US20220036584A1 - Transcranial magnetic stimulation (tms) positioning and navigation method for tms treatment - Google Patents

Transcranial magnetic stimulation (tms) positioning and navigation method for tms treatment Download PDF

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Publication number
US20220036584A1
US20220036584A1 US17/279,202 US201917279202A US2022036584A1 US 20220036584 A1 US20220036584 A1 US 20220036584A1 US 201917279202 A US201917279202 A US 201917279202A US 2022036584 A1 US2022036584 A1 US 2022036584A1
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patient
positioning
tms
face
point
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US17/279,202
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Cong Sun
Bo Wang
Shengan CAI
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Wuhan Znion Technology Co Ltd
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Wuhan Znion Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/004—Magnetotherapy specially adapted for a specific therapy
    • A61N2/006—Magnetotherapy specially adapted for a specific therapy for magnetic stimulation of nerve tissue
    • 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
    • G06K9/00228—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161—Detection; Localisation; Normalisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G06T2207/30201—Face

Definitions

  • the total number of patients with mental illness in China has exceeded 100 million at present, but the public's awareness of mental illness is less than 50%, and the consultation rate is even lower. At present, about 20% of the patients with mental illness receive timely treatment, and 80% of the patients with mental illness are not treated in time, or even the most basic treatment. The number of patients with severe mental illness is as high as 16 million. According to the latest statistical data from the IMS Health, the global consumption of drugs for mental illness have exceeded 36 billion U.S. dollars, accounting for 5% of the total drug sales. However, as far as China is concerned, the current mental illness drug market is still relatively small, accounting for about 1.5% of the total hospital sales.
  • the method based on skin color features one of the most significant external features of a face is skin color.
  • the advantage of the skin color is that it does not rely on remaining features of the face, and is not sensitive to changes in a face pose and a face shape.
  • the face can be relatively easily detected by constructing a skin color model that distinguishes the face from other different color backgrounds.
  • this method cannot distinguish skin-like objects well, which will cause false detection.
  • it is relatively sensitive to illumination changes, thereby affecting the accuracy of face detection.
  • the planning a movement path of a mechanical arm includes: planning a stimulation sequence of magnetic stimulation points, and planning an optimal path and a movement speed of the mechanical arm to reach each magnetic stimulation point.
  • the present embodiment provides a TMS positioning and navigation method for TMS treatment, specifically includes the following steps:
  • the face detection algorithm is a method based on template matching, a method based on skin color features, or a method based on AdaBoost.
  • the method based on template matching the implementation principle of a template matching method is to calculate a correlation coefficient between a target and a preset template by comparing a similarity between the template and a region to be detected. Face detection is to search an image to be detected for a region closest to a face by using a gray-scale template of the face. Compared with other methods for face detection based on features, the face detection method based on template matching is intuitive, simple, and easy to implement, and has strong adaptability, low dependence on image quality, and high robustness.
  • the method based on skin color features one of the most significant external features of a face is skin color.
  • the advantage of the skin color is that it does not rely on remaining features of the face, and is not sensitive to changes in a face pose and a face shape.
  • the face can be relatively easily detected by constructing a skin color model that distinguishes the face from other different color backgrounds.
  • this method cannot distinguish skin-like objects well, which will cause false detection.
  • it is relatively sensitive to illumination changes, thereby affecting the accuracy of face detection.
  • step S 4 the method for spatially positioning the patient face includes the following steps:
  • point cloud data of the two images are calculated by using the displacement and rotation information calculated above as a result of initial coarse matching of the ICP algorithm to obtain more precise displacement and rotation data.
  • the position alignment method includes: first marking face feature points (corners of eyes, a tip of a nose, etc.) for alignment in a head model, then automatically identifying the face feature points in a real-time image, and calculating a conversion relationship between the real-time image and the head model through feature point matching, calculating a position of the head model in space, and then calculating position coordinates of a magnetic stimulation point on the head model in space.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Surgery (AREA)
  • Neurology (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Magnetic Treatment Devices (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
US17/279,202 2018-09-27 2019-02-26 Transcranial magnetic stimulation (tms) positioning and navigation method for tms treatment Pending US20220036584A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201811131181.6 2018-09-27
CN201811131181.6A CN109260593B (zh) 2018-09-27 2018-09-27 一种经颅磁刺激治疗方法及设备
PCT/CN2019/076099 WO2020062773A1 (fr) 2018-09-27 2019-02-26 Procédé de navigation de positionnement de smt utilisé pour un traitement de stimulation magnétique transcrânienne

