CN104474636A - Multi-point multi-frequency three-dimensional transcranial magnetic stimulation system and intracranial and extracranial coordinate conversion method - Google Patents

Abstract

The invention discloses a multi-point multi-frequency three-dimensional transcranial magnetic stimulation system and an intracranial and extracranial coordinate conversion method. The system comprises a fixing device, a stimulation device and an auxiliary positioning device, wherein the fixing device fixes the neck position of a patient, the stimulation device carries out fixed point magnetic stimulation on the patient, and the auxiliary positioning device is used for determining a positioning point in an auxiliary way for realizing the intracranial and extracranial coordinate conversion. Meanwhile, the coordinate conversion method provided by the invention can conveniently and fast realize the intracranial and extracranial coordinate conversion, and is matched with the system, and an all-around automatic transcranial magnetic stimulation treatment scheme is provided. The device has the advantages that the structure is simple, the function is practical, an effective device is provided for transcranial magnetic stimulation treatment, and a novel study idea is provided.

Description

A kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system and the outer coordinate transformation method of intracranial

Technical field

The present invention relates to neurocranial surgery technical field, be specifically related to a kind of Cerebral cortex through cranium Three-Dimensional Magnetic stimulating system, automatically can carry out the magnetic stimulation treatment such as single-point single-frequency, multiple spot multifrequency for lesions position.

Background technology

Transcranial magnetic stimulation (Transcranial Magnetic stimulation, TMS) be that one utilizes pulse electromagnetic field and alternating electromagnetic field, act on cerebral central nervous system, utilize the faradic current that electromagnetism produces, change the transmembrane potential of Cerebral Cortex Neuronal Cells, affect brain intracellular metabolite and neuropotential activity, thus cause a series of physiological function to react, the method has painless, not damaged, easy and simple to handle, the advantage such as safe and reliable, current use through cranium Magnetotherapeutic apparatus for parkinson disease (PD), epilepsy, Ischemic Stroke, schizophrenia (negative symptoms), depression, obsession, mania, posttraumatic stress disorder (PTSD), neural rehabilitation, cerebral palsy of children, cognitive disorder, spirit depressing, epilepsy is in spinal cord injury, the outside upper rear rehabilitation of cranium, Post stroke rehabilitation, peripheral nervous rehabilitation etc. has good effect.

TMS instruments all is at present the location stimulation mode instrument without navigation, the dissection that the selection without the TMS stimulation location of navigator fix normally relies on operator to possess and physiological knowledge, determines haply according to the distribution of human brain conventional func.The error of the stimulation point determined like this and actual effective site is often larger.Therefore, in enforcement stimulating course, operator often has to the mobile stimulating coil in little step-length ground back and forth in target area repeated multiple timesly, and judges whether to stimulate to target target area according to the circumstantial evidence of Induced by Stimulation response, and whether finds optimal stimulus point.This process time and effort consuming, not only be difficult to the accurate stimulation repeating same target between each stimulation test (or treatment), and the reliability of result of the test is also still to be tested, owing to stimulating the degree of depth and stimulating angle directly cannot determine from scalp surface, can be described as and be in one " blind stimulation " state.

In addition, existing to cranium Neural stem cell owing to not navigating accurately, only can accomplish not exactly to stimulate ad-hoc location, due to intracranial, cranium external position can not unification definitely, therefore probe can not be taken to most suitable position, distance objective target area, and only can realize the stimulation mode of single-point single-frequency, treatment and the research approach of system can not be formed.

Summary of the invention

For the problem that above-mentioned prior art proposes, the object of the invention is to, a kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system is provided, this system utilizes magnetic resonance imaging result, obtain patient through image procossing to cause a disease brain district, then according to three-dimensional coordinate transformational relation, the conversion from image to realistic space coordinate is realized, to carry out the stimulation modes such as accurate single-point single-frequency, single-point multifrequency, multiple spot single-frequency, multiple spot multifrequency.

In order to realize above-mentioned task, the present invention by the following technical solutions:

A kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system, comprises fixture, stimulating apparatus and auxiliary locator;

Fixture comprises the holder for fixing human cranium position;

Stimulating apparatus is positioned at the top of fixture, and comprise multiple probes of spherically shape distribution, probe is connected to transcranial magnetic stimulation instrument;

Auxiliary locator comprises the conformal face mask being arranged on and adhereing well to people's dignity cloth, and is arranged on the localizer around conformal face mask, and conformal face mask offers locating hole;

Transcranial magnetic stimulation instrument is connected to a controller.

Further, described localizer arranges three, wherein two distances between localizer with horizontal plane are identical, vertical with these two localizer lines and be called bisector plane through the face at line center, then another one localizer is arranged in bisector plane, and the plane that connects and composes of three localizers not with plane-parallel; Localizer connects on a navigation device.

Further, described stimulating apparatus comprises bubble helmet, and the helmet is divided into multiple region accordingly according to the functional area that human body brain is different, arranges the probe described at least one in each region that the helmet divides.

Further, described probe extend in the helmet through helmet surface, and each probe is all provided with driving device, driving device can drive probe along away from or move near the direction at helmet center, driving device is connected to controller.

Further, the described helmet by connecting rod be arranged on be parallel to ground arrange support bar on, connecting rod can slide along support bar, support bar is also provided with restriction connecting rod position limited block.

Further, described holder comprises tubular neck brace, this neck brace is sleeved on neck and fits with neck curve, the top of neck brace upwards extends and is no more than mouth and the ear of patient, the bottom of neck brace is to downward-extension and be no more than chest and the shoulder of patient, and neck brace upwards, to the part of downward-extension and the curve of human body that contacts with extension fits.

Further, described neck brace is divided into two along its axial cutting symmetry, and two parts neck brace separated, by gemel connection, two parts neck brace separated is symmetrically arranged with snap close, and two parts neck brace passes through the complete neck brace of the sealed formation of snap close one.

Further, described conformal face mask is made up of thermoplastic material, and conformal face mask extends downward bottom lower jaw by optical fundus, extends to eardrum portion by nose to both sides, suit mutually with human body face physiological structure, and on conformal face mask, leave the through hole corresponding with nose and mouth; Described locating hole is opened in position, optical fundus and eardrum position on face shield.

Further, this system also comprises a control box, and controller to be arranged in control box and to connect a display and keyboard, control box is provided with chamber door, opens chamber door and can pull out keyboard and observe display.

