CN109173062A - A kind of efficient TMS resetting method - Google Patents
A kind of efficient TMS resetting method Download PDFInfo
- Publication number
- CN109173062A CN109173062A CN201811080822.XA CN201811080822A CN109173062A CN 109173062 A CN109173062 A CN 109173062A CN 201811080822 A CN201811080822 A CN 201811080822A CN 109173062 A CN109173062 A CN 109173062A
- Authority
- CN
- China
- Prior art keywords
- tms
- angle
- relative distance
- filming apparatus
- patients head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
- A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
- A61N2/004—Magnetotherapy specially adapted for a specific therapy
- A61N2/006—Magnetotherapy specially adapted for a specific therapy for magnetic stimulation of nerve tissue
Abstract
The present invention provides a kind of efficient TMS resetting method, comprising: determines therapy target, relative distance and angle of the TMS coil for patients head when recording treatment for the first time；Patients head is obtained for the relative distance and angle of filming apparatus；TMS coil is calculated for the relative distance and angle of filming apparatus；TMS coil is calculated for the relative distance and angle of patients head；It is compared with the relative distance and angle recorded when treating for the first time, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for the relative distance and angle of patients head.The present invention is based on face recognition algorithms, TMS coil and the relative position of patients head are obtained by way of manipulator combination filming apparatus, the resetting of TMS coil is carried out by being compared with the relative position recorded when treating for the first time, the precision of TMS resetting is improved, the time of TMS resetting is reduced.
Description
Technical field
The present invention relates to TMS treatment technology fields, and in particular to a kind of efficient TMS resetting method.
Background technique
TMS technology is that the widely applied a kind of physics in mental rehabilitation and neuromodulation field is examined in worldwide at present
Treatment technology generates pulsed magnetic field using conductive coil, to treat to patient.Traditional TMS therapeutic modality generally includes
Following steps: operator finds therapy target region (positioning by rule of thumb) in patients head；TMS coil is placed on the region,
Guarantee that hub of a spool face target spot, coil plane are tangent with scalp；TMS coil is gripped using mechanical device；Starting
TMS starts to treat.
Since TMS treatment usually requires for a long time, by course of therapy, the target purely positioned by experience and the mode of memory
Point not can guarantee the accuracy treated every time.The all different target position of patient per's treatment is common situation, and due to
The lesser reason of fading characteristic and Effective target site region in magnetic field, if it cannot be guaranteed that the target spot accuracy for the treatment of, TMS treatment
Curative effect will have a greatly reduced quality.It is precisely necessary for thus finding a kind of method guarantee target spot.
, worldwide there are some researchs in the problem of TMS accurate resetting, but other methods are base mostly at present
In the infrared positioning mode of guide-lighting ball.Dedicated guide-lighting ball must be all worn when this method positions every time to patient and TMS coil, according to
Relative position of the guide-lighting ball in infrared shooting device is positioned.Because the position worn every time is all not fixed, also
It needs additionally to determine the relative position of guide-lighting ball and the number of people by complicated positioning using a kind of dedicated pen with means for holding it in right position, therefore grasps
Work gets up to be inconvenient, and inefficiency, uses in the infrared positioning mode based on guide-lighting ball at present, for wearing and positioning leaded light
The time of ball is about 30 minutes/people, since a TMS treatment also only needs 10-20 minutes, current this localization method
It is not suitable for the efficient resetting of TMS.
The Chinese patent of application number 2017207206945 discloses a kind of transcranial magnetic stimulation treatment equipment, including TMS line
Circle, bracket, mechanical arm, controller and positioning device, positioning device can detect the accurate location of human body head, to control
TMS coil is precisely located to human body head mechanical arm, reduces manual operation, but obtains the disadvantage is that relying only on filming apparatus
The position of patients head and TMS coil are taken, the accuracy of resetting is lower, not can guarantee the accuracy treated every time.
