CN-122006124-A - Multi-degree-of-freedom adjusting system and method for magnetic resonance compatible transcranial magnetic stimulation coil

CN122006124ACN 122006124 ACN122006124 ACN 122006124ACN-122006124-A

Abstract

The invention discloses a multi-degree-of-freedom adjusting system and method for a magnetic resonance compatible transcranial magnetic stimulation coil, and relates to the technical field of nerve regulation and control. The system is prepared from all nonmetallic materials, a six-degree-of-freedom independent adjusting framework is formed by three translation joints and three rotation joints, and each joint is matched with a scale mark and a locking device and is adapted to a magnetic resonance strong magnetic field environment and a narrow cavity space. The method establishes a coil coordinate system through a magnetic resonance developing marker, combines a bracket coordinate system, and realizes quantitative and accurate adjustment of the coil pose through kinematic calculation and coordinate transformation. The invention solves the problems of poor magnetic resonance compatibility, insufficient degree of freedom of adjustment and low positioning precision of the traditional device, improves the accuracy and repeatability of transcranial magnetic stimulation, and is suitable for accurate nerve regulation under the guidance of magnetic resonance.

Inventors

YANG ZHENGYI
LU XUEFENG

Assignees

睿控无疆(苏州)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260326

Claims (10)

1. A multi-degree-of-freedom adjusting system for a magnetic resonance compatible transcranial magnetic stimulation coil is characterized by comprising a multi-degree-of-freedom adjusting bracket made of all non-metal materials, wherein the multi-degree-of-freedom adjusting bracket comprises three translation joints and three rotation joints, a six-degree-of-freedom adjusting framework capable of being independently adjusted is formed, each translation joint and each rotation joint are provided with a position scale mark and locking device in a matching mode, the executing tail end of the multi-degree-of-freedom adjusting bracket is provided with a coil connecting structure for fixing the magnetic resonance compatible transcranial magnetic stimulation coil, the three translation joints are used for achieving linear displacement adjustment of the coil in a three-dimensional space, and the three rotation joints are used for achieving angular displacement adjustment of the coil in the three-dimensional space.
2. The magnetic resonance compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjusting system according to claim 1, wherein the three translation joints comprise front and rear translation joints, an upper and lower translation joint and a left and right translation joint, the front and rear translation joint comprises a first translation-guide rail (1) and a translation-guide rail (2) which are in sliding fit with each other, the upper and lower translation joint comprises a second translation-guide rail (4) fixedly connected with the translation-guide rail (2) and a translation-coupling block (5) which is in sliding fit with the second translation-guide rail (4), the left and right translation joint comprises a third translation-guide rail (7) which is in sliding fit with the translation-coupling block (5), and displacement scale marks are correspondingly arranged on each of the translation-guide rail (2), the second translation-guide rail (4) and the third translation-guide rail (7).
3. The magnetic resonance compatible transcranial magnetic stimulation coil multi-degree of freedom adjustment system according to claim 2, wherein the three rotary joints comprise a roll rotary joint, a pitch rotary joint and a yaw rotary joint, wherein the roll rotary joint comprises a rotary-bracket (9) fixedly connected with the third translation-guide rail (7), a first rotary-coupling block (10) in rotary fit with the rotary-bracket (9), the pitch rotary joint comprises a second rotary-coupling block (14) in rotary fit with the first rotary-coupling block (10) through a rotary-rotary shaft (13), the yaw rotary joint comprises a rotary-coil connecting block (16) in rotary fit with the second rotary-coupling block (14), and angle scale marks are correspondingly arranged on the rotary-bracket (9) and the second rotary-coupling block (14).
4. The magnetic resonance compatible transcranial magnetic stimulation coil multi-degree-of-freedom adjusting system according to claim 1, wherein the locking device is a non-metal locking knob, and the locking knob is locked at the position of the corresponding joint by any mode of radial propping, axial clamping, eccentric locking or elastic deformation locking.
5. The magnetic resonance compatible transcranial magnetic stimulation coil multi-degree of freedom adjustment system of claim 1 wherein the all non-metallic material is a magnetic resonance compatible non-magnetic non-metallic material.
6. A method for adjusting multiple degrees of freedom of a magnetic resonance compatible transcranial magnetic stimulation coil, which is characterized by being realized based on the magnetic resonance compatible transcranial magnetic stimulation coil multiple degrees of freedom adjusting system according to any one of claims 1 to 5, and comprising the following steps: s1, fixing three markers which can be developed in a magnetic resonance environment on the set surface of a magnetic resonance compatible transcranial magnetic stimulation coil, and establishing a coil coordinate system based on the relative positions of the three markers; S2, establishing a bracket coordinate system on a reference structure of the multi-degree-of-freedom adjusting bracket, and pre-storing position related parameters of the bracket coordinate system and each translational joint and each rotary joint; S3, fixing a magnetic resonance compatible transcranial magnetic stimulation coil on a coil connecting structure of the adjusting system, placing the adjusting system in a magnetic resonance environment, adjusting the coil to the vicinity of a target area of a head of a patient, calculating an initial pose of a coil coordinate system in a bracket coordinate system, and synchronously recording initial scale values of all joints; s4, acquiring a magnetic resonance image, acquiring the current pose of a coil coordinate system in an image space based on the development positions of three markers in the image, and combining the target pose of a target brain planning coil in the image space to obtain the target pose of the coil coordinate system in a bracket coordinate system through coordinate transformation; s5, calculating target displacement of each translational joint and target rotation of each rotary joint, adjusting the corresponding joint to a target position according to scale marks of each joint, and completing pose adjustment of the coil after locking by the locking device.
7. The method for adjusting multiple degrees of freedom of a magnetic resonance compatible transcranial magnetic stimulation coil according to claim 6, wherein in step S1, three markers are arranged in a non-collinear manner, one of the markers is used as an origin of a coil coordinate system, a connecting line of any two of the markers is used as two orthogonal coordinate axes of the coil coordinate system, and a direction perpendicular to a surface of a stimulation coil is used as a third orthogonal coordinate axis of the coil coordinate system, so that a three-dimensional orthogonal coil coordinate system is established.
8. The method according to claim 6, wherein in step S4, pose mapping conversion between the coil coordinate system and the bracket coordinate system is achieved through euclidean transformation.
9. The method for calculating the target displacement of each translational joint and the target rotation of each rotational joint in the step S5 is characterized in that based on the difference between the target pose and the initial pose of a coil coordinate system, the linear displacement of three translational joints and the angular displacement of three rotational joints are calculated, and the calculated displacement and rotation are matched with scale marks of corresponding joints to obtain quantitative adjustment parameters.
10. The method according to claim 6, wherein in step S5, the joint adjustment mode includes manual scale adjustment or remote automatic/semiautomatic adjustment implemented by magnetic resonance compatible pneumatic drive, ultrasonic motor drive, hydraulic transmission system.

