CN110639127A - Transcranial magnetic stimulation system - Google Patents
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- CN110639127A CN110639127A CN201910918004.0A CN201910918004A CN110639127A CN 110639127 A CN110639127 A CN 110639127A CN 201910918004 A CN201910918004 A CN 201910918004A CN 110639127 A CN110639127 A CN 110639127A
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- A—HUMAN NECESSITIES
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- 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
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- A61B5/369—Electroencephalography [EEG]
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- A61B5/316—Modalities, i.e. specific diagnostic methods
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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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Abstract
The invention provides a transcranial magnetic stimulation system, which comprises: the detection module is used for detecting electroencephalogram signals and electromyogram signals of a patient in real time; the transcranial magnetic stimulation device is used for analyzing electroencephalogram and electromyogram signals in real time, calculating the optimal detected or treated part, and performing magnetic stimulation on the treated part; the mechanical arm is connected with the transcranial magnetic stimulation device and is used for driving the transcranial magnetic stimulation device to move; the navigation module is used for acquiring a first position of the transcranial magnetic stimulation device and a second position of the treated part in real time; a control module to: and controlling the mechanical arm to move to enable the first position and the second position to meet preset conditions, and then controlling to start the transcranial magnetic stimulation device. The transcranial magnetic stimulation system disclosed by the invention does not need manual operation in the whole detection and treatment process, can realize full-automatic TMS detection and treatment, is accurate in position, and ensures the detection and treatment effects.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a transcranial magnetic stimulation system.
Background
Transcranial Magnetic Stimulation (TMS for short) is a Magnetic Stimulation technique, and the principle is as follows: the time-varying magnetic field acts on cerebral cortex, and the induced current changes the action potential of cortical nerve cells, thereby influencing intracerebral metabolism and nerve activity.
Transcranial magnetic stimulation technology has found a range of applications in epilepsy, depression and other neurological or psychiatric disorders as a painless, non-invasive, and effective clinical test and treatment. The Chinese reports show that TMS has better effects in the rehabilitation after cerebral apoplexy and the dysfunction treatment in the aspects of language, cognition, movement, emotion and the like after the craniocerebral injury treatment. However, clinical application of transcranial magnetic stimulation technology is in the stages of popularization, application, exploration and excavation in China and even internationally, and currently, the technology is only one corner of iceberg with value potential, and more application potentials are worthy of discussion and discovery. The TMS detection and treatment is to place a magnetic stimulation coil at a position corresponding to the head of a patient for magnetic stimulation detection and treatment. If the patient slightly changes the posture, the magnetic stimulation coil needs to be readjusted, and the magnetic stimulation coil is generally more than 2kg, which causes difficulty for the operation of a doctor, is complicated and not practical, and greatly influences the stimulation effect due to the position deviation.
TMS detection and treatment need set the position of detection or treatment according to the disease condition of detection or treatment, if the position of detection or treatment has the deviation, just can not play the effect of giving medicine to the symptom, and the brain that the brain function is complicated different divides the work of a worker clear, therefore still probably shines unnecessary or bad influence, so the precision of transcranial magnetic stimulation target area, the influence of the precision of focal zone is very big to the treatment effect.
Therefore, the prior art has yet to be developed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a transcranial magnetic stimulation system, and aims to solve the problems that a stimulation target point is difficult to determine, the position of the conventional transcranial magnetic stimulation device cannot be adjusted in real time, and the operation is inconvenient to adjust.
To solve the above technical problem, the present invention is achieved as a transcranial magnetic stimulation system, comprising:
the detection module is used for detecting electroencephalogram signals and electromyogram signals of a patient in real time;
the transcranial magnetic stimulation device is used for analyzing the electroencephalogram signals and the electromyogram signals in real time, calculating the optimal detected or treated part, and performing magnetic stimulation on the detected or treated part;
the mechanical arm is connected with the transcranial magnetic stimulation device and is used for driving the transcranial magnetic stimulation device to move;
the navigation module is used for acquiring a first position of the transcranial magnetic stimulation device and a second position of the detected or treated part in real time;
a control module to: and controlling the mechanical arm to move to enable the first position and the second position to meet preset conditions, and then controlling to start the transcranial magnetic stimulation device.