Therefore, it is badly in need of providing a kind of efficient TMS resetting method, was not only positioned without wearing guide-lighting ball, but also can guarantee
Target spot is accurate when treating every time.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, the present invention provides a kind of efficient TMS resetting method, is based on people
Face recognizer obtains TMS coil and the relative position of patients head by way of manipulator combination filming apparatus, subsequent
When repetitive treatment, the resetting of TMS coil is carried out by being compared with the relative position recorded when treating for the first time, is improved
The precision of TMS resetting, reduces the time of TMS resetting, and easy to operate, practical, substantially improves
TMS therapeutic efficiency.
The present invention is achieved by the following technical programs:
A kind of efficient TMS resetting method, comprising the following steps:
S01, operator open TMS treatment system, and after patient prepares in place, operator adjusts TMS coil, and determination is controlled
Target spot is treated, and relative distance and angle of the TMS coil for patients head when by being treated under software records for the first time；
S02, patient, using the location information of filming apparatus shooting patients head, pass through when carrying out TMS treatment next time
Recognizer obtains patients head for the relative distance and angle of filming apparatus；
S03, TMS coil is calculated by pre-set reference value for the relative distance and angle of filming apparatus；
S04, based on the patients head for filming apparatus relative distance and angle and TMS coil for shooting
TMS coil is calculated for the relative distance and angle of patients head in the relative distance and angle of device；
S05, by current TMS coil for patients head relative distance and angle with what is recorded when treating for the first time it is opposite away from
Walk-off angle degree is compared, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for suffering from
The relative distance and angle on person head.
Preferably, S02 further comprises: allowing patient to keep head tranquil in the state of sitting or lying, filming apparatus is consolidated
It is fixed to patients head can be fully incorporated into position within the vision.
Preferably, S02 further comprises: the depth information of patients head's location drawing picture, and root are obtained by filming apparatus
Patients head is calculated for the relative distance and angle of filming apparatus according to the location drawing picture depth information of acquisition.
Preferably, S03 further comprises: TMS coil is by gripping apparatus grips, the clamping device and the filming apparatus
Be connected, the TMS coils of the gripping apparatus grips for the filming apparatus relative distance and angle reference value in advance
Setting, when the clamping device is mobile, the TMS coil is for the relative distance of the filming apparatus and the value of angle
Change therewith, the real-time value of the relative distance and angle is calculated according to pre-set reference value.
Preferably, S05 further comprises: the step of adjusting relative distance and angle of the TMS coil for patients head is logical
Manual operation is crossed to complete or complete by manipulator.
A kind of efficient TMS repeated positioning device, comprising:
Filming apparatus, for shooting the location information of patients head；
Bracket, for fixing the filming apparatus；
Clamping device, for clamping TMS coil；
Manipulator is connect with the clamping device, for adjust the TMS coil for patients head relative distance and
Angle；
Processing unit is connect with the filming apparatus and clamping device, the patient sent for receiving the filming apparatus
The location information on head and carry out processing identification obtain patients head for the relative distance and angle of the filming apparatus, reception
Simultaneously TMS coil is calculated for the relative distance and angle of the filming apparatus in the change in location information of the clamping device,
And TMS coil is calculated for the relative distance and angle of patients head；
Controller is connect with the processing unit and manipulator, for receiving the processing result and root of the processing unit
The activity of the manipulator is controlled according to the processing result.
Preferably, the filming apparatus is fixed on the bracket position that patients head can be fully incorporated into field range
It sets；The clamping device is set to the robot end, and the order that the manipulator receives the controller controls the folder
It holds device clamping TMS coil and is placed in patients head, the processing unit is to the location information of patients head, the clamping device
Change in location information carries out the relative distance and angle that TMS coil is calculated for patients head in processing, the controller root
The manipulator activity is controlled according to the processing result of the processing unit, and then the gripping apparatus grips TMS coil is driven to set
In the correct position of patients head.
