CN114504735A - Path planning method and related device for transcranial magnetic stimulation navigation process - Google Patents

Path planning method and related device for transcranial magnetic stimulation navigation process Download PDF

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CN114504735A
CN114504735A CN202210118451.XA CN202210118451A CN114504735A CN 114504735 A CN114504735 A CN 114504735A CN 202210118451 A CN202210118451 A CN 202210118451A CN 114504735 A CN114504735 A CN 114504735A
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magnetic stimulation
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秦伟
徐恒
孙金铂
崔亚朋
龙戈农
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Xi'an Keyue Medical Co ltd
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61N2/00—Magnetotherapy
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    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract

The application is applicable to the technical field of medical treatment, and provides a path planning method and a related device for a transcranial magnetic stimulation navigation process, wherein the method mainly comprises the following steps: determining a head center point P of a patient's headcA target magnetic stimulation point P of the patient's headeInitial position point P of tool center point of mechanical armsFrom the head center point PcFor the centre of sphere, the preset length R is the radius, a space hemisphere wrapping all the magnetic stimulation points of the head of the patient is created, the outer surface of the space hemisphere is used as a safety plane S, and the head central point P is connectedcMagnetic stimulation point P with targeteObtaining the intersection point P with the safety plane SmAccording to a predetermined calculationMethod for generating tool center point of mechanical arm from initial position point PsMove to the intersection point PmThe first path of (2), calculating the intersection point PmTo the target magnetic stimulation point PeAnd the second section of path is connected with the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.

Description

Path planning method and related device for transcranial magnetic stimulation navigation process
Technical Field
The application belongs to the technical field of medical treatment, and particularly relates to a path planning method and a related device in a transcranial magnetic stimulation navigation process.
Background
The Transcranial Magnetic Stimulation (TMS) technology is a non-invasive, non-clear side effect neural regulation technology, and its basic principle is: the pulse magnetic field acts on the central nervous system (mainly cerebral cortex), and induced current generated by the pulse magnetic field can change the membrane potential of cortical nerve cells, thereby influencing metabolic activity and neural activity in the brain. At present, the transcranial magnetic stimulation technology has the following stimulation modes: three stimulation modes of single pulse, double pulse and repetitive pulse. Single and double pulse stimulation modes are commonly used in conventional electrophysiological examinations. The repetitive pulse pattern can be applied to the treatment of dyskinesia diseases, mental diseases, pathological pain, epilepsy, addiction, functional recovery after the nervous system is damaged, and the like.
In the magnetic stimulation automatic navigation process of the transcranial magnetic stimulation technology, a magnetic stimulation automatic navigation executing mechanism for treating the head of a patient is generally a mechanical arm, and the free end of the mechanical arm carries a magnetic stimulation coil to reach the head of the patient for treatment according to the guidance of a planned path. However, the prior art is less suitable for the technical scheme of mechanical arm path planning of the transcranial magnetic stimulation navigation process.
Disclosure of Invention
The application aims to provide a path planning method and a related device in a transcranial magnetic stimulation navigation process, and enriches the technical scheme of path planning in the conventional transcranial magnetic stimulation navigation process.
In a first aspect, the present application provides a path planning method for a transcranial magnetic stimulation navigation process, which is applied to a mechanical arm, and includes:
determining a head center point P of a patient's headcA target magnetic stimulation point P of the patient's headeAn initial position point P of a tool center point of the robot arms；
With the head center point PcThe method comprises the following steps of (1) setting a preset length R as a radius for a sphere center, and creating a space hemisphere wrapping all magnetic stimulation points of the head of a patient;
taking the outer surface of the space hemisphere as a safety plane S;
connecting the head center point PcAnd the target magnetic stimulation point PeObtaining a straight line L, wherein an intersection point P exists between the straight line L and the safety plane Sm；
Generating the tool center point of the mechanical arm from the initial position point P according to a preset algorithmsMove to the intersection point PmThe first section of the path;
calculating the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path;
and connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
Optionally, the head center point P for determining the head center point of the patientcThe method comprises the following steps:
performing bounding calculation on the head of the patient by using an AABB bounding box algorithm to obtain a bounding box of the head of the patient;
calculating the coordinates of the center point of the bounding box;
regarding the center point coordinates of the bounding box as the head center point P of the patient head center pointcThe coordinates of (a).