Further, the sidewall of control box is provided with slide rail, slide rail is provided with seat, the chair lower limb of seat is scalable, and described holder is arranged on the chair back of seat by expansion link.

Further, there is cover body in the outer setting of guider and auxiliary locator, cover body offers actuating doors.

Further, the universal wheel with latch functions is installed bottom described control box.

Further, in control box, bottom position is provided with balancing weight.

Further, described casing offers recess, be convenient to arrange stimulating apparatus.

The outer coordinate transformation method of a kind of intracranial, specifically carries out according to following steps:

Step one, utilizes localizer to carry out three-point fix patient facial region, at 3 place's fixed signal things of location, then carries out magnetic resonance imaging, obtains the scintigram comprising focal area and mark shade;

Step 2, according to scintigram information, obtains the brain district that focus occurs, then carries out three-dimensional reconstruction to scintigram, in three-dimensional reconstruction figure, obtain the coordinate in the three-dimensional system of coordinate of focus brain district in three-dimensional reconstruction figure, be designated as P (x, y, z);

Step 3, utilizes the coordinate of the shade of three marks in three-dimensional reconstruction figure, the three-dimensional system of coordinate of real space is corresponded to a local coordinate system in three-dimensional reconstruction figure, and obtains the corresponding relation between two coordinate systems;

Step 4, according to the corresponding relation between two coordinate systems, obtains the coordinate P ' of focus brain district in real space coordinate system (x ', y ', z ').

Further, the detailed process of step 3 is as follows:

Step S30, three marks described in note are respectively the first mark, the second mark and the 3rd mark, using the X ' axle of coordinate line in three-dimensional reconstruction figure of the first mark, the second mark as local coordinate system, vertical line is made to X ' axle from the coordinate of the 3rd mark among three-dimensional reconstruction figure, vertical line and X ' axle joining are designated as the initial point that O ' is local coordinate system, and the coordinate of O ' in three-dimensional reconstruction figure is designated as (x ₀, y ₀, z ₀);

Step S31, in three-dimensional reconstruction figure, the coordinate of the 3rd mark and the vertical line of X ' axle are the Z ' axle of local coordinate system, by coordinate and the coordinate of the 3rd mark in three-dimensional reconstruction figure of the initial point O ' of local coordinate system, calculate the linear equation of point-to-point transmission, then obtain the three-dimensional system of coordinate X in local coordinate system Z ' axle and three-dimensional reconstruction figure, Y, the angle of Z axis is respectively α, beta, gamma;

Step S32, the conversion that local coordinate is tied to the coordinate system in three-dimensional reconstruction figure can be regarded as by local coordinate system coordinate system Y-axis rotation a angle in three-dimensional reconstruction figure, then rotates b angle around Z axis again, then moves to (x ₀, y ₀, z ₀) three conversion compositions, then three transformation matrixs are respectively:

$T_a=\left[\begin{array}{cccc}\cos a& 0& -\sin a& 0\\ 0& 1& 0& 0\\ \sin a& 0& \cos a& 0\\ 0& 0& 0& 1\end{array}\right],T_b=\left[\begin{array}{cccc}\cos b& \sin b& 0& 0\\ -\sin b& \cos b& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],T_{O^{\′}}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ x_0& y_0& z_0& 1\end{array}\right]$

Then combined transformation matrix is:

$T=T_a\·T_b\·T_{O^{\′}}=\left[\begin{array}{cccc}\cos a\cos b& \cos a\sin b& -\sin a& 0\\ -\sin b& \cos b& 0& 0\\ \sin a\cos b& \sin a\sin b& \cos a& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(1\right)$

The direction cosines of Z ' axle are respectively:

$\left\{\begin{array}{c}{n}_1=\cos \mathrm{\α}\\ n_2=\cos \mathrm{\β}\\ n_3=\cos \mathrm{\γ}\end{array}\right.---\left(2\right)$

cosa＝n ₃＝cosγ (3)

$\sin a=\sqrt{(n_1^2+n_2^2)}=\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}---\left(4\right)$

$\cos b=\frac{n_1}{\sqrt{(n_1^2+n_2^2)}}=\frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(5\right)$

$\sin b=\frac{n_2}{\sqrt{(n_1^2+n_2^2)}}=\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(6\right)$

Formula (3) to (6) is above substituted in combined transformation matrix form (1) and can obtain:

$T=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0\\ -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& 0& 0\\ \cos \mathrm{\α}& \cos \mathrm{\β}& \cos \mathrm{\γ}& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(7\right)$

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to coordinate (x, y, z) in three-dimensional reconstruction figure in coordinate system by transition matrix, and transformational relation is as follows:

[x′y′z′1]·T＝[x y z 1] (8)

Coordinate in known three-dimensional reconstruction figure in coordinate system, be converted into the coordinate in local coordinate system, then can adopt following formula:

[x′y′z′1]＝[x y z 1]·T ^-1(9)

In formula (9), T ^-1by obtaining T finding the inverse matrix, T ^-1for:

$T^{-1}=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\α}& 0\\ \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\β}& 0\\ -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0& \cos \mathrm{\γ}& 0\\ \mathrm{\α}& \mathrm{\β}& \mathrm{\γ}& 1\end{array}\right]---\left(10\right)$

Then substituting in (9) by (10) can be local coordinate system by the coordinate transformation in three-dimensional reconstruction figure, the coordinate namely in real space coordinate system.

The present invention compared with prior art has following technical characterstic:

1. have employed stimulating apparatus, the functional area that this stimulating apparatus divides according to medical science according to human body brain district, multiple stimulated zone is set accordingly, coordinate Neural stem cell probe, carry out the omnibearing magnetic stimulation treatment in human body cranium portion;

2. owing to have employed the structure that subregion stimulates, make employing unified device carry out single-point single-frequency, single-point multifrequency, multiple spot electricity frequently, the therapeutic scheme of multiple spot multifrequency is achieved, can for the treatment means of the focus customized personal of Different brain region, can simultaneously for different focus stimulation therapy simultaneously, and frequency-adjustable, makes the more complete and system of stimulating course, improves the effect of magnetic stimulation treatment, and open new thinking for the research of magnetic stimulation treatment, provide excellent guarantee;

3. adopt the means of graphical analysis Coordinate Conversion, brain zone position of patient being caused a disease first is extracted by scanogram, then according to the unification of coordinate inside and outside algorithm realization, thus select suitable stimulation probe to locate stimulation accurately according to coordinate instruction, whole process completes by automatization, makes therapeutic process more systematization, intellectuality and automatization;

