Robotics Integration for a Multi-locus Transcranial Magnetic Stimulation (mTMS) System
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Sähkötekniikan korkeakoulu |
Master's thesis
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ELEC3025
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en
Pages
53 + 31
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Abstract
The mTMS brain stimulation system has been mostly and widely used manually with an operator holding the stimulating coil over the desired target point of the patient's head for a long period of 30 to 45 minutes. This leads to inaccuracy over time due to fatigue and some other avoidable factor such as equipment displacement, patient's head movement and faulty calibration process. Another important factor is the lack of feedback to make adjustments during treatment. Mostly the feedback comes directly from the patient and/or from the operator's visual inspections and this feedback is not ideal and it is susceptible to flaws. Due to the nature of the treatment, a small displacement in the coil position can substantially decrease the efficiency of the treatment. As a result, it is essential to obtain a clinically-safe automated process to enable ease-of-use and effective treatment while providing more comfort to the operator and the patients. With the combination of mTMS stimulating coils and position/force-controlled collaborative robot, this Thesis explores the possibility of improving and enhancing not only the efficiency of TMS treatment but also the experience for both operator and patient during the whole session. This Thesis project also improves the collaboration between Aalto University and the University of São Paulo, as this Thesis scope focuses on creating a stand-alone force-controlled mTMS system while the Brazilian counterparts construct a vision-controlled one. At the end of the project, a common control algorithm will be generated based on the findings, thus making the mTMS system more reliable, less sluggish, and entirely robotized.Description
Supervisor
Ilmoniemi, RistoThesis advisor
De Oliveira E Souza, VictorNguyen Le, Tran