Further, a first target is arranged on the transcranial magnetic stimulation device and used for the navigation module to acquire a first position of the transcranial magnetic stimulation device in real time; the detected or treated part is provided with a second target which is used for acquiring a second position of the detected or treated part in real time by the navigation module.
Further, the detection module includes:
the multi-channel electroencephalogram acquisition amplifier is used for acquiring electroencephalogram signals;
and the synchronization and trigger module is used for synchronizing the magnetic stimulation pulse with the electroencephalogram and myoelectric signals and providing a basis for signal analysis and processing.
Further, the first target and the second target are mutually matched alignment marks, and the navigation module comprises:
the first image acquisition unit is used for acquiring an image of the first target;
and the second image acquisition unit is used for acquiring an image of the second target.
Further, the matching alignment marks are: the solid circle and the hollow circle, the hollow circle and the cross mark, and the solid circle and the cross mark are combined.
Further, the control module is configured to: and controlling the mechanical arm to move, enabling the offset distance after the image of the first target and the image of the second target are aligned to be within an offset tolerance range, and then controlling to start the transcranial magnetic stimulation device.
Further, the navigation module includes:
a first coordinate obtaining unit, configured to obtain a first spatial coordinate of the first target;
and the second coordinate acquisition unit is used for acquiring a second space coordinate of the second target.
Further, the transcranial magnetic stimulation system further comprises:
the timing module is used for recording the running time of the transcranial magnetic stimulation device;
the control module is further configured to: and when the running time of the transcranial magnetic stimulation device reaches the preset time, closing the transcranial magnetic stimulation device.
Compared with the prior art, the invention has the beneficial effects that: according to the transcranial magnetic stimulation system, in the whole treatment process, the transcranial magnetic stimulation device obtains the optimal first position by analyzing the electroencephalogram signals and the electromyogram signals collected by the detection module, the navigation module detects the first position of the transcranial magnetic stimulation device and the second position of the treated part in real time, timely and automatically adjusts and corrects the first position and the second position, manual operation is not needed, full-automatic TMS detection and treatment can be achieved, the position is accurate, and the detection and treatment effects are guaranteed.
Drawings
Fig. 1 is a diagram of an embodiment of a transcranial magnetic stimulation system of the present invention.
Fig. 2 is a functional schematic diagram of a transcranial magnetic stimulation system corresponding to fig. 1.
Fig. 3 is a diagram of a transcranial magnetic stimulation device embodiment.
FIG. 4 is a diagram of one embodiment of a navigation module of the present invention.
Fig. 5 is a diagram of an embodiment of matching alignment marks according to the present invention.
FIG. 6 is a diagram of another embodiment of a navigation module of the present invention.
FIG. 7 is a diagram of one embodiment of a detection module of the present invention.
Fig. 8 is a diagram of another embodiment of a transcranial magnetic stimulation system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
TMS detection and treatment need to determine a stimulation target area according to detection contents and treatment symptoms, and meanwhile, the positioning precision of a target point in the detection and treatment process needs to be ensured, because the positioning inaccuracy can reduce the detection accuracy and greatly reduce the treatment effect. In the process of detection and treatment, the patient is difficult to keep unchanged posture. Therefore, the invention provides a transcranial magnetic stimulation system, which can automatically optimize a stimulation target point by analyzing the collected electroencephalogram signals and electromyogram signals and can ensure that a TMS device tracks and aims at the target point in real time.
The present invention provides an embodiment of a transcranial magnetic stimulation system as shown in fig. 1, comprising:
the transcranial magnetic stimulation device 1 analyzes electroencephalogram and electromyogram signals in real time, calculates the optimal detected or treated part, and is used for carrying out magnetic stimulation on the treated part.
And the mechanical arm 2 is connected with the transcranial magnetic stimulation device 1 and is used for driving the transcranial magnetic stimulation device to move.
And the navigation module 3 is used for acquiring the first position of the transcranial magnetic stimulation device and the second position of the treated part in real time.
And the detection module 4 is used for detecting the electroencephalogram signal and the electromyogram signal of the patient in real time.
A control module 5 for: and controlling the mechanical arm to move to enable the first position and the second position to meet preset conditions, and then controlling to start the transcranial magnetic stimulation device.