Optionally, the preset length R includes:
Figure BDA0003497503010000021
wherein said (X)c，Yc，Zc) Representing the head center point PcThe coordinates of (a);
said (X)n，Yn，Zn) Representing the bounding box up to the head center point PcThe coordinates of the farthest point of the bounding box from which the distance is greatest.
Optionally, the intersection point P is calculatedmTo the target magnetic stimulation point PeIncludes:
Figure BDA0003497503010000022
wherein said (X)m，Ym，Zm) Represents the intersection point PmThe coordinates of (a);
said (X)e，Ye，Ze) Representing the target magnetic stimulation point PeThe coordinates of (a).
Optionally, a magnetic stimulation coil is installed at the tail end of the mechanical arm in a matched manner, the tool center point of the mechanical arm is located on the surface of the free end of the magnetic stimulation coil, and the coordinate value of the tool center point of the mechanical arm is equal to the coordinate value corresponding to the sum of the coordinate of the free end center point of the mechanical arm and the thickness value of the magnetic stimulation coil.
Optionally, the method further includes:
setting the tool center point of the mechanical arm as a starting point and the head center point of the patient as an end point to form a vector M;
applying the vector M to the magnetic stimulation coil of the robotic arm such that the magnetic stimulation coil is always directed toward the patient head center point by the control of the robotic arm.
Optionally, after applying the vector M to the magnetic stimulation coil of the robotic arm, the method further comprises:
and taking the direction of the vector M as the z-axis direction of the tail end coordinate system of the mechanical arm where the magnetic stimulation coil is positioned.
Optionally, after obtaining the planned path of the mechanical arm, the method further includes:
converting the planned path into a motion path under a space coordinate system of the mechanical arm;
sending the motion path to the robotic arm such that the tool center point of the robotic arm moves along the motion path
In a second aspect, the present application provides a path planning system for a transcranial magnetic stimulation navigation process, applied to a robotic arm, comprising:
a determination unit for determining a head center point P of the head of the patientcA target magnetic stimulation point P of the patient's headeAn initial position point P of a tool center point of the robot arms；
A creating unit for creating the head center point PcThe method comprises the following steps of (1) setting a preset length R as a radius for a sphere center, and creating a space hemisphere wrapping all magnetic stimulation points of the head of a patient;
the unit is used for taking the outer surface of the space hemisphere as a safety plane S;
a connection unit for connecting the head center point PcAnd the target magnetic stimulation point PeObtaining a straight line L, wherein an intersection point P exists between the straight line L and the safety plane Sm；
A generating unit for generating a tool center point of the robot arm from the initial position point P according to a preset algorithmsMove to the intersection point PmThe first section of the path;
a calculation unit for calculating the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path;
and the connecting unit is also used for connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
Optionally, the determination unit determines a head center point P of the head center point of the patientcThe method is specifically used for:
performing bounding calculation on the head of the patient by using an AABB bounding box algorithm to obtain a bounding box of the head of the patient;
calculating the coordinates of the center point of the bounding box;
regarding the center point coordinates of the bounding box as the head center point P of the patient head center pointcThe coordinates of (a).
Optionally, the preset length R includes:
Figure BDA0003497503010000041
wherein said (X)c，Yc，Zc) Representing the head center point PcThe coordinates of (a);
said (X)n，Yn，Zn) Representing the bounding box up to the head center point PcThe coordinates of the farthest point of the bounding box from which the distance is greatest.
Optionally, the calculation unit calculates the intersection point PmTo the target magnetic stimulation point PeThe distance d of (d) is specifically used for:
Figure BDA0003497503010000042
wherein said (X)m，Ym，Zm) Represents the intersection point PmThe coordinates of (a);
said (X)e，Ye，Ze) Representing the target magnetic stimulation point PeThe coordinates of (a).
