CN104474636B - Multi-point multi-frequency three-dimensional transcranial magnetic stimulation system and intracranial and extracranial coordinate conversion method - Google Patents

Abstract

The invention discloses a multi-point multi-frequency three-dimensional transcranial magnetic stimulation system and an intracranial and extracranial coordinate conversion method. The system comprises a fixing device, a stimulation device and an auxiliary positioning device, wherein the fixing device fixes the neck position of a patient, the stimulation device carries out fixed point magnetic stimulation on the patient, and the auxiliary positioning device is used for determining a positioning point in an auxiliary way for realizing the intracranial and extracranial coordinate conversion. Meanwhile, the coordinate conversion method provided by the invention can conveniently and fast realize the intracranial and extracranial coordinate conversion, and is matched with the system, and an all-around automatic transcranial magnetic stimulation treatment scheme is provided. The device has the advantages that the structure is simple, the function is practical, an effective device is provided for transcranial magnetic stimulation treatment, and a novel study idea is provided.

Description

A kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system and the outer coordinate transformation method of encephalic

Technical field

The present invention relates to neurocranial surgery technical field is and in particular to a kind of Cerebral cortex is through cranium three-dimensional magnetic stimulation system, can be certainly Move and carry out the magnetic stimulation treatments such as single-point single-frequency, multiple spot multifrequency for lesions position.

Background technology

Transcranial magnetic stimulation (Transcranial Magnetic stimulation, TMS) is that one kind utilizes pulse electromagnetic field And alternating electromagnetic field, act on cerebral central nervous system, the induced-current being produced using electromagnetism, change brain cortex neural thin The film potential of born of the same parents, impact intracerebral metabolism and neuropotential activity, thus causing a series of physiological functions to react, the method has There is painless, not damaged, easy and simple to handle, safe and reliable, be directed to Parkinson's (PD), insane using through cranium Magnetotherapeutic apparatus at present Epilepsy, Ischemic Stroke, schizophrenia (negative symptoms), depression, obsession, mania, posttraumatic stress disorder (PTSD), Neural rehabilitation, child brain paralysis, cognitive disorder, mental depression, epilepsy are in spinal cord injury, the outside upper rear rehabilitation of cranium, Post stroke rehabilitation, outer Week nerve rehabilitation etc. has good effect.

All of TMS instrument is the positioning stimulation mode instrument of no navigation, no the TMS stimulation location of navigator fix at present Select be typically to rely on the dissection that possesses of operator and physiological knowledge, generally determined according to the distribution of human brain conventional func. The stimulation point so determining is often larger with the error at actually active position.Therefore in implementing stimulating course, operator is often Have to move to little step-length stimulating coil back and forth in target area repeated multiple timesly, and indirect according to Induced by Stimulation response Evidence judges whether to stimulate to target target area, and whether finds optimal stimulus point.This process time and effort consuming, is not only difficult to Repeat the accurate stimulation of same target between each stimulation test (or treatment), and the reliability of result of the test also have to be tested Card, due to stimulating depth and stimulating angle directly cannot determine from scalp surface it may be said that being in a kind of " blind stimulation " shape State.

In addition, existing to cranium Neural stem cell due to accurately not navigating, be only capable of accomplishing ad-hoc location is carried out imprecise Ground stimulates, and because encephalic, cranium external position can not definitely be unified, therefore can not take probe to distance objective target area most suitable Position, and only enable the stimulation mode of single-point single-frequency it is impossible to form treatment and the research approach of system.

Content of the invention

The problem proposing for above-mentioned prior art, it is an object of the invention to, a kind of multiple spot multifrequency Three-dimensional warp cranium is provided Magnetic stimulation system, this system utilizes magnetic resonance imaging result, obtains the pathogenic brain area of patient through image procossing, then according to three-dimensional Coordinate transformation relation, realizes from image to the conversion of realistic space coordinate, to carry out accurate single-point single-frequency, single-point multifrequency, many The stimulation modes such as point single-frequency, multiple spot multifrequency.

In order to realize above-mentioned task, the present invention employs the following technical solutions：

A kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system, including fixing device, stimulating apparatus and auxiliary locator；

Fixing device includes the fixator for fixing human cranium position；

Stimulating apparatus are located at the top of fixing device, and including multiple probes of spherical shape distribution, probe connects to through cranium Magnetic stimulator；

Auxiliary locator includes being arranged on the conformal face mask adhereing well to people's dignity cloth, and is arranged on conformal face mask week The locator enclosing, offers location hole on conformal face mask；

Transcranial magnetic stimulation instrument connects to a controller.

Further, described locator arranges three, and the distance between two of which locator and horizontal plane are identical, with This two locator lines are vertical and referred to as divide face equally through the face at line center, then another one locator is located at and divides face equally In, and the plane that connects and composes of three locators not with plane-parallel；Locator connects on a navigation device.

Further, described stimulating apparatus include bubble helmet, according to the functional areas that human body brain is different on the helmet Domain is accordingly divided into multiple regions, arranges at least one described probe in each region dividing on the helmet.

Further, described probe extend in the helmet through helmet surface, and each probe is mounted on driving dress Put, driving means can drive probe along away from or move near the direction at helmet center, driving means connect to controller.

Further, the described helmet is arranged on the support bar parallel to ground setting by connecting rod, and connecting rod can Slide along support bar, the limited block limiting connecting rod position is additionally provided with support bar.

Further, described fixator includes tubular neck brace, and this neck brace is sleeved on neck bent with neck Line fits, and the top of neck brace upwardly extends and the mouth less than patient and ear, and the bottom of neck brace extends downwardly and do not surpass Cross chest and the shoulder of patient, neck brace upwards, the curve phase of the part that extends downwardly and the human body contacting with extension Laminating.

Further, described neck brace is symmetrically divided into two along its axial cutting, and separate two parts neck brace passes through hinge Connect, lock be symmetrically arranged with separate two parts neck brace, two parts neck brace pass through to latch sealed formed one complete Neck brace.

Further, described conformal face mask is made up of thermoplastic material, and conformal face mask extends downward lower jaw bottom by eyeground Portion, extends to eardrum portion from nose to both sides, suits with human body face physiological structure phase, and leaves on conformal face mask and nose The corresponding through hole with mouth；Described location hole is opened in eyeground position and eardrum position on mask.

