Collaborative robot (cobot) controlled system for transcranial magnetic stimulation

协作机器人（cobot）控制的经颅磁刺激系统

• 批准号: 10177246
• 负责人: Aapo Nummenmaa
• 金额: $ 55.83万
• 依托单位: MASSACHUSETTS GENERAL HOSPITAL
• 依托单位国家: 美国
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-06-15 至 2023-06-14
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/10177246
• 关键词: Anatomy; Area; Brain; Communities; Complex; Consumption; Data; Detection; Development; Devices; Diagnostic; Drug resistance; Fatigue; Goals; Head; Human; Individual; Investigation; Location; Magnetic Resonance Imaging; Magnetoencephalography; Manuals; Mechanics; Mental Depression; Methods; Motion; Movement; Nature; Neuronavigation; Painless; Positioning Attribute; Positron-Emission Tomography; Research; Resources; Robot; Robotics; Scalp structure; Secondary to; System; Technology; Therapeutic; Time; Transcranial magnetic stimulation; cost; cranium; electric field; experimental study; functional magnetic resonance imaging/electroencephalography; image guided; instrument; instrumentation; magnetic field; neuroimaging; neuroregulation; novel therapeutics; portability; response; translational study

Transcranial Magnetic Stimulation (TMS) is a method for non-invasive neuromodulation that uses strong currents passed to a coil placed next to the scalp to induce electric fields and currents in the brain. The fact that the electric field is induced by a time-varying magnetic field enables the stimulation to penetrate the skull efficiently, safely, and painlessly. Therefore, TMS has become highly popular for both basic scientific research and for diagnostic and therapeutic applications such as treatment of drug-resistant depression. It is well known that the effects of the TMS-induced brain activations propagate from the primary target area to the secondary areas that are anatomically connected to it, generating a network-level response. This observation has important consequences for understanding the effects of the stimulation. First, the primary target location must be defined with respect to individual anatomy and the stimulation location maintained consistently. Second, neuroimaging methods are needed to record how the brain networks respond to the stimulation. TMS neuronavigation systems have rapidly gained popularity in the scientific community due to the development of the accurate frameless stereotactic systems utilizing subject-specific Magnetic Resonance Imaging (MRI) data to define stimulation targets. While it is possible to obtain accurate manual coil positioning under MRI guided neuronavigation, for more complex experiments this may cause significant operator fatigue due to holding the bulky TMS coil in a fixed position for extended periods of time resulting in unwanted variability in the spatial targeting of the stimulation. Mechanical coil holders can be employed to mitigate the operator fatigue, but any movement of the subject’s head will require a time-consuming repositioning of the holder device. Robotic positioning of the TMS coil is arguably the most accurate and efficient method for resolving these issues, but the instrumentation is rather costly, and the system has limited mobility/portability due to its large size. Recently, collaborative robot (cobot) technology was introduced to lower the cost and increase the mobility of automatic TMS coil positioning. The system can be piloted also manually and after initial guidance of the TMS coil to the desired target by a human operator, the TMS cobot will maintain consistent positioning of the coil with a high degree of accuracy and automatic detection/correction for head motion. In this proposal, the goal is to acquire an instrument system for neuronavigated TMS controlled with a collaborative robot. Due to its transportable nature, the system can be used in conjunction with neuroimaging methods such as functional MRI (fMRI), electroencephalography (EEG), magnetoencephalography (MEG), and Positron Emission Tomography (PET). The capability of and combining TMS with neuroimaging to observe and quantify the neuromodulation effects enable parallel translational studies on potential new therapeutic TMS applications and more detailed investigations of the fundamental activation mechanisms. The instrument system will be a unique resource for a large group of users in the local area.

经颅磁刺激（TMS）是一种非侵入性神经调节方法， 电流通过放置在头皮旁边的线圈，在大脑中感应电场和电流。的事实 电场是由时变磁场引起的， 高效、安全、无痛。因此，TMS在基础科研和 以及用于诊断和治疗应用，例如治疗抗药性抑郁症。众所周知的是 TMS诱导的大脑激活的影响从主要目标区域传播到次要目标区域， 在解剖学上与之相连的区域，产生网络级的反应。此观察结果 对理解刺激的影响有重要意义。首先，主要目标位置必须 应根据个体解剖结构进行定义，并始终保持刺激位置。第二、 需要神经成像方法来记录大脑网络对刺激的反应。 TMS神经导航系统在科学界迅速普及， 利用特定对象磁共振技术开发精确的无框架立体定向系统 成像（MRI）数据来定义刺激目标。虽然可以获得精确的手动线圈定位， 在MRI引导的神经导航下，对于更复杂的实验，这可能会导致操作员严重疲劳 由于将庞大的TMS线圈长时间保持在固定位置， 刺激的空间靶向的可变性。可以采用机械线圈保持器来减轻 操作者疲劳，但受试者头部的任何移动都将需要耗时的重新定位 保持器装置。TMS线圈的机器人定位可以说是最准确和有效的方法， 解决这些问题，但仪器相当昂贵，并且系统具有有限的移动性/便携性 因为它的尺寸很大。最近，协作机器人（cobot）技术被引入以降低成本， 增加TMS线圈自动定位的机动性。该系统也可以手动和手动后 当TMS线圈由人类操作员初始引导到期望目标时，TMS协作机器人将保持 线圈定位一致，具有高精度和头部自动检测/校正 议案在这个提议中，目标是获得一个由神经导航TMS控制的仪器系统， 协作机器人由于其可移动性，该系统可与神经成像结合使用 诸如功能性MRI（fMRI）、脑电图（EEG）、脑磁图（MEG） 正电子发射断层扫描（PET）经颅磁刺激与神经影像学联合应用观察 并量化神经调节作用，使潜在的新治疗方法的平行转化研究成为可能。 TMS的应用和更详细的调查的基本激活机制。仪器 系统将成为当地一大群用户的独特资源。