4. additionally provide a kind of method corresponding to position in the middle of actual three-dimensional coordinate according to target position specific in image in this programme, utilize the position fixing process that the method can be carried out precisely, rapidly from image to particular location;

5. this device integration is good, and integrated degree is high and structure simple, is convenient to transport and installs, easy and simple to handle, low to environment application requirements, for the treatment treatment of disease of brain provides new thinking, is suitable for applying.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of native system;

Fig. 2 is the structural representation after native system removes cover body;

Fig. 3 is the structural representation of stimulating apparatus and auxiliary locator part;

Fig. 4 is the structural representation of bottom door part;

Fig. 5 is the installation site schematic diagram of probe and the helmet;

Fig. 6 is structure and the installation site schematic diagram of holder;

Fig. 7 is the structural representation of conformal face mask;

Fig. 8 is the structural representation wearing conformal face mask;

Fig. 9 is the graph of a relation of three-dimensional system of coordinate in local coordinate system and three-dimensional reconstruction figure;

Figure 10 is the graph of a relation changed between three-dimensional system of coordinate in local coordinate system and three-dimensional reconstruction figure;

Number in the figure represents:

1-chamber door, 2-display, 3-control box, 4-recess, 5-helmet, 6-cover body, 7-actuating doors, 8-neck brace, 9-chair back, 10-seat, 11-chair lower limb, 12-locking member, 13-transcranial magnetic stimulation instrument, 14-bottom door, 15-universal wheel, 16-keyboard, 17-support bar, 18-wire, 19-connecting rod, 20-probe, 21-montant, 22-localizer, 23-hinge, 24-bus, 25-limited block, 26-slide block, 27-snap close, 28-slide rail, 29-expansion link, 30-mainframe box, 31-balancing weight, 32-conformal face mask, 33-locating hole, 34-elastic reducing-fixing band, 35-driving device,

Detailed description of the invention

Defer to technique scheme, as shown in Figures 1 to 8, a kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system, comprises fixture, stimulating apparatus and auxiliary locator;

Fixture comprises the holder for fixing human cranium position;

Stimulating apparatus is positioned at the top of fixture, and comprise multiple probes 20 of spherically shape distribution, probe 20 is connected to transcranial magnetic stimulation instrument 13;

Auxiliary locator comprises the conformal face mask 32 being arranged on and adhereing well to people's dignity cloth, and is arranged on the localizer 22 around conformal face mask 32, and conformal face mask 32 offers locating hole 33;

Transcranial magnetic stimulation instrument 13 is connected to a controller.

The thinking utilizing native system to carry out magnetic stimulation treatment is such: for the stimulation therapy in human body cranium portion, need ad-hoc location probe 20 being accurately placed on scalp outer distance affected area, as the position closest to intracranial lesion, this is the prerequisite of carrying out accurate magnetic stimulation treatment, and this just needs the physical location knowing intracranial lesion.Can, by obtaining the position in focus picture through magnetic resonance imaging, then through and calculating the position of focus at real space; After lesions position determines, utilize the position distribution situation of probe 20 coordinate in real space set, open closest to focus, the probe 20 of corresponding region, carry out magnetic stimulation treatment.And can according to focus situation, select whether to open the probe 20 that closes on to act on focus simultaneously, to implement the therapeutic scheme of single-point multifrequency to unified focus; And treat while utilizing this system also can carry out many places focus.

Patient's cranium portion is carried out accurately stimulating to be how to correspond in real space coordinate system by the focus of patient's brain with the key issue for the treatment of, then utilize external equipment to be applied to lesions position to treat, in this process, consider these subject matter: one, how to obtain lesions position; Its two, how lesions position is extracted and complete intracranial, cranium outer between the conversion of coordinate; Its three, how patient is coordinated, to realize whole process smoothly.Be directed to these key issues, in this programme, propose a kind of magnetic stimulation system.

Fixture

Carry out therapeutic process due to what adopt Coordinate Conversion with automatically controlled mode, so in this process, need the position of receptor relatively fixing, so that the conversion of inside and outside coordinate, and pop one's head in during Neural stem cell and 20 in stimulating course, accurately can be applied to lesions position; As native system, good fixing is carried out in reply receptor (human body head).In conjunction with layout and the practical situation of this programme, consider this comfortableness in long-time treatment situation of patient, propose in the present invention a kind of can conveniently regulate and can be good fit with device itself fixture.

As shown in Figure 6, this holder comprises tubular neck brace 8, this neck brace 8 is sleeved on neck and fits with neck curve, and the size that this refers to neck brace 8 just can adapt to neck, can not leave excessive space and the restriction fixed effect had influence on cervical region between cervical region and neck brace 8.The top of neck brace 8 upwards extends and is no more than mouth and the ear of patient, and the bottom of neck brace 8 is to downward-extension and be no more than chest and the shoulder of patient, and neck brace 8 upwards, to the part of downward-extension and the curve of human body that contacts with extension fits.This neck brace 8 be worn on patient with it time, the lower end of neck brace 8 is supported on shoulder and the chest top of patient, and because lower end adapts to patient's shoulder shape, therefore effect that is fixing and that support is played in lower end, prevent neck brace 8 from self rotating, so just limit the rotation of patient's cervical region; And neck brace 8 top is positioned at below patients mouth, patient's lower jaw place should be supported on, and basal part of the ear place, like this patient's cervical region is arranged in holder, patient can be made relatively to keep a comparatively comfortable posture, be beneficial to long magnetic stimulation treatment, and can play effective fixing.

Neck brace 8 as above, can adopt thermoplastic material to make.Thermoplastic material is a kind of material comparatively widely of the central use of medical domain now, and its plasticity is good, safe ready, can formulate its special neck brace 8 before use according to different patient, increases the tight attaching degree between neck brace 8 and patient further.

The neck brace 8 that thermoplastic material makes, its process is very convenient, but its defect is cannot be general between different patient, and each needs carry out heating according to different patients to be reinvented.Therefore, a kind of universal neck brace 8 adopting common material to prepare is proposed in this programme.

On the basis of above-mentioned neck brace 8 contour structures, neck brace 8 is divided into two along its axial cutting symmetry, obtain the identical neck brace of two parts contour structures 8, and then two parts neck brace 8 is connected by hinge 23, one end that then neck brace 8 is not connected by hinge 23 can be rotated relative to hinge 23, opens and closes.When closed, two parts neck brace 8 forms a complete neck brace 8.