Compared with prior art, the beneficial effects of the present invention are 1) present invention directly acquired using face recognition algorithms
Patients head obtains the location information of filming apparatus including patients head for the relative distance and angle of filming apparatus
Mode is quickly direct, and the location information obtained after face recognition algorithms are handled is more accurate；2) relative to it is existing merely according to
For the mode that filming apparatus obtains relative position, the present invention obtains TMS line by way of manipulator combination filming apparatus
The relative position for patients head is enclosed, TMS coil can be carried out without configuring additional positioning auxiliary device for TMS coil
Resetting, improves the accuracy of the resetting of TMS, while also improving the validity of TMS treatment；3) of the invention
TMS resetting method avoids the location aid device using guide-lighting ball etc, and required cost price is cheaper, operates
Easier and of the invention method completely eliminates the time for wearing and positioning guide-lighting ball, substantially increases TMS treatment
Efficiency, be conducive to TMS treatment further development and application.
Detailed description of the invention
Fig. 1 is the flow chart according to a kind of efficient TMS resetting method of embodiment；
Fig. 2 is the schematic diagram according to a kind of efficient TMS repeated positioning device of embodiment；
Fig. 3 is the schematic diagram according to the space coordinates constructed in the present invention of embodiment；
In figure: 1, filming apparatus；2, bracket；3, clamping device；4, manipulator；5, TMS coil；6, patients head.
Specific embodiment
Clear, complete description is carried out below with reference to technical solution of the attached drawing to various embodiments of the present invention, it is clear that is retouched
Stating hair embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, originally
Field those of ordinary skill obtained all other embodiment without making creative work, belongs to this hair
Bright protected range.
The present invention provides a kind of efficient TMS resetting method, as shown in the picture, comprising the following steps:
A kind of efficient TMS resetting method, comprising the following steps:
S01, operator open TMS treatment system, and after patient prepares in place, operator adjusts TMS coil, and determination is controlled
Target spot is treated, and relative distance and angle of the TMS coil for patients head when by being treated under software records for the first time；Here it records
Under TMS coil be the reference value being compared when subsequent TMS resetting for the relative distance and angle of patients head；
S02, patient, using the location information of filming apparatus shooting patients head, pass through when carrying out TMS treatment next time
Recognizer obtains patients head for the relative distance and angle of filming apparatus；Further comprise: allowing patient in the shape of recumbency
Keep head tranquil under state, filming apparatus, which is fixed to, can be fully incorporated into patients head position within the vision, pass through bat
The depth information that device obtains patients head's location drawing picture is taken the photograph, the depth information includes nose, the nasion, canthus, the corners of the mouth, eyebrow
Equal face features, and patients head is calculated for the relative distance of filming apparatus according to the location drawing picture depth information of acquisition
And angle；
Specifically, the step of calculating relative distance and angle of the patients head for filming apparatus further comprises: first
Space coordinates are constructed, face feature point (nose, the nasion, canthus, the corners of the mouth, eyebrow etc.) structure of people is utilized according to existing method
The head model of people is built, then the patients head's image that will acquire is mapped on head model, each face feature point respectively corresponds head
Characteristic point on portion's model；As shown in figure 3, on head model, with the left eye tail of the eye (A point) of people, the right eye tail of the eye (B point)
A plane is created with three points of nose (C point), using the midpoint O point of A point and B point as coordinate origin, the vertical plane
Direction is Z axis, and the direction of A point and B point line is X-axis, and the line direction of C point and O point is used as Y-axis, sky of the building based on face
Between coordinate system, wherein X-axis is vertical with Y-axis；In the space coordinates, the coordinate of A point, B point and C point by calculating it is known that sat
The line of mark system origin to filming apparatus obtains patients head for the relative distance of filming apparatus, then calculates separately described
Origin can be obtained patients head and shooting filled to angle α, β, γ between the line and X-axis of filming apparatus, Y-axis, Z axis
The angle (rx, ry, rz) set, specifically, the filming apparatus select infrared camera；
S03, TMS coil is calculated by pre-set reference value for the relative distance and angle of filming apparatus；
Further comprise: using gripping apparatus grips TMS coil, the clamping device is connected with the filming apparatus, the clamping
