CN109173062B - Efficient TMS (TMS) repeated positioning method - Google Patents
Efficient TMS (TMS) repeated positioning method Download PDFInfo
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- CN109173062B CN109173062B CN201811080822.XA CN201811080822A CN109173062B CN 109173062 B CN109173062 B CN 109173062B CN 201811080822 A CN201811080822 A CN 201811080822A CN 109173062 B CN109173062 B CN 109173062B
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- 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
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- 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 invention provides an efficient TMS repeated positioning method, which comprises the following steps: determining a treatment target point, and recording the relative distance and angle of the TMS coil to the head of the patient during the first treatment; obtaining the relative distance and angle of the head of the patient to the shooting device; calculating to obtain the relative distance and angle of the TMS coil to the shooting device; calculating to obtain the relative distance and angle of the TMS coil to the head of the patient; comparing the relative distance and the angle recorded during the first treatment, and starting the current TMS treatment if the relative distance and the angle are consistent; and if the TMS coil is not consistent with the TMS coil, adjusting the relative distance and angle of the current TMS coil to the head of the patient. Based on a face recognition algorithm, the relative positions of the TMS coil and the head of the patient are obtained in a mode of combining a mechanical arm with a shooting device, and the relative positions are compared with the relative positions recorded during the first treatment to repeatedly position the TMS coil, so that the TMS repeated positioning accuracy is improved, and the TMS repeated positioning time is shortened.
Description
Technical Field
The invention relates to the technical field of TMS treatment, in particular to an efficient TMS repeated positioning method.
Background
The TMS technology is a physical diagnosis and treatment technology widely applied to the field of mental rehabilitation and nerve regulation and control worldwide at present, and a pulse magnetic field is generated by using a conductive coil to treat a patient. Conventional TMS treatment modalities typically include the following steps: the operator finds the treatment target area on the head of the patient (positioning by experience); placing the TMS coil on the area to ensure that the center of the coil is opposite to the target point and the plane of the coil is tangent to the scalp; clamping and fixing the TMS coil by using a mechanical device; TMS was started and treatment was started.
Because TMS treatment usually requires a long time, the target points positioned purely by experience and memory cannot ensure the accuracy of each treatment according to the treatment course. It is common for patients to have different target positions for each treatment, and because of the fading characteristics of the magnetic field and the small effective target area, the therapeutic effect of TMS treatment is greatly compromised if the accuracy of the target for treatment is not guaranteed. Therefore, it is necessary to find a method to ensure the accuracy of the target point.
The problem of accurate and repeated TMS localization is studied worldwide, but other methods are mostly infrared localization methods based on photospheres at present. In the method, a special light guide ball must be worn on a patient and a TMS coil during each positioning, and the positioning is carried out according to the relative position of the light guide ball in an infrared shooting device. The method is inconvenient to operate and inefficient because the position of wearing each time is not fixed, and a special positioning pen is additionally used for determining the relative position of the photosphere and the head of a person through complex positioning, so that the time for wearing and positioning the photosphere is about 30 minutes per person in the infrared positioning method based on the photosphere currently used, and the current positioning method is not suitable for efficient repeated positioning of TMS because only 10-20 minutes is needed for one TMS treatment.
Chinese patent application No. 2017207206945 discloses a transcranial magnetic stimulation treatment device, including TMS coil, support, arm, controller and positioner, its positioner can detect the accurate position of human head to control the arm and fix a position the TMS coil to human head accurately, reduce manual operation, but its shortcoming only relies on the position that the camera obtained patient head and TMS coil, and the degree of accuracy of repeated positioning is lower, can't guarantee the accuracy nature of treatment at every turn.
Therefore, an efficient TMS repeated positioning method is urgently needed to be provided, the light guide ball is not needed to be worn for positioning, and the accuracy of the target point during each treatment can be guaranteed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an efficient TMS repeated positioning method, which is based on a face recognition algorithm, obtains the relative position of a TMS coil and the head of a patient in a mode of combining a mechanical arm with a shooting device, and repeatedly positions the TMS coil by comparing the relative position with the relative position recorded in the first treatment in the subsequent repeated treatment, so that the TMS repeated positioning accuracy is improved, the TMS repeated positioning time is shortened, the operation is simple, the practicability is strong, and the TMS treatment efficiency is greatly improved.
