WO2020062774A1 - 一种经颅磁刺激诊疗设备 - Google Patents

一种经颅磁刺激诊疗设备 Download PDF

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Publication number
WO2020062774A1
WO2020062774A1 PCT/CN2019/076105 CN2019076105W WO2020062774A1 WO 2020062774 A1 WO2020062774 A1 WO 2020062774A1 CN 2019076105 W CN2019076105 W CN 2019076105W WO 2020062774 A1 WO2020062774 A1 WO 2020062774A1
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Prior art keywords
patient
head
camera
magnetic stimulation
robot
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PCT/CN2019/076105
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English (en)
French (fr)
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蔡胜安
孙聪
王波
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武汉资联虹康科技股份有限公司
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Priority to CN201980001087.5A priority Critical patent/CN110896610A/zh
Priority to US17/279,219 priority patent/US20220031408A1/en
Priority to EP19867001.0A priority patent/EP3858432B1/en
Publication of WO2020062774A1 publication Critical patent/WO2020062774A1/zh

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    • 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
    • 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
    • A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
    • 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 invention belongs to the technical field of transcranial magnetic stimulation, in particular to a transcranial magnetic stimulation diagnosis and treatment device.
  • Transcranial Magnetic Stimulation is a technique that uses a pulsed magnetic field to generate a current in the local cerebral cortex to temporarily activate or inhibit the cortex.
  • the operation of the transcranial magnetic stimulation therapy equipment is to manually control the TMS coils for the patient to perform treatment.
  • Manual operation is very inconvenient. It requires holding the coil for a long time or using a bracket to fix a specific angle. The patient's experience is not good. She does not dare to move while sitting, and needs to reposition after the movement. Manual positioning is tedious and inaccurate. Thus, the treatment effect of the patient is greatly reduced.
  • Chinese patent application number 201010235826.8 discloses a navigation transcranial magnetic stimulation treatment system, which is mainly composed of a small magnetic resonance imaging system, an optical positioning navigation system, and a transcranial magnetic stimulation device.
  • the small nuclear magnetic resonance imaging system and the The microcomputer connection of the cranial magnetic stimulation treatment system The scanning data obtained by scanning of the small magnetic resonance imaging system is transmitted to the computer database.
  • the optical positioning and navigation system in the cranial magnetic stimulation treatment system retrieves the imaging data for 3D model reconstruction and reconstruction.
  • the post-registration stimulation coil is used to guide the fixed position of the coil so that the focus of the coil stimulation coincides with the specified stimulation point.
  • the invention has the advantages of convenient operation, accurate positioning, targeted stimulation and powerful functions.
  • the modeling of the patient's head is realized by an MRI system.
  • the MRI system will cause certain harm to the health of the patient's brain, and when the patient's head is optically positioned, the patient's head needs to be Wearing an optical positioning device reduces the patient's experience, and the system requires a magnetic resonance imaging system, an optical positioning navigation system, and a transcranial magnetic stimulator, and the treatment cost is relatively high.
  • the object of the present invention is to provide a transcranial magnetic stimulation diagnosis and treatment device for the problems existing in the prior art.
  • the head data of a patient is collected by a 3D camera, and the patient's head is modeled by a computer to determine the target stimulation target of the patient's head.
  • the position of the point using an articulated robot to move the TMS coil to the patient's head to stimulate the target for magnetic stimulation treatment, reducing the labor intensity of the doctor, and reducing the impact of human error on the treatment effect; solving the problem of nuclear magnetic resonance in the prior art
  • the resonance imaging system modeling the patient's head causes problems that endanger the patient's brain health. At the same time, it solves the problem that the patient needs to wear an optical positioning device when the optical positioning of the patient's head is brought to the patient.
  • a transcranial magnetic stimulation diagnosis and treatment device includes a horizontal translation platform, a base, an articulated robot, a TMS coil, a 3D camera, and a computer.
  • the base is provided with a controller, and the controller is respectively connected with the horizontal translation platform and the articulated robot.
  • 3D camera and computer are electrically connected; the articulated robot and horizontal translation platform are all set above the base; the TMS coil is clamped in the clamping part of the articulated robot;
  • a headrest is provided at one end of the horizontal translation platform.
  • the headrest includes a pillow top cover, a pillow bottom cover and a pillow mounting bracket.
  • the pillow mounting bracket is installed on the horizontal translation platform.
  • the pillow bottom cover Installed on the pillow mounting bracket, the pillow top cover is mounted on the pillow bottom cover; both the pillow top cover and the pillow bottom cover are concave structures, which can well limit the swing of the patient's head without Will cause discomfort to the patient, and will not affect the magnetic stimulation treatment of the back brain of the patient by the TMS coil.
