CN209612006U - A kind of transcranial magnetic stimulation system of orientation superposition target brain area - Google Patents
A kind of transcranial magnetic stimulation system of orientation superposition target brain area Download PDFInfo
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- CN209612006U CN209612006U CN201821862607.0U CN201821862607U CN209612006U CN 209612006 U CN209612006 U CN 209612006U CN 201821862607 U CN201821862607 U CN 201821862607U CN 209612006 U CN209612006 U CN 209612006U
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Abstract
The utility model provide it is a kind of orientation superposition target brain area transcranial magnetic stimulation system, including can be arranged in brain area surface layer stimulating apparatus, can to the scanning means that brain area and stimulating apparatus are scanned and can to stimulating apparatus carry out positioning operation positioning device；Scanning means is connect with positioning device.A kind of transcranial magnetic stimulation system of orientation superposition target brain area described in the utility model, field orientation can be stimulated to the arbitrary region into brain and reduce the stimulation to non-targeted brain area, it solves in the prior art, the target area of magnetic fields is limited, is difficult the problem of neatly stimulating different zones in brain.The utility model is applicable not only to the orientation Neural stem cell that transcranial magnetic stimulation field is also applied for any position in other field.
Description
Technical field
The invention belongs to biomedical engineering field, more particularly, to a kind of orientation superposition target brain area through cranium magnetic
Stimulating system and method.
Background technique
Transcranial magnetic stimulation technology is one important technology of biomedical engineering field, passes through the pulse electromagnetic field of high field intensity
Skull can be penetrated, the nerve fiber of deep place is acted on, and is not required to penetrate skin-mounted device, is had noninvasive painless etc. excellent
Point.Its mechanism of action is that the electric current changed in coil generates changing magnetic field, and changing magnetic field acts on brain can cause to feel again
Electromotive force is answered, to induce the excitement or inhibition of cell.
However, the reason of hindering the technology to develop in clinic first is that being difficult to realize the targeted stimulation of target brain area, i.e.,
In addition to target area is stimulated, non-target area may also be stimulated, and may cause side effect.In order to improve the focusing in magnetic field,
Researchers devise the coil of various structures.2006, Huang Kama of Sichuan University et al. invented 17 unit coil groups
At hemisphere face arrange coil battle array, magnetic field can be focused on to one or more regions.2012, Chengdu Information Technology Institute
Mu Xiangyong et al. has invented a kind of line that the periphery coil by centering coil and positioned at plane the same side where centering coil forms
Array is enclosed, magnetic focusing is made all to be greatly improved in depth and intensity.But it in the method that these field orientations focus, adopts
With fixed coil configuration mode, therefore the target area of magnetic fields is limited, is difficult neatly to stimulate in brain different
Region, it is more difficult to the orientation Neural stem cell applied to any position in other field.
Summary of the invention
In view of this, the invention be directed to it is a kind of orientation superposition target brain area transcranial magnetic stimulation system and side
Method solves transcranial magnetic stimulation technology in the prior art, limits the target area of magnetic fields, is difficult neatly to stimulate brain
Middle different zones, it is more difficult to the orientation Neural stem cell applied to any position in other field.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of transcranial magnetic stimulation system of orientation superposition target brain area, the stimulation including brain area surface layer can be arranged in fill
Set, can to the scanning means that brain area and stimulating apparatus are scanned and can to stimulating apparatus carry out positioning operation positioning fill
It sets；
The scanning means is connect with the positioning device.
Further, the scanning means includes brain area scanner and can be to the visual scanning that stimulating apparatus is scanned
Sensor, the brain area scanner and visual scanning sensor are connect with the positioning device.
Further, the brain area scanner and visual scanning sensor are connected with computing unit, the positioning device
Including computing unit and the mechanical arm configuration of stimulating apparatus can be positioned；
The computing unit is connect with the mechanical arm configuration.
Further, the computing unit detects the mechanical arm configuration by visual monitoring sensor.
