Transcranial Magnetic Stimulation Robotic Assistant: towards a fully automated stimulation session

Ioannis Xygonakis, Riccardo Seganfreddo, Mazin Hamad, Samuel Schneider, Axel Schroder, Sandro M. Krieg, Bernhard Meyer, Lorenzo Chiari, Sami Haddadin, Melissa Zavaglia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Transcranial Magnetic Stimulation (TMS) is a non-invasive method for brain stimulation, commonly employed in depression treatment and pre-operative planning. With an average session duration of 30 minutes, the manual handling and positioning of the TMS coil during the treatment may become strenuous for the operator. Robotized TMS systems can help automate the overall process. Our study introduces the TMS Robotic Assistant (TMS-RA) as an end-to-end system integrated with a commercial navigated TMS. TMS-RA utilizes online calibration, eliminating additional calibration steps needed before each TMS session. Furthermore, it can be adapted for use with mobile-based nTMS systems commonly found in clinics. We have implemented an error-compensation scheme to mitigate positioning errors, effectively constraining both position and orientation errors to final mean values of 1.18 mm and $0.57°}$. Comparing our system with a highly experienced medical expert, it is more precise and has significantly lower orientation errors, with a $3°}$ difference, while the position errors were slightly worse but remained comparable.

Original languageEnglish
Title of host publication2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
PublisherIEEE Computer Society
Pages1401-1408
Number of pages8
ISBN (Electronic)9798350386523
DOIs
StatePublished - 2024
Event10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 - Heidelberg, Germany
Duration: 1 Sep 20244 Sep 2024

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Country/TerritoryGermany
CityHeidelberg
Period1/09/244/09/24

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