During use, first neck brace 8 is opened along hinge 23, after being stuck in the cervical region of patient, neck brace 8 is closed.For keeping the fixed effect of neck brace 8, two parts neck brace 8 separated is symmetrically arranged with the snap close 27 cooperatively interacted, after patient's cervical region fixes in neck brace 8, carry out locking by snap close 27, fixing and restriction effect as same in above-mentioned thermoplastic neck brace 8 can be reached.

For strengthening versatility, as neck brace 8 can not and patient's cervical region between fit tightly, also can fill the implants such as soft sponge between gap, under keeping comfortable prerequisite, patient's cervical region is fixed.

When patient treatment for making it comfortable, be provided with seat 10, and holder being arranged on the chair back 9 of seat 10, is dismountable connected mode, such as, be expansion link 29 connected mode.Expansion link 29 not only can facilitate installation and removal, and accurately can adjust its flexible height, is convenient to match with auxiliary locator.

Stimulating apparatus

Stimulating apparatus is arranged on the top of fixture, and according to the distribution situation of equipment in this programme, it is preferably disposed on directly over fixture, corresponding up and down with the position of fixture.Like this, after patient is fixed on fixture, head above fixture is also just just in time in immediately below stimulating apparatus, so for different patients, only need the position of upper and lower regulation fixing apparatus, to drive head to be in suitable position, patients head accurately can be sent in stimulating apparatus.

As shown in Figure 2 and Figure 3, stimulating apparatus comprises bubble helmet 5, and this helmet 5 is larger compared with head, also can be hemispherical, as long as it can meet cover patient's brain area.The helmet 5 is divided into multiple region accordingly according to the functional area that human body brain is different, a probe 20 is at least set in each region that the helmet 5 divides.

Medically brain is divided into several functional areas, different Region control, the function regulating human body different.According to the brain district of functional regional division, be not only convenient to the location in focus brain district, more contribute to research worker and observe Different brain region on the impact of human body under Neural stem cell situation, to disclose the relation between function brain district and each behavior of human body, disease.In addition, according to the functional area divided, when certain region disease, according to contacting or matching relationship between this functional area and other functional areas, these functional areas are stimulated simultaneously, to promote the therapeutic effect of disease.

For these reasons, the helmet 5 is divided according to human body difference in functionality brain district, carry out separately or coordinate stimulating to different hive territories with accurate.In an example as shown in Figure 3, according to brain functional area, the helmet 5 has been divided into 118 regions, the helmet 5 after division, in Carapax et Plastrum Testudinis shape, arranges at least one probe 20 in each area.

The object arranging multiple probe 20 is in the zone the therapeutic modality in order to realize single-point multifrequency.Research according to inventor shows, same focus is carried out simultaneously to the stimulation of multiple frequency, and the treatment for some diseases focus has obviously positive effect.And multifrequency treatment is carried out to a point, need multiple probe 20 single-point to be applied to the Neural stem cell of different frequency simultaneously.

Probe 20 is pole probe 20, and coil distribution is in the position, leading section of probe 20.Probe 20 is when arranging, and probe 20 extend in the helmet 5 through the helmet 5 surface, points to the center of the helmet 5.When arranging multiple probe 20 in same region, these probes 20 should point to same point, and namely extended line can intersect.

For the ease of pop one's head in 20 adjustment, the helmet 5 is also provided with driving device 35, and as shown in Figure 5, driving device 35 is arranged in the helmet 5 shell, driving device 35 can drive probe 20 along away from or move near the direction at the helmet 5 center, namely driving device 35 can drive probe 20 along its axially-movable; Driving device 35 is connected to controller.Here driving device 35 can adopt linear electric motors, the motion of an Electric Machine Control probe 20, or is moved by an actuating device multiple probe 20 of Electric Machine Control.By pop one's head in 20 motion, probe 20 can be adjusted to suitable position, like this for the patient of different cranium portions size, this helmet 5 has good versatility; For the patient that cranium portion is less, probe 20 is driven to make it more near scalp surface; And also can, according to the position of therapeutic scheme adjustment different probe 20 distance scalp, to realize the convenient adjustment of probe 20 stimulus intensity, also be convenient to form multi-level, the multi-faceted stimulation of multiple probe 20 simultaneously.

The wire 18 of the end of probe 20 is unified converges to bus 24, and this bus 24 is connected to transcranial magnetic stimulation instrument 13, and this magnetic stimulator is controlled by the controller.Driven the position of probe 20 by controller adjustable driving device 35, and specific probe 20 can be opened.

The helmet 5 should be fixedly installed, but it is not easy to patient and enters the adjustment of the position before this system after setting, and therefore the position of this helmet 5 can adjust relatively; The helmet 5 by connecting rod 19 be mounted on be parallel to ground arrange support bar 17 on, connecting rod 19 can slide along support bar 17, support bar 17 is also provided with restriction connecting rod 19 position limited block 25.

Support bar 17 supports the whole helmet 5, and it can be fixed on the object of metope, ceiling or other not easily movements.Connecting rod 19 can slide along support bar 17, and connecting rod 19 is arranged on support bar by slide block 26, and can be fixed in certain position by clamping device, and support bar 17 is also provided with the limited block 25 of restriction connecting rod 19 position.It is also the most suitable position of the helmet 5 that the position at limited block 25 place is directly over fixture.When patient position adjusts, and carry out the timing really of patient position location, in order to not affect patient and position fixing process, first the helmet 5 being slid into, again the helmet 5 being moved to above patients head after patient fixes.Due to the restriction of limited location block 25, therefore only need to shift the helmet 5 onto limited block 25 place along support bar 17 and fix.After fixing, the high and low position of regulation fixing apparatus and seat 10, makes patients head enter into the helmet 5.

Auxiliary locator

Generally when carrying out intracranial lesion location, adopting the mode of nuclear magnetic resonance to obtain the DICOM image in cranium portion, to observe focus, obtaining the positional information of focus.And when carrying out the scanning of magnetic resonance skull portion, also need to fix one not easily by mark that magnetic resonance penetrates in cranium position; After carrying out magnetic resonance imaging, in the DICOM image obtained, this mark shows as a stain or shade, when arranging owing to knowing the position of this mark in cranium outside in advance, so utilize the position between this stain and focus after scanning, the exact position of focus relative to cranium outside can be obtained.Generally be used for this mark of auxiliary positioning, adopt high-density matter, as iron ball or the pipe etc. that contrast agent (Operand, barium sulfate etc.) is housed.