Optionally, a magnetic stimulation coil is installed at the tail end of the mechanical arm in a matched manner, the tool center point of the mechanical arm is located on the surface of the free end of the magnetic stimulation coil, and the coordinate value of the tool center point of the mechanical arm is equal to the coordinate value corresponding to the sum of the coordinate of the free end center point of the mechanical arm and the thickness value of the magnetic stimulation coil.
Optionally, the method further includes:
the creating unit is further used for setting a tool center point of the mechanical arm as a starting point and a head center point of the patient as an end point to form a vector M;
as a unit, further for applying the vector M to the magnetic stimulation coil of the robotic arm such that the magnetic stimulation coil is always directed towards the patient head center point by the control of the robotic arm.
Optionally, the system further includes:
and the unit is also used for taking the direction of the vector M as the z-axis direction of the tail end coordinate system of the mechanical arm where the magnetic stimulation coil is positioned.
Optionally, the system further includes:
the transformation unit is used for transforming the planned path into a motion path under a space coordinate system of the mechanical arm;
a sending unit for sending the motion path to the robot arm so that the tool center point of the robot arm moves along the motion path.
In a third aspect, the present application provides a computer device comprising:
the system comprises a processor, a memory, a bus, an input/output interface and a network interface;
the processor is connected with the memory, the input/output interface and the network interface through a bus;
the memory stores a program;
the processor, when executing the program stored in the memory, implements the path planning method for the transcranial magnetic stimulation navigation process of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, which when executed on a computer, cause the computer to perform a path planning method for a transcranial magnetic stimulation navigation procedure as described in the first aspect above.
In a fifth aspect, the present application provides a computer program product which, when executed on a computer, causes the computer to perform a path planning method for a transcranial magnetic stimulation navigation procedure as described in the previous first aspect.
According to the technical scheme, the embodiment of the application has the following advantages:
the path planning method of the transcranial magnetic stimulation navigation process adopts the head center point P of the head of the patientcA sphere center is adopted, the preset length R is taken as a radius, a space hemisphere is created, so that the space hemisphere wraps all the magnetic stimulation points of the head of the patient,the outer surface of the spatial hemisphere is used as a safety plane S, so that the safety of the head of the patient is guaranteed; reconnects the head center point PcMagnetic stimulation point P with targeteObtaining a straight line L, wherein the straight line L and the safety plane S have an intersection point PmAt this time, the tool center point of the mechanical arm is generated from the initial position point P according to the preset algorithmsMove to the intersection point PmThe first section of the path; recalculate the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path; and finally, connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm. It can be seen that when the magnetic stimulation center point of the magnetic stimulation coil is located at the tool center point of the mechanical arm, the mechanical arm can direct the tool center point of the mechanical arm from the initial position point P according to the planned pathsMove to the target magnetic stimulation point PeAnd the path planning navigation of the mechanical arm in the transcranial magnetic stimulation navigation process is realized.
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FIG. 1 is a schematic flow chart illustrating an embodiment of a path planning method for a transcranial magnetic stimulation navigation process according to the present application;
FIG. 2 is a schematic flow chart illustrating another embodiment of the path planning method for a transcranial magnetic stimulation navigation process according to the present application;
FIG. 3 is a schematic flow chart illustrating another embodiment of the path planning method for a transcranial magnetic stimulation navigation process according to the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a path planning system for a transcranial magnetic stimulation navigation process according to the present application;
FIG. 5 is a schematic structural diagram of an embodiment of a computer apparatus of the present application;
FIG. 6 is a schematic side view of a patient head model wrapped in a cubic bounding box;
FIG. 7 is a side view of the patient' S head model in positional relationship to the safety plane S;
FIG. 8 shows the intersection point P of the magnetic stimulation coil from the safety plane SmTarget magnetic stimulation point P moving to patient head modeleA schematic view of one embodiment of (a);
FIG. 9 is the first section of FIG. 7Initial position point P in diametersTo the point of intersection PmCorresponds to the orientation of the vector M;
fig. 10 is a schematic diagram of an example of an 8-shaped magnetic stimulation coil adapted to be mounted at the free end of a mechanical arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It can be understood that the path planning method for the transcranial magnetic stimulation navigation process is established on the premise that the three-dimensional coordinate set of the patient head model is known in the spatial coordinate system of the mechanical arm, and a relatively mature prior art scheme is already used for mapping and registering the patient head model in the spatial coordinate system of the mechanical arm, and is not described herein any more. For example, a head model of a patient is created in advance, the head of the patient is visually positioned through a binocular vision camera, the position and the posture of the head of the patient in a coordinate system of the binocular vision camera are known, and then the position and the posture of the head model of the patient in the coordinate system of the binocular vision camera can be mapped to a space coordinate system of a mechanical arm according to the coordinate system conversion relation between the coordinate system of the binocular vision camera and the space coordinate system of the mechanical arm, so that the position and the posture of the head of the patient can be known in the space coordinate system of the mechanical arm.
