WO2019029158A1 - 一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置 - Google Patents

一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置 Download PDF

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WO2019029158A1
WO2019029158A1 PCT/CN2018/077847 CN2018077847W WO2019029158A1 WO 2019029158 A1 WO2019029158 A1 WO 2019029158A1 CN 2018077847 W CN2018077847 W CN 2018077847W WO 2019029158 A1 WO2019029158 A1 WO 2019029158A1
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tracker
magnetic
coil
mechanical arm
stimulation
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PCT/CN2018/077847
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李世俊
王懿
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李世俊
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • 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

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  • the present invention relates to the field of magnetic resonance navigation technology, and in particular to a magnetic resonance navigation device that automatically adjusts the position of a coil of a magnetic stimulator.
  • the traditional device is realized by personal experience in the application of RTMS transcranial magnetic stimulation products. It has certain error, and it can not achieve precise intervention and treatment of clinical magnetic stimulation in the fields of nerve, spirit and rehabilitation, and reduce the treatment efficiency. , can not meet the needs of the market.
  • the present invention provides a magnetic resonance navigation device that automatically adjusts the position of a coil of a magnetic stimulator, which can overcome the above-mentioned deficiencies of the prior art.
  • a magnetic resonance navigation device for automatically adjusting a coil position of a magnetic stimulator, comprising an image workstation, wherein the image workstation is respectively connected with a spatial positioning sensor, a mechanical arm controller and a physiological signal detecting device, wherein the mechanical arm controller is connected with a mechanical device An arm, a distal end joint of the mechanical arm is respectively connected with a transcranial stimulation coil and a tracker 2, the transcranial stimulation coil is connected with a transcranial magnetic stimulator, and the spatial positioning sensor is connected with a probe tracker, The needle tracker is connected with a tracker one, and the tracker is connected with an external marker point.
  • transcranial stimulation coil is fixedly connected to the end joint of the mechanical arm through a connection interface.
  • the tracker 2 is fixedly connected to the end joint of the mechanical arm through the connection interface.
  • transcranial stimulation coil is connected to the transcranial magnetic stimulator through a flexible wire.
  • the probe tracker is wirelessly connected to the spatial positioning sensor.
  • the external marker point is wirelessly connected to the tracker.
  • the invention has the beneficial effects that the invention realizes precise navigation of the RTMS magnetic stimulation probe, visual display of the magnetic stimulation position and precise control of the stimulation position, thereby improving the treatment efficiency and reducing side effects.
  • FIG. 1 is a schematic structural view of a magnetic resonance navigation device for automatically adjusting a coil position of a magnetic stimulator according to an embodiment of the invention
  • a magnetic resonance navigation device for automatically adjusting the coil position of a magnetic stimulator includes an image workstation 1 , and the image workstation 1 is respectively connected with a spatial positioning sensor 3 and a mechanical arm.
  • the controller 6 and the physiological signal detecting device 9 are connected to the robot arm 5, and the end joints of the mechanical arm 5 are respectively connected with a transcranial stimulation coil 2 and a tracker 2, the transcranial stimulation
  • the coil 2 is connected with a transcranial magnetic stimulator
  • the spatial positioning sensor 3 is connected with a probe tracker 8 to which a tracker 4 is connected, and the tracker 4 is connected with an external marker point 10 .
  • the transcranial stimulation coil 2 is fixedly coupled to the distal end of the robot arm 5 via a connection interface.
  • the tracker 2 is fixedly coupled to the end of the robot arm 5 via a connection interface.
  • the transcranial stimulation coil 2 is coupled to a transcranial magnetic stimulator via a flexible wire.
  • the probe tracker 8 is wirelessly coupled to the spatial positioning sensor 3.
  • the external marker point 10 is wirelessly coupled to the tracker-4.
  • the image workstation calculates the motion parameters of the mechanical arm according to the treatment plan and the spatial position of the tracker 1 and the tracker 2, and then controls the automatic movement of the joints of the mechanical arm so that the transcranial stimulation coil
  • the focus is precisely positioned in the area where the patient's head needs magnetic stimulation treatment, and if the patient's head moves to move the tracker, the spatial positioning sensor can measure the position and direction of the movement in real time, and the image workstation automatically adjusts the robot arm according to the data. Position to ensure accurate magnetic stimulation position.
  • the invention first performs magnetic resonance imaging: three-dimensional reconstruction of the skin surface of the brain and the head of the subject; display and processing corresponding 3D intracranial images, image registration, fusion, reconstruction, etc., and then image registration and fusion with the stimulation coil And dynamically track the position of the coil (3D image); then fuse the image: the fusion of the magnetic resonance intracranial 3D image with the reconstructed extracranial 3D structure: translation, scaling, rotation, alignment (align), etc.; secondly, image registration: external marker points are set on the patient's head, external marker points are measured by probe tracker and spatial positioning sensor, and magnetic resonance image, patient's head is established by using at least 3 external marker points.
  • ASM/AAM technology ie non-rigid body modeling technology, fitting brain tissue anatomy, telescopic non-rigid body, intracranial non-rigid brain tissue and extracranial
  • the TMS stimulation point coincides with the stimulation point of the brain tissue, and the 3D intracranial scene is displayed through the workstation display, and the transcranial magnetic stimulation is performed.
  • the probe probes the model and position of the coil and the magnetic field distribution; then the planning is performed: the operator plans the stimulation site and the transcranial magnetic stimulation coil on the image workstation according to the patient's head 3D image and the transcranial magnetic stimulation coil model and magnetic field distribution.
  • Position Last navigation: The operator controls the movement of the robot arm through the image workstation, aligns the transcranial magnetic stimulation coil with the part of the patient's head that needs stimulation, and measures the position of tracker 1 and tracker 2 in real time through the spatial positioning sensor.
  • the stimulation part of the cranial magnetic stimulation coil is analyzed and calculated, and the relative position of the transcranial magnetic stimulation coil and the patient's head is automatically adjusted and calibrated by controlling the position of the mechanical arm to ensure accurate stimulation position.
  • observation by physiological signal detecting device The patient reported that the stimulation effect was evaluated in real time and the stimulation site planning was adjusted in real time.
  • the invention requires the RTMS to configure a multi-coil magnetic stimulator, through the EEG inverse process, the multi-coil stereo focus positioning, and the magnetic resonance image data fusion to navigate and locate the stimulation coil; theoretically, the magnetic field of each coil can be made at the focus point Superimposition, increase the depth of stimulation, reduce the focus of stimulation; realize multi-modal detection of RTMS and EEG, magnetic resonance, PET, etc., see the near-field and far-field effects of RTMS, and the cerebral blood flow and metabolic changes in real time. Magnetic stimulation effects such as electrophysiological changes.
  • the invention realizes precise navigation of the RTMS magnetic stimulation probe, visual display of the magnetic stimulation position and precise control of the stimulation position, thereby improving the treatment efficiency and reducing side effects.

