211
Ultrasound directional error is defined. The vector coordinate parallel to the plane X axis of the area array ultrasonic transducer is defined as XtAnd the second vector sigma of the target pointredIs defined as the ultrasonic directional error Eot.
The embodiment of the invention sets the ultrasonic focusing depth by calculating the distance from the center of the coil and the center of the ultrasonic transducer to the center of the target point and according to the distance from the center of the ultrasonic transducer to the center of the target point in the brain calculated in the image space. Wherein the calculated coil positioning error and angle error; the positioning error and the angle error of the ultrasonic transducer, the distance between the center of the coil and the center of the ultrasonic transducer and the center of a target point and other information are displayed on an instrument software interface in real time, and simultaneously, models of the coil and the ultrasonic transducer are synchronously displayed in a three-dimensional image space.
Through the steps, the purpose of monitoring the positions of the stimulating coil, the ultrasonic transducer and the stimulating target point in real time is achieved, and when the coil is positioned and the angle is not accurate; the positioning error and the angle error of the ultrasonic transducer are 0, the ultrasonic focusing depth is set according to the distance from the center of the ultrasonic transducer to the center of a target point in the brain calculated in the image space, the pulsed magnetic field and the sound field can be guaranteed to be focused on one point of a three-dimensional space deep in the brain of a human body in an orthogonal mode, the accurate orthogonal positioning of the magnetic field and the sound field in the brain space is realized, a focused stimulation area is generated in the deep brain area, and the nerve excitability in the area is regulated and controlled.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (11)

1. A neuro-navigational positioning system for orthogonal positioning of sound and magnetic fields, comprising an ultrasound transducer, a magnetic stimulation coil, a binocular camera, and a processor, the ultrasound transducer and the magnetic stimulation coil being within a camera field of view of the binocular camera, wherein the processor is configured to:
determining a target point in a three-dimensional structure model image for navigation and positioning and a target point camera position of the target point under a camera coordinate system of the binocular camera, wherein the target point camera position comprises at least three mutually orthogonal vectors;
determining an ultrasound transmit camera orientation of the ultrasound transducer in a camera coordinate system of the binocular camera and a magnetic field transmit camera orientation of the magnetic stimulation coil in the camera coordinate system of the binocular camera;
determining an ultrasonic positioning error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position, and determining a coil positioning error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position;
performing neuro-navigation positioning based on the ultrasonic positioning error and the coil positioning error to make the sound field emitted by the ultrasonic transducer and the magnetic field emitted by the magnetic stimulation coil orthogonal.
2. The system of claim 1, wherein the ultrasound transducer has an ultrasound locator disposed thereon and the magnetic stimulation coil has a coil locator disposed thereon, the determining the ultrasound transmit camera orientation of the ultrasound transducer in the camera coordinate system of the binocular camera and the magnetic field transmit camera orientation of the magnetic stimulation coil in the camera coordinate system of the binocular camera comprising:
acquiring an ultrasonic positioning position of the ultrasonic positioner, and determining the position of the ultrasonic emission camera according to the ultrasonic positioning position;
and acquiring a coil positioning position of the coil positioner, and determining the position of the magnetic field emission camera according to the coil positioning position.
3. The system of claim 2, wherein said determining the ultrasound transmit camera position from the ultrasound location position comprises:
and determining the ultrasonic emission camera position according to the ultrasonic positioning position based on the position transformation relation between the ultrasonic positioner and the ultrasonic transducer.
4. The system of claim 2, wherein said determining the magnetic field emission camera orientation from the coil positioning orientation comprises:
and determining the magnetic field emission camera position according to the coil positioning position based on the position conversion relation between the coil positioner and the magnetic stimulation coil.
5. The system of claim 1, wherein the ultrasound transmit camera orientation comprises an ultrasound transmit camera position and an ultrasound transmit camera direction, wherein the target camera orientation comprises a target camera position and a target camera direction, and wherein determining the ultrasound positioning error of the ultrasound transducer from the ultrasound transmit camera orientation and the target camera orientation comprises:
determining an ultrasonic position error of the ultrasonic transducer according to the ultrasonic emission camera position and the target point camera position;
determining an ultrasonic direction error of the ultrasonic transducer according to the ultrasonic emission camera direction and the target point camera direction;
and taking the ultrasonic position error and the ultrasonic direction error as the ultrasonic positioning error.
6. The system of claim 5, wherein the determining an ultrasound position error of the ultrasound transducer from the ultrasound transmit camera orientation and the target camera orientation comprises:
taking a distance between the ultrasound transmit camera position and a first straight line as a first position error, wherein the first straight line is composed of the target point camera position and a target point first vector in the target point camera direction;
taking a distance between the target camera position and a second straight line as a second position error, wherein the second straight line is composed of the ultrasound transmit camera position and an ultrasound first vector in the ultrasound transmit camera direction;
taking the first position error and the second position error as the ultrasonic position error.
7. The system of claim 6, wherein the determining an ultrasound direction error of the ultrasound transducer from the ultrasound transmit camera direction and the target camera direction comprises:
and taking an included angle between the ultrasonic second vector in the ultrasonic emission camera direction and the target point second vector in the target point camera direction as the coil direction error, wherein the target point first vector is orthogonal to the target point second vector, and the ultrasonic first vector is orthogonal to the ultrasonic second vector.
8. The system of claim 1, wherein the magnetic field emission camera orientation comprises a magnetic field emission camera position and a magnetic field emission camera direction, wherein the target camera orientation comprises a target camera position and a target camera direction, and wherein determining the coil positioning error of the magnetic stimulation coil from the magnetic field emission camera orientation and the target camera orientation comprises:
determining a coil position error of the magnetic stimulation coil according to the magnetic field emission camera position and the target point camera position;
determining a coil direction error of the magnetic stimulation coil according to the magnetic field emission camera direction and the target point camera direction;
and taking the coil position error and the coil direction error as the coil positioning error.
9. The system of claim 8, wherein determining a coil position error of the magnetic stimulation coil from the magnetic field emission camera orientation and the target camera orientation comprises:
determining a distance between the magnetic field emission camera position and a third line as a third position error, wherein the third line is comprised of the target point camera position and a target point third vector in the target point camera direction;
taking a distance between the target camera position and a fourth line as a fourth position error, wherein the fourth line is comprised of the magnetic field emission camera position and a magnetic field first vector in the magnetic field emission camera direction;
taking the third position error and the fourth position error as the coil position error.
10. The system of claim 9, wherein determining a coil orientation error of the magnetic stimulation coil from the magnetic field emission camera orientation and the target camera orientation comprises:
and taking an included angle between a second vector of the magnetic field in the magnetic field emission camera direction and a second vector of the target point in the target point camera direction as the coil direction error, wherein the third vector of the target point is orthogonal to the second vector of the target point, the first vector of the magnetic field is orthogonal to the second vector of the magnetic field, and the first vector of the magnetic field is orthogonal to the second vector of the magnetic field.
11. The system of claim 1, wherein said performing neuro-navigational positioning based on the ultrasound positioning error and the coil positioning error to orthogonalize a sound field emitted by the ultrasound transducer and a magnetic field emitted by the magnetic stimulation coil comprises:
when the ultrasonic positioning error is smaller than an ultrasonic positioning threshold value and the coil positioning error is smaller than a magnetic stimulation positioning threshold value, determining that a sound field emitted by the ultrasonic transducer is orthogonal to a magnetic field emitted by the magnetic stimulation coil.
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