Referring to fig. 1, an embodiment of the path planning method for a transcranial magnetic stimulation navigation process of the present application is applied to a mechanical arm, and includes:
101. determining a head center point P of a patient's headcTarget magnetic stimulation point P of the patient's headeInitial position point P of tool center point of mechanical arms。
This step entails determining the head center point P of the patient's headcSo that the subsequent steps create a security plane to provide data support. For example, for the patient head center point PcCan directly calculate the patient head modelCoordinates of the central point; the head of the patient can be surrounded and calculated by using an AABB surrounding box algorithm to obtain a surrounding box for the head of the patient, the center point coordinate of the surrounding box is calculated, and then the center point coordinate of the surrounding box is regarded as the head center point P of the head of the patientcThe coordinates of (a). Notably, the head center point P of the patient's head is determinedcThe method of (a) is various, and can be selected according to actual conditions in practical application, and is not further limited herein.
This step requires the determination of the target magnetic stimulation point P of the patient's headeSo as to know the end point of the path planning technical scheme of the transcranial magnetic stimulation navigation process, for example, the target magnetic stimulation point PeMay be a target coordinate point selected by the operator on the patient head model; this step also requires determining the initial position point P of the tool center point of the robot armsSo as to obtain the starting point of the path planning technical scheme of the transcranial magnetic stimulation navigation process, for example, the initial position point PsMay be the coordinate of the tool center point of the robot arm in the spatial coordinate system of the robot arm when the robot arm is started.
102. By the head center point PcAnd (3) setting the preset length R as a radius for the center of the sphere, and creating a space hemisphere wrapping all the magnetic stimulation points of the head of the patient.
The head center point P determined in step 101cFor the centre of sphere, preset length R as the radius, establish the space hemisphere, all magnetic stimulation points of this space hemisphere parcel patient's head realize the all-round protection to all magnetic stimulation points of patient's head. The preset length R may be calculated as follows:
Figure BDA0003497503010000081
wherein (X)c，Yc，Zc) Representing the head center point Pc(X) of (C)n，Yn，Zn) Representing the bounding box up to the head center point PcThe coordinates of the farthest point of the bounding box from which the distance is greatest. For example, please refer to FIG. 6, FIG. 6 shows a patientSchematic side view of the head model wrapped by a cube bounding box, vertex to head center point P in the upper left corner of FIG. 6cIs the largest.
103. And taking the outer surface of the space hemisphere as a safety plane S.
104. Connect head center point PcMagnetic stimulation point P with targeteObtaining a straight line L, wherein the straight line L and the safety plane S have an intersection point Pm。
For example, referring to FIG. 7, FIG. 7 is a side view of the patient' S head model and the safety plane S, assuming a head center point PcIs positioned at the center of the head model of the patient and is provided with a target magnetic stimulation point PeIs positioned on the forehead of the head model of the patient and is connected with a head central point PcMagnetic stimulation point P with targeteIf a straight line L is obtained, there is an intersection point P between the straight line L and the safety plane Sm。
105. Generating a tool center point of the mechanical arm from an initial position point P according to a preset algorithmsMove to the intersection point PmThe first segment of the path.