Further, this system also includes a control box, and controller is arranged in control box and connects a display And keyboard, control box is provided with chamber door, opens chamber door and can pull out keyboard and observe display.

Further, the side wall of control box is provided with slide rail, slide rail is provided with seat, the chair leg of seat can be stretched Contracting, described fixator is arranged on the chair back of seat by expansion link.

Further, the outside in guider and auxiliary locator is provided with cover body, and cover body offers operation door.

Further, described control box bottom is provided with the universal wheel with latch functions.

Further, in control box, bottom position is provided with balancing weight.

Further, described casing offers recess, be easy to arrange stimulating apparatus.

A kind of outer coordinate transformation method of encephalic, specifically follows the steps below：

Step one, carries out three-point fix using locator in patient facial region, fixed signal thing at 3 points of positioning, then Carry out magnetic resonance imaging, obtain comprising the scanning figure of focal area and mark shade；

Step 2, according to scanning figure information, obtains the brain area of focus generation, then carries out three-dimensional reconstruction to scanning figure, Three-dimensional reconstruction in figure, obtains coordinate in the three-dimensional system of coordinate of three-dimensional reconstruction in figure for the focus brain area, is designated as P (x, y, z)；

Step 3, using three marks shade three-dimensional reconstruction in figure coordinate, by the three-dimensional coordinate of real space System corresponds to one of three-dimensional reconstruction figure local coordinate system, and obtains the corresponding relation between two coordinate systems；

Step 4, according to the corresponding relation between two coordinate systems, obtains focus brain area in real space coordinate system Coordinate P ' (x ', y ', z ').

Further, the detailed process of step 3 is as follows：

Step S30, three described marks of note are respectively the first mark, the second mark and the 3rd mark, will First mark, the second mark three-dimensional reconstruction in figure coordinate line as local coordinate system X ' axle, from the 3rd mark Thing makees vertical line in the coordinate of three-dimensional reconstruction in figure to X ' axle, and vertical line and X ' axle joining are designated as O ' and are the former of local coordinate system Point, O ' is designated as (x in the coordinate of three-dimensional reconstruction in figure₀,y₀,z₀)；

Step S31, the coordinate of three-dimensional reconstruction in figure the 3rd mark and the vertical line of X ' axle are the Z ' axle of local coordinate system, lead to Cross the coordinate of initial point O ' of local coordinate system and the 3rd mark in the coordinate of three-dimensional reconstruction in figure, calculate the straight line of point-to-point transmission Equation, obtains the three-dimensional system of coordinate X of local coordinate system Z ' axle and three-dimensional reconstruction in figure, Y, the angle of Z axis is respectively α, β then, γ；

Step S32, local coordinate be tied to the coordinate system of three-dimensional reconstruction in figure conversion be considered as by local coordinate system around Three-dimensional reconstruction in figure coordinate system Y-axis rotates a angle, then rotates b angle around Z axis again, then moves to (x₀,y₀,z₀) three Conversion composition, then three transformation matrixs are respectively：

Then combined transformation matrix is：

The direction cosines of Z ' axle are respectively：

Cosa=n₃=cos γ (3)

Formula (3) to (6) above is substituted into available in combined transformation matrix form (1)：

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to three-dimensional reconstruction in figure by transition matrix and sit Coordinate (x, y, z) in mark system, transformational relation is as follows：

[x ' y ' z ' 1] T=[x y z 1] (8)

Coordinate in known three-dimensional reconstruction in figure coordinate system, the coordinate in local coordinate system to be converted into, then can adopt with Lower formula：

[x ' y ' z ' 1]=[x y z 1] T^-1(9)

In formula (9), T^-1Can be by obtaining to T finding the inverse matrix, T^-1For：

Then substituting into (10) in (9) can be local coordinate system by the coordinate transformation of three-dimensional reconstruction in figure, i.e. real space Coordinate in coordinate system.

The present invention compared with prior art has following technical characterstic：

1. employ stimulating apparatus, the functional area that this stimulating apparatus divides according to medical science according to human body brain area, accordingly Multiple stimulated zone, cooperation Neural stem cell probe are set, carry out the omnibearing magnetic stimulation treatment of human body cranium；

2., due to employing the structure of subregion stimulation, make to carry out single-point single-frequency, single-point multifrequency, multiple spot electricity using unified device Frequently, the therapeutic scheme of multiple spot multifrequency is achieved, and can be directed to the personalized treatment means of the focus customization of Different brain region, can be simultaneously For different focuses stimulation therapy simultaneously, and frequency-adjustable, make stimulating course more complete and system, improve Neural stem cell The effect for the treatment of, and open new thinking for the research of magnetic stimulation treatment, there is provided excellent guarantee；

3. adopt the means of graphical analysis Coordinate Conversion, pathogenic for patient brain area position is first passed through scan image and extracts Come, the unification according to coordinate inside and outside algorithm realization, selects suitable stimulation probe to carry out accurately thus being indicated according to coordinate then Positioning stimulate, whole process can make therapeutic process more systematization, intelligent and automation by automatically completing；

4. additionally provide one kind in this programme to correspond to actual three-dimensional coordinate according to target position specific in image and work as middle position The method put, can precisely, rapidly carry out the position fixing process from image to particular location using the method；

5. this device integration is good, and integrated degree is high and structure is simple, is readily transported installation, easy and simple to handle, to environment Application requirements are low, are that the treatment treatment of cerebral disease provides new thinking, suitable popularization and application.

