CN208372300U - A kind of magnetic resonance navigation device driving magnetic stimulator coil position adjust automatically - Google Patents
A kind of magnetic resonance navigation device driving magnetic stimulator coil position adjust automatically Download PDFInfo
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- CN208372300U CN208372300U CN201720987501.2U CN201720987501U CN208372300U CN 208372300 U CN208372300 U CN 208372300U CN 201720987501 U CN201720987501 U CN 201720987501U CN 208372300 U CN208372300 U CN 208372300U
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Abstract
The utility model discloses a kind of magnetic resonance navigation devices for driving magnetic stimulator coil position adjust automatically, including image workstation, described image work station is connected separately with space orientation sensor, mechanical arm controller and physiological signal detecting device, the machinery arm controller is connected with mechanical arm, the end joint of the mechanical arm is connected separately with through cranium stimulating coil and tracker two, it is described to be connected with transcranial magnetic stimulation instrument through cranium stimulating coil, the space orientation sensor is connected with probe tracker, the probe tracker is connected with tracker one, the tracker one is connected with trappings point.The utility model has the beneficial effects that the utility model realizes the precision navigation popped one's head in RTMS Neural stem cell, visualization display and stimulation sites to Neural stem cell position are accurately controlled, and then improve therapeutic efficiency, reduce side effect.
Description
Technical field
The utility model relates to magnetic resonance field of navigation technology, it particularly relates to a kind of driving magnetic stimulator coil position
Set the magnetic resonance navigation device of adjust automatically.
Background technique
Realize there is one when positioning of traditional device in RTMS transcranial magnetic stimulation products application by personal experience
Fixed is error, cannot achieve the accurate intervention and treatment of the fields such as nerve, spirit, rehabilitation clinic Neural stem cell, reduces treatment
Efficiency has been unable to meet the demand in market.
Utility model content
For above-mentioned technical problem in the related technology, the utility model proposes a kind of driving magnetic stimulator coil positions certainly
The magnetic resonance navigation device of dynamic adjustment, can overcome the above-mentioned deficiency of the prior art.
To realize the above-mentioned technical purpose, the technical solution of the utility model is achieved in that
A kind of magnetic resonance navigation device driving magnetic stimulator coil position adjust automatically, including image workstation, it is described
Image workstation is connected separately with space orientation sensor, mechanical arm controller and physiological signal detecting device, the mechanical arm
Controller is connected with mechanical arm, and the end joint of the mechanical arm is connected separately with through cranium stimulating coil and tracker two, described
Be connected with transcranial magnetic stimulation instrument through cranium stimulating coil, the space orientation sensor is connected with probe tracker, the probe with
Track device is connected with tracker one, and the tracker one is connected with trappings point.
Further, described to be connected through cranium stimulating coil by connecting interface and the end arthrodesis of mechanical arm.
Further, the tracker two is connected by connecting interface and the end arthrodesis of mechanical arm.
Further, described to be connect by cord with transcranial magnetic stimulation instrument through cranium stimulating coil.
Further, the probe tracker is connect with space orientation sensor wireless.
Further, the trappings point and tracker one are wirelessly connected.
The utility model has the beneficial effects that the utility model realizes the precision navigation popped one's head in RTMS Neural stem cell, magnetic is pierced
The visualization display and stimulation sites for swashing position accurately control, and then improve therapeutic efficiency, reduce side effect.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is that a kind of magnetic of driving magnetic stimulator coil position adjust automatically according to the utility model embodiment is total
The structural schematic diagram of vibration navigation device；
In figure:
1, image work platform；2, through cranium stimulating coil；3, space orientation sensor；4, tracker one；5, mechanical arm；6, machine
Tool arm controller；7, tracker two；8, probe tracker；9, physiological signal detecting device；10, trappings point.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art's every other embodiment obtained, all belongs to
In the range of the utility model protection.
As shown in Figure 1, a kind of driving magnetic stimulator coil position adjust automatically according to the utility model embodiment
Magnetic resonance navigation device, including image workstation 1, described image work station 1 be connected separately with space orientation sensor 3, machine
Tool arm controller 6 and physiological signal detecting device 9, the machinery arm controller 6 are connected with mechanical arm 5, the end of the mechanical arm 5
End joint is connected separately with through cranium stimulating coil 2 and tracker 27, described to be connected with transcranial magnetic stimulation instrument through cranium stimulating coil 2,
The space orientation sensor 3 is connected with probe tracker 8, and the probe tracker 8 is connected with tracker 1, the tracking
Device 1 is connected with trappings point 10.
In one embodiment, the end arthrodesis for passing through connecting interface and mechanical arm 5 through cranium stimulating coil 2
Connection.
In one embodiment, the tracker 27 is connected by connecting interface and the end arthrodesis of mechanical arm 5
It connects.
In one embodiment, described to be connect by cord with transcranial magnetic stimulation instrument through cranium stimulating coil 2.
In one embodiment, the probe tracker 8 is wirelessly connected with space orientation sensor 3.
In one embodiment, the trappings point 10 is wirelessly connected with tracker 1.
In order to facilitate the above-mentioned technical proposal for understanding the utility model, below by way of practical new to this in specifically used mode
The above-mentioned technical proposal of type is described in detail.
When specifically used, in the treatment, image workstation is according to treatment plan and tracker one, tracking for the utility model
Then the spatial position of device two, the kinematic parameter of calculating machine arm control each joint of mechanical arm and move automatically, so that stimulating through cranium
The focus of coil is pin-pointed to the region that patients head needs to carry out magnetic stimulation treatment, while driving if patients head is mobile
Tracker one is mobile, space orientation sensor can real-time measurement to the position and direction of movement, image workstation is according to this data
Mechanical arm automatic adjusting position is controlled, guarantees that Neural stem cell position is accurate.