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Abstract

一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，包括图像工作站（1），所述图像工作站（1）分别连接有空间定位传感器（3）、机械臂控制器（6）和生理信号检测装置（9），所述机械臂控制器（6）连接有机械臂（5），所述机械臂（5）的末端关节分别连接有经颅刺激线圈（2）和跟踪器二（7），所述经颅刺激线圈（2）连接有经颅磁刺激仪，所述空间定位传感器（3）连接有探针跟踪器（8），所述探针跟踪器（8）连接有跟踪器一（4），所述跟踪器一（4）连接有外部标志点（10）。这种磁共振导航装置实现对RTMS磁刺激探头的精确导航，对磁刺激位置的可视化显示及刺激位置精确控制，进而提高治疗效率，减少副作用。

Description

一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置 技术领域
本发明涉及磁共振导航技术领域，具体来说，涉及一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置。
背景技术
传统的装置在RTMS经颅磁刺激产品应用中的定位时靠个人经验来实现的，具有一定的误差性，无法实现神经、精神、康复等领域临床磁刺激的精准干预和治疗，降低了治疗效率，已不能满足市场的需求。
发明内容
针对相关技术中的上述技术问题，本发明提出一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，能够克服现有技术的上述不足。
为实现上述技术目的，本发明的技术方案是这样实现的：
一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，包括图像工作站，所述图像工作站分别连接有空间定位传感器、机械臂控制器和生理信号检测装置，所述机械臂控制器连接有机械臂，所述机械臂的末端关节分别连接有经颅刺激线圈和跟踪器二，所述经颅刺激线圈连接有经颅磁刺激仪，所述空间定位传感器连接有探针跟踪器，所述探针跟踪器连接有跟踪器一，所述跟踪器一连接有外部标志点。
进一步的，所述经颅刺激线圈通过连接接口与机械臂的末端关节固定连接。
进一步的，所述跟踪器二通过连接接口与机械臂的末端关节固定连接。
进一步的，所述经颅刺激线圈通过软电线与经颅磁刺激仪连接。
进一步的，所述探针跟踪器与空间定位传感器无线连接。
进一步的，所述外部标志点与跟踪器一无线连接。
本发明的有益效果：本发明实现对RTMS磁刺激探头的精确导航，对磁刺激位置的可视化显示及刺激位置精确控制，进而提高治疗效率，减少副作用。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明实施例所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置的结构示意图；
图中：
1、图像工作台；2、经颅刺激线圈；3、空间定位传感器；4、跟踪器一；5、机械臂；6、机械臂控制器；7、跟踪器二；8、探针跟踪器；9、生理信号检测装置；10、外部标志点。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，根据本发明实施例所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，包括图像工作站1，所述图像工作站1分别连接有空间定位传感器3、机械臂控制器6和生理信号检测装置9，所述机械臂控制器6连接有机械臂5，所述机械臂5的末端关节分别连接有经颅刺激线圈2和跟踪器二7，所述经颅刺激线圈2连接有经颅磁刺激仪，所述空间定位传感器3连接有探针跟踪器8，所述探针跟踪器8连接有跟踪器一4，所述跟踪器一4连接有外部标志点10。
在一具体实施例中，所述经颅刺激线圈2通过连接接口与机械臂5的末端关节固定连接。
在一具体实施例中，所述跟踪器二7通过连接接口与机械臂5的末端关节固定连接。
在一具体实施例中，所述经颅刺激线圈2通过软电线与经颅磁刺激仪连接。
在一具体实施例中，所述探针跟踪器8与空间定位传感器3无线连接。
在一具体实施例中，所述外部标志点10与跟踪器一4无线连接。
为了方便理解本发明的上述技术方案，以下通过具体使用方式上对本发明的上述技术方案进行详细说明。
