Automatic positioning system and method for human body transcranial ultrasound stimulation based on mechanical arm

Abstract

The present application discloses an automatic positioning system and method for human body transcranial ultrasound stimulation based on a mechanical arm. The system is used to automatically perform ultrasonic stimulation to a preset position of the head and comprises an input module, a spatial positioning module, an ultrasonic stimulation module, a safety ellipsoid determination module and a control module; the input module is used to input brain CT or magnetic resonance scan data of subjects; the spatial positioning module is used to obtain real-time three-dimensional coordinate informationof the head and to obtain real-time three-dimensional coordinate information of the ultrasound stimulation module; the safety ellipsoid determination module is used to determine a safety ellipsoid that surrounds the entire head and forms a predetermined safe distance from an outer surface of the head; and the control module is used to control a multi-degree-of-freedom mechanical arm to drive a ultrasound transducer coupling device to move, so that the ultrasonic transducer coupling device and the head form a fit contact at a preset position of the scalp. The automatic positioning system and method have advantages of high spatial accuracy and high reliability.

Description

technical field [0001] The invention relates to the technical field of transcranial ultrasonic stimulation nerve regulation, and in particular to a human body transcranial ultrasonic stimulation automatic positioning system and method based on a mechanical arm. Background technique [0002] Neuromodulation technology is an important means for the study of brain function and the treatment of brain diseases such as depression, schizophrenia, stroke, Parkinson's disease, and epilepsy. [0003] Several neuromodulation techniques have been developed over the past few decades, such as methods such as transcranial magnetic stimulation (TMS), transcranial ultrasound stimulation (TUS), deep brain stimulation (DBS) and transcranial direct current stimulation (tDCS) . These neuromodulation technologies implement the detection of brain function or the treatment of brain diseases by applying specific patterns of physical stimulation to specific parts of the brain. Among them, transcran...

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Problems solved by technology

[0008] The purpose of this application is to provide a human body transcranial ultrasound stimulation automatic positioning system and method based on a mechanical arm. The automatic positioning system and method have the advantages of high spatial precision and high reliability, and can fully utilize the transcranial ultrasound stimulation nerve regulation technology. The advantage of high spatial resolution solves the problem that the existing transcranial ultrasound stimulation technology is difficult to automatically and accurately locate, which is of great significance to the brain function research and clinical treatment of brain diseases in the field of transcranial ultrasound stimulation

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