Apparatus and method for delivery of transcranial magnetic stimulation using biological feedback to a robotic arm

摘要

Disclosed are apparatus and methods for computer-aided, robotic delivery of transcranial magnetic stimulation (TMS) using biologically derived feedback to establish coil position relative to brain functional regions. The apparatus includes a TMS coil mounted to a robotic member. The position of the stimulating coil can be automatically optimized using the TMS-induced bio-responses of various types.

主权项

1. A method comprising:
immobilizing a head of a subject in preparation for transcranial magnetic stimulation (TMS) delivered by a TMS stimulator adapted to a robotic member having at least 6 degrees of freedom; creating an in situ scalp model of the head using a digitization system; defining a starting pose of the TMS stimulator; defining a search strategy, including selecting a modality of TMS-induced biological feedback, defining a number of stages of a search space, defining an analysis algorithm for each stage, and defining endpoint criteria for each stage, the search space comprising an array of locations, orientations and intensities to be stimulated; defining the search space around the starting pose to be stimulated by the TMS delivery while obtaining the TMS-induced biological feedback during TMS delivery based at least in part on the analysis algorithm; delivering the TMS via the TMS stimulator and obtaining the TMS-induced biological feedback during the TMS delivery; analyzing the TMS-induced biological feedback; testing endpoint criteria for optimal aiming of the TMS delivery, the endpoint criteria to define a successful conclusion of a stage of the number of stages of the search space; and delivering the TMS for treatment of the subject when the endpoint criteria are met.