Further, the visual monitoring sensor can will monitor the mechanical arm configuration mobile location information and be transmitted to
The end PC.
Further, the stimulating apparatus includes multiple coils that can be grabbed by the mechanical arm configuration, multiple coils
It is arranged in the brain area surface layer.
A kind of application method of the transcranial magnetic stimulation system of orientation superposition target brain area, comprising the following steps: S1: scanning
Device is to brain area inside and the coil on brain area surface layer is arranged in is scanned, and extracts target spot in brain area and each hub of a spool
Three dimensional space coordinate information；
S2: the three dimensional space coordinate information of target spot and each hub of a spool is sent to positioning device by scanning means；S3: meter
It calculates unit to be calculated according to the three dimensional space coordinate information of target spot and each hub of a spool first, solves coil plane in three-dimensional
Space angle in space, specific formula for calculation and steps are as follows:
If the space coordinate of target spot is (x0, y0, z0), the centre coordinate of each coil is (xk, yk, zk), and k is coil
Number；
The line of target spot and single hub of a spool is the normal vector n of coil, and target spot is directed toward by hub of a spool in direction；
Using the geometric center of single coil as local coordinate system center, the sagittal plane of coil is xoy plane, normal vector side
The local coordinate system of each coil is established using right-handed coordinate system to for z-axis；Then method of each coil under local coordinate system
Vector is n '；
According to space coordinate transformation formula, the space angle ε of coil can be acquiredx,εy,εz；
N '=(0,0,1)
N=[R (εz)·R(εx)·R(εy)]·n′+(xk,yk,zk)
Wherein R (εx),R(εy),R(εz) it is spin matrix；
The space angle acquired is transmitted to mechanical arm configuration by computing unit, and mechanical arm configuration rotates to coil specified
Space angle；
S4: step S2~S3 is repeated, multiple coils are placed.
Compared with the existing technology, a kind of transcranial magnetic stimulation system of the superposition of orientation described in the invention target brain area with
Method has the advantage that
The magnetic field that targeted stimulation in the present invention generates coil accurately acts on target brain area.In targeted stimulation reality
In existing process, the invention proposes a kind of exact position of the available coil of algorithm in space.The present invention passes through positioning
Device makes coil accurately be arranged in design position.Multiple coils are arranged in design position using the positioning device in the present invention
It sets, enhances the magnetic field of target brain area, enhance the effect of stimulation to target brain area.Moreover, using multiple coils and using single
Coil carries out stimulation and compares, and the magnetic field of non-targeted brain area, which obtains weakening this just, to be reduced to the potential side effect of non-targeted brain area,
A kind of transcranial magnetic stimulation technology of orientation superposition target brain area of the present invention is suitable for the targeted stimulation of any brain area, flexibly
Degree and realization degree are high.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.In
In attached drawing:
Fig. 1 shows for the transcranial magnetic stimulation system structure that a kind of orientation is superimposed target brain area described in the invention embodiment
It is intended to；
Fig. 2 is a kind of transcranial magnetic stimulation system embodiment of orientation superposition target brain area described in the invention embodiment
One structural schematic diagram；
Fig. 3 is a kind of transcranial magnetic stimulation system embodiment of orientation superposition target brain area described in the invention embodiment
Two structural schematic diagrams.
Description of symbols:
1- brain area；101- target spot；2- stimulating apparatus；3- scanning means；301- brain area scanner；302- visual scanning passes
Sensor；4- positioning device；401- computing unit；402- visual monitoring sensor；403- machinery arm configuration；The end 404-PC.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of transcranial magnetic stimulation system of orientation superposition target brain area, as shown in Figure 1, including that 1 table of brain area can be arranged in
The stimulating apparatus 2 of layer to the scanning means 3 that brain area 1 and stimulating apparatus 2 are scanned and can carry out stimulating apparatus 2
The positioning device 4 of positioning operation；
Scanning means 3 is connect with positioning device 4.