Description

Multi-degree-of-freedom adjusting system and method for magnetic resonance compatible transcranial magnetic stimulation coil Technical Field The invention relates to the technical field of nerve regulation and control, in particular to a multi-degree-of-freedom regulating system and method for a magnetic resonance compatible transcranial magnetic stimulation coil. Background Transcranial magnetic stimulation (TRANSCRANIAL MAGNETIC Stimulation, TMS) is a technique for inducing current in brain tissue by a pulse magnetic field so as to realize non-invasive regulation of neural activity, and is widely applied to the fields of brain function mechanism research and clinical treatment of neuropsychiatric diseases. Along with the development of the precise nerve regulation concept, the transcranial magnetic stimulation and magnetic resonance imaging (Magnetic Resonance Imaging, MRI) technology is fused, the precise positioning of the stimulation target point can be completed by means of high-resolution anatomy and functional images, the stimulation effect is evaluated in real time or afterwards, the positioning precision and the action repeatability of the transcranial magnetic stimulation are greatly improved, and the method has become an important development direction in the field of nerve regulation. At present, a magnetic resonance compatible transcranial magnetic stimulation coil capable of safely working under a magnetic resonance strong magnetic field environment is mature gradually, and a core hardware foundation is provided for the landing of a transcranial magnetic stimulation technology under the guidance of magnetic resonance. However, there are still significant technical shortboards for coil support and pose adjustment devices that are compatible with magnetic resonance compatible stimulation coils. The magnetic resonance system is in a strong static magnetic field environment, the space of a scanning cavity is narrow, and the requirements on the material characteristics, the structural form and the use safety of matched equipment are strict. The traditional transcranial magnetic stimulation bracket mostly adopts a metal structure or a large-volume mechanical arm system, cannot be directly applied to the inside of a magnetic resonance cavity, and even if the structure is replaced by adopting a nonmetallic material, the traditional bracket also mostly has limited angle adjustment capability, and fine positioning and posture adjustment of a stimulation coil in a three-dimensional space are difficult to realize. The effect of transcranial magnetic stimulation has high sensitivity to the spatial position and posture of the stimulation coil relative to the target brain region. The front-back, left-right, up-down translational displacement of the stimulation coil in the three-dimensional space and the rotation angles of three dimensions of pitching, yawing and rolling can directly influence the distribution form and the stimulation intensity of the intracranial induced electric field, and the final effect of nerve regulation is directly determined. Meanwhile, when the coil adjusting operation is performed in the magnetic resonance cavity, multiple limitations exist, such as limited operable space, incapability of interfering the body position of a patient and the magnetic resonance imaging quality in the adjusting process, and the like, and the conventional adjusting device cannot meet the use requirements at the same time. At present, various supporting and positioning devices for transcranial magnetic stimulation coils are disclosed at home and abroad, for example, patent documents such as WO2009114526A1 and CN110896610A, CN202366330U, etc., all disclose a technical scheme for realizing the pose adjustment and fixation of the stimulation coils through a mechanical arm or a multi-joint supporting structure, but the scheme is not specially designed for magnetic resonance compatible scenes, and cannot adapt to the pose adjustment requirement of the transcranial magnetic stimulation coils in a magnetic resonance environment. Therefore, developing a transcranial magnetic stimulation coil multi-degree-of-freedom adjusting system suitable for a magnetic resonance environment becomes a technical problem to be solved in the field. Disclosure of Invention Therefore, the embodiment of the invention provides a multi-degree-of-freedom adjusting system and a multi-degree-of-freedom adjusting method for a transcranial magnetic stimulation coil compatible with magnetic resonance, which are used for solving the problems that in the prior art, a transcranial magnetic stimulation coil adjusting device is not specially designed for a magnetic resonance compatible scene, safety and imaging compatibility are insufficient under a strong magnetic field environment, adjusting freedom degree is limited, positioning accuracy is low, pose adjustment cannot be quantitatively repeated, accurate pose adjustment and control of a stimu