在具体使用时，本发明在治疗中，图像工作站根据治疗计划和跟踪器一、跟踪器二的空间位置，计算机械臂的运动参数，然后控制机械臂各关节自动运动，使得经颅刺激线圈的焦点精确定位到患者头部需要进行磁刺激治疗的区域，同时如果患者头部移动带动跟踪器一移动，空间定位传感器可实时测量到移动的位置和方向，图像工作站根据此数据控制机械臂自动调整位置，保证磁刺激位置准确。
本发明首先进行磁共振成像：三维重建大脑和被检者的头部的皮肤表面；显示处理相应的3D颅内景象，图像配准、融合，重建等，再与刺激线圈的图像配准、融合，并动态跟踪线圈的位置(3D图像)；然后对图像进行融合：磁共振颅内3D图像与重建的颅外3D结构的融合：平移(translation)、伸缩(scaling)、旋转(rotation)、对齐(align)等；其次进行图像注册：在患者头部设置外部标志点，用探针跟踪器和空间定位传感器测量外部标志点位置，利用至少3个外部标志点建立磁共振图像、病人头部、经颅磁刺激仪探头之间的坐标系映射关系；建立模型：利用ASM/AAM技术，即非刚体建模技术，拟合脑组织解剖结构，伸缩非刚体，颅内非刚体脑组织和颅外刚体骨组织3D图像融合之后，TMS刺激点与脑内组织所关注的刺激点的重合，通过工作站显示器显示出3D颅内景象，经颅磁刺激仪探头刺激线圈的模型和位置以及磁场分布；再然后进行规划：操作者在图像工作站上，根据患者头部3D图像及经颅磁刺激线圈模型及磁场分布，规划刺激部位及经颅磁刺激线圈的位置；最后导航：操作者通过图像工作站控制机械臂运动，将经颅磁刺激线圈对准患者头部需进行刺激的部位，通过空间定位传感器实时测量跟踪器一和跟踪器二的位置对经颅磁刺激线圈刺激部位进行分析计算，并通过控制机械臂的位置自动调整和校准经颅磁刺激线圈与患者头部的相对位置，保证刺激位置准确，在刺激治疗同时，通过生理信号检测装置观察患者反映，对刺激效果进行实时评估，对刺激部位规划进行实时调整。
本发明要求RTMS配置多线圈磁刺激器，通过脑电图逆过程，由多线圈立体聚焦定位，与磁共振影像资料融合后导航定位刺激线圈；理论上可以做到每个线圈的磁场在聚焦点叠加，使刺激的深度增加、刺激聚焦点减小；实现RTMS与脑电图、磁共振、PET等多模态检测，实时看到RTMS的近场和远场效应，以及脑血流量、代谢变化、电生理变化等磁刺激效果。
综上所述，本发明实现对RTMS磁刺激探头的精确导航，对磁刺激位置的可视化显示及刺激位置精确控制，进而提高治疗效率，减少副作用。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，包括图像工作站(1)，所述图像工作站(1)分别连接有空间定位传感器(3)、机械臂控制器(6)和生理信号检测装置(9)，所述机械臂控制器(6)连接有机械臂(5)，所述机械臂(5)的末端关节分别连接有经颅刺激线圈(2)和跟踪器二(7)，所述经颅刺激线圈(2)连接有经颅磁刺激仪，所述空间定位传感器(3)连接有探针跟踪器(8)，所述探针跟踪器(8)连接有跟踪器一(4)，所述跟踪器一(4)连接有外部标志点(10)。
  2. 根据权利要求1所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，所述经颅刺激线圈(2)通过连接接口与机械臂(5)的末端关节固定连接。
  3. 根据权利要求1所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，所述跟踪器二(7)通过连接接口与机械臂(5)的末端关节固定连接。
  4. 根据权利要求2所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，所述经颅刺激线圈(2)通过软电线与经颅磁刺激仪连接。
  5. 根据权利要求1所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，所述探针跟踪器(8)与空间定位传感器(3)无线连接。
  6. 根据权利要求1所述的一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置，其特征在于，所述外部标志点(10)与跟踪器一(4)无线连接。
PCT/CN2018/077847 2017-08-09 2018-03-02 一种驱动磁刺激仪线圈位置自动调整的磁共振导航装置 WO2019029158A1 (zh)

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