It can be understood that, in the transcranial magnetic stimulation technology, the magnetic stimulation coil is installed at the tail end of the mechanical arm, that is, the tail end of the mechanical arm is equipped with the magnetic stimulation coil, the tool center point of the mechanical arm is located on the surface of the free end of the magnetic stimulation coil, the coordinate value of the tool center point of the mechanical arm is equal to the coordinate value (known) of the coordinate value of the free end center point of the mechanical arm plus the coordinate value corresponding to the thickness value of the magnetic stimulation coil, and the mechanical arm is prevented from moving from the initial position point PsTo the point of intersection PmDue to the volume of the stimulation coil during the first segment of the path. The Tool center Point of the robot arm generally refers to The Center Point (TCP) of the Tool (e.g. magnetic stimulation coil) installed at the end of the robot arm. For example, referring to fig. 10, an "8" -shaped magnetic stimulation coil is adapted to be installed at the free end of the mechanical arm, if the coordinates of the center point of the free end of the mechanical arm in the original spatial coordinate system of the mechanical arm are (0, 0, 0), and the center point of the free end of the mechanical arm is in the positive z-axis direction of the terminal coordinate system of the mechanical arm, and the "8" -shaped magnetic stimulation coil has a thickness of 2 unitsThen (0, 0, 2) can be set as the tool center point of the new robot arm to calibrate the offset. And the tail end of the mechanical arm is gradually close to the head of the patient from far, so the step firstly generates the tool center point of the mechanical arm from the initial position point P according to a preset algorithmsMove to the intersection point PmFrom an initial position point P as shown in FIG. 7, for examplesMove to the intersection point PmThe curved portion of (a) is the first section of the path. The preset algorithm may be an artificial potential field method, an ant colony algorithm, an RRT algorithm, an a-star algorithm, or the like, and the type of the preset algorithm is not limited herein.
106. Calculating the intersection point PmTo the target magnetic stimulation point PeTo obtain a second path.
Specifically, the calculation process of the distance d includes:
Figure BDA0003497503010000091
wherein (X)m，Ym，Zm) Indicates the point of intersection PmThe coordinates of (a); (X)e，Ye，Ze) Representing the target magnetic stimulation point PeThe coordinates of (a). For example, referring to FIG. 8, FIG. 8 shows the intersection point P of the magnetic stimulation coil from the safety plane SmTarget magnetic stimulation point P moving to patient head modeleA schematic view of (a).
107. And connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
The tool center point of the robot arm from the initial position point P is obtained in step 105sMove to the intersection point PmAnd the first segment of the path of (b) is obtained from the intersection point P in step 106mTo the target magnetic stimulation point PeThe first section of path and the second section of path can be connected in sequence in the step, and the planned path of the mechanical arm is obtained.
Therefore, when the magnetic stimulation coil is positioned at the tool center point of the mechanical arm, the mechanical arm can command the tool of the mechanical arm according to the planned pathWith a central point from an initial position point PsMove to the target magnetic stimulation point PeAnd the path planning navigation of the mechanical arm in the transcranial magnetic stimulation navigation process is realized.
Referring to FIG. 2, based on the embodiment of FIG. 1, to further avoid the mechanical arm from moving from the initial position PsTo the point of intersection PmDue to the volume of the stimulation coil causing collision contact with the head of the patient during the first segment of the path, another embodiment of the path planning method for the transcranial magnetic stimulation navigation process of the present application may further include:
201. the tool center point of the mechanical arm is set as a starting point, and the head center point of the patient is set as an end point, so that a vector M is formed.
The vector M points to the center point of the patient head model in the spatial coordinate system of the robot arm regardless of movement. As shown in FIG. 9, FIG. 9 is the initial position point P of the first segment of the path in FIG. 7sTo the point of intersection PmIs shown schematically as an orientation of the different position vectors M.
202. The vector M is applied to the magnetic stimulation coil of the robotic arm so that the control magnetic stimulation coil of the robotic arm is always directed towards the center point of the patient's head.
