CN116434903A - Transcranial magnetic stimulation registration method and device - Google Patents
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Abstract
The embodiment of the invention provides a transcranial magnetic stimulation registration method and device, which are implemented by collecting an individual point set of the head of a patient; and acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set, and completing patient registration according to the space conversion matrix. The spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD). The method of the embodiment of the invention can realize the patient registration process in transcranial magnetic stimulation without scanning MRI by the patient, shortens the treatment flow and reduces the treatment complexity.
Description
Technical Field
The embodiment of the invention relates to the technical field of medical equipment, in particular to a transcranial magnetic stimulation registration method and device.
Background
Magnetic stimulation is a non-invasive method of research and treatment that uses pulsed magnetic fields to act on the central nervous system, altering the membrane potential of cortical neural cells, causing induced currents to affect brain metabolism and neuroelectric activity, thereby eliciting a series of physiological and biochemical responses. The magnetic stimulation may be applied to the brain or to peripheral nerves, and the magnetic stimulation applied to the brain is called transcranial magnetic stimulation (Transcranial Magnetic Stimulation, TMS). In general, the center point of the magnetic stimulus acting on the tissue is referred to as the target point.
In transcranial magnetic stimulation, patient registration refers to the process of matching the patient's brain anatomy with a magnetic stimulation device. This process is critical to ensure that the magnetic stimulus is accurately applied to the targeted brain region. Patient registration generally includes the steps of:
step one: acquiring structural MRI images of a patient: to achieve accurate patient registration, a structural MRI image of the patient needs to be acquired first. These images provide detailed information of the brain anatomy that helps match the magnetic stimulation device to the brain of the patient.
Step two: importing MRI images into TMS device: MRI images of the patient are imported into TMS devices or related software to visualize and analyze brain structures on the device.
Step three: labeling a target point of magnetic stimulation: the areas of the cerebral cortex that need stimulation are marked on MRI images for therapeutic or research purposes.
Step four: head tracking using a positioning system: and the position and orientation of the patient's head is tracked in real time by a positioning system (e.g., an optical tracking system or an electromagnetic tracking system) on the TMS device. This helps to ensure that the magnetic stimulation coil is always located in the target area.
Step five: ensuring the correct placement of the magnetic stimulation coil: using the information of the positioning system, the magnetic stimulation coils are precisely placed on the target area on the scalp.
Step six: and adjusting magnetic stimulation parameters to implement magnetic stimulation.
In the prior art, registration of the patient relies on the MRI images, which not only requires the patient to pay a higher fee, but also lengthens the cycle of the treatment procedure, increasing the complexity of the treatment.
Disclosure of Invention
The embodiment of the invention provides a transcranial magnetic stimulation registration method and device, which are used for overcoming the technical defects in the prior art.
In a first aspect, an embodiment of the present invention provides a transcranial magnetic stimulation registration method, the method including:
collecting an individual point set of the head of a patient; the individual point set corresponds to a common mode point set preset on a standard brain template, and the individual point set comprises: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex; the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point;
acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; the spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD);
and completing patient registration according to the space conversion matrix.
Optionally, the rotation matrix is obtained by:
obtaining a matrix to be decomposed according to the individual point set and the common mode point set;
SVD calculation is carried out on the matrix to be decomposed, and a left singular vector and a right singular vector are obtained;
and acquiring the rotation matrix according to the left singular vector and the right singular vector.
Optionally, before the matrix to be decomposed is obtained according to the individual point set and the common mode point set, the method further includes:
and performing decentration processing on the individual point set and the common mode point set.
Optionally, the scaling matrix is obtained by:
determining a scaling ratio in the Y direction according to the distance between the individual left-ear tragus point and the individual right-ear tragus point and the distance between the common-mode left-ear tragus point and the common-mode right-ear tragus point;
determining the scaling in the X direction according to the X component of the distance between the middle points of the left and right trails of the individual and the eyebrow points of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the eyebrow points of the common mode;
determining the scaling in the Z direction according to the X component of the distance between the middle points of the left and right trails of the individual and the vertex of the head top of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the vertex of the head top of the common mode;
and determining the scaling matrix according to the scaling in the X direction, the scaling in the Y direction and the scaling in the Z direction.