  • the articulated robot includes a robot base, a first robot arm, a second robot arm, a third robot arm, and a clamping portion connected in sequence; a portion where the robot base is connected to the base is provided with a first rotary motor A second rotating electric machine is provided at a portion where the first mechanical arm is connected to the robot base, and a third rotating electric machine is provided at a portion where the second mechanical arm is connected to the first mechanical arm, and the third mechanical arm is connected to the first Telescopic motors are located at the positions where the two robot arms are connected;
  • the robot base can be freely rotated 360 ° on a horizontal plane by the first rotary electric machine; the first robotic arm can be rotated around the first robotic arm and the robot base through the second rotary electric machine at 180 ° free rotation in the vertical plane; the second robotic arm can be freely rotated in the vertical plane by 180 ° in the vertical plane around the connection point between the second robotic arm and the first robotic arm through the third rotating motor; The arm can perform a back-and-forth telescoping motion on the straight line where the second robotic arm and the third robotic arm are located by the telescopic motor.
  • a camera mounting bracket is provided above the horizontal translation platform, and the 3D camera is disposed on the camera mounting bracket, and the 3D camera is located directly above the headrest for collecting 3D image data of the patient's head;
  • a fourth rotary motor is provided at a portion where the camera mounting bracket is connected to the horizontal translation platform, and the camera mounting bracket can be rotated around the camera mounting bracket and the horizontal translation platform by a fourth rotation motor in a vertical plane. Rotate; thus it is convenient to obtain 3D image data of the patient's head.
  • a heat radiation window is provided on the side of the base to dissipate the controller and prevent the controller from being damaged due to excessive temperature.
  • a plurality of universal locking wheels are provided at the bottom of the base to facilitate the movement of the treatment equipment.
  • the present invention also provides a transcranial magnetic stimulation diagnosis and treatment method, which includes the following steps:
  • the patient lies on the horizontal translation platform and rests his head on the headrest.
  • the front and back positions of the horizontal translation platform are adjusted by the computer control, so that the patient's head is in the 3D.
  • a 3D camera-based spatial coordinate system is constructed by the computer, and the 3D image data is used to calculate a three-dimensional coordinate of the patient's head feature point in the spatial coordinate system; Matching in the spatial coordinate system to determine the three-dimensional coordinates of the patient's head stimulation target in the spatial coordinate system;
  • step S5 during the magnetic stimulation treatment of the patient's head, the 3D posture information of the patient's head is collected in real time through a 3D camera, and the latest target stimulation target of the patient's head is determined according to the 3D posture information collected in real time.
  • the articulated robot is controlled to move the TMS coil to the latest position of the patient's head stimulation target to perform precise magnetic stimulation treatment on the patient's head in real time.
  • the present invention does not require a doctor to hold the TMS coil or fix the TMS coil through a bracket to perform magnetic stimulation treatment on the patient's head.
  • the present invention acquires a 3D image of the patient's head through a 3D camera Data, and model the patient's head with a computer to determine the precise location of the patient's head stimulation target, and then use an articulated robot to move the TMS coil to the patient's head near the stimulation target to perform magnetic stimulation treatment on the patient's head to improve The precise effect of magnetic stimulation treatment is reduced, and the workload of doctors is reduced, and the adverse effects of human factors on the treatment effect are avoided;
  • the treatment device of the present invention can collect the patient's head in real time through the 3D camera during the treatment process.
  • the headrest of the present invention has a curved surface design, which can well limit the large movement of the patient's head, and at the same time will not cause discomfort to the patient, and will not affect the magnetic stimulation treatment of the back brain of the patient by the TMS coil.
  • FIG. 1 is a schematic diagram of the overall structure of a transcranial magnetic stimulation diagnosis and treatment device according to Embodiment 1;
  • FIG. 1 is a schematic diagram of the overall structure of a transcranial magnetic stimulation diagnosis and treatment device according to Embodiment 1;
  • FIG. 2 is a schematic diagram of a mounting structure of a headrest and a horizontal translation platform in Embodiment 1;
  • FIG. 3-1 is a front view of the headrest in Embodiment 1
  • FIG. 3-2 is a left view of the headrest in Embodiment 1
  • FIG. 3-3 is a top view of the headrest in Embodiment 1
  • FIG. 4 is a schematic flowchart of a transcranial magnetic stimulation diagnosis and treatment method in Embodiment 2;
  • this embodiment provides a transcranial magnetic stimulation diagnosis and treatment device, which includes a horizontal translation platform 1, a base 2, an articulated robot 3, a TMS coil 4, a 3D camera 5 and a computer 6;
  • a controller is provided, which is electrically connected to the horizontal translation platform 1, the articulated robot 3, the 3D camera 5, and the computer 6, respectively; the articulated robot 3 and the horizontal translation platform 1 are all arranged above the base 2;
  • the clamping portion 35 of the articulated robot 3 clamps the TMS coil 4;
  • a headrest 7 is provided at one end of the horizontal translation platform 1, and the headrest 7 includes a pillow top cover 71, a pillow bottom cover 72, and a pillow mounting bracket 73.