Brief description

Fig. 1 is the overall structure diagram of the system；

Fig. 2 removes the structural representation after cover body for the system；

Fig. 3 is the structural representation of stimulating apparatus and auxiliary locator part；

Fig. 4 is the structural representation of bottom door part；

Fig. 5 is the schematic view of the mounting position of probe and the helmet；

Fig. 6 is structure and the schematic view of the mounting position of fixator；

Fig. 7 is the structural representation of conformal face mask；

Fig. 8 is the structural representation wearing conformal face mask；

Fig. 9 is the graph of a relation of local coordinate system and three-dimensional reconstruction in figure three-dimensional system of coordinate；

Figure 10 is the graph of a relation of conversion between local coordinate system and three-dimensional reconstruction in figure three-dimensional system of coordinate；

In figure label represents：

1 chamber door, 2 displays, 3 control boxs, 4 recesses, 5 helmets, 6 cover bodies, 7 operation doors, 8 necks Support, 9 chair back, 10 seats, 11 chair legs, 12 locking members, 13 transcranial magnetic stimulation instruments, 14 bottom doors, 15 universal wheels, 16 keyboards, 17 support bars, 18 wires, 19 connecting rods, 20 probes, 21 montants, 22 locators, 23 conjunctions Page, 24 buses, 25 limited blocks, 26 slide blocks, 27 locks, 28 slide rails, 29 expansion links, 30 mainframe boxes, 31 Balancing weight, 32 conformal face mask, 33 location holes, 34 elastic reducing-fixing bands, 35 driving means；

Specific embodiment

Defer to technique scheme, as shown in Figures 1 to 8, a kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system, including solid Determine device, stimulating apparatus and auxiliary locator；

Fixing device includes the fixator for fixing human cranium position；

Stimulating apparatus be located at fixing device top, include spherical shape distribution multiple probes 20, pop one's head in 20 connect to Transcranial magnetic stimulation instrument 13；

Auxiliary locator includes being arranged on the conformal face mask 32 adhereing well to people's dignity cloth, and is arranged on conformal face mask Locator 22 around 32, offers location hole 33 on conformal face mask 32；

Transcranial magnetic stimulation instrument 13 connects to a controller.

It is such using the thinking that the system carries out magnetic stimulation treatment：For the stimulation therapy of human body cranium, need by Probe 20 is accurately placed on the ad-hoc location of scalp outer distance affected area, and such as closest to the position of intracranial lesion, this is by essence The really premise of magnetic stimulation treatment, this is accomplished by knowing the physical location of intracranial lesion.Can be by obtaining through magnetic resonance imaging Position in focus picture, then through calculating the position in real space for the focus；After lesions position determines, profit The position distribution situation of probe 20 coordinate in real space with having set, opens closest to focus, corresponding region Probe 20, carry out magnetic stimulation treatment.And can choose whether to open the probe 20 closing on to act on simultaneously according to focus situation In focus, so that unified focus is implemented with the therapeutic scheme of single-point multifrequency；And the same of many places focus can also be carried out using this system When treatment.

Patient's cranium is accurately stimulated and is how by the focus pair of patient's brain with the key issue treated Then lesions position should be applied to using external equipment and treated in real space coordinate system, in this process, examine Consider these subject matters：First, how to obtain lesions position；Second, how lesions position to be extracted and complete cranium The conversion of coordinate between interior, cranium is outer；Third, how to coordinate for patient, smoothly to realize whole process.It is directed to these crucial Problem, proposes a kind of magnetic stimulation system in this programme.

Fixing device

Due to carrying out therapeutic process by the way of Coordinate Conversion and automatically controlled, then in this process, need acceptor Position be relatively fixed, in order to the conversion of inside and outside coordinate, and during Neural stem cell, probe 20 accurately can be applied in stimulating course Lesions position；For the system, reply acceptor (human body head) carries out good fixation.Layout in conjunction with this programme and reality It is contemplated that this comfortableness under long-time treatment of patient, proposing one kind in the present invention can conveniently be adjusted border situation And fixing device that can be good fit with device itself.

As shown in fig. 6, this fixator includes tubular neck brace 8, this neck brace 8 be sleeved on neck and with neck curve Fit, the size that this refers to neck brace 8 just can adapt to neck, will not stay excessive between neck and neck brace 8 Space and have influence on the restriction fixed effect to neck.The top of neck brace 8 upwardly extends and the mouth less than patient and ear, The bottom of neck brace 8 extends downwardly and less than the chest of patient and shoulder, neck brace 8 upwards, the part that extends downwardly and with extension The curve of the human body of part contact fits.When this neck brace 8 is worn on patient, the lower end of neck brace 8 is supported on patient Shoulder and chest top, because lower end adapts to patient's shoulder shape, therefore lower end is played effect that is fixing and supporting, is prevented neck Support 8 itself rotates, and so limits the rotation of patient's neck；And neck brace 8 top is located at below patients mouth, preferably support At patient's lower jaw, and at the basal part of the ear, so patient's neck is arranged in fixator, patient's holding one relatively can be made more easypro Suitable posture, beneficial to long magnetic stimulation treatment, and can play and effectively fix.

Neck brace 8 as above, can be made using thermoplastic material.Thermoplastic material is that medical domain is central now to be used more A kind of widely material, its plasticity is good, safe ready, can formulate its special neck brace 8 according to different patients before use, enter One step increases the tight attaching degree between neck brace 8 and patient.

The neck brace 8 that thermoplastic material makes, its process is very convenient, but its defect is cannot be general between different patients, Each needs carry out heating according to different patients to be reinvented.Therefore, propose in this programme a kind of using common material preparation Universal neck brace 8.

On the basis of above-mentioned neck brace 8 contour structures, neck brace 8 is symmetrically divided into two along its axial cutting, obtains two Divide contour structures identical neck brace 8, then again two parts neck brace 8 is connected by hinge 23, then neck brace 8 does not pass through hinge 23 even The one end connecing can be rotated relative to hinge 23, open and close.In closure, two parts neck brace 8 constitutes a complete neck Support 8.

During use, first neck brace 8 is opened along hinge 23, after being stuck in the neck of patient, neck brace 8 is closed.For keeping neck The fixed effect of support 8, is symmetrically arranged with, on separate two parts neck brace 8, the lock 27 cooperating, patient's neck is in neck brace 8 In fix after, 27 carry out locking by latching, as same fixation in above-mentioned thermoplastic neck brace 8 and restriction effect can be reached.

For strengthening versatility, such as neck brace 8 can not fit tightly and patient's neck between, also can fill softness between gap The filler such as sponge, keep comfortable on the premise of patient's neck is fixed.

It is to make it comfortable when patient treats, be provided with seat 10, and fixator is arranged on the chair back 9 of seat 10, be Dismountable connected mode, for example, expansion link 29 connected mode.Expansion link 29 not only can conveniently be installed and dismantle, Er Qieneng Accurately adjust its flexible height, be easy to match with auxiliary locator.

Stimulating apparatus

Stimulating apparatus are arranged on the top of fixing device, and according to the distribution situation of equipment in this programme, it is preferably disposed on The surface of fixing device, corresponding up and down with the position of fixing device.So, after patient is fixed on fixing device, fixing Head above device is also just exactly in the underface of stimulating apparatus, then for different patients it is only necessary to adjust up and down The position of fixing device, to drive head to be in suitable position, you can be accurately sent to patients head in stimulating apparatus.