Optionally, after obtaining the matrix to be decomposed according to the set of individual points and the set of common mode points, the scaling matrix is obtained by:
SVD calculation is carried out on the matrix to be decomposed, and a diagonal matrix is obtained;
and obtaining a scaling matrix according to the diagonal matrix.
Optionally, the translation matrix is obtained by:
acquiring an individual point set centroid according to the individual point set, and acquiring a common mode point set centroid according to the common mode point set;
taking the difference between the X component and the Y component of the common mode point set centroid and the difference between the X component and the Y component of the individual point set centroid as the translation distance of the X component and the translation distance of the Y component respectively;
taking the difference between the Z components of the vertex of the common die head and the vertex of the individual head as the translation distance of the Z components;
and acquiring the translation matrix according to the translation distance of the X component, the translation distance of the Y component and the translation distance of the Z component.
Optionally, before acquiring the spatial transformation matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set, the method further includes:
acquiring a head top preset angle of the common mode point set; the preset head top angle is as follows: an included angle between a first line segment formed by the middle points of the left and right trails of the common mode and the top vertex of the common mode and a second line segment formed by the middle points of the left and right trails of the common mode and the center point of the common mode eyebrow;
according to the preset head top angle, obtaining an X component after the head top vertex of the individual is calibrated, wherein the X component comprises a line segment III formed by the middle points of the left and right tragus of the individual and the eyebrow point of the individual and a Z component of the head top vertex of the individual;
and taking the Y component of the middle points of the left and right tragus of the individual as the Y component after the vertex of the head top of the individual is calibrated.
In a second aspect, embodiments of the present invention further provide a transcranial magnetic stimulation registration device, the device comprising:
the acquisition module is used for acquiring an individual point set of the head of the patient; the individual point set corresponds to a common mode point set preset on a standard brain template, and the individual point set comprises: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex; the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point;
the processing module is used for acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; completing patient registration according to the space conversion matrix; the space conversion matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition.
Optionally, the processing module is further configured to obtain a matrix to be decomposed according to the individual point set and the common mode point set; SVD calculation is carried out on the matrix to be decomposed, and a left singular vector and a right singular vector are obtained; and acquiring the rotation matrix according to the left singular vector and the right singular vector.
Optionally, the processing module is further configured to perform, before the matrix to be decomposed is obtained according to the individual point set and the common mode point set, a decentration process on the individual point set and the common mode point set.
Optionally, the processing module is further configured to determine a scaling ratio in the Y direction according to a distance between the individual left tragus point and the individual right tragus point and a distance between the common mode left tragus point and the common mode right tragus point; determining the scaling in the X direction according to the X component of the distance between the middle points of the left and right trails of the individual and the eyebrow points of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the eyebrow points of the common mode; determining the scaling in the Z direction according to the X component of the distance between the middle points of the left and right trails of the individual and the vertex of the head top of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the vertex of the head top of the common mode; and determining the scaling matrix according to the scaling in the X direction, the scaling in the Y direction and the scaling in the Z direction.
Optionally, the processing module is further configured to perform SVD calculation on the matrix to be decomposed after obtaining the matrix to be decomposed according to the individual point set and the common mode point set, to obtain a diagonal matrix; and obtaining a scaling matrix according to the diagonal matrix.
Optionally, the processing module is further configured to obtain an individual point set centroid according to the individual point set, and obtain a common mode point set centroid according to the common mode point set; taking the difference between the X component and the Y component of the common mode point set centroid and the difference between the X component and the Y component of the individual point set centroid as the translation distance of the X component and the translation distance of the Y component respectively; taking the difference between the Z components of the vertex of the common die head and the vertex of the individual head as the translation distance of the Z components; and acquiring the translation matrix according to the translation distance of the X component, the translation distance of the Y component and the translation distance of the Z component.