  • a mounting bracket 73 is mounted on the horizontal translation platform 1, the pillow bottom cover 72 is mounted on the pillow mounting bracket 73, and the pillow top cover 71 is mounted on the pillow bottom cover 72; on the pillow
  • the cover 71 and the pillow bottom cover 72 are both concave structures.
  • the headrest 7 mainly functions as a bracket, and the support points are the skull and the neck, which can well limit the swing of the patient's head without causing any damage to the patient. Discomfort, and will not affect the magnetic stimulation treatment of TMS coil 4 on the back of the patient;
  • the pillow mounting bracket 73 is provided with four first mounting holes
  • the pillow bottom cover 72 is provided with four second mounting holes and six third mounting holes
  • the pillow upper cover 71 is provided with There are six fourth mounting holes;
  • the first mounting holes correspond to the second mounting holes, and are used to mount the pillow bottom cover 72 on the pillow mounting bracket 73 by bolts;
  • the third mounting holes and the first Four mounting holes correspond to the pillow top cover 71 to be mounted on the pillow bottom cover 72 by bolts;
  • the pillow mounting bracket 73 is mounted on the horizontal translation platform 1 by means of snap-fitting.
  • the articulated robot 3 includes a robot base 31, a first robot arm 32, a second robot arm 33, a third robot arm 34, and a clamping portion 35 connected in order; the robot base 31 is connected to the base 2
  • a first rotary electric machine is provided at a position where a second rotary electric machine is provided at a portion where the first mechanical arm 32 is connected to the robot base 31, and a first rotary electric machine is provided at a portion where the second mechanical arm 33 is connected to the first mechanical arm 32.
  • Three rotating motors, a telescopic motor is provided at a portion where the third robot arm 34 and the second robot arm 33 are connected;
  • the robot base 31 can be freely rotated 360 ° on a horizontal plane by the first rotary electric machine; the first robot arm 32 can be rotated around the first robot arm 32 and the robot base by the second rotary electric machine. 31.
  • the connecting part rotates 180 ° freely in the vertical plane; the second robot arm 33 can be freely rotated 180 ° freely in the vertical plane around the second robot arm 33 and the first robot arm 32 through the third rotating motor.
  • Rotate; the third robot arm 34 can perform a telescopic movement on the straight line where the second robot arm 33 and the third robot arm 34 are located by the telescopic motor.
  • a camera mounting bracket 8 is provided above the horizontal translation platform 1.
  • the camera mounting bracket 8 is provided with the 3D camera 5, and the 3D camera 5 is located directly above the headrest 7 for collecting a patient's head. 3D image data;
  • a fourth rotary motor is provided at a portion where the camera mounting bracket 8 is connected to the horizontal translation platform 1, and the camera mounting bracket 8 can be connected to the horizontal translation platform 1 by the fourth rotation motor around the camera mounting bracket 8. Rotate in a vertical plane; this facilitates the acquisition of 3D image data of the patient's head.
  • a heat dissipation window 9 is provided on the side of the base 2 to dissipate the controller and prevent the controller from being damaged due to excessive temperature.
  • eight universal locking wheels 10 are provided at the bottom of the base 2 to facilitate the movement of the treatment device.
  • a display mounting bracket 11 is further provided above the horizontal translation platform 1, and a display 12 is mounted on the display mounting bracket 11 for playing specified content and attracting patients to watch to maintain a fixed head posture;
  • the display 12 is fixed obliquely above the patient's head to improve the comfort of the patient when viewing.
  • this embodiment provides a transcranial magnetic stimulation diagnosis and treatment method, which includes the following steps:
  • the patient lies flat on the horizontal translation platform 1 and rests his head on the headrest 7.
  • the computer 6 controls and adjusts the forward and backward positions of the horizontal translation platform 1 so that the patient's head The portion is within the image acquisition range of the 3D camera 5;
  • step S5 specifically, the patient's head is also followed and positioned by the 3D camera 5; during the treatment process, the position information of the patient's head is recorded each time the positioning is completed. If the distance between the current time and the previous magnetic stimulation point is more than 5mm, follow-up positioning will be started; if it is less than 5mm, follow-up positioning will not be started; if the patient's head is rotated a lot, the 3D camera 5 and the robot's follower will be suspended , And at the same time suspend the magnetic stimulation of the TMS coil 4; if the patient is not within the adjustable range of the 3D camera 5 or leaves, stop the magnetic stimulation of the manipulator and the coil. .
  • the following positioning is specifically: determining the latest spatial position of the patient's head stimulation target according to the position information of the patient's head collected in real time, and finally controlling the articulated robot according to the latest spatial position of the patient's head stimulation target. 3 Move the TMS coil 4 to the latest position of the patient's head stimulation target, and perform precise magnetic stimulation treatment on the patient's head in real time.