Scanning means 3 includes brain area scanner 301 and can be to the visual scanning sensor that stimulating apparatus 2 is scanned
302, brain area scanner 301 and visual scanning sensor 302 are connect with positioning device 4, and MRI can be selected in brain area scanner 301
Instrument or CT instrument, scanning mode are preferably the mode of Magnetic resonance imaging, but if patient is different with metals such as pacemakers
Object suggestion uses CT imaging mode, so two Midbrain Area scanner 301 of embodiment level-one embodiment selects CT instrument.
Brain area scanner 301 and visual scanning sensor 302 are connected with computing unit 401, and positioning device 4 includes calculating
Unit 401 and the mechanical arm configuration 403 that stimulating apparatus 2 can be positioned；
Computing unit 401 is connect with mechanical arm configuration 403.
Computing unit 401 passes through 402 detection mechanical arm structure 403 of visual monitoring sensor.
Visual monitoring sensor 402 can will monitor mechanical 403 mobile location information of arm configuration and be transmitted to the end PC 404.
Mechanical arm configuration 403 include multiple mechanical arms, by mechanical arm grab coil, stimulating apparatus 2 include it is multiple can
The coil grabbed by mechanical arm configuration 403, multiple coils are arranged in 1 surface layer of brain area.
A kind of application method of the transcranial magnetic stimulation system of orientation superposition target brain area, comprising the following steps: including following
Step:
S1: scanning means 3 is to the inside of brain area 1 and the coil on 1 surface layer of brain area is arranged in is scanned, and extracts in brain area 1
The three dimensional space coordinate information of target spot 101 and each hub of a spool；
S2: the three dimensional space coordinate information of target spot 101 and each hub of a spool is sent to positioning device 4 by scanning means 3；
S3: computing unit 401 is counted according to the three dimensional space coordinate information of target spot 101 and each hub of a spool first
It calculates, solves coil plane space angle in three dimensions, specific formula for calculation and steps are as follows:
(1) space coordinate of target spot 101 is set as (x0, y0, z0), and the centre coordinate of each coil is (xk, yk, zk), and k is
Coil number；
(2) line of target spot 101 and single hub of a spool is the normal vector n of coil, and target spot is directed toward by hub of a spool in direction
101；
(3) using the geometric center of single coil as local coordinate system center, the sagittal plane of coil is xoy plane, normal direction
The local coordinate system of each coil is established using right-handed coordinate system for z-axis in amount direction；Then each coil is under local coordinate system
Normal vector be n '；
According to space coordinate transformation formula, the space angle ε of coil can be acquiredx,εy,εz；
N '=(0,0,1)
N=[R (εz)·R(εx)·R(εy)]·n′+(xk,yk,zk)
Wherein R (εx),R(εy),R(εz) it is spin matrix；
The space angle acquired is transmitted to mechanical arm configuration 403 by computing unit 401, and mechanical arm configuration 403 revolves coil
Go to specified space angle；
S4: step S2~S3 is repeated, multiple coils are placed.
The working method of this example
Embodiment one:
As shown in Fig. 2, first by CT instrument to the scan image inside brain area 1, and then determine target spot 101 (lesion)
Three dimensional space coordinate places the coil in above brain, obtains the three of coil and brain entirety by visual scanning sensor 302
Dimension space coordinate information extracts the coordinate of hub of a spool point；Then by the three dimensional space coordinate information of target spot 101 and hub of a spool
It is sent to positioning device 4, obtains the space angle of coil, mechanical arm configuration 403 by the computing unit 401 in positioning device 4
Coil is rotated to the position of design according to the data of space angle, so that the field orientation of coil acts on target spot
101.It repeats step as above and places multiple coils, not only field orientation is pierced by the magnetic vector superposition of multiple coils
The magnetic field for swashing target brain area and target brain area is better than non-targeted brain area, is alleviated during treatment to non-targeted brain area
It influences.