As shown in Figure 2 and Figure 3, stimulating apparatus include bubble helmet 5, and this helmet 5 is larger compared with head or hemisphere Shape, as long as it can meet covering patient's brain area.Accordingly draw according to the different functional area of human body brain on the helmet 5 It is divided into multiple regions, at least provided with a probe 20 in each region dividing on the helmet 5.

Medically brain is divided into several functional areas, different Region control, adjusts the different function of human body. According to the brain area of functional regional division, it is not only convenient for the positioning of focus brain area, more contribute to researcher and observe Different brain region The impact to human body under Neural stem cell situation, to disclose the relation between function brain area and each behavior of human body, disease.In addition, root According to the functional area dividing, in certain region disease, according to contacting between this functional area and other functions region Or matching relationship, these functional areas are stimulated simultaneously, to promote the therapeutic effect of disease.

For these reasons, the helmet 5 is divided according to human body difference in functionality brain area, with accurately to different hive domains Carry out individually or cooperation stimulates.In an example as shown in Figure 3, according to brain functional area, the helmet 5 118 are divided into Region, the helmet 5 after division is in turtle shell shape, arranges at least one probe 20 in each area.

The purpose arranging multiple probes 20 in the zone is therapeutic modality in order to realize single-point multifrequency.According to inventor's Research shows, same focus is carried out simultaneously with the stimulation of multiple frequencies, for some diseases focus treatment have substantially positive Effect.And a point is carried out with multifrequency treatment, need multiple probes 20 that single-point is applied with the Neural stem cell of different frequency simultaneously.

Probe 20 is pole probe 20, and coil is distributed in the leading section position of probe 20.Pop one's head in 20 in setting, probe 20 It extend in the helmet 5 through the helmet 5 surface, point to the center of the helmet 5.Multiple probes 20 are set in same region When, these probes 20 should point to same point, and that is, extended line can intersect.

For the ease of the adjustment of probe 20, driving means 35 are additionally provided with the helmet 5, as shown in figure 5, driving means 35 Be arranged in the helmet 5 shell, driving means 35 can drive probe 20 along away from or move near the direction at the helmet 5 center, that is, drive Dynamic device 35 can drive probe 20 along its axially-movable；Driving means 35 connect to controller.Here driving means 35 can be adopted With linear electric motors, one probe of a motor control 20 motion, or use by transmission device that motor control is multiple to pop one's head in 20 Motion.By the motion of probe 20, probe 20 can be adjusted to suitable position, so for the patient of different cranium sizes, This helmet 5 has good versatility；The less patient for cranium, drives probe 20 to make it closer to scalp surface；And Can also be according to the different probe 20 of therapeutic scheme adjustment apart from the position of scalp, to realize the convenient tune of 20 stimulus intensities of popping one's head in Whole, also allow for forming 20 multi-level, the multi-faceted stimulations of multiple probe simultaneously.

Wire 18 unification of the end of probe 20 converges to bus 24, and this bus 24 connects to transcranial magnetic stimulation instrument 13, should Magnetic stimulator is controlled by the controller.The position that driving means 35 drive probe 20 be can adjust by controller, and spy can be opened Fixed probe 20.

The helmet 5 should be fixedly installed, but it is not easy to the position adjustment before patient enters this system after setting, and therefore should The position of the helmet 5 can be adjusted relatively；The helmet 5 passes through connecting rod 19 and connects the support bar being arranged on parallel to ground setting On 17, connecting rod 19 can be slided along support bar 17, is additionally provided with the limited block 25 limiting connecting rod 19 position on support bar 17.

Support bar 17 supports the whole helmet 5, and it can be fixed on metope, ceiling or other not easily shifted objects On.Connecting rod 19 can be slided along support bar 17, and connecting rod 19 is arranged on support bar by slide block 26 it is possible to pass through locking Device is fixed in certain position, is additionally provided with the limited block 25 limiting connecting rod 19 position on support bar 17.Limited block The position at 25 places is surface namely the most suitable position of the helmet 5 of fixing device.When patient position is adjusted, and Carry out the timing really of patient position location, in order to not affect patient and position fixing process, first the helmet 5 is slid into, patient Again the helmet 5 is moved to above patients head after fixing.Due to the restriction effect of limited location block 25, therefore only need to the helmet 5 Shift onto fixing at limited block 25 along support bar 17.After fixing, the high and low position of regulation fixing apparatus and seat 10, make Patients head enters in the helmet 5.

Auxiliary locator

Typically when carrying out intracranial lesion positioning, to obtain the DICOM image of cranium by the way of magnetic resonance imaging, with Observe focus, obtain the positional information of focus.And when carrying out the scanning of magnetic resonance cranium in addition it is also necessary to fix one in cranium position It is difficult the mark being penetrated by magnetic resonance；After carrying out magnetic resonance imaging, in the DICOM image obtaining, this mark shows as one Individual stain or shade, the position outside knowing this mark in cranium in advance in setting, then using this stain after scanning Position and focus between, you can obtain focus with respect to the exact position outside cranium.It is generally used to this mark of auxiliary positioning Will thing, using high-density matter, such as iron ball or the pipe equipped with contrast preparation (Operand, barium sulfate etc.) etc..

When carrying out magnetic resonance head scanning, scanning bed on have the headstock for fixing human cranium, can be used for outside cranium The position of fixed signal thing is just extremely limited；And scanning when, also be strict with head immovable in case produce artifact.

When before tradition scanning, mark is set, typically bondd or using bandage by the way of fixing using adhesive plaster, by Body equipped with contrast preparation is bonded and fixed at head ad-hoc location, but this method has a lot of problems during using, the most main Want is that its bonding is not firm, and position is easily deviateed, but if any being offset slightly from, can cause very large deviation to follow-up positioning；And When follow-up Multiple-Scan is observed it is impossible to accomplish identical with front once setting marker position；Also there is employing in clinic Head implants the mode of steel nail as mark, but patient can be caused greatly to damage.

Further, in magnetic resonance imaging, the noise of generation is up to more than 100 decibels, and scanning process is long, for Some sufferers, under the conditions of being chronically at high noisy, situations such as easily irritated, and cause the fine motion of head, impact scanning.