  • processing the 3D image data by the computer 6 includes: calculating a matching relationship between the images by identifying feature points in the images collected in various directions, and then using the 3D point cloud ICP algorithm.
  • the spatial position relationships between the point cloud images collected in various directions are obtained, and finally all the point cloud image data is rotated and translated according to the matching relationship and the spatial position relationship to obtain a complete 3D point cloud image of the patient's head.
  • modeling the head requires collecting 3D scan data of the patient's head through the 3D camera 5.
  • the 3D camera 5 takes a picture, it generates a color map, a depth map, and a 3D point cloud map. These three maps are generated simultaneously. Therefore, the points on each image have a fixed correspondence. This correspondence is known and obtained through the calibration of the camera; 3D scanning is to take a series of images around the patient's head, and then stitch these images into a complete Images, and image stitching must find the same parts in the two images and match; hair cannot get 3D point clouds in the 3D camera 5, and 3D data of the skull (do not hair) is needed in the medical treatment of the head model, so in the head model Patients need to wear a specific positioning cap when scanning.
  • stitching steps of the point cloud are as follows:
  • the patient's head model is constructed based on the complete 3D data of the patient's head.
  • step S4 the patient's head model is matched with the patient's head in a spatial coordinate system.
  • the specific matching method is: during the treatment process, the 3D image captured by the 3D camera 5 in real time has only the patient's face information, and no head. Location information, so the head module built in S3 and facial data captured in real time are used for position registration. Due to the large amount of calculation of the ICP algorithm, it cannot meet the requirements of real-time detection.
  • the position registration method is to bid in the head module first.
