CN209060364U - Transcranial magnetic stimulation navigator fix robot system - Google Patents
Transcranial magnetic stimulation navigator fix robot system Download PDFInfo
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- CN209060364U CN209060364U CN201820140823.8U CN201820140823U CN209060364U CN 209060364 U CN209060364 U CN 209060364U CN 201820140823 U CN201820140823 U CN 201820140823U CN 209060364 U CN209060364 U CN 209060364U
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Abstract
The utility model discloses a kind of transcranial magnetic stimulation navigator fix robot system, comprising: host, infrared ray position indicator, patient position frame of reference, registration probe, robotic arm and coil clamping device, control unit；Host is connect with control unit, infrared ray position indicator, for reading patient image's data, calculates treatment region, Registration calculates coil position；Infrared ray position indicator is connect with registration probe, positioning frame of reference, and the position of frame of reference and registration probe is positioned for positioning patient in real time；Patient positions frame of reference and is installed on patients head；Registration probe is used to take a completion Registration in patient facial region；Robotic arm and coil clamping device are connect with control unit, for coil to be put into predetermined position and adjusts coil position in real time according to patient position.The utility model by surgical planning accurately places coil before can treating, and adjusts coil position in therapeutic process in real time, avoids causing treatment region to deviate since patient is mobile, improves therapeutic effect.
Description
Technical field
The utility model relates to a kind of medical apparatus and instruments more particularly to a kind of systems, transcranial magnetic stimulation navigator fix robot
System.
Background technique
The modern mode of transcranial magnetic stimulation (Transcranial Magnetic Stimulation, TMS) be by
Bickford and Fremming is carried out in nineteen sixty-five.TMS device includes two major parts: the storage charge as the energy
Capacitor and for transmit energy be located at stimulating coil in inductor.Capacitor can store the charge of high current, in pole
Short time inner inductive coil can discharge a large amount of charges and generate magnetic field, and the magnetic line of force can be in a manner of non-intruding with the resistance of very little
Reversed induced current is generated across scalp, skull and brain tissue, and in intracerebral.Electric current in cortex can activate big cone mind
Through member, and cause the micro-variations in aixs cylinder, and further causes the variation of electro physiology and function.But neuron is generated
Which kind of influence depends on many factors, such as the shape of coil, direction, the side of the density and neural axon of neuron, dendron
To.Its final effect can both cause the excitement or inhibition of temporary cerebral function, and the cortex of long time-histories can also be caused plastic
The adjusting of property.
Since TMS can adjust cortex plasticity in a variety of physiology and psychologic effect, TMS is applied to essence by more people
In refreshing class illness.In emotional handicap and depression, TMS therapy is in the preclinical test stage.Using Beck depression investigation or
The scoring of Hamilton depression is used as standard, rTMS(repetitive transcranial magnetic stimulation) no difference compared with other treatment method, it
Also without difference compared with false rTMS control.But left hemisphere back lateral prefrontal high frequency stimulation and right hemisphere back outside forehead
Leaf low frequency stimulating all shows that rTMS treatment depression is effective after two weeks.TMS thorn is studied with single photon tomography (SPECT)
Swashing the effect of prefrontal lobe treatment depression, nearby cortical activity increases for discovery stimulation, and distant place anterior cingutate and temporo pole front
Activity is reduced；20Hz TMS ratio 5Hz TMS is more effective.
Patient with mania receives the lateral prefrontal high frequency TMS stimulation (circular coil) of left or right side at random, controls
Treat for 2 weeks, clinical manic symptoms stimulation group on the right side of receiving makes moderate progress as the result is shown.
On right side, prefrontal lobe fixed magnetic field intensity gives 1Hz60 seconds TMS of two strings stimulation, so treatment 10 days, knot in 1T
Fruit, which shows, does not have effect to all schizophrenic symptoms, but can mitigate the anxiety and uneasy degree of schizophrenic patients；It is this to control
Treat the mood that can also improve patients with depression.
The positioning of transcranial magnetic stimulation is the critical issue during Clinics and Practices, general using manual positioning, when stimulation
Hand-held stimulation magnetic stimulating coil changes magnetic stimulating coil position according to the response of finger and finds target spot, after finally determining position
Fixed magnetic stimulating coil.Cerebral magnetic stimulation navigation system can be used in more accurate localization method, improves therapeutic efficiency.But it is existing
Cerebral magnetic stimulation navigation system has following defects that the stimulated zone of the treatment region and actual coil that cannot accurately be intended to
Be overlapped, can not real-time monitoring patient position it is mobile and accurately adjust the position of coil.