It is directed to these situations, the present invention proposes a kind of auxiliary locator, can be in scanning, can be easily and accurately The position of fixed signal thing, during Multiple-Scan positioning, the position of mark can strictly keep constant, can lead with described meanwhile Boat device cooperation, provides the positional information of cranium, provides necessary condition for data processing.

In the present invention, auxiliary locator includes the conformal face mask 32 being arranged on human body face, and conformal face mask 32 is by thermoplastic Material is made, and conformal face mask 32 extends downward lower jaw bottom by eyeground, extends to eardrum portion from nose to both sides, with people's dignity Portion's physiological structure phase suits, and leaves through hole corresponding with nose and mouth on conformal face mask 32；Described locator 22 sets Put at the position in eardrum portion on conformal face mask 32.

Consideration using conformal face mask 32 is such：Physiological structure due to people's dignity cloth is relatively-stationary, and In head scanning, seldom hold up facial positions, therefore consider to assist fixed signal thing using mask.Everyone face cloth Structure is different, and when mask is fitted completely with face, mask just can play the effect of object of reference.Therefore, mask should not be adopted With universal facepiece, but should be according to the special mask of each human facial structure customization.

Thermoplastic material provides a kind of good selection scheme for mask, and its plasticity is good, easy to use, can be according to each The difference of patient facial region easily makes the special mask of each patient.When making mask, mouth, nose are exposed.

After thermoplastic mask is made, it is that the setting of location hole 33 provides immobilizing foundation.Location hole 33 when mask makes, Reserve positioned at nasion portion, lower jaw part and the ear portion and multiple location holes 33 are set, when actually used, select most suitable location hole 33 Load mark.After mask is fixing, the position of location hole 33 is just relatively fixed；And mask is to be made with facial characteristics, this When sample mask is worn after unloading again, as long as marking the location hole 33 loading mark, also ensure that mark still in upper Position when once wearing, draws after image information beneficial to magnetic resonance imaging, consistent with previous scanning information corresponding, also allows for Compare the treatment change in front and back of focus.Meanwhile, this fixed form, makes mask when by external force, also will not move, its stress Face is entirely facial, has carried out fully, accurately, effectively fixing by mark by mask.

In addition, the small volume of whole auxiliary locator, easy to use, only slightly take face space, will not shadow magnetic The scanning of resonance.

Elastic reducing-fixing band 34 can also be set in thermoplastic mask rear end, be easy to thermoplastic mask and fix in facial wearing.

Auxiliary locator also includes the locator 22 being arranged on around conformal face mask 32：

Locator 22 and stimulating apparatus are commonly connected on support bar 17, with generally one system of stimulating apparatus, i.e. with Stimulating apparatus are in same coordinate system.So, in order to realize the three-dimensional coordinate from the true environment that patient's reality is in It is tied in the coordinate system residing for stimulating apparatus it is necessary to be connected two coordinate systems by a tie, and locator 22 Then carry Link role with conformal face mask 32.

Described locator 22 arranges three, and the distance between two of which locator 22 and horizontal plane are identical, with this two Individual locator 22 line is vertical and referred to as divides face equally through the face at line center, then another one locator 22 is located at and divides face equally In, and the plane that connects and composes of three locators 22 not with plane-parallel.

In space 3 points can determine that a plane, such as with horizontal plane (ground) as a reference plane, will with horizontal plane away from Two from identical locators 22 are referred to as the first locator 22 and the second locator 22, another locator 22 the referred to as the 3rd Locator 22, then the line of the first locator 22 and the second locator 22 and plane-parallel, from the 3rd locator 22 to level Vertical line is made in face, and the point that vertical line is intersected positioned at the perpendicular bisector divided equally in face with the first locator 22 and the second locator 22 is designated as former Point, then initial point, the first locator 22 and the second locator 22 constitute the three-dimensional system of coordinate in a real space.

Said method requires the first locator 22 and the second locator 22 to be symmetrical arranged, and it is fixed that the 3rd locator 22 is located at first Position device 22 and the top position of the second locator 22 center line.Three-dimensional coordinate can be set up using more locators 22, but Can determine that this coordinate system by 3 points, this method is relatively simple.

After three locators 22 set, when patient wears conformal face mask 32 good position fixing by fixator, beat Drive three locators 22, locator 22 here can adopt laser pen, the now integral position of adjustable fixer, make patient and consolidate Determine device integrally to move up and down, allow the laser that three locators 22 send to beat respectively pre- in the nasion portion of conformal face mask 32 and the ear portion In the location hole 33 staying.

Because multiple location holes 33 have been reserved in each position, beat the position on mask in three laser spots, select Close to a location hole 33 of laser spots, and it is marked.After mark finishes, in the location hole 33 having marked, put into mark Thing, then carries out magnetic resonance imaging, then obtain in the scanning figure of magnetic resonance, and mark is because scanning position and the thorn of the shade producing The three-dimensional system of coordinate that excitation device is integrally located is unified；Can be by the three-dimensional of image information and real space by this relation Informational linkage is got up, and determines the probe 20 closest to focus for pilot controller.

For the ease of setting, three locators 22 should be arranged on the surface of fixator, so wear conformal face mask 32 And after being fixed in fixator, conformal face mask 32 is located in the centre position of three locators 22, it is easy to position and calculates.

Control box

It is contemplated that the integration of whole device and adaptability are it is contemplated that be integrated in a control box 3 by whole system On.

Three-dimensional warp cranium magnetic thorn system also includes a control box 3, and controller is arranged in control box 3 and connects a display Device 2 and keyboard 16, control box 3 is provided with chamber door 1, opens chamber door 1 and can pull out keyboard 16 and observe display 2.

As shown in Figure 2 and Figure 3, support bar 17 is fixedly arranged at the side of casing, by stimulating apparatus integral installation on casing；And Three montants 21 of support bar 17 are provided perpendicular on support bar 17, are respectively mounted three locators 22；Wherein two montants 21 are symmetricly set on support bar 17 both sides, an in addition front end in support bar 17.Recess 4 is offered on the side of casing, recessed Mouth 4 parts are easy to the setting of stimulating apparatus, so that the helmet 5 will not be contacted with control box 3 and have influence on the helmet 5, can also fill simultaneously When an interim operating platform；In addition the setting of recess 4 can make seat 10 as low as possible near casing setting, is conducive to filling The integration put.