Device is arranged on a mobilizable manipulator, and the manipulator has preset scope of activities, the position of the clamping device
Change with the activity of the manipulator, the TMS coils of the gripping apparatus grips for the filming apparatus it is opposite away from
Walk-off angle degree also changes correspondingly；Relative distance and angle of the TMS coil of the gripping apparatus grips for the filming apparatus
Reference value preset and store, the clamping device often moves a certain distance or rotates an angle, can be by pre-
Existing clamp device is calculated for the actual relative distance and angle of filming apparatus in the reference value for being first arranged and storing, and obtains
To gripping apparatus grips TMS coil for filming apparatus relative distance and angle；
Specifically, the clamping device for a certain fixed point relative distance and angle in product export with regard to having carried out
Setting, the TMS coil that the clamping device is clamped with it are regarded as an entirety, and the relative distance and angle are pre-
Known to elder generation, in actual use, by adjusting the position that filming apparatus is arranged in the fixed point, the clamping can be obtained
Device for filming apparatus relative distance and angle to get to the gripping apparatus grips TMS coil for the shooting
The relative distance and angle of device；
S04, based on the patients head for filming apparatus relative distance and angle and TMS coil for shooting
TMS coil is calculated for the relative distance and angle of patients head in the relative distance and angle of device；Specifically, it is obtaining
Know patients head for the relative distance and angle for filming apparatus of relative distance and angle and clamping device of filming apparatus
In the case where spending the two, current TMS coil is calculated in real time for the relative distance and angle of patients head；
Specifically, the TMS coil of patients head, filming apparatus, gripping apparatus grips is considered three points in space,
A solid axes is constructed using patients head as coordinate origin in conjunction with above description, utilizes the patient's head being calculated
The relative distance and angle and TMS coil of relative distance and angle to(for) filming apparatus of the portion for filming apparatus, Ji Keji
Calculation obtains TMS coil for the relative distance and angle of patients head；In actual use, these calculating process pass through computer
Program realizes that it is accurate and efficient to calculate；
S05, by current TMS coil for patients head relative distance and angle with what is recorded when treating for the first time it is opposite away from
Walk-off angle degree is compared, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for suffering from
The relative distance and angle on person head, adjustment TMS coil for patients head relative distance and angle the step of by manual
Operation is completed or is completed by manipulator.
In a kind of efficient TMS resetting method of the invention, the empirically determined treatment of TMS for the first time of operator
Target spot, and relative distance and angle software records of the corresponding TMS coil at this time for patients head are got off；Next time
When TMS is treated, filming apparatus is fixed on to the position that can be fully incorporated into patients head in its visual field first, is known using face
Other algorithm obtains patients head for the relative position of filming apparatus, and the relative position includes relative distance and angle；Then
Using gripping apparatus grips TMS coil, and the clamping device for being clamped with TMS coil is connected with filming apparatus, calculates
The clamping device is obtained for the relative distance and angle of filming apparatus, the reference value of relative distance and angle here is pre-
First it is arranged, during the subsequent clamping device is mobile with manipulator, the angle of the distance and rotation that actually move
Degree can be calculated by pre-set reference value, for example, clamping device rotates one week, corresponding clamping device
For 5 ° or -5 ° of angle change of filming apparatus, alternatively, clamping device moves a certain distance, corresponding clamping device is for clapping
The relative distance for taking the photograph device increases or reduces a reference distance, can be calculated in real time using these pre-set reference values
Relative distance and angle of the current TMS coil for filming apparatus；Finally, using patients head for the opposite of filming apparatus
TMS coil is calculated for the relative position of patients head for the relative position of filming apparatus in position and TMS coil,
The relative position of patients head is compared with relative position when treating for the first time of record for current TMS coil, if
Unanimously, then TMS treatment is carried out, if inconsistent, the scope of activities of manipulator is adjusted, makes in current relative position and record
Relative position is consistent, and TMS coil can treat the same position of patients head when ensuring to treat every time with this, improves TMS and controls
The validity for the treatment of.