  • the facial feature points (eyebrow, eye corner, nose tip, earlobe, mouth corner, etc.) used for registration are identified, and then the facial feature points are automatically identified in the real-time image, and the conversion relationship between the real-time picture and the head model is calculated through the feature point matching, and Calculate the position of the headform in space, and then calculate the position coordinates of the target on the headform in space.

Abstract

一种经颅磁刺激诊疗设备，包括卧式平移平台（1）、底座（2）、关节机器人（3）、TMS线圈（4）、3D摄像头（5）和计算机（6）；所述底座（2）内设有控制器，所述控制器分别与卧式平移平台（1）、关节机器人（3）、3D摄像头（5）、计算机（6）电连接；所述关节机器人（3）、卧式平移平台（1）均设在底座（2）上方；所述关节机器人（3）的夹持部位（35）夹持有所述TMS线圈（4）；该设备通过3D摄像头（5）采集患者的头部数据，并通过计算机（6）对患者头部进行建模，确定患者头部刺激靶点的位置，利用关节机器人（3）将TMS线圈（4）移动至患者头部刺激靶点进行磁刺激治疗，降低了医生的劳动强度，也减少了人为误差给治疗效果造成的影响。

Description

一种经颅磁刺激诊疗设备 技术领域
本发明属于经颅磁刺激医疗技术领域，具体是一种经颅磁刺激诊疗设备。
背景技术
据中国疾病预防控制中心精神卫生中心统计，目前我国精神疾病患者总数已超过1亿，但公众对精神疾病的知晓率不足5成，就诊率更低。目前这些精神病人得到及时救治的约20％，有80％的精神病人得不到及时救治，甚至得不到最基本的救治，症精神疾病患者人数更是高达1600万人。根据IMS health的最新统计数据，全球精神疾病用药已经超过360亿美元，占药品销售总额的5％。不过，就国内而言，目前的精神疾病用药市场规模仍相对较小，大约占医院销售总额的1.5％左右。我国精神病专科医院已经超过600家，但与日益增长的精神病发病率相比，在数量和质量上与精神病患者需求之间还存在较大差距，仍有为数众多的精神病患者不能得到专业、系统、有效的治疗。
经颅磁刺激(Transcranial Magnetic Stimulation，TMS)，是一种通过脉冲磁场在局部大脑皮层中产生电流以暂时激活或抑制该皮层的技术。在如今现有的医疗设备领域，关于经颅磁刺激治疗设备的操作都是通过人为操作或支架固定控制TMS线圈，来对患者进行治疗。人工操作很不方便，需要长时间手持线圈或者利用支架固定一个特定角度；患者的体验感不好，坐着保持姿势不敢乱动，乱动后需要重新定位；人工定位比较繁琐也不够精准，从而对患者的治疗效果大打折扣。
申请号为201010235826.8的中国专利公开了一种导航经颅磁刺激治疗系统，主要由一小型核磁共振成像系统、一光学定位导航系统和一经颅磁刺激仪组成；其中，小型核磁共振成像系统与经颅磁刺激治疗系统的微机连接，小型核磁共振成像系统扫描得到扫描成项数据传输至该微机数据库中，经颅磁刺激治疗系统中的光学定位导航系统调取该成像数据进行三维模型重建，重建后配准刺激线圈，指导线圈固定位置，使得线圈刺激焦点与指定刺激点重合。该发明操作方便，定位准确，刺激有针对性，功能强大。然而，该专利中对患者头部进行建模是通过核磁共振成像系统实现的，核磁共振成像系统对患者大脑的健康会造成一定的危害，且对患者头部进行光学定位时，患者头部需要佩戴光学定位装置，降低了患者的体验感，且该系统需要用到核磁共振成像系统、光学定位导航系统和经颅磁刺激仪，治疗成本相对较高。
发明内容
本发明的目的是针对现有技术存在的问题，提供一种经颅磁刺激诊疗设备，通过3D摄像头采集患者的头部数据，并通过计算机对患者头部进行建模，确定患者头部刺激靶点的位置，利用关节机器人将TMS线圈移动至患者头部刺激靶点进行磁刺激治疗，降低了医生的劳动强度，也减少了人为误差给治疗效果造成的影响；解决了现有技术中通过核磁共振成像系统对患者头部进行建模导致危害患者脑部健康的问题，同时解决了对患者头部进行光学定位时需要患者佩戴光学定位装置给患者带来的体验感差的问题。
为实现上述目的，本发明采用的技术方案是：
一种经颅磁刺激诊疗设备，包括卧式平移平台、底座、关节机器人、TMS线圈、3D摄像头和计算机；所述底座内设有控制器，所述控制器分别与卧式平移平台、关节机器人、3D摄像头、计算机电连接；所述关节机器人、卧式平移平台均设在底座上方；所述关节机器人的夹持部位夹持有所述TMS线圈；
所述卧式平移平台的一端设有头枕，所述头枕包括枕头上盖、枕头底盖和枕头安装支架，所述枕头安装支架安装在所述卧式平移平台上，所述枕头底盖安装在所述枕头安装支架上，所述枕头上盖安装在所述枕头底盖上；所述枕头上盖和枕头底盖均为凹面结构，可以很好的限制患者头部的摆动，同时不会给患者造成不适，且不会影响TMS线圈对患者后脑部位的磁刺激治疗。