Because patient is carrying out position correction, that is, after being fixed on fixator and after wearing conformal face mask 32, need by fixed Position device 22 determines the position of location hole 33, now needs to adjust the height of patient facial region position according to different patients.Comprehensively examine Consider the factors such as age and the height of patient, height adjustable seat 10 is the most preferably set：

Slide rail 28 is provided with the side wall of control box 3, slide rail 28 is provided with seat 10, the chair leg 11 of seat 10 can be stretched Contracting, described neck brace 8 is arranged on the chair back 9 of seat 10 by expansion link 29.

That is, the height of seat 10 can be by slide rail 28 adjustment, after adjusting, by the locked position of locking member 12 Put, for making seat 10 and slide rail 28 junction be not subject to excessive load, the chair leg 11 of seat 10 is also to stretch, seat 10 After the position adjustment of seat is good and locked, supported by telescopic chair leg 11, make seat 10 more stable.

In addition, neck brace 8 is preferably mounted on seat 10 chair back 9, the height of seat 10 position can suitably all ages and classes and The patient of physiological condition is so as in long therapeutic process, leg can be more comfortable, and passes through the neck brace that expansion link 29 adjusts 8 can be finely adjusted to neck brace 8 position, make adjustment convenient and hommization after seat 10 position fixes.

Because in whole system, the helmet 5 part has certain weight, in addition patient makes control box 3 after being sitting on seat 10 Overall centre-of gravity shift, for making overall more the stablizing of control box 3 not be affected, arranges two measures：

First, control box 3 side lower is provided with bottom door 14, opens bottom door 14 and can arrange balancing weight 31 in control box 3, Keep stablizing of control box 3；

Second, the universal wheel 15 that control box 3 bottom is installed has latch functions, after the position of control box 3 is chosen, by wheel Lock carry out locked, make box location keep fix.

Controller can adopt computer, carry out the analysis of focus brain area, control transcranial magnetic stimulation instrument 13 probe 20 open, control Driving means 35 running processed etc.；Mainframe box 30 and control board etc. can also be set in bottom door 14.

Transcranial magnetic stimulation instrument 13 is arranged in another casing, and this bottom half is also equipped with universal wheel 15, is easy to its shifting Dynamic.

It is provided with cover body 6 outside stimulating apparatus and auxiliary locator, patient can be trapped among wherein by cover body 6, is carrying out During treatment, provide an independent space for patient, mitigate the tension of patient, be also beneficial to build peace and quiet, relax Suitable Curing circumstance.

Operation door 7 is offered on cover body 6, patient first wears conformal face mask 32, and opening operation door 7 makes patient enter it In and after sitting straight on seat 10, fixing, shutoff operation door 7, carry out the determination of Neural stem cell position, after determining, doctor beats Open operation door 7, the head of patient is placed in the helmet 5 for the position of the adjustment helmet 5, is then shut off operating door 7, you can start to control Treat.

Localization method：

In the present invention, one kind is also provided to carry out inside and outside Coordinate Conversion and choose using above-mentioned Three-dimensional warp cranium magnetic stimulation system The method of suitable probe, to solve the problems, such as coordinate unification under different coordinates, provides necessary for follow-up therapeutic process Support, specific as follows：

Step one, carries out three-point fix using locator in patient facial region, fixed signal thing at 3 points of positioning, then Carry out magnetic resonance imaging, obtain comprising the scanning figure of focal area and mark shade；Three marks in note scanning figure The shade of thing be respectively the first mark, the second mark and the 3rd mark (i.e. aforesaid between horizontal plane distance identical Two marks determining of two locators)；

The step for can be completed using above-mentioned conformal face mask, that is, patient needs first to wear conformal face mask, by auxiliary Three locators in positioner beat luminous point at the nasion, at the basal part of the ear of left and right, and are placed on mark at each position In the immediate location hole with luminous point, then patient wears this mask and carries out magnetic resonance imaging, do not only have in scanning figure brain area and The information of focal area, the stain also producing after mark scanning or shadow information, the wherein first mark and the second mark Thing is respectively the corresponding position of mark on the diagram at the basal part of the ear of left and right；

Step 2, according to scanning figure information, is obtained the brain area of focus generation, then scanning figure is carried out using software analysis Three-dimensional reconstruction, in three-dimensional reconstruction in figure, obtains coordinate in the three-dimensional system of coordinate of three-dimensional reconstruction in figure for the focus brain area, is designated as P (x,y,z)；

Certainly, above-mentioned two step not just can carry out the positioning of intracranial lesion, and the positioning for encephalic ad-hoc location, Can also be carried out using this device and this method, wear mask first and be scanned obtaining scanning figure, it is then determined that scanning figure In specified point and mark shadow spots.Mark and wearing of mask are necessary, because mark provides in scanning Enough information, in order to the coordinate computation in later stage.

Therefore for the positioning of encephalic any point, as long as being jointly scanned with mark first, all can be according to following Step continue determine this ad-hoc location (i.e. following focus brain areas), and these measurement data can be used for disease diagnosis or Other field.

Step 3, using three marks shade three-dimensional reconstruction in figure coordinate, by the three-dimensional coordinate of real space System corresponds to one of three-dimensional reconstruction figure local coordinate system, and obtains the corresponding relation between two coordinate systems, specially：

Step S30, the shade (lower referred to as the first mark, the second mark) of the first mark, the second mark is existed The coordinate line of three-dimensional reconstruction in figure as the X ' axle of local coordinate system, from the 3rd mark three-dimensional reconstruction in figure coordinate to X ' axle makees vertical line, and vertical line and X ' axle joining are designated as the initial point that O ' is local coordinate system, and O ' is in the coordinate of three-dimensional reconstruction in figure It is designated as (x₀,y₀,z₀)；

Step S31, the coordinate of three-dimensional reconstruction in figure the 3rd mark and the vertical line of X ' axle are the Z ' axle of local coordinate system, lead to Cross the coordinate of initial point O ' of local coordinate system and the 3rd mark in the coordinate of three-dimensional reconstruction in figure, calculate the straight line of point-to-point transmission Equation, can calculate the three-dimensional system of coordinate X of local coordinate system Z ' axle and three-dimensional reconstruction in figure, Y, the angle of Z axis is respectively then α, beta, gamma, as shown in Figure 9；