Chinese utility model patent application CN201210281472.X discloses a kind of cerebral magnetic stimulation navigation system and warp
Tms coil localization method.The stimulated zone for the treatment of region and actual coil that this method still cannot be accurately intended to
Be overlapped, can not real-time monitoring patient position it is mobile and accurately adjust the position of coil.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of transcranial magnetic stimulation navigator fix robot system, energy
Intelligence determines patient's Neural stem cell region, places magnetic coil using robot, accurately places coil by surgical planning before treatment, and control
Coil position is adjusted during treating in real time, avoids causing treatment region to deviate since patient is mobile, improves treatment accuracy, subtract
Few side effect.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution:
A kind of transcranial magnetic stimulation navigator fix robot system specifically includes that host, infrared ray position indicator, patient's positioning
Frame of reference, registration probe, robotic arm and coil clamping device, control unit；The host and control unit, infrared ray position indicator
Connection；The infrared ray position indicator positions frame of reference and connect and (can use wired connection mode or nothing with registration probe, patient
Line connection type)；The infrared ray position indicator is for positioning patient's positioning frame of reference in real time and registering the position of probe；The trouble
Person positions frame of reference and is installed on patients head, keeps relative position constant with patient；The registration probe is used in patient facial region
It takes a little, completes Registration；The robotic arm and coil clamping device are connect with control unit, for electromagnetic coil to be placed into
On scheduled position, and coil position is adjusted according to the position change of patient in real time；Described control unit is passed for receiving host
The coil position sent, indicates and controls the robotic arm and coil clamping device is mobile；The host is for reading patient image
Data, three-dimensional reconstruction, target area segmentation, intelligence computation treatment region, Registration is (by image space and actual patient space
Carry out unification), calculate coil position.
As the preferred technical solution of the utility model, the host connects display.
As the preferred technical solution of the utility model, the host connects power supply, and power supply connects isolating transformer.Isolation
The effect of transformer is protection personal safety, and dangerous voltage is isolated.
As the preferred technical solution of the utility model, the power supply is uninterruptible power supply.
The utility model compared with prior art, has the advantage that
(1) the utility model can carry out visualization display to patients head's image, using artificial intelligence such as expert systems
Algorithm is the treatment region that doctor calculates that prediction patient needs Neural stem cell, improves treatment accuracy, determines different patients for doctor
Treatment region instructed, reduce medical-risk degree.
(2) patient's brain threedimensional model is calculated based on nuclear magnetic resonance, model has see-through function, keeps image more clear
It is clear, treatment region is determined convenient for doctor.
(3) Infrared locator is used, coil is accurately placed to the position of plan, and real-time tracing over the course for the treatment of
The position change of patient can accurately and fast carry out the position fixing process from image to specific location.
(4) magnetic stimulating coil is worn using the artificial patient of intelligence machine, wearing position is more accurate, robotic arm adjust automatically
Coil position by surgical planning accurately places coil before treatment, and adjusts coil position in therapeutic process in real time, avoid due to
Patient position it is mobile and caused by treatment region deviation, improve therapeutic effect.Realize real non-invasive therapy process.
(5) stimulated zone of the treatment region and actual coil that can accurately be intended to is overlapped, also can real-time monitoring patient
Position is mobile and accurately adjusts the position of coil.
Detailed description of the invention
The utility model is described further below in conjunction with accompanying drawings and embodiments, in attached drawing:
Fig. 1 is the structural schematic diagram of the utility model transcranial magnetic stimulation navigator fix robot system；
Fig. 2 is the localization method flow chart of the utility model transcranial magnetic stimulation navigator fix robot system.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
As shown in Figure 1, the utility model provides a kind of transcranial magnetic stimulation navigator fix robot system, master is specifically included that
Machine, infrared ray position indicator, patient position frame of reference, registration probe, robotic arm and coil clamping device, control unit；The master
Machine is connect with control unit, infrared ray position indicator；The infrared ray position indicator positions frame of reference and connect with registration probe, patient
(can be using wired connection mode or radio connection)；The infrared ray position indicator positions ginseng for positioning patient in real time
It examines frame and registers the position of probe；The patient positions frame of reference and is installed on patients head, keeps relative position constant with patient；
The registration probe is used to take a little in patient facial region, completes Registration；The robotic arm and coil clamping device and control are single
Member connection, for electromagnetic coil to be placed into scheduled position, and adjusts coil position according to the position change of patient in real time；
Described control unit is used for the coil position of receiving host transmission, indicates and controls the robotic arm and coil clamping device moves
It is dynamic；The host is divided for reading patient image's data, three-dimensional reconstruction, target area, and intelligence computation treatment region, registration is matched
Quasi- (image space and actual patient space are carried out unification), calculates coil position.The host connects display.The host
Uninterruptible power supply is connected, uninterruptible power supply connects isolating transformer.The effect of isolating transformer is protection personal safety, isolation danger
Dangerous voltage.
As shown in Fig. 2, the utility model provides a kind of transcranial magnetic stimulation navigation locating method, including determine treatment region
With place electromagnetic coil step:
The determining treatment region specifically comprises the following steps:
Step 1: utilizing nuclear magnetic resonance (including MRI or fMRI(function nuclear magnetic resonance)) scanning obtains patients head's image；
Step 2: three-dimensional reconstruction being carried out based on patient image: according to nuclear magnetic resonance image, rebuilding sagittal plane, coronal-plane, water
Flat image and patients head's Cerebral cortex surface three dimension model, patient skin threedimensional model.