Optionally, the processing module is further configured to obtain a preset overhead angle of the common mode point set before obtaining a spatial transformation matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; the preset head top angle is as follows: an included angle between a first line segment formed by the middle points of the left and right trails of the common mode and the top vertex of the common mode and a second line segment formed by the middle points of the left and right trails of the common mode and the center point of the common mode eyebrow; according to the preset head top angle, obtaining an X component after the head top vertex of the individual is calibrated, wherein the X component comprises a line segment III formed by the middle points of the left and right tragus of the individual and the eyebrow point of the individual and a Z component of the head top vertex of the individual; and taking the Y component of the middle points of the left and right tragus of the individual as the Y component after the vertex of the head top of the individual is calibrated.
The transcranial magnetic stimulation registration method and device provided by the embodiment of the invention are characterized by collecting an individual point set of the head of a patient; and acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set, and completing patient registration according to the space conversion matrix. The spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD). The method of the embodiment of the invention can realize the patient registration process in transcranial magnetic stimulation without scanning MRI by the patient, shortens the treatment flow and reduces the treatment complexity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a dynamic capture system according to an example embodiment of the present invention;
FIG. 2 is a schematic diagram of an image coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a transcranial magnetic stimulation registration method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a common mode point set provided by an embodiment of the present invention;
FIG. 5 is a flow chart of another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
FIG. 6 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
FIG. 7 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
FIG. 8 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
FIG. 9 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
FIG. 10 is a schematic illustration of the effect of registration completion for an example of an embodiment of the present invention;
FIG. 11 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a transcranial magnetic stimulation registration device according to an embodiment of the present invention.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a transcranial magnetic stimulation registration method, which is used for collecting an individual point set from the head of a patient, wherein the individual point set comprises an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex, and the individual point set corresponds to a common mode point set preset on a standard brain template. The method calculates a space conversion matrix of the individual point set and the common mode point set based on the SVD algorithm, realizes the mapping of the medical image and the individual space of the patient, and completes the registration of the patient.
In order to better understand the technical solution of the present invention, the coordinate system involved in the embodiment of the present invention is described below.
The embodiment of the invention at least comprises two space coordinate systems: a dynamic capture coordinate system and an image coordinate system.
The dynamic capture coordinate system is determined by a dynamic capture system, and the dynamic capture system comprises a face tracer, a registration pen and a capture device. FIG. 1 is a schematic view of a scene of an dynamic capture system according to an example of the present invention, as shown in FIG. 1, a face tracer 102 for wearing on a patient's head, maintaining a constant relative position to the patient's head; the registration pen 103 is used to acquire point coordinates in space. The face tracer 102 and the registration pen 103 comprise a reflective ball array capable of reflecting infrared light, and the capturing device 101 calculates the spatial positions of the face tracer 102 and the registration pen 103 by receiving the infrared light reflected by the reflective balls. In practice, the position of the capturing device 101 is usually fixed, and the dynamic capture coordinate system of the dynamic capture system 100 is constructed based on the capturing device 101.
The image coordinate system is a coordinate system constructed on a standard brain template. Fig. 2 is a schematic diagram illustrating an image coordinate system according to an embodiment of the present invention. As shown in fig. 2, the image coordinate system uses the centroid of the standard brain template as the coordinate system center, uses the normal direction of the coronal plane towards the face of the patient as the coordinate system positive X-axis, uses the normal direction of the sagittal plane towards the right side of the patient as the coordinate system positive Y-axis, and uses the normal direction of the cross section towards the top of the head of the patient as the coordinate system positive Z-axis.
It should be understood that the dynamic capturing coordinate system and the image coordinate system described above are only examples, and coordinate systems having the same or similar concepts as the above coordinate systems are included in the scope of the present invention.
The technical solution of the present invention will be described in detail below with reference to several specific embodiments, where the embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments. The execution body of the embodiment of the present invention may be a processor, an electronic device, a server, etc., and the following embodiment will take the execution body as an electronic device as an example.
Fig. 3 is a schematic flow chart of a transcranial magnetic stimulation registration method according to an embodiment of the present invention, and as shown in fig. 3, the method may include:
s101, collecting an individual point set of the head of a patient.
The individual point set corresponds to a common mode point set preset on the standard brain template.
The standard brain template may be any of the prior art, and may be, for example, MNI (Montreal Neurological Institute) template, talairach template, ICBM (International Consortium for Brain Mapping) template, SPM (Statistical Parametric Mapping) template, FSL (FMRIB Software Library) template, AAL (Automated Anatomical Labeling) template, and the like. In the embodiment of the invention, an MNI152 brain template is taken as an example.