Step S32, the Z ' axle in local coordinate system is considered as the Z axis of three-dimensional reconstruction in figure three-dimensional system of coordinate first around Y-axis Rotation a angle, then obtains around Z axis rotation b angle again；Then it is tied to the change of the coordinate system of three-dimensional reconstruction in figure by local coordinate Change and be considered as rotating a angle by local coordinate system around three-dimensional reconstruction in figure coordinate system Y-axis, then rotate b angle around Z axis again Degree, moves to (x then₀,y₀,z₀) three conversion compositions, then three transformation matrixs are respectively：

Then combined transformation matrix is：

Geometrical relationship according to Figure 10, can derive a, b and Z ' axle and X, Y, the angle α of Z axis, the pass between beta, gamma System：

The direction cosines of Z ' axle are respectively：

Relation according in figure：

Cosa=n₃=cos γ (3)

Formula (3) to (6) above is substituted into available in combined transformation matrix form (1)：

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to three-dimensional reconstruction in figure by transition matrix and sit Coordinate (x, y, z) in mark system, transformational relation is as follows：

[x ' y ' z ' 1] T=[x y z 1] (8)

If it is known that the coordinate in three-dimensional reconstruction in figure coordinate system, the coordinate in local coordinate system to be converted into, then can adopt Use below equation：

[x ' y ' z ' 1]=[x y z 1] T^-1(9)

In formula (9), T^-1Can be by obtaining to T finding the inverse matrix, T^-1For：

Then substituting into (10) in (9) can be local coordinate system by the coordinate transformation of three-dimensional reconstruction in figure, i.e. real space Coordinate in coordinate system；

Step 4, according to the corresponding relation between two coordinate systems, obtains focus brain area in real space coordinate system Coordinate P ' (x ', y ', z '), specially：

The coordinate transformation of three-dimensional reconstruction in figure can be the coordinate in local coordinate system using formula (9), that is, actual Coordinate in the three-dimensional system of coordinate in space (space that patient is located), learns focus brain area in three-dimensional reconstruction in figure by step 2 Coordinate is P (x, y, z)；Therefore, according to formula (9) can get coordinate P ' in real space coordinate system for the focus brain area (x ', y′,z′).

Coordinate in the middle of the coordinate in the middle of real space as stimulating apparatus place space for the focus brain area.Three-dimensional reconstruction figure In local coordinate be real space in the middle of coordinate, this coordinate is by three mark shadow spots institutes of three-dimensional reconstruction in figure Determine.

In real space, the luminous point that as three locators of point of three marks send beats the position on conformal face mask Put, then three-dimensional system of coordinate is set up with the position of these three luminous points, and be 3 points of three-dimensional system of coordinates set up with three locators, It is that (luminous point that locator and locator stay on conformal face mask can regard on straight line two as to same coordinate system On point, namely same reference axis 2 points).And three locators are one with the stimulating apparatus helmet, under same coordinate , when such helmet is fixing, on the helmet, each probe coordinate in real space three-dimensional system of coordinate is certain, each The coordinate of the corresponding determination of probe；The corresponding table popped one's head in actual coordinate can be kept in the controller, be easy to check.

Through the extraction of image information, algorithm can be calculated coordinate in real space coordinate system for the focus, pass through On this coordinate and the helmet, the coordinate of probe is fitted, and finds out immediate one or more in real space coordinate with focus Probe, to stimulate patient's brain with these probes.

Due to when being positioned, it has been determined that the position of fixator, fixator position is after patient's positioning finishes Motionless.Still in when in fixator, its head position does not change patient with respect to helmet position, this ensures that theres from encephalic Focus is to the consistent correspondence of the outer coordinate of cranium.

According to the coordinate calculating, controller controls corresponding probe to open and patient's brain is stimulated, and can basis Situation adjusts the position of probe distance scalp, realizes the treatment of single-point single-frequency or multifrequency；Meanwhile, if any multiple focuses it is also possible to Disposably determined using the system, using the same helmet, multiple points of head are carried out with the Neural stem cell of single-frequency, multifrequency Treatment.

Claims (8)

1. a kind of multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system is determined it is characterised in that including fixing device, stimulating apparatus and auxiliary Position device；

Fixing device includes the fixator for fixing human cranium position；

Stimulating apparatus be located at fixing device top, include spherical shape distribution multiple probes (20), pop one's head in (20) connect to Transcranial magnetic stimulation instrument (13)；

Auxiliary locator includes being arranged on the conformal face mask (32) adhereing well to human body face, and is arranged on conformal face mask (32) locator (22) around, offers location hole (33) on conformal face mask (32)；

Transcranial magnetic stimulation instrument (13) connects to a controller；

Described locator (22) arranges three, and the distance between two of which locator (2) and horizontal plane are identical, with this two Locator (22) line is vertical and referred to as divides face equally through the face at line center, then another one locator (22) is located at and divides face equally In, and the plane that connects and composes of three locators (22) not with plane-parallel；Locator (22) connects on a navigation device.

2. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1 is it is characterised in that described stimulating apparatus bag Include bubble helmet (5), the helmet (5) is accordingly divided into multiple regions according to the different functional area of human body brain, in head Helmet (5) arranges at least one described probe (20) in upper each region dividing.

3. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 2 is it is characterised in that described probe (20) is worn Cross the helmet (5) surface to extend in the helmet (5), each probe (20) is mounted on driving means (35), driving means (35) Can drive probe (20) along away from or the direction motion near the helmet (5) center, driving means (35) connect to controller.

4. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 2 is it is characterised in that the described helmet (5) leads to Cross connecting rod (19) to be arranged on the support bar (17) parallel to ground setting, connecting rod (19) can be slided along support bar (17), The limited block (25) limiting connecting rod (19) position is additionally provided with support bar (17).

5. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1 is it is characterised in that described fixator includes Tubular neck brace (8), this neck brace (8) is sleeved on neck and is fitted with neck curve, and the top of neck brace (8) is prolonged upwards Stretch and the mouth less than patient and ear, the bottom of neck brace (8) extends downwardly and the chest less than patient and shoulder, neck brace (8) part upwards, extending downwardly and the curve of the human body being contacted with extension are fitted.

6. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 5 is it is characterised in that described neck brace (8) edge Its axial cutting is symmetrically divided into two, and separate two parts neck brace (8) passes through hinge (23) and connects, in separate two parts neck brace (8) it is symmetrically arranged with lock (27) on, two parts neck brace (8) passes through to latch one complete neck brace (8) of (27) sealed formation.

7. multiple spot multifrequency Three-dimensional warp cranium magnetic stimulation system as claimed in claim 1 is it is characterised in that described conformal face mask (32) it is made up of thermoplastic material, conformal face mask (32) extends downward lower jaw bottom by eyeground, extends to ear from nose to both sides Bottom, is suited with human body face physiological structure phase, and leaves through hole corresponding with nose and mouth on conformal face mask (32)；Institute The location hole (33) stated is opened in eyeground position and eardrum position on mask.

8. a kind of outer coordinate transformation method of encephalic is it is characterised in that specifically follow the steps below：

Step one, carries out three-point fix using locator in patient facial region, fixed signal thing at 3 points of positioning, then carries out Magnetic resonance imaging, obtains comprising the scanning figure of ad-hoc location and mark shade；

Step 2, according to scanning figure information, obtains ad-hoc location, then carries out three-dimensional reconstruction to scanning figure, in three-dimensional reconstruction figure In, obtain coordinate in the three-dimensional system of coordinate of three-dimensional reconstruction in figure for the ad-hoc location, be designated as P (x, y, z)；

Step 3, using three marks shade three-dimensional reconstruction in figure coordinate, by the three-dimensional system of coordinate pair of real space One of three-dimensional reconstruction figure local coordinate system should be arrived, and obtain the corresponding relation between two coordinate systems；

Step 4, according to the corresponding relation between two coordinate systems, obtains coordinate in real space coordinate system for the ad-hoc location P′(x′,y′,z′)；

The detailed process of described step 3 is as follows：

Step S30, three described marks of note are respectively the first mark, the second mark and the 3rd mark, by first Mark, the second mark three-dimensional reconstruction in figure coordinate line as the X ' axle of local coordinate system, exist from the 3rd mark The coordinate of three-dimensional reconstruction in figure makees vertical line to X ' axle, and vertical line and X ' axle joining are designated as the initial point that O ' is local coordinate system, O ' It is designated as (x in the coordinate of three-dimensional reconstruction in figure₀,y₀,z₀)；

Step S31, the coordinate of three-dimensional reconstruction in figure the 3rd mark is the Z ' axle of local coordinate system with the vertical line of X ' axle, by office The coordinate of initial point O ' of portion's coordinate system and the 3rd mark, in the coordinate of three-dimensional reconstruction in figure, calculate the straight line side of point-to-point transmission Journey, obtains the three-dimensional system of coordinate X of local coordinate system Z ' axle and three-dimensional reconstruction in figure, Y, the angle of Z axis is respectively α, beta, gamma then；

Step S32, the conversion that local coordinate is tied to the coordinate system of three-dimensional reconstruction in figure is considered as by local coordinate system around three-dimensional Rebuild in figure coordinate system Y-axis rotation a angle, then rotate b angle around Z axis again, then move to (x₀,y₀,z₀) three conversion Composition, then three transformation matrixs are respectively：

$T_a=\left[\begin{array}{cccc}\cos a& 0& -\sin a& 0\\ 0& 1& 0& 0\\ \sin a& 0& \cos a& 0\\ 0& 0& 0& 1\end{array}\right],T_b=\left[\begin{array}{cccc}\cos b& \sin b& 0& 0\\ -\sin b& \cos b& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right],T_{O^{\′}}=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\\ x_0& y_0& z_0& 1\end{array}\right]$

Then combined transformation matrix is：

$T=T_a\·T_b\·T_{O^{\′}}=\left[\begin{array}{cccc}\cos a\cos b& \cos a\sin b& -\sin a& 0\\ -\sin b& \cos b& 0& 0\\ \sin a\cos b& \sin a\sin b& \cos a& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(1\right)$

The direction cosines of Z ' axle are respectively：

$\left\{\begin{array}{c}{n}_1=cos\mathrm{\α}\\ n_2=cos\mathrm{\β}\\ n_3=cos\mathrm{\γ}\end{array}\right.---\left(2\right)$

Cos a=n₃=cos γ (3)

$\sin a=\sqrt{(n_1^2+n_2^2)}=\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}---\left(4\right)$

$\cos b=\frac{n_1}{\sqrt{(n_1^2+n_2^2)}}=\frac{cos\mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(5\right)$

$\sin b=\frac{n_2}{\sqrt{(n_1^2+n_2^2)}}=\frac{cos\mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}---\left(6\right)$

Formula (3) to (6) above is substituted into available in combined transformation matrix form (1)：

$T=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0\\ -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& 0& 0\\ \cos \mathrm{\α}& \cos \mathrm{\β}& \cos \mathrm{\γ}& 0\\ x_0& y_0& z_0& 1\end{array}\right]---\left(7\right)$

Therefore, a bit (x ', y ', z ') in local coordinate system can be converted to three-dimensional reconstruction in figure coordinate system by transition matrix In coordinate (x, y, z), transformational relation is as follows：

[x ' y ' z ' 1] T=[x y z 1] (8)

Coordinate in known three-dimensional reconstruction in figure coordinate system, the coordinate in local coordinate system to be converted into, then can adopt following public affairs Formula：

[x ' y ' z ' 1]=[x y z 1] T^-1(9)

In formula (9), T^-1Can be by obtaining to T finding the inverse matrix, T^-1For：

$T^{-1}=\left[\begin{array}{cccc}\frac{\cos \mathrm{\α}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& -\frac{\cos \mathrm{\β}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\α}& 0\\ \frac{\cos \mathrm{\β}\cos \mathrm{\γ}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \frac{\cos \mathrm{\α}}{\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}}& \cos \mathrm{\β}& 0\\ -\sqrt{({\cos }^2\mathrm{\α}+{\cos }^2\mathrm{\β})}& 0& \cos \mathrm{\γ}& 0\\ \mathrm{\α}& \mathrm{\β}& \mathrm{\γ}& 1\end{array}\right]---\left(10\right)$

Then substituting into (10) in (9) can be local coordinate system by the coordinate transformation of three-dimensional reconstruction in figure, i.e. real space coordinate Coordinate in system.