As another technical solution of the invention, a kind of efficient TMS repeated positioning device is also provided, such as attached drawing institute
Show, comprising:
Filming apparatus, for shooting the location information of patients head；The filming apparatus includes camera；
Bracket, for fixing the filming apparatus；
Clamping device, for clamping TMS coil；
Manipulator is connect with the clamping device, for adjust the TMS coil for patients head relative distance and
Angle；
Processing unit is connect with the filming apparatus and clamping device, the patient sent for receiving the filming apparatus
The location information on head and carry out processing identification obtain patients head for the relative distance and angle of the filming apparatus, reception
Simultaneously TMS coil is calculated for the relative distance and angle of the filming apparatus in the change in location information of the clamping device,
And TMS coil is calculated for the relative distance and angle of patients head；
Controller is connect with the processing unit and manipulator, for receiving the processing result and root of the processing unit
The activity of the manipulator is controlled according to the processing result.For the sake of for convenience of description, major mechanical interconnecting piece is only shown in Fig. 2
Point, the connection relationship of processing unit, controller and other parts can be learnt with reference to the prior art, therefore be not shown in the figure.
Specifically, the filming apparatus is fixed on the bracket position that patients head can be fully incorporated into field range
It sets；The clamping device is set to the robot end, and the order that the manipulator receives the controller controls the folder
It holds device clamping TMS coil and is placed in patients head, the processing unit is to the location information of patients head, the clamping device
Change in location information carries out the relative distance and angle that TMS coil is calculated for patients head in processing, the controller root
The manipulator activity is controlled according to the processing result of the processing unit, and then the gripping apparatus grips TMS coil is driven to set
In the correct position of patients head.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；And these are modified or replaceed, technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of efficient TMS resetting method, which comprises the following steps:
S01, operator open TMS treatment system, and after patient prepares in place, operator adjusts TMS coil, determine therapeutic target
Point, and relative distance and angle of the TMS coil for patients head when by being treated under software records for the first time；
S02, patient, using the location information of filming apparatus shooting patients head, pass through identification when carrying out TMS treatment next time
Algorithm obtains patients head for the relative distance and angle of filming apparatus；
S03, TMS coil is calculated by pre-set reference value for the relative distance and angle of filming apparatus；
S04, based on the patients head for filming apparatus relative distance and angle and TMS coil for filming apparatus
Relative distance and angle, TMS coil is calculated for the relative distance and angle of patients head；
S05, by current TMS coil for relative distance and angle and the relative distance that records when treating for the first time of patients head and
Angle is compared, if unanimously, starting current TMS treatment；If inconsistent, current TMS coil is adjusted for patient's head
The relative distance and angle in portion.
2. a kind of efficient TMS resetting method according to claim 1, which is characterized in that S02 further comprises:
Patient is allowed to keep head tranquil in the state of sitting or lying, filming apparatus, which is fixed to, can be fully incorporated into patients head visual field model
Enclose interior position.
3. a kind of efficient TMS resetting method according to claim 2, which is characterized in that S02 further comprises:
The depth information of patients head's location drawing picture is obtained by filming apparatus, and is calculated and suffered from according to the location drawing picture depth information of acquisition
Relative distance and angle of the person head for filming apparatus.
4. a kind of efficient TMS resetting method according to claim 1, which is characterized in that S03 further comprises:
TMS coil is connected by gripping apparatus grips, the clamping device with the filming apparatus, the TMS line of the gripping apparatus grips
The relative distance of the filming apparatus and the reference value of angle has been arranged in circle in advance, when the clamping device is mobile, institute
The TMS coil stated also changes the relative distance of the filming apparatus and the value of angle therewith, the relative distance and angle
The real-time value of degree is calculated according to pre-set reference value.
5. a kind of efficient TMS resetting method according to claim 1, which is characterized in that S05 further comprises:
The step of adjusting relative distance and angle of the TMS coil for patients head is complete by manual operation completion or by manipulator
At.