The invention is realized by the following technical scheme:
an efficient TMS repeated positioning method comprises the following steps:
s01, an operator opens the TMS treatment system, after the patient is ready to be in place, the operator adjusts the TMS coil to determine a treatment target point, and records the relative distance and angle of the TMS coil to the head of the patient during the first treatment through software;
s02, when the patient carries out TMS treatment for the next time, the position information of the head of the patient is shot by the shooting device, and the relative distance and the angle of the head of the patient to the shooting device are obtained through a recognition algorithm;
s03, calculating the relative distance and angle of the TMS coil to the shooting device through a preset reference value;
s04, calculating the relative distance and angle of the TMS coil to the head of the patient based on the relative distance and angle of the head of the patient to the shooting device and the relative distance and angle of the TMS coil to the shooting device;
s05, comparing the relative distance and angle of the current TMS coil to the head of the patient with the relative distance and angle recorded during the first treatment, and starting the current TMS treatment if the relative distance and angle are consistent with the relative distance and angle recorded during the first treatment; and if the TMS coil is not consistent with the TMS coil, adjusting the relative distance and angle of the current TMS coil to the head of the patient.
Preferably, S02 further includes: the head of the patient is kept calm in a sitting or lying state, and the shooting device is fixed to a position capable of completely bringing the head of the patient into a visual field.
Preferably, S02 further includes: the depth information of the head position image of the patient is acquired through the shooting device, and the relative distance and the angle of the head of the patient to the shooting device are calculated according to the acquired position image depth information.
Preferably, S03 further includes: the TMS coil is clamped by a clamping device, the clamping device is connected with the shooting device, the TMS coil clamped by the clamping device is preset for the reference values of the relative distance and the angle of the shooting device, when the clamping device moves, the relative distance and the angle of the TMS coil to the shooting device are changed accordingly, and the real-time values of the relative distance and the angle are calculated according to the preset reference values.
Preferably, S05 further includes: the step of adjusting the relative distance and angle of the TMS coil to the patient's head is done by manual operation or by a robotic arm.
An efficient TMS repositioning device comprising:
a photographing device for photographing position information of a head of a patient;
the bracket is used for fixing the shooting device;
the clamping device is used for clamping the TMS coil;
the manipulator is connected with the clamping device and is used for adjusting the relative distance and angle of the TMS coil to the head of the patient;
the processing device is connected with the shooting device and the clamping device and used for receiving the position information of the head of the patient sent by the shooting device, processing and identifying the position information to obtain the relative distance and angle of the head of the patient to the shooting device, receiving the position change information of the clamping device, calculating to obtain the relative distance and angle of the TMS coil to the shooting device, and calculating to obtain the relative distance and angle of the TMS coil to the head of the patient;
and the controller is connected with the processing device and the manipulator and is used for receiving the processing result of the processing device and controlling the movement of the manipulator according to the processing result.
Preferably, the shooting device is fixed on the bracket at a position which can completely bring the head of the patient into the visual field range; the clamping device is arranged at the end part of the manipulator, the manipulator receives the command of the controller to control the clamping device to clamp the TMS coil and arrange the TMS coil on the head of the patient, the processing device processes and calculates the position information of the head of the patient and the position change information of the clamping device to obtain the relative distance and the angle of the TMS coil on the head of the patient, and the controller controls the movement of the manipulator according to the processing result of the processing device so as to drive the clamping device to clamp the TMS coil and arrange the TMS coil on the correct position of the head of the patient.
Compared with the prior art, the method has the advantages that 1) the method directly obtains the position information of the head of the patient to the shooting device by using the face recognition algorithm, the position information comprises the relative distance and the angle of the head of the patient to the shooting device, the obtaining mode is fast and direct, and the position information obtained after the processing of the face recognition algorithm is more accurate; 2) compared with the conventional mode of acquiring the relative position by only depending on a shooting device, the method acquires the relative position of the TMS coil to the head of the patient in a mode of combining the manipulator with the shooting device, can repeatedly position the TMS coil without configuring an additional positioning auxiliary device for the TMS coil, improves the accuracy of the repeated positioning of the TMS, and simultaneously improves the effectiveness of TMS treatment; 3) the TMS repeated positioning method avoids the use of positioning auxiliary equipment such as a light guide ball, has lower cost and simpler and more convenient operation, completely eliminates the time for wearing and positioning the light guide ball, greatly improves the TMS treatment efficiency and is beneficial to the further development and application of TMS treatment.