Specifically, the vector M formed in step 201 is applied to the magnetic stimulation coil of the mechanical arm, that is, the vector M is applied to one or more joint motors at the end of the mechanical arm where the magnetic stimulation coil is located, so that the mechanical arm always keeps the magnetic stimulation coil facing the center point of the head of the patient.
It can be understood that if the posture of the magnetic stimulation coil is uncertain during the first path movement, the volume of the magnetic stimulation coil itself may contact with the head of the patient, so that the magnetic stimulation coil is always directed to the center point of the head of the patient, i.e. parallel to the tangent plane of the position corresponding to the safety plane S, so that the magnetic stimulation coil in the posture is only affected by the thickness of the coil, and this influence is excluded in the embodiment of fig. 1, thereby avoiding the possibility that the magnetic stimulation coil contacts with the head surface during the first path execution.
203. The direction of the vector M is taken as the z-axis direction of the end coordinate system of the robotic arm where the magnetic stimulation coil is located.
Specifically, in order to facilitate the execution of the second path, in this step, the direction of the vector M may be taken as the z-axis direction of the end coordinate system of the mechanical arm where the magnetic stimulation coil is located (see fig. 10), a plane equation which is perpendicular to the z-axis and includes the center point coordinate of the mechanical arm tool is obtained from the center point coordinate of the mechanical arm tool, any two mutually perpendicular straight lines which take the center point coordinate of the mechanical arm tool as an intersection point are taken from a plane represented by the plane equation, an orthogonal coordinate system is established to obtain the end coordinate system of the mechanical arm, the pose of the magnetic stimulation coil may be obtained in the end coordinate system of the mechanical arm, and the pose of the magnetic stimulation coil is further specifically controlled to present the pose of the vector M.
The path planning in the transcranial magnetic stimulation navigation process can be performed in a space coordinate system where the mechanical arm is located, or can be performed in a binocular vision camera coordinate system, and the like, so that a planned path is obtained. Referring to fig. 3, when the path planning of the transcranial magnetic stimulation navigation process is not performed in the spatial coordinate system where the mechanical arm is located, in order to enable the mechanical arm to know the path planning and implement the transcranial magnetic stimulation navigation process, another embodiment of the path planning method of the transcranial magnetic stimulation navigation process of the present application includes:
301. and converting the planned path into a motion path of the mechanical arm in a space coordinate system.
The planned path formed under the other coordinate system is converted into a motion path under the space coordinate system of the mechanical arm, for example, the planned path of the mechanical arm formed under the coordinate system of the binocular vision camera is converted into the motion path under the space coordinate system of the mechanical arm according to the conversion relationship between the coordinate system of the binocular vision camera and the space coordinate system of the mechanical arm.
302. The motion path is sent to the robotic arm such that the tool center point of the robotic arm moves along the motion path.
And sending the motion path converted in the step 30 to the mechanical arm so that the motion path is generated correspondingly in a space coordinate system where the mechanical arm is located, and further the mechanical arm can instruct a tool center point to move along the motion path, so that the execution of the motion path is completed, and the execution of path planning of a transcranial magnetic stimulation navigation process is realized.
In the above embodiment, the path planning method of the transcranial magnetic stimulation navigation process of the present application is described, and in the following description, referring to fig. 4, an embodiment of the path planning system of the transcranial magnetic stimulation navigation process is applied to a mechanical arm, and includes:
a determination unit 401 for determining a head center point P of the head of the patientcA target magnetic stimulation point P of the patient's headeAn initial position point P of a tool center point of the robot arms；
A creating unit 402 for creating the head center point PcThe method comprises the following steps of (1) setting a preset length R as a radius for a sphere center, and creating a space hemisphere wrapping all magnetic stimulation points of the head of a patient;
as a unit 403, the outer surface of the spatial hemisphere is used as a safety plane S;
a connection unit 404 for connecting the head center point PcAnd the target magnetic stimulation point PeObtaining a straight line L, wherein an intersection point P exists between the straight line L and the safety plane Sm；
A generating unit 405 for generating a tool center point of the robot arm from the initial position point P according to a preset algorithmsMove to the intersection point PmThe first section of the path;
a calculation unit 406 for calculating the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path;
the connecting unit 404 is further configured to connect the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
Optionally, the determining unit 401 determines the head center point P of the head center point of the patientcThe method is specifically used for:
performing bounding calculation on the head of the patient by using an AABB bounding box algorithm to obtain a bounding box of the head of the patient;
calculating the coordinates of the center point of the bounding box;
regarding the center point coordinates of the bounding box as the head center point P of the patient head center pointcThe coordinates of (a).