The set of individual points includes: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex. Correspondingly, the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point.
Fig. 4 is a schematic diagram of a common mode point set provided by an embodiment of the present invention. Referring to fig. 4, referring to fig. 4 (a), 4 (b) and 4 (C), the positions of the points in the common mode point set are shown, including the common mode eyebrow point C, the common mode left tragus point LE, the common mode right tragus point RE and the common mode top vertex H.
In the embodiment of the present invention, the dynamic capture system 100 illustrated in the above embodiment may be adopted to sequentially collect the eyebrow point of the individual, the tragus point of the left ear of the individual, the tragus point of the right ear of the individual, and the vertex of the head of the individual according to a preset sequence, where the collected coordinates are coordinates in the dynamic capture coordinate system.
S102, acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set.
The spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD).
Wherein the rotation matrix may be obtained based on any of the following methods.
The first possible acquisition method of the rotation matrix is as follows: fig. 5 is a flow chart of another transcranial magnetic stimulation registration method according to an embodiment of the present invention. As shown in fig. 5, the method may include:
s201, obtaining a matrix to be decomposed according to the individual point set and the common mode point set.
Illustratively, the points for which the common mode point set is set are denoted as common mode eyebrow point C (x 1, y1, z 1), common mode left tragus point LE (x 2, y2, z 2), common mode right tragus point RE (x 3, y3, z 3), and common mode top apex H (x 4, y4, z 4), respectively.
The points of the individual point set are respectively represented as an individual eyebrow point C '(x 1', y1 ', z 1'), an individual left ear tragus point LE '(x 2', y2 ', z 2'), an individual right ear tragus point RE '(x 3', y3 ', z 3'), and an individual vertex H '(x 4', y4 ', z 4').
Constructing a common mode point set matrix fixedSet [ C, LE, RE, H ], an individual point set matrix movingSet [ C ', LE ', RE ', H ], and a diagonal matrix W with a weight of 1/4, and acquiring a matrix S to be decomposed based on a formula (1):
S=fixedSet*W*movingSet_transposed （1）
s202, SVD calculation is carried out on the matrix to be decomposed, and a left singular vector and a right singular vector are obtained.
According to formula (2), after singular value decomposition is performed on the matrix S to be decomposed, a left singular vector U, a right singular vector V_transformed and a diagonal matrix sigma are obtained.
S=U*Σ*V_transposed （2）
S203, acquiring a rotation matrix according to the left singular vector and the right singular vector.
According to equation (3), the rotation matrix rotation can be acquired.
Rotate = U * V_transposed （3）
A second possible acquisition method of the rotation matrix: fig. 6 is a flow chart of yet another transcranial magnetic stimulation registration method provided by an embodiment of the present invention. On the basis of fig. 5, as shown in fig. 6, the method may further include, before step S201:
s204, performing decentration processing on the individual point set and the common mode point set.
The centroids of the common mode point set and the individual point set are represented by points Av (fx, fy, fz) and Av' (mx, my, mz), respectively, and the common mode point set and the individual point set after decentering can be represented as: common mode eyebrow center point C (x 1-fx, y1-fy, z 1-fz), common mode left ear tragus point LE (x 2-fx, y2-fy, z 2-fz), common mode right ear tragus point RE (x 3-fx, y3-fy, z 3-fz) and common mode top point H (x 4-fx, y4-fy, z 4-fz); an individual eyebrow center point C '(x 1' -mx, y1 '-my, z 1' -mz), an individual left ear tragus point LE '(x 2' -mx, y2 '-my, z 2' -mz), an individual right ear tragus point RE '(x 3' -mx, y3 '-my, z 3' -mz) and an individual vertex H '(x 4' -mx, y4 '-my, z 4' -mz).
Through the decentration process, the calculation efficiency of the SVD calculation can be improved.
The scaling matrix may be obtained based on any of the methods described below.