The utility model carries out magnetic resonance imaging: the skin surface on the head of three-dimensional reconstruction brain and examinee first；It is aobvious
Show the corresponding 3D encephalic scene of processing, image registration, fusion, reconstruction etc., then with the image registration of stimulating coil, merge, and move
The position (3D rendering) of state tracking coil；Then merge to image: 3D rendering and the outer 3D of the cranium of reconstruction are tied in magnetic resonance skull
The fusion of structure: translation (translation), flexible (scaling), rotation (rotation), alignment (align) etc.；Secondly into
Row image registration: trappings point is set in patients head, with probe tracker and space orientation sensor measurement trappings
Point position, using at least three trappings point establish magnetic resonance image, patient head, transcranial magnetic stimulation instrument probe between seat
Mark system mapping relations；It establishes model: using ASM/AAM technology, i.e. non-rigid modeling technique, being fitted brain tissue anatomical structure, stretch
After the outer rigid body bone tissue 3D rendering fusion of contracting non-rigid, encephalic non-rigid brain tissue and cranium, TMS stimulation point and intracerebral tissue
The coincidence of stimulation point of interest shows 3D encephalic scene, transcranial magnetic stimulation instrument probe stimulation line by workstation display
The model of circle and position and Distribution of Magnetic Field；Subsequently planned: operator is on image workstation, according to patients head 3D
Image and cerebral magnetic stimulation coil model and Distribution of Magnetic Field plan the position of stimulation location and cerebral magnetic stimulation coil；Finally lead
Boat: operator controls manipulator motion by image workstation, and cerebral magnetic stimulation coil alignment patients head need to be stimulated
Position, by the position of space orientation sensor real-time measurement tracker one and tracker two to cerebral magnetic stimulation coil stimulate
Position carries out analytical calculation, and passes through the position adjust automatically of control mechanical arm and calibration cerebral magnetic stimulation coil and patients head
Relative position, guarantee stimulation sites it is accurate, stimulation therapy simultaneously, by physiological signal detecting device observe patient reflection,
Effect of stimulation is assessed in real time, stimulation location planning is adjusted in real time.
The requires of the utility model RTMS configuration multi-coil magnetic stimulator is gathered by electroencephalogram inverse process by multi-coil solid
Coke positioning, with navigator fix stimulating coil after nuclear magnetic resonance image data fusion；The magnetic field for being theoretically obtainable each coil exists
Focus point superposition increases the depth of stimulation, stimulation focus point reduces；Realize the multimodes such as RTMS and electroencephalogram, magnetic resonance, PET
State detection, sees near field and the Neural stem cells such as far-field effect and cerebral blood flow (CBF), metabolic alterations, electrophysiological change of RTMS in real time
Effect.
In conclusion the utility model realizes the precision navigation popped one's head in RTMS Neural stem cell, to the visual of Neural stem cell position
Change display and stimulation sites accurately control, and then improve therapeutic efficiency, reduces side effect.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (6)
1. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically, which is characterized in that including image work
It stands (1), described image work station (1) is connected separately with space orientation sensor (3), mechanical arm controller (6) and physiology letter
Number detection device (9), the machinery arm controller (6) are connected with mechanical arm (5), the end joint difference of the mechanical arm (5)
It is connected with through cranium stimulating coil (2) and tracker two (7), it is described to be connected with transcranial magnetic stimulation instrument through cranium stimulating coil (2), it is described
Space orientation sensor (3) is connected with probe tracker (8), and the probe tracker (8) is connected with tracker one (4), described
Tracker one (4) is connected with trappings point (10).
2. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically according to claim 1,
It is characterized in that, it is described to be connect by connecting interface with the end arthrodesis of mechanical arm (5) through cranium stimulating coil (2).
3. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically according to claim 1,
It is characterized in that, the tracker two (7) is connect by connecting interface with the end arthrodesis of mechanical arm (5).
4. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically according to claim 2,
It is characterized in that, it is described to be connect by cord with transcranial magnetic stimulation instrument through cranium stimulating coil (2).
5. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically according to claim 1,
It is characterized in that, the probe tracker (8) and space orientation sensor (3) are wirelessly connected.
6. a kind of magnetic resonance navigation device for driving magnetic stimulator coil position adjust automatically according to claim 1,
It is characterized in that, the trappings point (10) and tracker one (4) are wirelessly connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720987501.2U CN208372300U (en) | 2017-08-09 | 2017-08-09 | A kind of magnetic resonance navigation device driving magnetic stimulator coil position adjust automatically |
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| CN201720987501.2U CN208372300U (en) | 2017-08-09 | 2017-08-09 | A kind of magnetic resonance navigation device driving magnetic stimulator coil position adjust automatically |
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| CN208372300U true CN208372300U (en) | 2019-01-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485788A (en) * | 2017-08-09 | 2017-12-19 | 李世俊 | A kind of magnetic resonance guider for driving magnetic stimulator coil position adjust automatically |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485788A (en) * | 2017-08-09 | 2017-12-19 | 李世俊 | A kind of magnetic resonance guider for driving magnetic stimulator coil position adjust automatically |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221107 Address after: No. 28, Fuxing Road, Haidian District, Beijing 100080 Patentee after: The first medical center of PLA General Hospital Address before: 100853 PLA General Hospital, 28 Fuxing Road, Beijing, Haidian District, China Patentee before: Li Shijun |
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| TR01 | Transfer of patent right |