Optionally, the preset length R includes:
Figure BDA0003497503010000121
wherein said (X)c，Yc，Zc) Representing the head center point PcThe coordinates of (a);
said (X)n，Yn，Zn) Representing the bounding box up to the head center point PcThe coordinates of the farthest point of the bounding box from which the distance is greatest.
Optionally, the calculation unit calculates the intersection point PmTo the target magnetic stimulation point PeThe distance d of (d) is specifically used for:
Figure BDA0003497503010000122
wherein said (X)m，Ym，Zm) Represents the intersection point PmThe coordinates of (a);
said (X)e，Ye，Ze) Representing the target magnetic stimulation point PeThe coordinates of (a).
Optionally, a magnetic stimulation coil is installed at the tail end of the mechanical arm in a matched manner, the tool center point of the mechanical arm is located on the surface of the free end of the magnetic stimulation coil, and the coordinate value of the tool center point of the mechanical arm is equal to the coordinate value corresponding to the sum of the coordinate of the free end center point of the mechanical arm and the thickness value of the magnetic stimulation coil.
Optionally, the method further includes:
the creating unit is further used for setting a tool center point of the mechanical arm as a starting point and a head center point of the patient as an end point to form a vector M;
as a unit, further for applying the vector M to the magnetic stimulation coil of the robotic arm such that the magnetic stimulation coil is always directed towards the patient head center point by the control of the robotic arm.
Optionally, the system further includes:
and the unit is also used for taking the direction of the vector M as the z-axis direction of the tail end coordinate system of the mechanical arm where the magnetic stimulation coil is positioned.
Optionally, the system further includes:
a conversion unit 407, configured to convert the planned path into a motion path in a space coordinate system of the mechanical arm;
a sending unit 408 for sending the motion path to the robot arm such that the tool center point of the robot arm moves along the motion path.
The operation performed by the path planning system in the transcranial magnetic stimulation navigation process according to the embodiment of the present application is similar to the operation performed in the embodiments of fig. 1, fig. 2, and fig. 3, and is not repeated herein.
Referring to fig. 5, a computer device according to an embodiment of the present application is described below, where an embodiment of the computer device according to the present application includes:
the computer device 500 may include one or more processors (CPUs) 501 and a memory 502, where the memory 502 stores one or more applications or data. Wherein the memory 502 is volatile storage or persistent storage. The program stored in memory 502 may include one or more modules, each of which may include a sequence of instructions operating on a computer device. Still further, the processor 501 may be arranged in communication with the memory 502 to execute a series of instruction operations in the memory 502 on the computer device 500. The computer device 500 may also include one or more network interfaces 503, one or more input-output interfaces 504, and/or one or more operating systems, such as Windows Server, Mac OS, Unix, Linux, FreeBSD, etc. The processor 501 may perform the operations performed in the embodiments shown in fig. 1 to fig. 3, which are not described herein again.
In the several embodiments provided in the embodiments of the present application, it should be understood by those skilled in the art that the disclosed system, apparatus and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the unit is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A path planning method for a transcranial magnetic stimulation navigation process is applied to a mechanical arm and comprises the following steps:
determining a head center point P of a patient's headcA target magnetic stimulation point P of the patient's headeAn initial position point P of a tool center point of the robot arms；
With the head center point PcThe method comprises the following steps of (1) setting a preset length R as a radius for a sphere center, and creating a space hemisphere wrapping all magnetic stimulation points of the head of a patient;
taking the outer surface of the space hemisphere as a safety plane S;
connecting the head center point PcAnd the target magnetic stimulation point PeObtaining a straight line L, wherein an intersection point P exists between the straight line L and the safety plane Sm；
Generating the tool center point of the mechanical arm from the initial position point P according to a preset algorithmsMove to the intersection point PmThe first section of the path;
calculating the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path;
and connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
2. The path planning method according to claim 1, wherein the head center point P is determined as a head center point of the patientcThe method comprises the following steps:
performing bounding calculation on the head of the patient by using an AABB bounding box algorithm to obtain a bounding box of the head of the patient;
calculating the coordinates of the center point of the bounding box;
regarding the center point coordinates of the bounding box as the head center point P of the patient head center pointcThe coordinates of (a).