The first possible acquisition method of scaling matrix: fig. 7 is a flow chart of a method for transcranial magnetic stimulation registration according to an embodiment of the present invention. As shown in fig. 7, the method may include:
s301, determining a scaling ratio in the Y direction according to the distance between the left ear tragus point of the individual and the right ear tragus point of the individual and the distance between the common mode left ear tragus point and the common mode right ear tragus point.
S302, determining the scaling ratio of the X direction according to the X component of the distance between the middle points of the left and right trails of the individual and the eyebrow points of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the common mode eyebrow points.
S303, determining the scaling ratio in the Z direction according to the X component of the distance between the middle points of the left and right tragus of the individual and the top vertex of the head of the individual and the X component of the distance between the middle points of the left and right tragus of the common mode and the top vertex of the common mode.
S304, determining a scaling matrix according to the scaling in the X direction, the scaling in the Y direction and the scaling in the Z direction.
Illustratively, a distance d1 between the left and right ears of the common mode point set in the Y axis, a distance d2 between the center points of the left and right ears of the common mode point set and the eyebrow point in the X axis, and a distance d3 between the center points of the left and right ears of the common mode point set and the top of the head in the X axis are calculated. Similarly, distances D1, D2 and D3 of the corresponding points of the individual point sets in the corresponding directions are calculated, scaling parameters (D1/D1, D2/D2 and D3/D3) in the three directions can be calculated through the distances in the three directions, and a scaling matrix is constructed.
A second possible acquisition method of the rotation matrix: fig. 8 is a flow chart of a method for transcranial magnetic stimulation registration according to an embodiment of the present invention. As shown in fig. 8, after step S201 shown in fig. 5, the method further includes:
s401, SVD calculation is carried out on the matrix to be decomposed, and a diagonal matrix is obtained.
S402, obtaining a scaling matrix according to the diagonal matrix.
In the embodiment shown with reference to fig. 5, the obtained diagonal matrix Σ may also be used for constructing the scaling matrix of the present invention after decomposing the matrix to be decomposed.
The translation matrix in the embodiment of the invention can be obtained by the following method.
Fig. 9 is a flow chart of a method for transcranial magnetic stimulation registration according to an embodiment of the present invention. As shown in fig. 9, the method may include:
s501, obtaining an individual point set centroid according to the individual point set, and obtaining a common mode point set centroid according to the common mode point set.
S502, taking the difference between the X component and the Y component of the common mode point set center and the difference between the X component and the Y component of the individual point set center as the translation distance of the X component and the translation distance of the Y component respectively.
For example, the translation distance of the X component may be expressed as fx-mx.
The translation distance of the Y component can be expressed as fy-my.
S503, taking the difference between Z components of the vertex of the common die head and the vertex of the individual die head as the translation distance of the Z components.
Illustratively, the translation distance of the Z component may be expressed as: z4-z 4'.
S504, acquiring a translation matrix according to the translation distance of the X component, the translation distance of the Y component and the translation distance of the Z component.
Based on the method, a rotation matrix, a scaling matrix and a translation matrix are respectively acquired, and the acquired spatial conversion matrix of the individual point set and the common mode point set can be represented by the formula (4):
s103, completing patient registration according to the space conversion matrix.
After the space conversion matrix is obtained according to the method, any point on the brain template can be mapped into the actual space where the patient is located through the space conversion matrix, and the registration of the patient is completed.
Fig. 10 is an effect diagram of registration completion exemplified by an embodiment of the present invention.
The transcranial magnetic stimulation registration method provided by the embodiment of the invention is implemented by collecting an individual point set of the head of a patient; and acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set, and completing patient registration according to the space conversion matrix. The spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD). The method of the embodiment of the invention can realize the patient registration process in transcranial magnetic stimulation without scanning MRI by the patient, shortens the treatment flow and reduces the treatment complexity.
Fig. 11 is a flow chart of a method for transcranial magnetic stimulation registration according to an embodiment of the present invention. As shown in fig. 11, the method further includes, based on the embodiments shown in fig. 3 to 10, the following steps before step S102:
s601, acquiring a preset head top angle of a common mode point set.
The preset angle of the head top is as follows: and an included angle between a first line segment formed by the middle points of the left and right trails of the common mode and the top vertex of the common mode and a second line segment formed by the middle points of the left and right trails of the common mode and the center point of the common mode eyebrow.