When carrying out magnetic resonance head scanning, have the headstock for fixing human cranium portion on scanning bed, the position that cranium outside can be used for fixed signal thing is just very limited; And when scanning, being also strict with head and can not moving in order to avoid produce artifact.

When before tradition scanning, mark is set, general employing adhesive plaster bonds or utilizes binder around fixing mode, the body that contrast agent is housed is bonded and fixed at head ad-hoc location, but there is a lot of problem in this method use procedure, most importantly its bonding is not firm, position is very easily departed from, but if any slightly departing from, can cause very large deviation to follow-up positioning instant; And when follow-up Multiple-Scan is observed, can not accomplish identical with the front marker position that once arranges; Also have in clinical and adopt head to implant the mode of steel nail as mark, but great infringement can be caused to patient.

Further, when magnetic resonance imaging, the noise of generation can reach more than 100 decibels, and scanning process is long, for some sufferers, under being in high noisy condition for a long time, easily occurring the situations such as irritated, and causes the fine motion of head, impact scanning.

Be directed to these situations, the present invention proposes a kind of auxiliary locator, can when scanning, can the position of fixed signal thing easily and accurately, during Multiple-Scan location, the position of mark can strictly remain unchanged, simultaneously, can coordinate with described guider, the positional information in cranium portion is provided, for date processing provides essential condition.

In the present invention, auxiliary locator comprises the conformal face mask 32 being arranged on human body face, conformal face mask 32 is made up of thermoplastic material, conformal face mask 32 extends downward bottom lower jaw by optical fundus, eardrum portion is extended to both sides by nose, suit mutually with human body face physiological structure, and leave the through hole corresponding with nose and mouth on conformal face mask 32; Described localizer 22 is arranged on the position in eardrum portion on conformal face mask 32.

The consideration adopting conformal face mask 32 is such: because the physiological structure of people's dignity cloth is relatively-stationary, and when head scanning, seldom hold up facial positions, therefore consider to utilize face shield to carry out auxiliary fixed signal thing.Everyone face cloth structure is different, and when face shield and face are fitted completely, face shield just can play the effect of object of reference.Therefore, face shield should not adopt universal facepiece, but should customize special face shield according to everyone face structure.

Thermoplastic material is that face shield provides a kind of good selection scheme, and its plasticity is good, easy to use, can make the special face shield of each patient easily according to the difference of each patient facial region.When making face shield, mouth, nose are exposed.

After thermoplastic face shield is made, for the setting of locating hole 33 provides immobilizing foundation.Locating hole 33, when face shield makes, is positioned at that nasion portion, lower jaw part and basal part of the ear portion are reserved arranges multiple locating hole 33, actually selects most suitable locating hole 33 to load mark when using.After face shield is fixing, the position of locating hole 33 just secures relatively; And face shield makes with facial characteristics, when wearing again after such face shield unloads, as long as labelling loads well the locating hole 33 of mark, also just ensure that mark is still in the position of last time when wearing, be beneficial to after magnetic resonance imaging draws image information, consistent with previous scanning information corresponding, be also convenient to the front and back treatment change of comparison focus.Meanwhile, this fixed form, makes face shield when being subject to external force, also can not move, and its stress surface is whole face, has been carried out fully, accurately, effectively fixing by mark by face shield.

In addition, the volume of whole auxiliary locator is little, easy to use, only slightly takies face space, can not the scanning of shadow magnetic resonance.

Elastic reducing-fixing band 34 can also be set in thermoplastic face shield rear end, be convenient to thermoplastic face shield and fix at the wearing of face.

Auxiliary locator also comprises the localizer 22 be arranged on around conformal face mask 32:

Localizer 22 and stimulating apparatus are connected on support bar 17 jointly, be an individual system, that is, be in same coordinate system with stimulating apparatus with stimulating apparatus entirety.So, in order to realize being tied in the coordinate system residing for stimulating apparatus from the three-dimensional coordinate the real true environment be in of patient, just need two coordinate systems to be connected by a tie, localizer 22 and conformal face mask 32 then carry Link role.

Described localizer 22 arranges three, wherein two localizers 22 are identical with the distance between horizontal plane, vertical with these two localizer 22 lines and be called bisector plane through the face at line center, then another one localizer 22 is arranged in bisector plane, and the plane that connects and composes of three localizers 22 not with plane-parallel.

A plane can be determined at 3 in space, as with horizontal plane (ground) as a reference plane, identical with the horizontal plane two localizers 22 are called the first localizer 22 and the second localizer 22, another localizer 22 is called the 3rd localizer 22, the then line of the first localizer 22 and the second localizer 22 and plane-parallel, vertical line is made to horizontal plane from the 3rd localizer 22, the point that vertical line and the first localizer 22 and the second localizer 22 are arranged in the perpendicular bisector of bisector plane crossing is designated as initial point, then initial point, namely first localizer 22 and the second localizer 22 constitute the three-dimensional system of coordinate in a real space.

Said method requires that the first localizer 22 and the second localizer 22 are symmetrical arranged, and the 3rd localizer 22 is positioned at the top position of the first localizer 22 and the second localizer 22 centrage.More localizer 22 can be utilized to set up three-dimensional coordinate, but can determine this coordinate system by 3, this method is comparatively easy.

After three localizers 22 set, when patient wears conformal face mask 32 and fixes position by holder, open three localizers 22, here localizer 22 can adopt laser pen, the now integral position of adjustable fixer, patient and holder entirety are moved up and down, and the laser allowing three localizers 22 send is beaten in the locating hole 33 reserved in the nasion portion of conformal face mask 32 and basal part of the ear portion respectively.

Because multiple locating hole 33 has been reserved in each position, beat the position on face shield three laser spots, select a locating hole 33 closest to laser spots, row labels of going forward side by side.After labelling, put into mark, then carry out magnetic resonance imaging, then obtain in the scintigram of magnetic resonance in the locating hole 33 that labelling is good, the three-dimensional system of coordinate at the position of the shade that mark produces because of scanning and the overall place of stimulating apparatus is unified; The three-dimensional information of image information and real space can be connected by this relation, determine the probe 20 closest to focus for pilot controller.

