Control Algorithms for Robotic TMS Targeting

严重抑郁障碍(MDD)影响着加拿大和世界各地数百万人。事实上，据估计，几乎三分之一的人口将在他们一生中的某个时候经历一次MDD；这是一个巨大的社会经济问题。非药物治疗和神经刺激已被用于精神障碍。在现有的治疗方法中，经颅磁刺激(TMS)具有无创、聚焦、快速、副作用小等优点，具有广阔的应用前景。尽管有TMS的现有证据，但由于复杂的仪器问题，包括有限的寿命(每个患者的治疗成本较高)、加热(限制治疗长度)和剂量(刺激脉冲参数不可配置)，其临床应用受到限制。另一个主要问题是以背外侧前额叶皮质(DLPFC)为靶点，目前该靶点是手动的，导致准确性和重复性较差。NeuroQore Inc.正在开发下一代TMS技术，以填补TMS广泛临床应用的技术空白。希望使用机器人系统来精确定位TMS工具。NeuroQore Inc.正在从卡尔顿大学由艾哈迈迪教授指导的高级生物机电一体化和运动(ABL)实验室寻求机器人和控制专业知识。为了展示概念的证明，卡尔顿大学将研究使用机器人系统自动定位过程的可能性，开发所需的控制和传感方法，并在典型的工业机器人上实施。

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.