3. The path planning method according to claim 2, wherein the preset length R comprises:
Figure FDA0003497503000000011
wherein said (X)c，Yc，Zc) Representing the head center point PcThe coordinates of (a);
said (X)n，Yn，Zn) Representing the bounding box up to the head center point PcThe coordinates of the farthest point of the bounding box from which the distance is greatest.
4. A path planning method according to claim 3, characterized in that the intersection point P is calculatedmTo the target magnetic stimulation point PeIncludes:
Figure FDA0003497503000000021
wherein said (X)m，Ym，Zm) Represents the intersection point PmThe coordinates of (a);
said (X)e，Ye，Ze) Representing the target magnetic stimulation point PeThe coordinates of (a).
5. The path planning method according to claim 1, wherein a magnetic stimulation coil is mounted at the end of the robot arm in a fitting manner, a tool center point of the robot arm is located on the surface of the free end of the magnetic stimulation coil, and a coordinate value of the tool center point of the robot arm is equal to a coordinate value corresponding to a sum of a coordinate value of the center point of the free end of the robot arm and a thickness value of the magnetic stimulation coil.
6. The path planning method according to claim 5, further comprising:
setting the tool center point of the mechanical arm as a starting point and the head center point of the patient as an end point to form a vector M;
applying the vector M to the magnetic stimulation coil of the robotic arm such that the magnetic stimulation coil is always directed toward the patient head center point by the control of the robotic arm.
7. The path planning method according to claim 6, wherein after applying the vector M to the magnetic stimulation coils of the robotic arm, the method further comprises:
and taking the direction of the vector M as the z-axis direction of the tail end coordinate system of the mechanical arm where the magnetic stimulation coil is positioned.
8. The path planning method according to claim 1, wherein after obtaining the planned path of the robotic arm, the method further comprises:
converting the planned path into a motion path under a space coordinate system of the mechanical arm;
sending the motion path to the robotic arm such that the tool center point of the robotic arm moves along the motion path.
9. A path planning system for a transcranial magnetic stimulation navigation procedure, comprising:
a determination unit for determining a head center point P of the head of the patientcA target magnetic stimulation point P of the patient's headeAn initial position point P of a tool center point of the robot arms；
A creating unit for creating the head center point PcThe method comprises the following steps of (1) setting a preset length R as a radius for a sphere center, and creating a space hemisphere wrapping all magnetic stimulation points of the head of a patient;
the unit is used for taking the outer surface of the space hemisphere as a safety plane S;
a connection unit for connecting the head center point PcAnd the target magnetic stimulation point PeObtaining a straight line L, wherein an intersection point P exists between the straight line L and the safety plane Sm；
A generating unit for generating a tool center point of the robot arm from the initial position point P according to a preset algorithmsMove to the intersection point PmThe first section of the path;
a calculation unit for calculating the intersection point PmTo the target magnetic stimulation point PeObtaining a second section of path;
and the connecting unit is also used for connecting the first section of path and the second section of path in sequence to obtain a planned path of the mechanical arm.
10. A computer device, comprising:
the system comprises a processor, a memory, a bus, an input/output interface and a network interface;
the processor is connected with the memory, the input/output interface and the network interface through a bus;
a program is stored in the memory;
the processor, when executing the program stored in the memory, implements a path planning method for a transcranial magnetic stimulation navigation procedure as recited in any one of claims 1-8.
CN202210118451.XA 2022-02-08 2022-02-08 Path planning method and related device for transcranial magnetic stimulation navigation process Pending CN114504735A (en)

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