For the ease of arranging, three localizers 22 should be arranged on directly over holder, and wear conformal face mask 32 like this and be fixed on after in holder, conformal face mask 32 is located in the centre position of three localizers 22, are convenient to location and calculate.

Control box

Owing to considering integration and the adaptability of whole device, consider and whole system is integrated on a control box 3.

Three-dimensional warp cranium magnetic thorn system also comprises a control box 3, and controller to be arranged in control box 3 and to connect a display 2 and keyboard 16, control box 3 is provided with chamber door 1, opens chamber door 1 and can pull out keyboard 16 and observe display 2.

As shown in Figure 2 and Figure 3, support bar 17 is cemented in the side of casing, by stimulating apparatus integral installation on casing; And three montants 21 support bar 17 is provided with perpendicular to support bar 17, three localizers 22 are installed respectively; Wherein two montants 21 are symmetricly set on support bar 17 both sides, an other front end at support bar 17.The side of casing offers recess 4, recess 4 part is convenient to the setting of stimulating apparatus, makes the helmet 5 contact with control box 3 and to have influence on the helmet 5, also can serve as an interim operating platform simultaneously; Arranging of recess 4 can make seat 10 low as far as possible near casing setting in addition, is conducive to the integration of device.

Because patient is carrying out position correction, to be namely fixed on after holder and after wearing conformal face mask 32, to need the position being determined locating hole 33 by localizer 22, now according to the height of different needs of patients adjustment patient facial region position.Consider the factor such as age and height of patient, height adjustable seat 10 should be set:

The sidewall of control box 3 is provided with slide rail 28, slide rail 28 is provided with seat 10, the chair lower limb 11 of seat 10 is scalable, and described neck brace 8 is arranged on the chair back 9 of seat 10 by expansion link 29.

Namely, the height of seat 10 can be adjusted by slide rail 28, after adjusting, by locking member 12 locking position, for making seat 10 and slide rail 28 junction not bear excessive load, the chair lower limb 11 of seat 10 also can stretch, the position of seat 10 seat adjust and locked after, supported by telescopic chair lower limb 11, make seat 10 more stable.

In addition, neck brace 8 is preferably arranged on seat 10 chair back 9, the height of seat 10 position can be suitable for the patient of all ages and classes and physiological condition, make in its long therapeutic process, leg can be more comfortable, the neck brace 8 adjusted by expansion link 29 then energy, after seat 10 position fixes, is finely tuned neck brace 8 position, makes the convenient and hommization of adjustment.

Because the helmet in whole system 5 part has certain weight, in addition patient is sitting in after on seat 10 and makes the overall centre-of gravity shift of control box 3, and in order to make, control box 3 entirety is more stable not to be affected, and arranges two measures:

The first, control box 3 side lower is provided with bottom door 14, opens bottom door 14 and can arrange balancing weight 31 in control box 3, keeps the stable of control box 3;

The second, the universal wheel 15 installed bottom control box 3 has latch functions, after the position of control box 3 is chosen, is locked into row locked by wheel, makes box location keep fixing.

Controller can adopt computer, carry out the analysis in focus brain district, control transcranial magnetic stimulation instrument 13 pop one's head in 20 to open, accessory drive 35 operates; In bottom door 14, mainframe box 30 and control circuit board etc. can also be set.

Transcranial magnetic stimulation instrument 13 is arranged in another casing, and this box bottom is also provided with universal wheel 15, is convenient to it and moves.

Have cover body 6 at stimulating apparatus and auxiliary locator outer setting, patient can be trapped among wherein by cover body 6, is carrying out in the process for the treatment of, and for patient provides an independently space, alleviates the tension of patient, is also beneficial to construction peace and quiet, comfortable Curing circumstance.

Cover body 6 offers actuating doors 7, first patient has worn conformal face mask 32, opening operation door 7 makes patient enter wherein and after sitting straight on seat 10, fixing, shutoff operation door 7, carries out the determination of Neural stem cell position, after determining, doctor's opening operation door 7, the head of patient is placed in the helmet 5, then shutoff operation door 7 by the position of the adjustment helmet 5, can start treatment.

Localization method:

In the present invention, also providing a kind of utilizes above-mentioned Three-dimensional warp cranium magnetic stimulation system carry out inside and outside Coordinate Conversion and choose the method for most suitable probe, to solve the problem of coordinate unification under different coordinates, for follow-up therapeutic process provides necessary support, specific as follows:

Step one, utilizes localizer to carry out three-point fix patient facial region, at 3 place's fixed signal things of location, then carries out magnetic resonance imaging, obtains the scintigram comprising focal area and mark shade; The shade of three marks in note scintigram is respectively the first mark, the second mark and the 3rd mark (i.e. aforesaid two localizers identical with the spacing of horizontal plane determine two marks);

This step can utilize above-mentioned conformal face mask, namely needs of patients first wears conformal face mask, by the localizer of three in auxiliary locator, luminous point is beaten at nasion place, basal part of the ear place, left and right, and at each position, mark is placed on luminous point in immediate locating hole, then patient wears this face shield and carries out magnetic resonance imaging, the information of not only You Nao district and focal area in scintigram, the stain produced after also having mark scanning or shadow information, wherein the first mark and the second mark are respectively the position of mark correspondence on figure at basal part of the ear place, left and right;

Step 2, according to scintigram information, utilizes software analysis to obtain the brain district of focus generation, then three-dimensional reconstruction is carried out to scintigram, in three-dimensional reconstruction figure, obtain the coordinate in the three-dimensional system of coordinate of focus brain district in three-dimensional reconstruction figure, be designated as P (x, y, z);

Certainly, above-mentioned two steps not just can carry out the location of intracranial lesion, and for the location of intracranial ad-hoc location, this device and this method also can be utilized to carry out, namely first wear face shield to carry out scanning and obtain scintigram, then determine the shadow spots of specified point in scintigram and mark.Mark and wearing of face shield are necessary, because mark provides enough information, so that the coordinate computation in later stage when scanning.

Therefore for the location of intracranial any point, as long as first common and mark scans, all can continue according to the following steps to determine this ad-hoc location (namely following focus brain district), and these measurement data may be used for diagnosis or the other field of disease.

