ROBOTIC IMAGE GUIDED TRANSCRANIAL MAGNETIC STIMULATION

该研究计划的总体目标是提高经颅磁刺激（TMS）用于神经和精神疾病的诊断和治疗以及神经科学研究的精度和易用性。这将通过技术开发、验证和理论驱动的生理实验的协调计划来实现，最终实现TMS的瞄准/保持机器人操纵器（TMS AHRM/TM;发音为“手臂”）。该技术开发计划建立在FDA批准的神经外科机器人（NeuroMate）的能力基础上，通过广泛的算法开发和支持性机械开发为该器械创建了新的应用程序。针对治疗计划和治疗实施的算法开发，包括：在任何外部位置快速模拟TMS线圈在雨中产生的3-D电场的算法;皮质表面建模（提取和可视化）;标量积（电场向量乘以皮层表面向量）计算和可视化;以及功能图像、结构图像和治疗计划模型（表面和野）的合并。治疗工具包括：头部、大脑图像和机器人的无框架配准; TMS线圈的全自动机器人位置; TMS方向的机器人感测（关于手动操作的工具旋转轴）。硬件扩展包括：被动数字化臂、TMS工具安装架、带有方向传感器的被动工具旋转轴以及通用移动的推车。技术验证测量每个算法和程序的错误。生理学验证测试了一种新的理论，用于模拟TMS对大脑的局部影响，称为柱状瞄准原则（CAP）。该技术开发计划将为TMS创建一个瞄准/保持机器人操纵器：TMS AHRM/TM。TMS AHRM/TM将极大地扩展FDA批准的医疗机器人的功能，为TMS的图像引导规划和机器人交付创建原型系统。该原型旨在用于随后的商业化（例如，通过SBIR奖）。在这个建议中，一个通用的瞄准理论，列瞄准原则（CAP）的TMS将被验证。总的来说，这些技术发展和生理学验证将创造一个具有广泛临床和研究应用潜力的系统。

The overall objective of this research program is to enhance the precision and ease with which transcranial magnetic stimulation (TMS) can be used for the diagnosis and treatment of neurological and psychiatric disorders and for neuroscience research. This will be achieved through a coordinated program of technical developments, validations and theory-driven physiological experimentation which culminate in an aiming/holding robotic manipulandum for TMS (the TMS AHRM/TM; pronounced "arm"). The technical development program builds upon the capabilities of an FDA- approved neurosurgical robot (the NeuroMate), creating a new application for this device by extensive algorithmic developments and supportive mechanical developments. Algorithm developments target treatment planning and treatment delivery, including: algorithms for rapidly modeling the 3-D electric field created in the rain by a TMS coil at any external location; cortical surface modeling (extraction and visualization); scalar product (electric-field vector times cortical-surface vector) computation and visualization; and merging of functional images, structural images and treatment-planning models (surfaces & fields). Treatment-delivery tools include: frameless registration of head, brain image, and robot; fully automated robotic positions of the TMS coil; robotic sensing of TMS orientation (about a manually operated tool-rotation axis). Hardware extensions include: a passive digitizing arm, a TMS tool mount; a passive tool-rotation axis with an orientation sensor; and a general-purpose mobile cart. Technical validations measure the errors of each algorithm and procedure. Physiological validations test a new theory for modeling TMS local effects on the brain, called the Columnar Aiming Principles (CAPs). The technical development program will create an aiming/holding robotic manipulandum for TMS: the TMS AHRM/TM. The TMS AHRM/TM will greatly extend the capabilities of an FDA-approved medical robot, creating a prototype system for imaged-guided planning and robotic delivery for TMS. This prototype is intended for subsequent commercialization (e.g., through an SBIR award). In this proposal, a general aiming theory, the Columnar Aiming Principles (CAPs) for TMS will be validated. Collectively, these technical developments and physiological validations will create a system with wide potential for clinical and research applications.