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US17/279,219 Pending US20220031408A1 (en) 2018-09-27 2019-02-26 Transcranial magnetic stimulation diagnostic and treatment device

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US (2) US20220036584A1 (fr)
EP (2) EP3858433B1 (fr)
CN (1) CN109260593B (fr)
WO (2) WO2020062774A1 (fr)

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CN114376726A (zh) * 2022-02-08 2022-04-22 西安科悦医疗股份有限公司 经颅磁刺激导航过程的路径规划方法及相关装置
CN115154907A (zh) * 2022-07-19 2022-10-11 深圳英智科技有限公司 一种经颅磁刺激线圈定位控制方法、系统及电子设备
US11794029B2 (en) 2016-07-01 2023-10-24 Btl Medical Solutions A.S. Aesthetic method of biological structure treatment by magnetic field
US11806528B2 (en) 2020-05-04 2023-11-07 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
US11826565B2 (en) 2020-05-04 2023-11-28 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
US11878162B2 (en) 2016-05-23 2024-01-23 Btl Healthcare Technologies A.S. Systems and methods for tissue treatment
US11883643B2 (en) 2016-05-03 2024-01-30 Btl Healthcare Technologies A.S. Systems and methods for treatment of a patient including RF and electrical energy
US11896816B2 (en) 2021-11-03 2024-02-13 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
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CN109260593B (zh) * 2018-09-27 2020-09-08 武汉资联虹康科技股份有限公司 一种经颅磁刺激治疗方法及设备
CN110300993B (zh) * 2019-02-26 2023-10-27 武汉资联虹康科技股份有限公司 一种用于经颅磁刺激诊疗的摄像系统
WO2020172782A1 (fr) * 2019-02-26 2020-09-03 武汉资联虹康科技股份有限公司 Diagnostic de stimulation magnétique transcrânienne et système de détection de traitement basé sur une caméra
WO2020172781A1 (fr) * 2019-02-26 2020-09-03 武汉资联虹康科技股份有限公司 Système de navigation de traitement et de diagnostic de stimulation magnétique transcrânienne à base de caméra
EP3905256A4 (fr) * 2019-02-26 2022-02-09 Wuhan Znion Technology Co., Ltd Système de construction de modèle de tête pour diagnostic par stimulation magnétique transcrânienne basée sur des caméras
CN112546447B (zh) * 2020-11-24 2021-07-27 四川君健万峰医疗器械有限责任公司 一种刺激线圈定位装置
CN114306940A (zh) * 2021-12-17 2022-04-12 北京师范大学 一种tms线圈放置参数空间构建方法及其系统

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US11878162B2 (en) 2016-05-23 2024-01-23 Btl Healthcare Technologies A.S. Systems and methods for tissue treatment
US11896821B2 (en) 2016-05-23 2024-02-13 Btl Healthcare Technologies A.S. Systems and methods for tissue treatment
US11794029B2 (en) 2016-07-01 2023-10-24 Btl Medical Solutions A.S. Aesthetic method of biological structure treatment by magnetic field
US20220019771A1 (en) * 2019-04-19 2022-01-20 Fujitsu Limited Image processing device, image processing method, and storage medium
US11806528B2 (en) 2020-05-04 2023-11-07 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
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US11826565B2 (en) 2020-05-04 2023-11-28 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
US11878167B2 (en) 2020-05-04 2024-01-23 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
US12033429B2 (en) * 2021-09-17 2024-07-09 Fujitsu Limited Image processing device of determining authenticity of object, image processing method of determining authenticity of object, and storage medium storing program of determining authenticity of object
US11896816B2 (en) 2021-11-03 2024-02-13 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient
CN114376726A (zh) * 2022-02-08 2022-04-22 西安科悦医疗股份有限公司 经颅磁刺激导航过程的路径规划方法及相关装置
CN115154907A (zh) * 2022-07-19 2022-10-11 深圳英智科技有限公司 一种经颅磁刺激线圈定位控制方法、系统及电子设备
US12029905B2 (en) 2023-11-13 2024-07-09 Btl Healthcare Technologies A.S. Device and method for unattended treatment of a patient

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CN109260593B (zh) 2020-09-08
US20220031408A1 (en) 2022-02-03
EP3858433A4 (fr) 2021-11-24
WO2020062773A1 (fr) 2020-04-02
EP3858432A4 (fr) 2021-12-01
EP3858432A1 (fr) 2021-08-04
CN109260593A (zh) 2019-01-25
EP3858432B1 (fr) 2022-10-26
EP3858433B1 (fr) 2023-10-11
EP3858433A1 (fr) 2021-08-04
WO2020062774A1 (fr) 2020-04-02

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