Drawings
Fig. 1 is a flow diagram of an efficient TMS relocation method, in accordance with an embodiment;
fig. 2 is a schematic diagram of an efficient TMS repositioning device, in accordance with an embodiment;
FIG. 3 is a schematic representation of a spatial coordinate system constructed in the present invention according to an embodiment;
in the figure: 1. a photographing device; 2. a support; 3. a clamping device; 4. a manipulator; 5. a TMS coil; 6. the head of the patient.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
The invention provides an efficient TMS repeated positioning method, which comprises the following steps as shown in the attached drawing:
an efficient TMS repeated positioning method comprises the following steps:
s01, an operator opens the TMS treatment system, after the patient is ready to be in place, the operator adjusts the TMS coil to determine a treatment target point, and records the relative distance and angle of the TMS coil to the head of the patient during the first treatment through software; the recorded relative distance and angle of the TMS coil to the head of the patient are reference values for comparison during subsequent TMS repeated positioning;
s02, when the patient carries out TMS treatment for the next time, the position information of the head of the patient is shot by the shooting device, and the relative distance and the angle of the head of the patient to the shooting device are obtained through a recognition algorithm; further comprising: keeping the head of a patient calm in a lying state, fixing a shooting device to a position capable of completely bringing the head of the patient into a visual field range, acquiring depth information of a head position image of the patient through the shooting device, wherein the depth information comprises human face features such as a nose tip, a nose root, an eye corner, a mouth corner, eyebrows and the like, and calculating the relative distance and angle of the head of the patient to the shooting device according to the acquired position image depth information;
specifically, the step of calculating the relative distance and angle of the patient's head to the camera further comprises: firstly, a space coordinate system is constructed, a head model of a person is constructed by utilizing facial feature points (nose tip, nose root, eye corner, mouth corner, eyebrow and the like) of the person according to the existing method, then the obtained head image of the patient is mapped onto the head model, and each facial feature point respectively corresponds to a feature point on the head model; as shown in fig. 3, on the head model, a plane is created by using three points of the human left eye external canthus (point a), the human right eye external canthus (point B) and the nose tip (point C), the midpoint O point of the point a and the point B is used as the origin of a coordinate system, the direction perpendicular to the plane is a Z axis, the direction of the connecting line of the point a and the point B is an X axis, and the direction of the connecting line of the point C and the point O is used as a Y axis, and a spatial coordinate system based on the human face is constructed, wherein the X axis is perpendicular to the Y axis; in the space coordinate system, the coordinates of the point A, the point B and the point C are known, the relative distance of the head of the patient to the shooting device is obtained by calculating a connecting line from the origin of the coordinate system to the shooting device, and then included angles alpha, beta and gamma between the connecting line from the origin to the shooting device and an X axis, a Y axis and a Z axis are respectively calculated, so that the angle (rx, ry and rz) of the head of the patient to the shooting device can be obtained, and specifically, an infrared camera is selected as the shooting device;
s03, calculating the relative distance and angle of the TMS coil to the shooting device through a preset reference value; further comprising: the TMS coil is clamped by a clamping device, the clamping device is connected with the shooting device, the clamping device is arranged on a movable manipulator, the manipulator has a preset moving range, the position of the clamping device changes along with the movement of the manipulator, and the relative distance and the angle of the TMS coil clamped by the clamping device to the shooting device also change; the relative distance and the reference value of the TMS coil clamped by the clamping device to the shooting device are preset and stored, and when the clamping device moves a certain distance or rotates an angle, the actual relative distance and the actual angle of the current clamping device to the shooting device can be calculated through the preset and stored reference values, so that the relative distance and the angle of the TMS coil clamped by the clamping device to the shooting device are obtained;
specifically, the relative distance and angle of the clamping device to a certain fixed point are set when a product is shipped, the clamping device and the TMS coil clamped by the clamping device can be considered as a whole, the relative distance and angle are known in advance, and in actual use, the relative distance and angle of the clamping device to the shooting device can be obtained by adjusting the position of the shooting device arranged at the fixed point, namely the relative distance and angle of the TMS coil clamped by the clamping device to the shooting device;
s04, calculating the relative distance and angle of the TMS coil to the head of the patient based on the relative distance and angle of the head of the patient to the shooting device and the relative distance and angle of the TMS coil to the shooting device; specifically, under the condition that the relative distance and the angle of the head of the patient to the shooting device and the relative distance and the angle of the clamping device to the shooting device are both known, the relative distance and the angle of the current TMS coil to the head of the patient are calculated in real time;
specifically, the head of the patient, the shooting device and the TMS coil clamped by the clamping device are considered as three points in space, a space coordinate axis is constructed by taking the head of the patient as a coordinate origin in combination with the above description, and the relative distance and angle of the head of the patient to the shooting device and the relative distance and angle of the TMS coil to the shooting device are calculated, so that the relative distance and angle of the TMS coil to the head of the patient can be calculated; in practical use, the calculation processes are realized through a computer program, and the calculation is accurate and efficient;
s05, comparing the relative distance and angle of the current TMS coil to the head of the patient with the relative distance and angle recorded during the first treatment, and starting the current TMS treatment if the relative distance and angle are consistent with the relative distance and angle recorded during the first treatment; and if the relative distance and the angle of the TMS coil to the head of the patient are not consistent, adjusting the relative distance and the angle of the TMS coil to the head of the patient, and finishing the step of adjusting the relative distance and the angle of the TMS coil to the head of the patient through manual operation or finishing the step through a manipulator.