具体地，所述关节机器人包括依次连接的机器人基座、第一机械臂、第二机械臂、第三机械臂和夹持部位；所述机器人基座与底座连接的部位设有第一旋转电机，所述第一机械臂与机器人基座连接的部位设有第二旋转电机，所述第二机械臂与第一机械臂连接的部位设有第三旋转电机，所述第三机械臂与第二机械臂连接的部位设有伸缩电机；
进一步地，所述机器人基座可以通过所述第一旋转电机在水平面上360°自由转动；所述第一机械臂可以通过所述第二旋转电机绕第一机械臂与机器人基座连接部位在竖直平面内180°自由转动；所述第二机械臂可以通过所述第三旋转电机绕第二机械臂与第一机械臂连接部位在竖直平面内180°自由转动；所述第三机械臂可以通过所述伸缩电机在第二机械臂与第三机械臂所在的直线上做来回伸缩运动。
具体地，所述卧式平移平台上方设有摄像头安装支架，所述摄像头安装支架上设有所述3D摄像头，所述3D摄像头位于头枕正上方，用于采集患者头部的3D图像数据；
进一步地，所述摄像头安装支架与卧式平移平台连接的部位设有第四旋转电机，所述摄像头安装支架可以通过第四旋转电机绕摄像头安装支架与卧式平移平台连接部位在竖直平面内转动；从而方便获取患者头部的3D图像数据。
具体地，所述底座侧面开设有散热窗，用于对所述控制器进行散热，防止控制器温度过高损坏。
具体地，所述底座的底部设有若干万向锁止轮，方便移动治疗设备。
与上述诊疗设备相对应的，本发明还提供了一种经颅磁刺激诊疗方法，包括以下步骤：
S1，患者平躺在所述卧式平移平台上，并将头部枕在所述头枕上，通过所述计算机控制调节所述卧式平移平台的前后位置，使患者的头部处于所述3D摄像头的图像采集范围内；
S2，通过所述3D摄像头采集患者头部的3D图像数据，并将采集到的3D图像数据传送给所述计算机；
S3，通过所述计算机对3D图像数据进行处理，构建患者的头部模型；
S4，通过所述计算机构建基于3D摄像头的空间坐标系，利用所述3D图像数据计算患者头部特征点在所述空间坐标系中的三维坐标；并将患者头部模型与患者头部在所述空间坐标系内进行匹配，确定患者头部刺激靶点在所述空间坐标系内的三维坐标；
S5，根据患者头部磁刺激靶点的空间位置，控制所述关节机器人将TMS线圈移动至患者头部刺激靶点的位置，对患者头部进行磁刺激治疗。
具体地，步骤S5中，在对患者头部进行磁刺激治疗的过程中，通过3D摄像头实时采集患者头部的三维姿态信息，并根据实时采集的三维姿态信息确定患者头部刺激靶点最新的空间位置，最后根据患者头部刺激靶点最新的空间位置，控制所述关节机器人将TMS线圈移动至患者头部刺激靶点最新的位置，实时对患者头部进行精准磁刺激治疗。
与现有技术相比，本发明的有益效果是：(1)本发明无需医生手持TMS线圈或者通过支架固定TMS线圈对患者头部进行磁刺激治疗，本发明通过3D摄像头采集患者头部3D图像数据，并通过计算机对患者头部进行建模，确定患者头部刺激靶点的精准位置，再利用关节机器人将TMS线圈移动至患者头部刺激靶点附近对患者头部进行磁刺激治疗，提高了磁刺激治疗的精准效果，同时减轻了医生的工作负担，避免了人为因素给治疗效果造成的不良影响；(2)本发明的治疗设备在治疗的过程中，可以通过3D摄像头实时采集患者头部的三维姿态信息，并根据患者头部实时的三维姿态信息确定最新刺激靶点的位置，即使患者在治疗过程中头部姿态发生了变化，也能保证磁刺激治疗的精准性，患者在治疗过程中，不需要长期保持一个姿势，提升了用户体验。(3)本发明的头枕为弧面设计，可以很好的限制患者头部的大幅移动，同时不会给患者造成不适，且不会影响TMS线圈对患者后脑部位的磁刺激治疗。
附图说明
图1为实施例1一种经颅磁刺激诊疗设备的整体结构示意图；
图2为实施例1中头枕与卧式平移平台的安装结构示意图；
[根据细则91更正 13.03.2019]　
图3-1为实施例1中头枕的主视图图3-2为实施例1中头枕的左视图；图3-3为实施例1中头枕的俯视图
图4为实施例2一种经颅磁刺激诊疗方法的流程示意图；
图中：1、卧式平移平台；2、底座；3、关节机器人；31、机器人基座；32、第一机械臂；33、第二机械臂；34、第三机械臂；35、夹持部位；4、TMS线圈；5、3D摄像头；6、计算机；7、头枕；71、枕头上盖；72、枕头底盖；73、枕头安装支架；8、摄像头安装支架；9、散热窗；10、万向锁止轮。
具体实施方式
下面将结合本发明中的附图，对本发明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在没有做出创造性劳动条件下所获得的所有其它实施例，都属于本发明保护的范围。
实施例1
如图1所示，本实施例提供了一种经颅磁刺激诊疗设备，包括卧式平移平台1、底座2、关节机器人3、TMS线圈4、3D摄像头5和计算机6；所述底座2内设有控制器，所述控制器分别与卧式平移平台1、关节机器人3、3D摄像头5、计算机6电连接；所述关节机器人3、卧式平移平台1均设在底座2上方；所述关节机器人3的夹持部位35夹持有所述TMS线圈4；