In this embodiment, the transcranial magnetic stimulation device 1 may be provided with three parts, as shown in fig. 3, including: the analysis control software 11 is used for receiving electroencephalogram signals and electromyogram signals (an electroencephalogram acquisition unit 41 acquires electroencephalogram signals and an electromyogram acquisition unit 42 acquires electromyogram signals) acquired by the detection module 4 (shown in fig. 7), analyzing electroencephalogram and electromyogram specific frequency band energy to obtain an optimal first target area, and transmitting the optimal first target area to the navigation module 3; a magnetic stimulation generator 12 for boosting the voltage of the commercial power, storing the boosted voltage and a pulse capacitor, and releasing energy according to a pulse sequence with settable frequency and intensity; a stimulating coil 13 for directly converting electric energy into magnetic energy and stimulating the target region;
the optimal first target area calculated and analyzed by the analysis control software 11 changes in real time according to the reactions of real-time electroencephalogram and myoelectricity, and the first position transmitted to the navigation module 3 changes in real time, and in addition, the optimal first target area can also be selected to be unchanged.
In this embodiment, a robot system may be specifically designed, and the navigation module 3 and the control module 5 may be disposed inside the robot or the mechanical arm. The stimulating coil 13 of the transcranial magnetic stimulation device 1 is fixed at the tail end of the mechanical arm 2, and the spatial position can be flexibly adjusted under the driving of the mechanical arm 2. The transcranial magnetic stimulation system is characterized in that the working principle of the transcranial magnetic stimulation system is shown in fig. 2, a navigation module 3 acquires a first position of a transcranial magnetic stimulation device and a second position of a detected and treated part in real time and feeds back the first position and the second position to a control module 5 at the same time, when the deviation between the first position and the second position is too large, the control module 5 controls a mechanical arm 2 to drive a stimulation coil 13 of the transcranial magnetic stimulation device 1 to adjust the position until the positions of the first position and the second position meet requirements, then the control module 5 starts the transcranial magnetic stimulation device 1 to detect and treat TMS, when the detected and treated part moves to cause the deviation between the first position and the second position to be too large, the control module 5 stops the transcranial magnetic stimulation device 1, and then the mechanical arm 2 is controlled to adjust the position of the stimulation coil 13 of the transcrani. The accurate TMS treatment is carried out in such a circulating way, and the position between the TMS treatment device and the TMS treatment device is tracked in real time and adjusted in time in the whole treatment process. The control module 5 can control the on and off of the transcranial magnetic stimulation device 1 in a wireless network, a Bluetooth mode and the like. The transcranial magnetic stimulation system can realize full-automatic TMS detection and treatment, optimally positions the part to be treated in real time, and follows, so that the detection precision and the treatment effect are ensured.
For the positioning of the first position of the stimulation coil 13 of the transcranial magnetic stimulation device 1 and the second position of the detected or treated part, the first target can be respectively arranged on the stimulation coil 13 of the transcranial magnetic stimulation device 1, the second target is arranged on the detected or treated part, then the first target and the second target are identified and positioned through the navigation module 3, and the position information is fed back to the control module 5, and the control module 5 judges whether to adjust the position of the stimulation coil 13 of the transcranial magnetic stimulation device 1 according to the preset judgment condition by comparing the positions of the two.
As one example of the above positioning scheme, the first target and the second target can be designed as matching alignment marks, and then set in the navigation module 3: a first image acquisition unit 31a for acquiring an image of the first target, and a second image acquisition unit 32a for acquiring an image of the second target, as shown in fig. 4. The control module 5 compares whether the image of the first target and the image of the second target meet the deviation tolerance, and if so, controls to start the transcranial magnetic stimulation device. Specifically, the first image capturing unit 31a and the second image capturing unit 32a may be a general camera or an infrared camera. The alignment marks that match each other are: fig. 5 shows an embodiment of alignment marks of the solid circle a and the hollow circle B, and a gap d between the solid circle a and the hollow circle B may be set to an offset tolerance, so that it may be determined that there is no need to adjust the position of the stimulation coil 13 of the transcranial magnetic stimulation apparatus 1 as long as the solid circle a does not coincide with the inner boundary of the hollow circle B. The medical staff can visually observe whether the deviation exists or not and whether the transcranial magnetic stimulation system works normally or not.
