Control Algorithms for Robotic TMS Targeting

点击翻译按钮获取中文摘要

Major depressive disorders (MDD) affects millions of people in Canada and worldwide. Indeed, it is estimated that almost one third of the population will experience an episode of MDD at some point in their lives; a large socioeconomical issue. Non-pharmacological treatments and neurostimulation have been used for psychiatric disorders. Among available treatments, transcranial magnetic stimulation (TMS) is highly promising as it is non-invasive, focused, and rapid, with minimal side effects. Despite existing evidence on TMS, its clinical use is limited due to complex instrumentation issues including limited life span (high treatment cost per patient), heating (restricting length of treatment), and dosing (stimulation pulse parameters are not configurable). Another major issue is targeting of dorso-lateral pre-frontal cortex (DLPFC) which is currently manual resulting in poor accuracy and repeatability. NeuroQore Inc. is developing the next generation of TMS technology that addresses the technological gaps for wide-spread clinical use of TMS. It is desired to use robotic systems for accurate positing of the TMS tool. NeuroQore Inc. is seeking robotics and controls expertise from Carleton University's Advanced Biomechatronics and Locomotion (ABL) Lab directed by professor Ahmadi. To show the proof of concept, Carleton University will investigate the possibility of using robotic systems to automate the targeting process, develop control and sensing methods required, and implement on a typical industrial robot.