如图2至图3-3所示，所述卧式平移平台1的一端设有头枕7，所述头枕7包括枕头上盖71、枕头底盖72和枕头安装支架73，所述枕头安装支架73安装在所述卧式平移平台1上，所述枕头底盖72安装在所述枕头安装支架73上，所述枕头上盖71安装在所述枕头底盖72上；所述枕头上盖71和枕头底盖72均为凹面结构，所述头枕7主要起到托架的作用，支撑点为头骨和颈部，可以很好的限制患者头部的摆动，同时不会给患者造成不适，且不会影响TMS线圈4对患者后脑部位的磁刺激治疗；
具体的，所述枕头安装支架73上设有4个第一安装孔，所述枕头底盖72上设有4个第二安装孔和6个第三安装孔，所述枕头上盖71上设有6个第四安装孔；所述第一安装孔与第二安装孔对应，用于将所述枕头底盖72通过螺栓安装在所述枕头安装支架73上；所述第三安装孔与第四安装孔对应，用于将所述枕头上盖71通过螺栓安装在所述枕头底 盖72上；所述枕头安装支架73通过卡接的方式安装在所述卧式平移平台1上。
具体地，所述关节机器人3包括依次连接的机器人基座31、第一机械臂32、第二机械臂33、第三机械臂34和夹持部位35；所述机器人基座31与底座2连接的部位设有第一旋转电机，所述第一机械臂32与机器人基座31连接的部位设有第二旋转电机，所述第二机械臂33与第一机械臂32连接的部位设有第三旋转电机，所述第三机械臂34与第二机械臂33连接的部位设有伸缩电机；
进一步地，所述机器人基座31可以通过所述第一旋转电机在水平面上360°自由转动；所述第一机械臂32可以通过所述第二旋转电机绕第一机械臂32与机器人基座31连接部位在竖直平面内180°自由转动；所述第二机械臂33可以通过所述第三旋转电机绕第二机械臂33与第一机械臂32连接部位在竖直平面内180°自由转动；所述第三机械臂34可以通过所述伸缩电机在第二机械臂33与第三机械臂34所在的直线上做来回伸缩运动。
具体地，所述卧式平移平台1上方设有摄像头安装支架8，所述摄像头安装支架8上设有所述3D摄像头5，所述3D摄像头5位于头枕7正上方，用于采集患者头部的3D图像数据；
进一步地，所述摄像头安装支架8与卧式平移平台1连接的部位设有第四旋转电机，所述摄像头安装支架8可以通过第四旋转电机绕摄像头安装支架8与卧式平移平台1连接部位在竖直平面内转动；从而方便获取患者头部的3D图像数据。
具体地，所述底座2侧面开设有散热窗9，用于对所述控制器进行散热，防止控制器温度过高损坏。
具体地，所述底座2的底部设有8只万向锁止轮10，方便移动治疗设备。
具体地，所述卧式平移平台1上方还设有显示器安装支架11，所述显示器安装支架11上安装有显示器12，用于播放指定内容，吸引患者观看，以保持头部固定姿态；所述显示器12固定在患者头部斜上方，提升患者观看时的舒适度。
实施例2
如图4所示，本实施例提供了一种经颅磁刺激诊疗方法，包括以下步骤：
S1，患者平躺在所述卧式平移平台1上，并将头部枕在所述头枕7上，通过所述计算机6控制调节所述卧式平移平台1的前后位置，使患者的头部处于所述3D摄像头5的图像采集范围内；
S2，通过所述3D摄像头5从不同方向采集患者头部的3D图像数据，并将采集到的3D图像数据传送给所述计算机6；
S3，通过所述计算机6对3D图像数据进行处理，构建患者的头部模型；
S4，通过所述计算机6构建基于3D摄像头5的空间坐标系，利用所述3D图像数据计算患者头部特征点在所述空间坐标系中的三维坐标；并将患者头部模型与患者头部在所述空间坐标系内进行匹配，确定患者头部刺激靶点在所述空间坐标系内的三维坐标；
S5，根据患者头部磁刺激靶点的空间位置，控制所述关节机器人3将TMS线圈4移动至患者头部刺激靶点的位置，对患者头部进行磁刺激治疗。
具体地，步骤S5中，具体地，还通过3D摄像头5对患者头部进行跟随定位；在治疗过程中会记录每次定位完成时患者头部的位置信息，若下一时刻由于患者头部运动造成当前时刻与上一时刻的磁刺激点位置距离超过5mm，则启动跟随定位；若不超过5mm，则不启动跟随定位；若患者头部转动次数较多，则暂停3D摄像头5和机械手的跟随，并同时暂停TMS线圈4的磁刺激；若患者不在3D摄像头5的可调整范围内或离开，则停止机械手和线圈的磁刺激动作。。
进一步地，所述跟随定位具体为：根据实时采集的患者头部的位置信息确定患者头部刺激靶点最新的空间位置，最后根据患者头部刺激靶点最新的空间位置，控制所述关节机器人3将TMS线圈4移动至患者头部刺激靶点最新的位置，实时对患者头部进行精准磁刺激治疗。
具体地，步骤S3中，通过所述计算机6对3D图像数据进行处理包括：通过识别各个方向采集到的图像中的特征点计算出各个图像之间的匹配关系，再通过3D点云的ICP算法得到各个方向采集到的点云图像之间的空间位置关系，最后根据所述匹配关系和空间位置关系将所有的点云图像数据进行旋转和平移操作，得到患者头部完整的3D点云图像。
进一步地，对头部进行建模需要通过3D摄像头5采集患者头部的3D扫描数据，3D摄像头5每拍照一次会产生彩色图、深度图和3D点云图，这三幅图是同时产生的，所以各个图像上的点有固定的对应关系，这个对应关系是已知的，是通过摄像头的标定得到的；3D扫描就是围绕患者头部拍摄一系列的图像，然后将这些图像拼接成一个完整的图像，而图像拼接要找到两幅图像中相同的部分并进行匹配；在3D摄像头5中头发无法得到3D点云，而在医学治疗头模需要颅骨的3D数据(不要头发)，故在头模扫描时患者需要戴上特定的定位帽，为了使匹配更准确，帽子上一般会设一些mark点；3D扫描最终需要对3D点云进行拼接，拼接时需要每一幅图像点云之间的旋转平移关系，点云的拼接主要依靠ICP算法，ICP算法有时会失败，故需要先做粗匹配。