6. a kind of efficient TMS repeated positioning device is suitable for a kind of efficient resetting side TMS described in claim 1
Method characterized by comprising
Filming apparatus, for shooting the location information of patients head；
Bracket, for fixing the filming apparatus；
Clamping device, for clamping TMS coil；
Manipulator is connect with the clamping device, for adjusting relative distance and angle of the TMS coil for patients head
Degree；
Processing unit is connect with the filming apparatus and clamping device, the patients head sent for receiving the filming apparatus
Location information and carry out processing identification and obtain patients head for described in the relative distance and angle of the filming apparatus, reception
Simultaneously TMS coil is calculated for the relative distance and angle of the filming apparatus in the change in location information of clamping device, and
TMS coil is calculated for the relative distance and angle of patients head；
Controller is connect with the processing unit and manipulator, for receiving the processing result of the processing unit and according to institute
State the activity that processing result controls the manipulator.
7. a kind of efficient TMS repeated positioning device according to claim 6, which is characterized in that the filming apparatus is solid
Due to the position that patients head can be fully incorporated into field range on the bracket；The clamping device is set to the machinery
Hand end, the order that the manipulator receives the controller control the gripping apparatus grips TMS coil and are placed in patients head,
The processing unit carries out processing to the location information of patients head, the change in location information of the clamping device and is calculated
TMS coil is for the relative distance and angle of patients head, and the controller is according to the control of the processing result of the processing unit
The manipulator activity, and then the drive gripping apparatus grips TMS coil is placed in the correct position of patients head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811080822.XA CN109173062B (en) | 2018-09-17 | 2018-09-17 | Efficient TMS (TMS) repeated positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811080822.XA CN109173062B (en) | 2018-09-17 | 2018-09-17 | Efficient TMS (TMS) repeated positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109173062A true CN109173062A (en) | 2019-01-11 |
| CN109173062B CN109173062B (en) | 2022-03-22 |
Family
ID=64911560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811080822.XA Active CN109173062B (en) | 2018-09-17 | 2018-09-17 | Efficient TMS (TMS) repeated positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109173062B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110812700A (en) * | 2019-12-04 | 2020-02-21 | 麦克斯(郑州)医疗科技有限公司 | Device for repeatedly positioning transcranial magnetic stimulation coil and using method |
| WO2020062773A1 (en) * | 2018-09-27 | 2020-04-02 | 武汉资联虹康科技股份有限公司 | Tms positioning navigation method used for transcranial magnetic stimulation treatment |
| WO2020172781A1 (en) * | 2019-02-26 | 2020-09-03 | 武汉资联虹康科技股份有限公司 | Camera-based transcranial magnetic stimulation diagnosis and treatment navigation system |
| WO2020172782A1 (en) * | 2019-02-26 | 2020-09-03 | 武汉资联虹康科技股份有限公司 | Transcranial magnetic stimulation diagnosis and treatment detection system based on camera |
| CN113350698A (en) * | 2021-05-31 | 2021-09-07 | 四川大学华西医院 | Electromagnetic navigation system and method for TMS coil |
| EP4059566A1 (en) * | 2021-03-15 | 2022-09-21 | Nexstim Oyj | System for facilitating delivery of transcranial magnetic stimulation |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050148808A1 (en) * | 2004-01-06 | 2005-07-07 | Allan Cameron | Method and apparatus for coil positioning for TMS studies |
| WO2009036040A1 (en) * | 2007-09-10 | 2009-03-19 | Neostim, Inc. | Automated movement of electromagnets tracking eccentricity of the head |