S602, according to a preset head top angle, obtaining an X component after the head top vertex of an individual is calibrated according to a line segment III formed by the middle points of the left and right tragus of the individual and the eyebrow points of the individual and a Z component of the head top vertex of the individual.
S603, taking the Y component of the middle points of the left and right tragus of the individual as the Y component after the vertex of the head top of the individual is calibrated.
In the process of actually collecting the individual point set, the individual eyebrow point, the individual left ear tragus point and the individual right ear tragus point are easy to collect due to obvious appearance characteristics, the vertex of the head of the individual is positioned in the cambered surface area of the head, and the repeated collection precision is closely related to the experience of an operator. In order to improve stability of the vertex of the head top of the individual, the embodiment of the invention is based on the steps S601-S603, the X component is calibrated by taking the collected Z-axis component of the vertex H '(X4', Y4 ', Z4') of the head top of the individual as a reference, and the Y component is calibrated based on the tragus point of the left ear of the individual and the tragus point of the right ear of the individual.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Fig. 12 is a schematic structural diagram of a transcranial magnetic stimulation registration device according to an embodiment of the present invention, and as shown in fig. 12, the device may include: an acquisition module 201 and a processing module 202. Wherein,,
an acquisition module 201 for acquiring a set of individual points of a patient's head; the individual point set corresponds to a common mode point set preset on a standard brain template, and the individual point set comprises: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex; the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point;
a processing module 202, configured to obtain a spatial transformation matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; completing patient registration according to the space conversion matrix; the space conversion matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition.
Optionally, the processing module 202 is further configured to obtain a matrix to be decomposed according to the set of individual points and the set of common mode points; SVD calculation is carried out on the matrix to be decomposed, and a left singular vector and a right singular vector are obtained; and acquiring the rotation matrix according to the left singular vector and the right singular vector.
Optionally, the processing module 202 is further configured to perform, before the matrix to be decomposed is obtained according to the set of individual points and the set of common mode points, a decentration process on the set of individual points and the set of common mode points.
Optionally, the processing module 202 is further configured to determine a scaling in the Y direction according to a distance between the individual left tragus point and the individual right tragus point, and a distance between the common mode left tragus point and the common mode right tragus point; determining the scaling in the X direction according to the X component of the distance between the middle points of the left and right trails of the individual and the eyebrow points of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the eyebrow points of the common mode; determining the scaling in the Z direction according to the X component of the distance between the middle points of the left and right trails of the individual and the vertex of the head top of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the vertex of the head top of the common mode; and determining the scaling matrix according to the scaling in the X direction, the scaling in the Y direction and the scaling in the Z direction.
Optionally, the processing module 202 is further configured to, after obtaining a matrix to be decomposed according to the individual point set and the common mode point set, perform SVD calculation on the matrix to be decomposed to obtain a diagonal matrix; and obtaining a scaling matrix according to the diagonal matrix.
Optionally, the processing module 202 is further configured to obtain an individual point set centroid according to the individual point set, and obtain a common mode point set centroid according to the common mode point set; taking the difference between the X component and the Y component of the common mode point set centroid and the difference between the X component and the Y component of the individual point set centroid as the translation distance of the X component and the translation distance of the Y component respectively; taking the difference between the Z components of the vertex of the common die head and the vertex of the individual head as the translation distance of the Z components; and acquiring the translation matrix according to the translation distance of the X component, the translation distance of the Y component and the translation distance of the Z component.
Optionally, the processing module 202 is further configured to obtain a preset overhead angle of the common mode point set before obtaining a spatial transformation matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; the preset head top angle is as follows: an included angle between a first line segment formed by the middle points of the left and right trails of the common mode and the top vertex of the common mode and a second line segment formed by the middle points of the left and right trails of the common mode and the center point of the common mode eyebrow; according to the preset head top angle, obtaining an X component after the head top vertex of the individual is calibrated, wherein the X component comprises a line segment III formed by the middle points of the left and right tragus of the individual and the eyebrow point of the individual and a Z component of the head top vertex of the individual; and taking the Y component of the middle points of the left and right tragus of the individual as the Y component after the vertex of the head top of the individual is calibrated.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A transcranial magnetic stimulation registration method, the method comprising:
collecting an individual point set of the head of a patient; the individual point set corresponds to a common mode point set preset on a standard brain template, and the individual point set comprises: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex; the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point;
acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; the spatial transformation matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition (Singular value decomposition, SVD);
and completing patient registration according to the space conversion matrix.