Embodiment two:
As shown in figure 3, computing unit 401 is connected to brain area scanner 301 and visual scanning sensor 302, mechanical arm knot
Structure 403 is connected with computing unit 401, and visual monitoring sensor 402 is connected with the end PC 404.Scanning means 3 passes through module for data
The computing unit 401 being sent in positioning device 4.Mechanical arm in positioning device 4 clips the coil in stimulating apparatus 2.According to
The realization step of technical solution determines the three dimensional space coordinate of target 101 (lesion) by CT instrument scan image first.Root
According to the position of lesion, coil is placed in by primary election one center position apart from the closer position of lesion as coil manually
It is then clamped herein with the mechanical arm in positioning device 4.First by CT instrument to the scan image inside brain area 1, and then determine
The three dimensional space coordinate of target spot 101 (lesion) places the coil in above brain, obtains coil by visual scanning sensor 302
With the three dimensional space coordinate information of brain entirety, the coordinate of hub of a spool point is extracted；Then by target spot 101 and the three of hub of a spool
Dimension space coordinate information is sent to positioning device 4, obtains the space angle of coil by the computing unit 401 in positioning device 4,
Space angle information is sent to visual monitoring sensor 402 to show at the end PC 404 as normal place, while by space
The information of angle is transmitted to mechanical arm configuration 403, and coil is rotated to finger according to the data of space angle by mechanical arm configuration 403
Fixed position, visual monitoring sensor 402 monitor the final position of mechanical arm configuration 403 and compare with normal place, such as
Fruit has deviation feedback to mechanical arm configuration 403 until consistent with normal place, and such coil is moved precisely to designated position, line
The field orientation that circle generates acts on target spot 101.It repeats step as above and places multiple coils, pass through the magnetic vector of multiple coils
Superposition not only makes the magnetic field of field orientation stimulation target spot 101 and target brain area be better than non-targeted brain area, in the mistake for the treatment of
The influence to non-targeted brain area is alleviated in journey.
The above is only the preferred embodiments of the invention, are not intended to limit the invention creation, all in the present invention
Within the spirit and principle of creation, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the invention
Within the scope of shield.
Claims (6)
1. a kind of transcranial magnetic stimulation system of orientation superposition target brain area, it is characterised in that: including brain area (1) table can be arranged in
The stimulating apparatus (2) of layer to the scanning means (3) that brain area (1) and stimulating apparatus (2) are scanned and can fill stimulation
Set the positioning device (4) that (2) carry out positioning operation；
The scanning means (3) connect with the positioning device (4).
2. a kind of transcranial magnetic stimulation system of orientation superposition target brain area according to claim 1, it is characterised in that: described
Scanning means (3) includes brain area scanner (301) and can be to the visual scanning sensor that stimulating apparatus (2) are scanned
(302), the brain area scanner (301) and visual scanning sensor (302) are connect with the positioning device (4).
3. a kind of transcranial magnetic stimulation system of orientation superposition target brain area according to claim 2, it is characterised in that: described
Positioning device (4) includes computing unit (401) and the mechanical arm configuration (403) that can position stimulating apparatus (2)；
The brain area scanner (301) and visual scanning sensor (302) are connected with computing unit (401), and the calculating is single
First (401) are connect with the mechanical arm configuration (403).
4. a kind of transcranial magnetic stimulation system of orientation superposition target brain area according to claim 3, it is characterised in that: described
Computing unit (401) detects the mechanical arm configuration (403) by visual monitoring sensor (402).
5. a kind of transcranial magnetic stimulation system of orientation superposition target brain area according to claim 4, it is characterised in that: described
Visual monitoring sensor (402) can will monitor described mechanical arm configuration (403) mobile location information and be transmitted to the end PC (404).
6. according to a kind of described in any item transcranial magnetic stimulation systems of orientation superposition target brain area of claim 3-5, feature
Be: the stimulating apparatus (2) includes multiple coils that can be grabbed by the mechanical arm configuration (403), multiple coil arrangements
It is arranged on the brain area (1) surface layer.
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