A Transcranial Magnetic Stimulation (TMS) positioning and navigation method for TMS treatment comprises the steps of acquiring RGBD image data of a patient face to obtain stable RGBD image data and 3D point cloud image data; adopting a face detection algorithm for an RGBD image of the patient face to obtain patient face feature point information; spatially positioning the patient face to obtain 3D coordinate values in a camera space coordinate system; modeling a patient head, matching a spatial pose to determine a spatial pose of an actual stimulation site of a patient, and planning a movement path of a mechanical arm, to complete first positioning; saving spatial pose data of a magnetic stimulation point and movement path planning data of the mechanical arm in the first positioning, and during a next treatment, only needing to invoke the data saved during the first positioning to achieve one-key positioning.
An integrated TMS coil paddle for brain function measurement and treatment, comprising a coil housing (1), a figure 8 coil (2) being provided in the interior of the coil housing (1). Two waist-shaped bosses (3) used for limiting the position of the coil (2) are provided on the coil housing (1). Eight mounting holes are provided in the coil housing (1), and an optical fiber base (7) used for mounting an optical fiber probe (6) is provided inside all of the mounting holes. A silicone sheet (12) used to limit the motion of the optical fiber bases (7) is provided in the interior of the coil housing (1). A lead-out wire of the coil (2) passes through a bottom portion of the coil housing (1) and connects to a transcranial magnetic stimulation apparatus (14). A signal terminal of the optical fiber probe (6) is connected to a near infrared brain function imaging apparatus (15). In the present device, an optical fiber probe (6) is mounted on a TMS coil paddle. A therapeutic effect is measured in real time by means of a near infrared brain function imaging apparatus (15), and a stimulation parameter of the TMS coil is adjusted on the basis of the therapeutic effect, thereby achieving the best therapeutic effect.
Disclosed is a camera system for transcranial magnetic stimulation therapy. The camera system comprises a first photographing sub-system for head modeling, a second photographing sub-system for therapy, and an intelligent terminal (9), wherein the first photographing sub-system comprises a 3D scanner (8) and a positioning cap, and the second photographing sub-system comprises a 3D camera (3), a reclining-type bed (1) and a headrest (2). The first photographing sub-system sends photographed head data to the intelligent terminal (9) for head modeling to obtain a 3D head model with marked facial feature points; the second photographing sub-system sends facial data photographed in real time to the intelligent terminal (9) for facial detection; and the intelligent terminal (9) matches a detected facial image with the 3D head model to obtain magnetic stimulation point positioning information for transcranial magnetic stimulation therapy. The head posture of a patient is rapidly and precisely acquired by means of the 3D camera (3), and therapeutic magnetic stimulation points are adjusted based on the head posture, thereby improving the accuracy of magnetic stimulation point positioning and repositioning during TMS therapy.
A61N 2/04 - Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets using variable fields, e.g. low frequency or pulsating fields
4.
CAMERA-BASED TRANSCRANIAL MAGNETIC STIMULATION DIAGNOSIS AND TREATMENT NAVIGATION SYSTEM
Disclosed is a camera-based transcranial magnetic stimulation diagnosis and treatment navigation system, comprising a patient table, a head pillow, a 3D camera, a 3D scanner, a mechanical arm, TMS coils, and a smart terminal. A navigation method for the navigation system comprises: building, by using the 3D scanner and the smart terminal, a model of a head of a patient; matching a position of the model of the head against an actual position of the head of the patient, and determining a spatial position of a magnetic stimulation point to be magnetically stimulated on the model of of the head of the patient; building models of the mechanical arm, the TMS coils, and the 3D camera; and placing the model of the head of the patient and the models of operable apparatuses in the same spatial coordinate system, calculating an optimal path for the model of the TMS coils to reach the magnetic stimulation point on the model of the head, automatically navigating a movement of the mechanical arm according to the optimal path, and moving the TMS coils to the head of the patient to perform a treatment. The present invention achieves automatic navigation of a movement of a mechanical arm, thereby eliminating influences of human factors on a treatment effect, and also improving patient experience.
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/60 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
H04N 13/204 - Image signal generators using stereoscopic image cameras
A61N 2/04 - Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets using variable fields, e.g. low frequency or pulsating fields
5.