In the efficient TMS repeated positioning method, an operator determines a target point for the first TMS treatment according to experience, and records the relative distance and the angle of the corresponding TMS coil to the head of a patient by software; when TMS treatment is carried out next time, firstly fixing a shooting device at a position which can completely bring the head of a patient into the visual field of the patient, and acquiring the relative position of the head of the patient to the shooting device by using a face recognition algorithm, wherein the relative position comprises a relative distance and an angle; then, a TMS coil is clamped by a clamping device, the clamping device for clamping the TMS coil is connected with a shooting device, the relative distance and the angle of the clamping device to the shooting device are obtained through calculation, the reference values for the relative distance and angle are preset, and during the subsequent movement of the gripping means with the robot, the actual moving distance and the rotating angle can be calculated by preset reference values, for example, the clamping device rotates for one circle, the angle of the corresponding clamping device to the shooting device changes by 5 degrees or-5 degrees, or the clamping device moves for a certain distance, the relative distance of the corresponding clamping device to the shooting device is increased or decreased by a reference distance, and the relative distance and the angle of the current TMS coil to the shooting device can be calculated in real time by using the preset reference values; and finally, calculating the relative position of the TMS coil to the head of the patient by utilizing the relative position of the head of the patient to the shooting device and the relative position of the TMS coil to the shooting device, comparing the current relative position of the TMS coil to the head of the patient with the recorded relative position for the first treatment, carrying out the TMS treatment if the relative positions are consistent, and adjusting the moving range of the manipulator if the relative positions are inconsistent, so that the current relative position is consistent with the recorded relative position, thereby ensuring that the TMS coil can treat the same position of the head of the patient during each treatment and improving the effectiveness of the TMS treatment.
As another technical solution of the present invention, there is also provided an efficient TMS repositioning device, as shown in the attached drawings, comprising:
a photographing device for photographing position information of a head of a patient; the shooting device comprises a camera;
the bracket is used for fixing the shooting device;
the clamping device is used for clamping the TMS coil;
the manipulator is connected with the clamping device and is used for adjusting the relative distance and angle of the TMS coil to the head of the patient;
the processing device is connected with the shooting device and the clamping device and used for receiving the position information of the head of the patient sent by the shooting device, processing and identifying the position information to obtain the relative distance and angle of the head of the patient to the shooting device, receiving the position change information of the clamping device, calculating to obtain the relative distance and angle of the TMS coil to the shooting device, and calculating to obtain the relative distance and angle of the TMS coil to the head of the patient;
and the controller is connected with the processing device and the manipulator and is used for receiving the processing result of the processing device and controlling the movement of the manipulator according to the processing result. For convenience of illustration, only the main mechanical connection parts are shown in fig. 2, and the connection relationship between the processing device and the controller and other parts can be known by referring to the prior art, so that the connection relationship is not shown in the figure.