Step 3, utilizes the coordinate of the shade of three marks in three-dimensional reconstruction figure, the three-dimensional system of coordinate of real space is corresponded to a local coordinate system in three-dimensional reconstruction figure, and obtains the corresponding relation between two coordinate systems, be specially:

Step S30, using the X ' axle of the coordinate line of the shade (lower abbreviation first mark, the second mark) of the first mark, the second mark in three-dimensional reconstruction figure as local coordinate system, vertical line is made to X ' axle from the coordinate of the 3rd mark among three-dimensional reconstruction figure, vertical line and X ' axle joining are designated as the initial point that O ' is local coordinate system, and the coordinate of O ' in three-dimensional reconstruction figure is designated as (x ₀, y ₀, z ₀);

Step S31, in three-dimensional reconstruction figure, the coordinate of the 3rd mark and the vertical line of X ' axle are the Z ' axle of local coordinate system, by coordinate and the coordinate of the 3rd mark in three-dimensional reconstruction figure of the initial point O ' of local coordinate system, calculate the linear equation of point-to-point transmission, then can calculate the three-dimensional system of coordinate X in local coordinate system Z ' axle and three-dimensional reconstruction figure, Y, the angle of Z axis is respectively α, beta, gamma, as shown in Figure 9;

Step S32, the Z ' axle in local coordinate system can regard that the Z axis of three-dimensional system of coordinate in three-dimensional reconstruction figure first rotates a angle around Y-axis as, then rotates b angle around Z axis again and obtains; The conversion being then tied to the coordinate system in three-dimensional reconstruction figure by local coordinate can be regarded as and rotates a angle by local coordinate system coordinate system Y-axis in three-dimensional reconstruction figure, then rotates b angle around Z axis again, then moves to (x ₀, y ₀, z ₀) three conversion compositions, then three transformation matrixs are respectively:

$T_a=\left[\begin{array}{cccc}\cos a& 0& -\sin a& 0\\ 0& 1& 0& 0\\ \sin a& 0& \cos a& 0\\ 0& 0& 0& 1\end{array}\right],T_b=\left[\begin{array}{cccc}\cos b& \sin b& 0& 0\\ -\sin b& \cos b& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],T_{O^{\′}}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ x_0& y_0& z_0& 1\end{array}\right]$

Then combined transformation matrix is:

$T=T_a\·T_b\·T_{O^{\′}}=\left[\begin{array}{cccc}\cos a\cos b& \cos a\sin b& -\sin a& 0\\ -\sin b& \cos b& 0& 0\\ \sin a\cos b& \sin a\sin b& \cos a& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(1\right)$

Geometrical relationship according to Figure 10, can derive a, b and Z ' axle and X, Y, the angle α of Z axis, the relation between beta, gamma:

The direction cosines of Z ' axle are respectively:

$\left\{\begin{array}{c}{n}_1=\cos \mathrm{\α}\\ n_2=\cos \mathrm{\β}\\ n_3=\cos \mathrm{\γ}\end{array}\right.---\left(2\right)$

Relation according in figure:

cosa＝n ₃＝cosγ (3)

$\sin a=\sqrt{(n_1^2+n_2^2)}=\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}---\left(4\right)$

$\cos b=\frac{n_1}{\sqrt{(n_1^2+n_2^2)}}=\frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(5\right)$

$\sin b=\frac{n_2}{\sqrt{(n_1^2+n_2^2)}}=\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(6\right)$

Formula (3) to (6) is above substituted in combined transformation matrix form (1) and can obtain:

$T=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0\\ -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& 0& 0\\ \cos \mathrm{\α}& \cos \mathrm{\β}& \cos \mathrm{\γ}& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(7\right)$

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to coordinate (x, y, z) in three-dimensional reconstruction figure in coordinate system by transition matrix, and transformational relation is as follows:

[x′y′z′1]·T＝[x y z 1] (8)

If the coordinate in known three-dimensional reconstruction figure in coordinate system, be converted into the coordinate in local coordinate system, then can adopt following formula:

[x′y′z′1]＝[x y z 1]·T ^-1(9)

In formula (9), T ^-1by obtaining T finding the inverse matrix, T ^-1for:

$T^{-1}=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\α}& 0\\ \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\β}& 0\\ -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0& \cos \mathrm{\γ}& 0\\ \mathrm{\α}& \mathrm{\β}& \mathrm{\γ}& 1\end{array}\right]---\left(10\right)$

Then substituting in (9) by (10) can be local coordinate system by the coordinate transformation in three-dimensional reconstruction figure, the coordinate namely in real space coordinate system;

Step 4, according to the corresponding relation between two coordinate systems, obtains the coordinate P ' of focus brain district in real space coordinate system (x ', y ', z '), is specially:

Utilize formula (9) can be coordinate in local coordinate system by the coordinate transformation in three-dimensional reconstruction figure, coordinate in the three-dimensional system of coordinate of namely real space (space at patient place), learn that focus brain district coordinate in three-dimensional reconstruction figure is P (x by step 2, y, z); Therefore, the coordinate P ' of focus brain district in real space coordinate system (x ', y ', z ') can be obtained according to formula (9).

The coordinate of focus brain district in the middle of real space is the coordinate in the middle of space, stimulating apparatus place.Local coordinate in three-dimensional reconstruction figure is the coordinate in the middle of real space, and this coordinate is determined by three mark shadow spots in three-dimensional reconstruction figure.

At real space, the point of three marks is the luminous point that three localizers send and beats the position on conformal face mask, so set up three-dimensional system of coordinate with the position of these three luminous points, with the three-dimensional system of coordinates taking three localizers as 3 foundation, it is same coordinate system (luminous point that localizer and localizer stay on conformal face mask can regard 2 points on straight line as, is also 2 points on same coordinate axes).And three localizers and stimulating apparatus-helmet are one, under same coordinate, when such helmet is fixed, on the helmet, the coordinate of each probe in real space three-dimensional system of coordinate is certain, the corresponding coordinate determined of each probe; Probe and the corresponding table of actual coordinate can be kept in the controller, be convenient to check.

Through the extraction of image information, algorithm can be calculated the coordinate of focus in real space coordinate system, matching is carried out by the coordinate that this coordinate and the helmet are popped one's head in, find out with focus at the immediate one or more probe of real space coordinate, stimulate patient's brain with these probes.

Due to when positioning, determined the position of holder, holder position after patient location is motionless.When patient is still in holder, its head position does not change relative to helmet position, this ensures that theres the consistent correspondence of outer coordinate from intracranial lesion to cranium.