Step 3: the patient's state of an illness judged in advance is inputted computer by doctor, and computer calculates need according to expert system intelligent algorithm
The region for wanting magnetic to treat, doctor determine treatment region further according to different patient's actual conditions final adjustments；
Step 4: according to the magnetic field distribution model of determining treatment region and coil, establishing patients head and magnetic stimulating coil
Spatial relation model, calculate coil with respect to the spatial position that treatment region and patient place, in the holding relative position
Under the premise of relationship, the treatment region and practical stimulation area coincidence of plan；
The placement electromagnetic coil specifically comprises the following steps:
Step 1: installing patient in patients head positions frame of reference；Using noninvasive design, suffering from such as in the form of bandage
Person head installation positioning frame of reference.
Step 2: calibration registration probe: being demarcated (the registration probe and described to registration probe using standard tool
It is equipped with infrared reflection ball on standard tool, when calibration, registration probe front is placed in the normal place on standard tool, it is red
Outside line position indicator tracks the position of registration probe and standard tool simultaneously, and such as two positions are overlapped, then completes to demarcate), to protect
Probe can be accurately positioned to guarantee the accuracy of subsequent registration registration in card infrared ray position indicator；The position of Infrared locator is adjusted,
It is located at patient and positioning frame of reference in the Infrared locator visual field；
Step 3: patient image space and actual patient space are registrated: with registration probe in patient facial region's skin
Surface takes a little, and patient and image are registrated；When the precision of registration reaches requirement, software meeting automatic prompt registration terminates；
Step 4: calculating the physical location of electromagnetic coil；Frame of reference position is positioned according to patient's treatment zone position, patient
It sets, the radiation areas of electromagnetic coil, calculates the relative position between electromagnetic coil and patient, make radiation areas and treatment region weight
It closes；
Step 5: coil is placed into the position of plan by robotic arm；
Step 6: infrared ray position indicator real-time tracing patient positions the position of frame of reference, to determine the position of patients head
Change；
Step 7: robotic arm adjusts the position of coil according to the position change of patient in real time, make actual therapeutic region always
Positioned at the treatment region of plan.
The utility model can carry out visualization display to patients head's image, and intelligence computation patient needs transcranial magnetic stimulation
Region, determine that the treatment region of different patients instructs for doctor, coil be accurately placed by meter by navigator fix
The position drawn, and the position change of real-time tracing patient over the course for the treatment of, robotic arm adjust automatically coil position, avoid by
It is mobile in patient position and caused by treatment region deviation, improve therapeutic effect.
Claims (4)
1. a kind of transcranial magnetic stimulation navigator fix robot system, which is characterized in that specifically include that host, infrared ray position indicator,
Patient positions frame of reference, registration probe, robotic arm and coil clamping device, control unit；It is the host and control unit, infrared
The connection of line position indicator；The infrared ray position indicator positions frame of reference and connect with registration probe, patient；The infrared ray position indicator is used
Frame of reference is positioned in positioning patient in real time and registers the position of probe；The patient positions frame of reference and is installed on patients head；Institute
It states registration probe to be used to take a little in patient facial region, completes Registration；The robotic arm and coil clamping device and control unit
Connection, for electromagnetic coil to be placed into scheduled position, and adjusts coil position according to the position change of patient in real time；Institute
Coil position of the control unit for receiving host transmission is stated, indicates and controls the robotic arm and coil clamping device is mobile；
The host is divided for reading patient image's data, three-dimensional reconstruction, target area, intelligence computation treatment region, Registration,
Calculate coil position.
2. robot system as described in claim 1, which is characterized in that the host connects display.
3. robot system as described in claim 1, which is characterized in that the host connects power supply, and power supply connection isolation becomes
Depressor.
4. robot system as claimed in claim 3, which is characterized in that the power supply is uninterruptible power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820140823.8U CN209060364U (en) | 2018-01-29 | 2018-01-29 | Transcranial magnetic stimulation navigator fix robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820140823.8U CN209060364U (en) | 2018-01-29 | 2018-01-29 | Transcranial magnetic stimulation navigator fix robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108187230A (en) * | 2018-01-29 | 2018-06-22 | 上海理禾医疗技术有限公司 | Transcranial magnetic stimulation navigator fix robot system and localization method |
| CN111760208A (en) * | 2020-07-21 | 2020-10-13 | 上海交通大学 | Human body transcranial ultrasonic stimulation automatic positioning system and method based on mechanical arm |
-
2018
- 2018-01-29 CN CN201820140823.8U patent/CN209060364U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108187230A (en) * | 2018-01-29 | 2018-06-22 | 上海理禾医疗技术有限公司 | Transcranial magnetic stimulation navigator fix robot system and localization method |
| CN111760208A (en) * | 2020-07-21 | 2020-10-13 | 上海交通大学 | Human body transcranial ultrasonic stimulation automatic positioning system and method based on mechanical arm |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Suzhou Lihe Medical Technology Co., Ltd. Assignor: Shanghai Lihe Medical Technology Co., Ltd. Contract record no.: X2019310000003 Denomination of utility model: Transcranial magnetic stimulation navigation positioning robot system and positioning method Granted publication date: 20190705 License type: Exclusive License Record date: 20190819 |