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基于RGB相机的无标志物TMS机器人辅助定位方法
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作者 程强 赵帅 +3 位作者 郝小龙 刘杰 许静静 李世俊 《北京工业大学学报》 北大核心 2025年第8期908-917,共10页
经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机... 经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机替代导航系统中双目红外相机,采用一种基于神经网络的无标志物TMS线圈机器人辅助定位方法。搭建神经网络实现相机空间线圈姿态到操作臂空间关节角度的映射,并通过仿真数据训练验证了该神经网络架构适用于TMS线圈位姿摆放问题。随后,通过实验验证了该方法的可行性,同时表明训练的神经网络针对TMS线圈定位任务具有良好的泛化能力。最后,在笛卡儿空间的位姿验证结果显示TMS线圈三维位置平均误差为2.16 mm,总体姿态误差为0.055 rad,使用RGB相机的TMS线圈机器人辅助定位系统在精度上达到了与其他使用双目红外相机的科研或商用系统相同的水平,满足TMS临床治疗要求,具备临床应用的可行性。 展开更多
关键词 经颅磁刺激(transcranial magnetic stimulation TMS) 机器人辅助TMS系统 RGB相机 神经网络 位姿估计 手眼标定
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Fast Object Perception in The Subcortical Pathway:a Commentary on Wang et al.’s Paper in Human Brain Mapping(2023)
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作者 MA Hao-Yun WEI Yu-Yin HU Li-Ping 《生物化学与生物物理进展》 北大核心 2025年第7期1904-1908,共5页
The subcortical visual pathway is generally thought to be involved in dangerous information processing,such as fear processing and defensive behavior.A recent study,published in Human Brain Mapping,shows a new functio... The subcortical visual pathway is generally thought to be involved in dangerous information processing,such as fear processing and defensive behavior.A recent study,published in Human Brain Mapping,shows a new function of the subcortical pathway involved in the fast processing of non-emotional object perception.Rapid object processing is a critical function of visual system.Topological perception theory proposes that the initial perception of objects begins with the extraction of topological property(TP).However,the mechanism of rapid TP processing remains unclear.The researchers investigated the subcortical mechanism of TP processing with transcranial magnetic stimulation(TMS).They find that a subcortical magnocellular pathway is responsible for the early processing of TP,and this subcortical processing of TP accelerates object recognition.Based on their findings,we propose a novel training approach called subcortical magnocellular pathway training(SMPT),aimed at improving the efficiency of the subcortical M pathway to restore visual and attentional functions in disorders associated with subcortical pathway dysfunction. 展开更多
关键词 transcranial magnetic stimulation(TMS) subcortical pathway magnocellular pathway topological property object perception
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rTMS Improves Cognitive Function and Brain Network Connectivity in Patients With Alzheimer’s Disease
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作者 XU Gui-Zhi LIU Lin +4 位作者 GUO Miao-Miao WANG Tian GAO Jiao-Jiao JI Yong WANG Pan 《生物化学与生物物理进展》 北大核心 2025年第8期2131-2145,共15页
Objective Repetitive transcranial magnetic stimulation(rTMS)has demonstrated efficacy in enhancing neurocognitive performance in Alzheimer’s disease(AD),but the neurobiological mechanisms linking synaptic pathology,n... Objective Repetitive transcranial magnetic stimulation(rTMS)has demonstrated efficacy in enhancing neurocognitive performance in Alzheimer’s disease(AD),but the neurobiological mechanisms linking synaptic pathology,neural oscillatory dynamics,and brain network reorganization remain unclear.This investigation seeks to systematically evaluate the therapeutic potential of rTMS as a non-invasive neuromodulatory intervention through a multimodal framework integrating clinical assessments,molecular profiling,and neurophysiological monitoring.Methods In this prospective double-blind trial,12 AD patients underwent a 14-day protocol of 20 Hz rTMS,with comprehensive multimodal assessments performed pre-and postintervention.Cognitive functioning was quantified using the mini-mental state examination(MMSE)and Montreal cognitive assessment(MOCA),while daily living capacities and neuropsychiatric profiles were respectively evaluated through the activities of daily living(ADL)scale and combined neuropsychiatric inventory(NPI)-Hamilton depression rating scale(HAMD).Peripheral blood biomarkers,specifically Aβ1-40 and phosphorylated tau(p-tau181),were analyzed to investigate the effects of rTMS on molecular metabolism.Spectral power analysis was employed to investigate rTMS-induced modulations of neural rhythms in AD patients,while brain network analyses incorporating topological properties were conducted to examine stimulus-driven network reorganization.Furthermore,systematic assessment of correlations between cognitive scale scores,blood biomarkers,and network characteristics was performed to elucidate cross-modal therapeutic associations.Results Clinically,MMSE and MOCA scores improved significantly(P<0.05).Biomarker showed that Aβ1-40 level increased(P<0.05),contrasting with p-tau181 reduction.Moreover,the levels of Aβ1-40 were positively correlated with MMSE and MOCA scores.Post-intervention analyses revealed significant modulations in oscillatory power,characterized by pronounced reductions in delta(P<0.05)and theta bands(P<0.05),while concurrent enhancements were observed in alpha,beta,and gamma band activities(all P<0.05).Network analysis revealed frequency-specific reorganization:clustering coefficients were significantly decreased in delta,theta,and alpha bands(P<0.05),while global efficiency improvement was exclusively detected in the delta band(P<0.05).The alpha band demonstrated concurrent increases in average nodal degree(P<0.05)and characteristic path length reduction(P<0.05).Further research findings indicate that the changes in the clinical scale HAMD scores before and after rTMS stimulation are negatively correlated with the changes in the blood biomarkers Aβ1-40 and p-tau181.Additionally,the changes in the clinical scales MMSE and MoCA scores were negatively correlated with the changes in the node degree of the alpha frequency band and negatively correlated with the clustering coefficient of the delta frequency band.However,the changes in MMSE scores are positively correlated with the changes in global efficiency of both the delta and alpha frequency bands.Conclusion 20 Hz rTMS targeting dorsolateral prefrontal cortex(DLPFC)significantly improves cognitive function and enhances the metabolic clearance ofβ-amyloid and tau proteins in AD patients.This neurotherapeutic effect is mechanistically associated with rTMS-mediated frequency-selective neuromodulation,which enhances the connectivity of oscillatory networks through improved neuronal synchronization and optimized topological organization of functional brain networks.These findings not only support the efficacy of rTMS as an adjunctive therapy for AD but also underscore the importance of employing multiple assessment methods—including clinical scales,blood biomarkers,and EEG——in understanding and monitoring the progression of AD.This research provides a significant theoretical foundation and empirical evidence for further exploration of rTMS applications in AD treatment. 展开更多
关键词 transcranial magnetic stimulation Alzheimer’s disease power spectral density ELECTROENCEPHALOGRAM brain functional network
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