According to the coordinate calculated, the probe of controller control correspondence is opened and is stimulated patient's brain, and according to circumstances can adjust the position of probe distance scalp, realizes the treatment of single-point single-frequency or multifrequency; Meanwhile, if any multiple focus, native system also can be utilized to carry out disposablely determining, utilize the same helmet, multiple points of head are carried out to the magnetic stimulation treatment of single-frequency, multifrequency.

Claims (10)

1. a multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system, is characterized in that, comprises fixture, stimulating apparatus and auxiliary locator;

Fixture comprises the holder for fixing human cranium position;

Stimulating apparatus is positioned at the top of fixture, and comprise multiple probes (20) of spherically shape distribution, probe (20) is connected to transcranial magnetic stimulation instrument (13);

Auxiliary locator comprises the conformal face mask (32) being arranged on and adhereing well to human body face, localizer (22) with being arranged on around conformal face mask (32), conformal face mask (32) offers locating hole (33);

Transcranial magnetic stimulation instrument (13) is connected to a controller.

2. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1, it is characterized in that, localizer (22) arranges three, wherein two localizers (2) are identical with the distance between horizontal plane, vertical with these two localizer (22) lines and be called bisector plane through the face at line center, then another one localizer (22) is arranged in bisector plane, and the plane that connects and composes of three localizers (22) not with plane-parallel; Localizer (22) connects on a navigation device.

3. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1, it is characterized in that, described stimulating apparatus comprises bubble helmet (5), the helmet (5) is divided into multiple region accordingly according to the functional area that human body brain is different, the probe (20) described at least one is set in the upper each region divided of the helmet (5).

4. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 3, it is characterized in that, described probe (20) extend in the helmet (5) through the helmet (5) surface, each probe (20) is all provided with driving device (35), driving device (35) can drive probe (20) along away from or move near the direction at the helmet (5) center, driving device (35) is connected to controller.

5. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1, it is characterized in that, the described helmet (5) by connecting rod (19) be arranged on be parallel to ground arrange support bar (17) on, connecting rod (19) can slide along support bar (17), and support bar (17) is also provided with the limited block (25) of restriction connecting rod (19) position.

6. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1, it is characterized in that, described holder comprises tubular neck brace (8), this neck brace (8) is sleeved on neck and fits with neck curve, the top of neck brace (8) upwards extends and is no more than mouth and the ear of patient, the bottom of neck brace (8) is to downward-extension and be no more than chest and the shoulder of patient, and neck brace (8) upwards, to the part of downward-extension and the curve of human body that contacts with extension fits.

7. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 6, it is characterized in that, described neck brace (8) is divided into two along its axial cutting symmetry, two parts neck brace (8) is separately connected by hinge (23), two parts neck brace (8) separated is symmetrically arranged with snap close (27), and two parts neck brace (8) is by the complete neck brace (8) of snap close (27) sealed formation one.

8. described multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1, it is characterized in that, described conformal face mask (32) is made up of thermoplastic material, conformal face mask (32) extends downward bottom lower jaw by optical fundus, eardrum portion is extended to both sides by nose, suit mutually with human body face physiological structure, and leave the through hole corresponding with nose and mouth on conformal face mask (32); Described locating hole (33) is opened in position, optical fundus and eardrum position on face shield.

9. the outer coordinate transformation method of intracranial, is characterized in that, specifically carry out according to following steps:

Step one, utilizes localizer to carry out three-point fix patient facial region, at 3 place's fixed signal things of location, then carries out magnetic resonance imaging, obtains the scanning comprising focal area and mark shade figure;

Step 2, according to scanning figureinformation, obtains the brain district that focus occurs, then to scanning figurecarry out three-dimensional reconstruction, at three-dimensional reconstruction figurein, obtain focus brain district at three-dimensional reconstruction figurein three-dimensional system of coordinate in coordinate, be designated as P (x, y, z);

Step 3, utilizes the shade of three marks at three-dimensional reconstruction figurein coordinate, the three-dimensional system of coordinate of real space is corresponded to three-dimensional reconstruction figurein a local coordinate system, and obtain the corresponding relation between two coordinate systems;

Step 4, according to the corresponding relation between two coordinate systems, obtains the coordinate P ' of focus brain district in real space coordinate system (x ', y ', z ').

10. the outer coordinate transformation method of intracranial as claimed in claim 9, it is characterized in that, the detailed process of step 3 is as follows:

Step S30, three marks described in note are respectively the first mark, the second mark and the 3rd mark, by the first mark, the second mark at three-dimensional reconstruction figurein coordinate line as the X ' axle of local coordinate system, from the 3rd mark at three-dimensional reconstruction figurein coordinate make vertical line to X ' axle, vertical line and X ' axle joining are designated as the initial point that O ' is local coordinate system, and O ' is at three-dimensional reconstruction figurein coordinate be designated as (x ₀, y ₀, z ₀);

Step S31, three-dimensional reconstruction figurein the coordinate of the 3rd mark and the vertical line of X ' axle be the Z ' axle of local coordinate system, by the coordinate of the initial point O ' of local coordinate system and the 3rd mark at three-dimensional reconstruction figurein coordinate, calculate the linear equation of point-to-point transmission, then obtain local coordinate system Z ' axle and three-dimensional reconstruction figurein three-dimensional system of coordinate X, Y, the angle of Z axis is respectively α, beta, gamma;

Step S32, local coordinate is tied to three-dimensional reconstruction figurein the conversion of coordinate system can regard as by local coordinate system around three-dimensional reconstruction figuremiddle coordinate system Y-axis rotates a angle, then rotates b angle around Z axis again, then moves to (x ₀, y ₀, z ₀) three conversion compositions, then three transformation matrixs are respectively:

Then combined transformation matrix is:

The direction cosines of Z ' axle are respectively:

cosa＝n ₃＝cosγ (3)

Formula (3) to (6) is above substituted in combined transformation matrix form (1) and can obtain:

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to three-dimensional reconstruction by transition matrix figurecoordinate (x, y, z) in middle coordinate system, transformational relation is as follows:

[x′ y′ z′ 1]·T＝[x y z 1] (8)

Known three-dimensional reconstruction figurecoordinate in middle coordinate system, be converted into the coordinate in local coordinate system, then can adopt following formula:

[x′ y′ z′ 1]＝[x y z 1]·T ^-1(9)

In formula (9), T ^-1by obtaining T finding the inverse matrix, T ^-1for:

Then (10) being substituted into can by three-dimensional reconstruction in (9) figurein coordinate transformation be local coordinate system, the coordinate namely in real space coordinate system.