Specifically, the shooting device is fixed on the bracket at a position which can completely bring the head of the patient into the visual field range; the clamping device is arranged at the end part of the manipulator, the manipulator receives the command of the controller to control the clamping device to clamp the TMS coil and arrange the TMS coil on the head of the patient, the processing device processes and calculates the position information of the head of the patient and the position change information of the clamping device to obtain the relative distance and the angle of the TMS coil on the head of the patient, and the controller controls the movement of the manipulator according to the processing result of the processing device so as to drive the clamping device to clamp the TMS coil and arrange the TMS coil on the correct position of the head of the patient.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (4)
1. An efficient TMS repeated positioning method is characterized in that,
the method comprises the following steps:
s01, an operator opens the TMS treatment system, after the patient is ready to be in place, the operator adjusts the TMS coil to determine a treatment target point, and records the relative distance and angle of the TMS coil to the head of the patient during the first treatment through software;
s02, when the patient carries out TMS treatment for the next time, the position information of the head of the patient is shot by the shooting device, and the relative distance and the angle of the head of the patient to the shooting device are obtained through a recognition algorithm; further comprising: keeping the head of a patient calm in a lying state, fixing a shooting device to a position capable of completely bringing the head of the patient into a visual field range, acquiring depth information of a head position image of the patient through the shooting device, wherein the depth information comprises face and facial features, and calculating the relative distance and angle of the head of the patient to the shooting device according to the acquired depth information of the position image;
the step of calculating the relative distance and angle of the patient's head to the camera further comprises: firstly, a space coordinate system is established, a head model of a person is established by utilizing facial feature points of the person, then the obtained head image of the patient is mapped to the head model, and each facial feature point corresponds to a feature point on the head model; the relative distance between the head of the patient and the shooting device is obtained by calculating a connecting line from the origin of the coordinate system to the shooting device, and then included angles between the connecting line from the origin to the shooting device and the X axis, the Y axis and the Z axis of the coordinate system are respectively calculated to obtain the angle between the head of the patient and the shooting device;
s03, calculating the relative distance and angle of the TMS coil to the shooting device through a preset reference value;
s04, calculating the relative distance and angle of the TMS coil to the head of the patient based on the relative distance and angle of the head of the patient to the shooting device and the relative distance and angle of the TMS coil to the shooting device;
s05, comparing the relative distance and angle of the current TMS coil to the head of the patient with the relative distance and angle recorded during the first treatment, and starting the current TMS treatment if the relative distance and angle are consistent with the relative distance and angle recorded during the first treatment; and if the TMS coil is not consistent with the TMS coil, adjusting the relative distance and angle of the current TMS coil to the head of the patient.
2. An efficient TMS re-localization method according to claim 1,
s03 further includes: the TMS coil is clamped by a clamping device, the clamping device is connected with the shooting device, the TMS coil clamped by the clamping device is preset for the reference values of the relative distance and the angle of the shooting device, when the clamping device moves, the relative distance and the angle of the TMS coil to the shooting device are changed accordingly, and the real-time values of the relative distance and the angle are calculated according to the preset reference values.
3. An efficient TMS re-localization method according to claim 1,
s05 further includes: the step of adjusting the relative distance and angle of the TMS coil to the patient's head is done by manual operation or by a robotic arm.
4. An efficient TMS repositioning device, which is suitable for the efficient TMS repositioning method of claim 1,
the method comprises the following steps:
a photographing device for photographing position information of a head of a patient; the shooting device is fixed on the bracket and can completely bring the head of the patient into the visual field range;
the bracket is used for fixing the shooting device;
the clamping device is used for clamping the TMS coil;
the end part of the manipulator is connected with the clamping device and is used for receiving a command of the controller to control the clamping device to clamp the TMS coil to the head of the patient and adjust the relative distance and angle of the TMS coil to the head of the patient;
the processing device is connected with the shooting device and the clamping device and used for receiving the position information of the head of the patient sent by the shooting device, processing and identifying the position information to obtain the relative distance and angle of the head of the patient to the shooting device, receiving the position change information of the clamping device, calculating to obtain the relative distance and angle of the TMS coil to the shooting device, and calculating to obtain the relative distance and angle of the TMS coil to the head of the patient; wherein, the method for receiving the position information of the head of the patient sent by the shooting device, processing and identifying the position information to obtain the relative distance and angle of the head of the patient to the shooting device further comprises the following steps: keeping the head of a patient calm in a lying state, fixing a shooting device to a position capable of completely bringing the head of the patient into a visual field range, acquiring depth information of a head position image of the patient through the shooting device, wherein the depth information comprises face and facial features, and calculating the relative distance and angle of the head of the patient to the shooting device according to the acquired depth information of the position image;
the step of calculating the relative distance and angle of the patient's head to the camera further comprises: firstly, a space coordinate system is established, a head model of a person is established by utilizing facial feature points of the person, then the obtained head image of the patient is mapped to the head model, and each facial feature point corresponds to a feature point on the head model; the relative distance between the head of the patient and the shooting device is obtained by calculating a connecting line from the origin of the coordinate system to the shooting device, and then included angles between the connecting line from the origin to the shooting device and the X axis, the Y axis and the Z axis of the coordinate system are respectively calculated to obtain the angle between the head of the patient and the shooting device;
and the controller is connected with the processing device and the manipulator and is used for receiving the processing result of the processing device and controlling the movement of the manipulator according to the processing result.
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| CN109260593B (en) * | 2018-09-27 | 2020-09-08 | 武汉资联虹康科技股份有限公司 | Transcranial magnetic stimulation treatment method and equipment |
| 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 |
| FI130569B (en) * | 2021-03-15 | 2023-11-21 | Nexstim Oyj | System and method 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 |
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