进一步地，点云的拼接步骤如下：
S31，先在彩色图中通过OpenCV中cv::FeatureDetector和cv::DescriptorExtractor计算“关键点”，并对这些关键点周围的像素计算其“描述子”，再通过cv::DMatch对上述的描述子进行匹配，然后调用OpenCV里的SolvePnPRansac函数求解PnP得到两幅图像的位移和旋转的信息；
S32，使用上面计算得到的位移和旋转的信息作为ICP算法的初始粗匹配的结果对两幅点云数据进行计算得到更加精准的位移和旋转数据；
S33，使用上述位移和旋转数据得到位移和旋转矩阵，并对上一幅点云图中的点全部进行旋转和平移，将计算的到的新点云添加到当前点云图中，得到一个更大的点云，完成两幅点云的整合；
S34，重复步骤S31至S33，将所有点云图整合成一个更大的点云图，再对此点云图进行滤波平滑处理，抽样减少点的数量，拟合得到3D曲面数据；即得到患者头部完整的3D数据。
最后根据患者头部完整的3D数据构建患者的头部模型。
具体地，步骤S4中，将患者头部模型与患者头部在空间坐标系内进行匹配，具体匹配方法为：在治疗过程中，3D摄像头5实时拍摄的3D图像只有患者的面部信息，没有头部信息，所以要将S3中建好的头模与实时拍摄的面部数据进行位置的配准，由于ICP算法计算量较大，无法满足实时检测的要求，位置配准方法是先在头模中标出用于配准的面部特征点(眉心、眼角、鼻尖、耳垂、嘴角等)，再在实时图像中自动识别出面部特征点，通过特征点匹配计算出实时画面与头模的转换关系，并计算出头模在空间的位置，再计算出头模上的靶点在空间中的位置坐标。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (8)

  1. 一种经颅磁刺激诊疗设备，其特征在于，包括卧式平移平台、底座、关节机器人、TMS线圈、3D摄像头和计算机；所述底座内设有控制器，所述控制器分别与卧式平移平台、关节机器人、3D摄像头、计算机电连接；所述关节机器人、卧式平移平台均设在底座上方；所述关节机器人的夹持部位夹持有所述TMS线圈；所述3D摄像头用于获取患者头部的3D图像数据；所述计算机用于对所述3D图像数据进行处理构建患者头部的三维模型，并获取患者头部及TMS线圈的位置；所述控制器用于控制关节机器人将TMS线圈移动至患者头部位置。
  2. 根据权利要求1所述的一种经颅磁刺激诊疗设备，其特征在于，所述卧式平移平台的一端设有头枕，所述头枕包括枕头上盖、枕头底盖和枕头安装支架，所述枕头安装支架安装在所述卧式平移平台上，所述枕头底盖安装在所述枕头安装支架上，所述枕头上盖安装在所述枕头底盖上，所述枕头上盖和枕头底盖均为凹面结构。
  3. 根据权利要求1所述的一种经颅磁刺激诊疗设备，其特征在于，所述关节机器人包括依次连接的机器人基座、第一机械臂、第二机械臂、第三机械臂和夹持部位；所述机器人基座与底座连接的部位设有第一旋转电机，所述第一机械臂与机器人基座连接的部位设有第二旋转电机，所述第二机械臂与第一机械臂连接的部位设有第三旋转电机，所述第三机械臂与第二机械臂连接的部位设有伸缩电机。
  4. 根据权利要求1所述的一种经颅磁刺激诊疗设备，其特征在于，所述卧式平移平台上方设有摄像头安装支架，所述摄像头安装支架上设有所述3D摄像头。
  5. 根据权利要求1所述的一种经颅磁刺激诊疗设备，其特征在于，所述底座侧面开设有散热窗，用于对所述控制器进行散热。
  6. 根据权利要求1所述的一种经颅磁刺激诊疗设备，其特征在于，所述底座的底部设有若干万向锁止轮。
  7. 一种基于权利要求1至5任一项所述的经颅磁刺激诊疗设备的诊疗方法，其特征在于，包括以下步骤：
    S1，患者平躺在所述卧式平移平台上，并将头部枕在所述头枕上，通过所述计算机控制调节所述卧式平移平台的前后位置，使患者的头部处于所述3D摄像头的图像采集范围内；
    S2，通过所述3D摄像头采集患者头部的3D图像数据，并将采集到的3D图像数据传送给所述计算机；
    S3，通过所述计算机对3D图像数据进行处理，构建患者的头部模型；
    S4，通过所述计算机构建基于3D摄像头的空间坐标系，利用所述3D图像数据计算患者头部特征点在所述空间坐标系中的三维坐标；并将患者头部模型与患者头部在所述空间坐标系内进行匹配，确定患者头部刺激靶点在所述空间坐标系内的三维坐标；
    S5，根据患者头部磁刺激靶点的空间位置，控制所述关节机器人将TMS线圈移动至患者头部刺激靶点的位置，对患者头部进行磁刺激治疗。
  8. 根据权利要求6所述的诊疗方法，其特征在于，步骤S5中，在对患者头部进行磁刺激治疗的过程中，通过3D摄像头实时采集患者头部的三维姿态信息，并根据实时采集的三维姿态信息确定患者头部刺激靶点最新的空间位置，最后根据患者头部刺激靶点最新的空间位置，控制所述关节机器人将TMS线圈移动至患者头部刺激靶点最新的位置，实时对患者头部进行精准磁刺激治疗。
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