TY - GEN
T1 - Transcranial Magnetic Stimulation Robotic Assistant
T2 - 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
AU - Xygonakis, Ioannis
AU - Seganfreddo, Riccardo
AU - Hamad, Mazin
AU - Schneider, Samuel
AU - Schroder, Axel
AU - Krieg, Sandro M.
AU - Meyer, Bernhard
AU - Chiari, Lorenzo
AU - Haddadin, Sami
AU - Zavaglia, Melissa
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85208645642&partnerID=8YFLogxK
U2 - 10.1109/BioRob60516.2024.10719901
DO - 10.1109/BioRob60516.2024.10719901
M3 - Conference contribution
AN - SCOPUS:85208645642
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1401
EP - 1408
BT - 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
PB - IEEE Computer Society
Y2 - 1 September 2024 through 4 September 2024
ER -