| US20090227830A1 (en) * | 2008-03-10 | 2009-09-10 | Neuronetics, Inc. | Apparatus for coil positioning for tms studies |
| US20100113959A1 (en) * | 2006-03-07 | 2010-05-06 | Beth Israel Deaconess Medical Center, Inc. | Transcranial magnetic stimulation (tms) methods and apparatus |
| US20100185042A1 (en) * | 2007-08-05 | 2010-07-22 | Schneider M Bret | Control and coordination of transcranial magnetic stimulation electromagnets for modulation of deep brain targets |
| US20140046114A1 (en) * | 2011-04-28 | 2014-02-13 | Teijin Pharma Limited | Therapeutic electromagnetic stimulation device and method of generating custom data pairs used in said device |
| KR20140034970A (en) * | 2012-09-11 | 2014-03-21 | 한국산업기술대학교산학협력단 | Stereo camera device for transcranial magnetic stimulation to adjust a viewing angle |
| EP2982412A1 (en) * | 2013-04-02 | 2016-02-10 | Teijin Pharma Limited | Head positioning device, medical system, medical instrument positioning device, and holding shell |
| CN105617532A (en) * | 2016-02-16 | 2016-06-01 | 深圳英智科技有限公司 | TMS (transcranial magnetic stimulation) positioning method and system |
| CN106110507A (en) * | 2016-07-26 | 2016-11-16 | 沈阳爱锐宝科技有限公司 | The navigation positional device of a kind of transcranial magnetic stimulation device and localization method |
| CN107497049A (en) * | 2017-09-30 | 2017-12-22 | 武汉资联虹康科技股份有限公司 | A kind of electromagnetic location air navigation aid and device for transcranial magnetic stimulation device |
| US20170372006A1 (en) * | 2014-02-10 | 2017-12-28 | Neuronetics, Inc. | Head modeling for a therapeutic or diagnostic procedure |
| CN107907107A (en) * | 2017-11-03 | 2018-04-13 | 武汉资联虹康科技股份有限公司 | A kind of bat alignment system and method based on TMS navigation |
| CN108187230A (en) * | 2018-01-29 | 2018-06-22 | 上海理禾医疗技术有限公司 | Transcranial magnetic stimulation navigator fix robot system and localization method |
| US10004915B2 (en) * | 2011-10-24 | 2018-06-26 | Teijin Pharma Limited | Transcranial magnetic stimulation system |
-
2018
- 2018-09-17 CN CN201811080822.XA patent/CN109173062B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050148808A1 (en) * | 2004-01-06 | 2005-07-07 | Allan Cameron | Method and apparatus for coil positioning for TMS studies |
| US20100113959A1 (en) * | 2006-03-07 | 2010-05-06 | Beth Israel Deaconess Medical Center, Inc. | Transcranial magnetic stimulation (tms) methods and apparatus |
| US20100185042A1 (en) * | 2007-08-05 | 2010-07-22 | Schneider M Bret | Control and coordination of transcranial magnetic stimulation electromagnets for modulation of deep brain targets |
| WO2009036040A1 (en) * | 2007-09-10 | 2009-03-19 | Neostim, Inc. | Automated movement of electromagnets tracking eccentricity of the head |
| US20090227830A1 (en) * | 2008-03-10 | 2009-09-10 | Neuronetics, Inc. | Apparatus for coil positioning for tms studies |
| US20140046114A1 (en) * | 2011-04-28 | 2014-02-13 | Teijin Pharma Limited | Therapeutic electromagnetic stimulation device and method of generating custom data pairs used in said device |
| US10004915B2 (en) * | 2011-10-24 | 2018-06-26 | Teijin Pharma Limited | Transcranial magnetic stimulation system |
| KR20140034970A (en) * | 2012-09-11 | 2014-03-21 | 한국산업기술대학교산학협력단 | Stereo camera device for transcranial magnetic stimulation to adjust a viewing angle |
| EP2982412A1 (en) * | 2013-04-02 | 2016-02-10 | Teijin Pharma Limited | Head positioning device, medical system, medical instrument positioning device, and holding shell |
| US20170372006A1 (en) * | 2014-02-10 | 2017-12-28 | Neuronetics, Inc. | Head modeling for a therapeutic or diagnostic procedure |
| CN105617532A (en) * | 2016-02-16 | 2016-06-01 | 深圳英智科技有限公司 | TMS (transcranial magnetic stimulation) positioning method and system |
| CN106110507A (en) * | 2016-07-26 | 2016-11-16 | 沈阳爱锐宝科技有限公司 | The navigation positional device of a kind of transcranial magnetic stimulation device and localization method |
| CN107497049A (en) * | 2017-09-30 | 2017-12-22 | 武汉资联虹康科技股份有限公司 | A kind of electromagnetic location air navigation aid and device for transcranial magnetic stimulation device |