2. The method according to claim 1, wherein the rotation matrix is obtained by:
obtaining a matrix to be decomposed according to the individual point set and the common mode point set;
SVD calculation is carried out on the matrix to be decomposed, and a left singular vector and a right singular vector are obtained;
and acquiring the rotation matrix according to the left singular vector and the right singular vector.
3. The method according to claim 2, wherein prior to said obtaining a matrix to be decomposed from said set of individual points and said set of common mode points, the method further comprises:
and performing decentration processing on the individual point set and the common mode point set.
4. The method according to claim 1, wherein the scaling matrix is obtained by:
determining a scaling ratio in the Y direction according to the distance between the individual left-ear tragus point and the individual right-ear tragus point and the distance between the common-mode left-ear tragus point and the common-mode right-ear tragus point;
determining the scaling in the X direction according to the X component of the distance between the middle points of the left and right trails of the individual and the eyebrow points of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the eyebrow points of the common mode;
determining the scaling in the Z direction according to the X component of the distance between the middle points of the left and right trails of the individual and the vertex of the head top of the individual and the X component of the distance between the middle points of the left and right trails of the common mode and the vertex of the head top of the common mode;
and determining the scaling matrix according to the scaling in the X direction, the scaling in the Y direction and the scaling in the Z direction.
5. The method according to claim 2, wherein after obtaining a matrix to be decomposed from the set of individual points and the set of common mode points, the scaling matrix is obtained by:
SVD calculation is carried out on the matrix to be decomposed, and a diagonal matrix is obtained;
and obtaining a scaling matrix according to the diagonal matrix.
6. The method of claim 1, wherein the translation matrix is obtained by:
acquiring an individual point set centroid according to the individual point set, and acquiring a common mode point set centroid according to the common mode point set;
taking the difference between the X component and the Y component of the common mode point set centroid and the difference between the X component and the Y component of the individual point set centroid as the translation distance of the X component and the translation distance of the Y component respectively;
taking the difference between the Z components of the vertex of the common die head and the vertex of the individual head as the translation distance of the Z components;
and acquiring the translation matrix according to the translation distance of the X component, the translation distance of the Y component and the translation distance of the Z component.
7. The method according to any of claims 1-6, wherein prior to obtaining a spatial transformation matrix of the set of individual points and the set of common mode points from the set of individual points and the set of common mode points, the method further comprises:
acquiring a head top preset angle of the common mode point set; the preset head top angle is as follows: an included angle between a first line segment formed by the middle points of the left and right trails of the common mode and the top vertex of the common mode and a second line segment formed by the middle points of the left and right trails of the common mode and the center point of the common mode eyebrow;
according to the preset head top angle, obtaining an X component after the head top vertex of the individual is calibrated, wherein the X component comprises a line segment III formed by the middle points of the left and right tragus of the individual and the eyebrow point of the individual and a Z component of the head top vertex of the individual;
and taking the Y component of the middle points of the left and right tragus of the individual as the Y component after the vertex of the head top of the individual is calibrated.
8. A transcranial magnetic stimulation registration device, the device comprising:
the acquisition module is used for acquiring an individual point set of the head of the patient; the individual point set corresponds to a common mode point set preset on a standard brain template, and the individual point set comprises: an individual eyebrow point, an individual left ear tragus point, an individual right ear tragus point and an individual vertex; the common mode point set includes: common mode eyebrow point, common mode left ear tragus point, common mode right ear tragus point and common mode top point;
the processing module is used for acquiring a space conversion matrix of the individual point set and the common mode point set according to the individual point set and the common mode point set; completing patient registration according to the space conversion matrix; the space conversion matrix consists of a rotation matrix, a scaling matrix and a translation matrix, wherein the rotation matrix is obtained according to singular value decomposition.
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