TRANSCRANIAL MAGNETIC STIMULATION DIAGNOSIS AND TREATMENT DETECTION SYSTEM BASED ON CAMERA
Disclosed in the present invention is a transcranial magnetic stimulation diagnosis and treatment detection system based on a camera, comprising a lying bed, a headrest, a 3D camera, and an intelligent terminal, wherein the 3D camera is connected to the intelligent terminal. The detection method comprises: adjusting the front-back position of the lying bed to reach a treatment position; photographing image data of the head by using the 3D camera, and establishing a 3D head model by using an intelligent terminal; photographing a real-time facial image of a patient by using the 3D camera, performing pose matching by using the intelligent terminal, and performing position matching on the real-time facial image and the established 3D head model. The method further comprises: marking facial feature points for matching in the 3D head model; automatically identifying facial feature points of the real-time facial image of the patient by means of the 3D camera; performing affine transformation by means of feature point matching to obtain a transformation matrix, and calculating a transformation relationship between the real-time facial image of the patient and the 3D head model; calculating the position of the 3D head model in a space; and calculating a position coordinate of a magnetic stimulation point on the 3D head model in the space.
A head posture tracking system used for transcranial magnetic stimulation diagnosis and treatment, the system comprising an image capture apparatus, a smart terminal, and a computer program of a program module that is executed by the smart terminal; the image capture apparatus comprises a binocular camera and a fixing apparatus that fixes the binocular camera within an image capture range that fully incorporates the head; the smart terminal drives execution by means of the program module of the computer program; and the program module of the computer program comprises: a camera calibration module, a stereo matching module, a facial detection module, and a pose estimation module. The described system is based on machine vision technology, and combines a camera and a computer to complete the measurement and tracking of head posture.
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06K 9/62 - Methods or arrangements for recognition using electronic means
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
7.
CAMERA-BASED TRANSCRANIAL MAGNETIC STIMULATION DIAGNOSIS HEAD MODEL BUILDING SYSTEM
A camera-based transcranial magnetic stimulation diagnosis head model building system, comprising a 3D scanner, a positioning hat, and an intelligent terminal. The 3D scanner is electrically connected to the intelligent terminal. A modeling method for the head model building system comprises: collecting 3D image data of the head of a patient from all directions by means of cameras, and integrating the image data to obtain complete 3D image data; combining MNI brain space coordinates, mapping 3D skull data of the MNI space to the 3D head model data of the patient to obtain a head model matching the actual head height of the patient, thus increasing the precision of subsequent positioning of transcranial magnetic stimulation points for the head of the patient, and further greatly improving the TMS magnetic stimulation treatment effects. According to the method, the head model of the patient can be obtained only by collecting 3D head data of the patient by means of the 3D cameras and processing the collected data by means of the intelligent terminal. The system is low in cost, simple in operation and high in degree of automation.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
8.
TMS POSITIONING NAVIGATION METHOD USED FOR TRANSCRANIAL MAGNETIC STIMULATION TREATMENT
A TMS positioning navigation method used for transcranial magnetic stimulation treatment, mainly comprising the following steps: first, acquiring RGBD image data of the face of the patient to obtain stable RGBD image data and 3D point cloud image data; using a face detection algorithm on the RGBD images of the face of the patient to obtain patient facial feature point information; performing spatial positioning on the face of the patient to obtain 3D coordinate values of the patient facial feature points in a spatial coordinate system of the camera; constructing a model of the head of the patient, matching the spatial pose of the model of the head of the patient with the actual spatial pose of the head of the patient to determine the actual spatial pose of the stimulation points of the patient, and planning a movement path for a mechanical arm in order to complete first positioning; finally, storing the data of the spatial pose of the magnetic stimulation points of the head of the patient and the data of the movement path plan of the mechanical arm in the first positioning; at the next treatment, one-click positioning can be implemented by just invoking the data stored during the first positioning.
A61N 2/04 - Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets using variable fields, e.g. low frequency or pulsating fields
9.
TRANSCRANIAL MAGNETIC STIMULATION-BASED DIAGNOSIS AND TREATMENT APPARATUS
A transcranial magnetic stimulation-based diagnosis and treatment apparatus, comprising a horizontal translation platform (1), a base (2), an articulated robot (3), a TMS coil (4), a 3D camera (5), and a computer (6). A controller is provided in the base (2); the controller is electrically connected to the horizontal translation platform (1), the articulated robot (3), the 3D camera (5), and the computer (6) separately; the articulated robot (3) and the horizontal translation platform (1) are both disposed on the base (2); the clamping portion (35) of the articulated robot (3) clamps the TMS coil (4). According to the apparatus, head data of a patient is acquired by means of the 3D camera (5), the head of the patient is modeled by means of the computer (6), the position of the stimulation target of the head of the patient is determined, and the TMS coil (4) is moved to the stimulation target of the head of the patient using the articulated robot (3) to perform magnetic stimulation treatment, thereby reducing the labor intensity of a doctor, and also reducing the impact on the treatment effect caused by artificial errors.
A61N 2/04 - Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets using variable fields, e.g. low frequency or pulsating fields
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