| CN107907107A (en) * | 2017-11-03 | 2018-04-13 | 武汉资联虹康科技股份有限公司 | A kind of bat alignment system and method based on TMS navigation |
| CN108187230A (en) * | 2018-01-29 | 2018-06-22 | 上海理禾医疗技术有限公司 | Transcranial magnetic stimulation navigator fix robot system and localization method |
Non-Patent Citations (1)
| Title |
|---|
| 万振宽: "重复经颅磁刺激（含定位导航系统）技术及临床应用", 《中国医疗设备》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020062773A1 (en) * | 2018-09-27 | 2020-04-02 | 武汉资联虹康科技股份有限公司 | Tms positioning navigation method used for transcranial magnetic stimulation treatment |
| WO2020172781A1 (en) * | 2019-02-26 | 2020-09-03 | 武汉资联虹康科技股份有限公司 | Camera-based transcranial magnetic stimulation diagnosis and treatment navigation system |
| WO2020172782A1 (en) * | 2019-02-26 | 2020-09-03 | 武汉资联虹康科技股份有限公司 | Transcranial magnetic stimulation diagnosis and treatment detection system based on camera |
| CN110812700A (en) * | 2019-12-04 | 2020-02-21 | 麦克斯(郑州)医疗科技有限公司 | Device for repeatedly positioning transcranial magnetic stimulation coil and using method |
| EP4059566A1 (en) * | 2021-03-15 | 2022-09-21 | Nexstim Oyj | System for facilitating delivery of transcranial magnetic stimulation |
| CN113350698A (en) * | 2021-05-31 | 2021-09-07 | 四川大学华西医院 | Electromagnetic navigation system and method for TMS coil |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109173062B (en) | 2022-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109173062A (en) | A kind of efficient TMS resetting method | |
| EP3858432B1 (en) | Transcranial magnetic stimulation-based diagnosis and treatment apparatus | |
| CN211357457U (en) | Magnetic stimulation system based on multi-axis robot visual dynamic tracking | |
| US9370658B2 (en) | System and a method for transcranial stimulation of a head region of a subject | |
| CN110896609A (en) | TMS positioning navigation method for transcranial magnetic stimulation treatment | |
| CN110300993A (en) | A kind of camera system for transcranial magnetic stimulation diagnosis and treatment | |
| CN110782982B (en) | Human body meridian path method based on two-dimensional code | |
| US20190290928A1 (en) | Apparatus and method for determining a desired coil position for magnetic stimulation | |
| CN107497049A (en) | A kind of electromagnetic location air navigation aid and device for transcranial magnetic stimulation device | |
| CN107875526B (en) | Accurate control method of radiotherapy instrument in self-adaptive radiotherapy of eye tumor | |
| CN111513850B (en) | Guide device, puncture needle adjustment method, storage medium, and electronic apparatus | |
| WO2020172781A1 (en) | Camera-based transcranial magnetic stimulation diagnosis and treatment navigation system | |
| JP2013517915A (en) | Local adjustment device for radiation therapy | |
| CN112057326B (en) | Probe mirror image device for meridian conditioning system and algorithm thereof | |
| US20150031932A1 (en) | Method to Accurately and Rapidly Locate Tumor | |
| KR20200143728A (en) | Method for positioning and orienting portable systems and remote objects | |
| CN115919472B (en) | Mechanical arm positioning method and related system, device, equipment and medium | |
| CN107648734B (en) | Magnetic stimulation coil positioning device | |
| CN110382046A (en) | A kind of transcranial magnetic stimulation diagnosis and treatment detection system based on camera | |
| JPWO2015098155A1 (en) | Operation teaching device and transcranial magnetic stimulation device | |
| CN105268119B (en) | A kind of radiotherapy unit | |
| CN111785349A (en) | Method for tracking tumor position change in radiotherapy process | |
| WO2023030035A1 (en) | Dynamic picture dynamic display method for position of mechanical arm and control terminal | |
| WO2016121067A1 (en) | Radiotherapy device control apparatus and control method | |
| CN214713838U (en) | Control system for image-guided radiotherapy apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |