Design and Evaluation of a Robotic System for Transcranial Magnetic Stimulation

Author

Zorn, Lucile ; Renaud, Pierre ; Bayle, Bernard ; Goffin, Laurent ; Lebossé, Cyrille ; De Mathelin, Michel ; Foucher, Jack

Author_Institution

Lab. des Sci. de l´´Image, Univ. of Strasbourg, Strasbourg, France

Volume

59

Issue

3

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

805

Lastpage

815

Abstract

Transcranial magnetic stimulation is a noninvasive brain stimulation technique. It is based on current induction in the brain with a stimulation coil emitting a strong varying magnetic field. Its development is currently limited by the lack of accuracy and repeatability of manual coil positioning. A dedicated robotic system is proposed in this paper. Contrary to previous approaches in the field, a custom design is introduced to maximize the safety of the subject. Furthermore, the control of the force applied by the coil on the subject´s head is implemented. The architecture is original and its experimental evaluation demonstrates its interest: the compensation of the head motion is combined with the force control to ensure accuracy and safety during the stimulation.

Keywords

brain; force control; medical robotics; transcranial magnetic stimulation; current induction; custom design; force control; head motion; manual coil positioning; noninvasive brain stimulation technique; robotic system; stimulation coil; transcranial magnetic stimulation; Coils; Head; Joints; Magnetic heads; Robots; Safety; Wrist; Force control; medical robotics; robot design and control; transcranial magnetic stimulation (TMS); Equipment Design; Humans; Magnetic Resonance Imaging; Motion; Phantoms, Imaging; Reproducibility of Results; Robotics; Software; Transcranial Magnetic Stimulation;

fLanguage

English

Journal_Title

Biomedical Engineering, IEEE Transactions on

Publisher

ieee

ISSN

0018-9294

Type

jour

DOI

10.1109/TBME.2011.2179938

Filename

6105531