As another embodiment of the foregoing positioning solution, the navigation module 3, as shown in fig. 6, includes a first coordinate acquiring unit 31b for acquiring a first spatial coordinate of the first target; a second coordinate obtaining unit 32b, configured to obtain a second spatial coordinate of the second target. In this embodiment, the navigation module 3 directly obtains the spatial coordinates of the first target and the second target, and then compares the coordinate data to determine whether the transcranial magnetic stimulation device 1 and the treated part are deviated or not.
Optionally, as shown in fig. 8, the transcranial magnetic stimulation system may further include: the timing module 6 is used for recording the running time of the transcranial magnetic stimulation device; the control module 5 is further configured to: and when the running time of the transcranial magnetic stimulation device reaches the preset time, closing the transcranial magnetic stimulation device. In this embodiment, the timing module 6 plays a timing role, that is, when the diagnosis time reaches a preset time, the control module 5 automatically turns off the transcranial magnetic stimulation device, so as to realize full-automatic control of TMS detection and treatment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A transcranial magnetic stimulation system, comprising:
the detection module is used for detecting electroencephalogram signals and electromyogram signals of a patient in real time;
the transcranial magnetic stimulation device is used for analyzing the electroencephalogram signals and the electromyogram signals in real time, calculating the optimal detected or treated part, and performing magnetic stimulation on the detected or treated part;
the mechanical arm is connected with the transcranial magnetic stimulation device and is used for driving the transcranial magnetic stimulation device to move;
the navigation module is used for acquiring a first position of the transcranial magnetic stimulation device and a second position of the detected or treated part in real time;
a control module to: and controlling the mechanical arm to move to enable the first position and the second position to meet preset conditions, and then controlling to start the transcranial magnetic stimulation device.
2. The transcranial magnetic stimulation system according to claim 1, wherein a first target is disposed on the transcranial magnetic stimulation device for the navigation module to acquire a first position of the transcranial magnetic stimulation device in real time; the detected or treated part is provided with a second target which is used for acquiring a second position of the detected or treated part in real time by the navigation module.
3. The transcranial magnetic stimulation system according to claim 1, wherein the detection module includes: the multi-channel electroencephalogram acquisition amplifier is used for acquiring electroencephalogram signals;
and the synchronization and trigger module is used for synchronizing the magnetic stimulation pulse with the electroencephalogram and myoelectric signals and providing a basis for signal analysis and processing.
4. The transcranial magnetic stimulation system according to claim 2, wherein the first target and the second target are mutually matched alignment marks, and the navigation module comprises:
the first image acquisition unit is used for acquiring an image of the first target;
and the second image acquisition unit is used for acquiring an image of the second target.
5. The transcranial magnetic stimulation system according to claim 4, wherein the mutually matched alignment marks are: the solid circle and the hollow circle, the hollow circle and the cross mark, and the solid circle and the cross mark are combined.
6. The transcranial magnetic stimulation system according to claim 4 or 5, wherein the control module is configured to: and controlling the mechanical arm to move, enabling the offset distance after the image of the first target and the image of the second target are aligned to be within an offset tolerance range, and then controlling to start the transcranial magnetic stimulation device.
7. The transcranial magnetic stimulation system according to claim 2, wherein the navigation module comprises:
a first coordinate obtaining unit, configured to obtain a first spatial coordinate of the first target;
and the second coordinate acquisition unit is used for acquiring a second space coordinate of the second target.
8. The transcranial magnetic stimulation system according to claim 1, further comprising:
the timing module is used for recording the running time of the transcranial magnetic stimulation device;
the control module is further configured to: and when the running time of the transcranial magnetic stimulation device reaches the preset time, closing the transcranial magnetic stimulation device.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113730816A (en) * | 2021-08-19 | 2021-12-03 | 深圳英智科技有限公司 | System, method, computer device and storage medium for automatically detecting motion threshold |
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| CN113730816A (en) * | 2021-08-19 | 2021-12-03 | 深圳英智科技有限公司 | System, method, computer device and storage medium for automatically detecting motion threshold |
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