Matthäus Lars, Giese Alf, Wertheimer Daniel, Schweikard Achim
Institute for Robotics and Cognitive Systems, University of Lübeck, Germany.
Stud Health Technol Inform. 2006;119:373-8.
Transcranial Magnetic Stimulation (TMS) is a powerful method to examine the brain and non-invasively treat disorders of the central nervous system. Magnetic stimulation of the motor cortex results in the activation of corresponding muscle groups. Hereby, accurate placement of the TMS coil to the patient's head is crucial to successful stimulation. We developed a way to position the TMS coil using a robot and navigate it in virtual reality based on an online registration of the cranium relative to 3D magnetic resonance imaging data. By tracking the head and robotic motion compensation, fixation of the patient's head becomes obsolete. Furthermore, a novel method for motor cortex mapping is presented. The robotized TMS system is used to obtain the characteristic field of a TMS coil. This field is registered to the field of motor evoked potential measurements at the patient's head to yield a prediction of the motoric center of a target muscle.
经颅磁刺激（TMS）是一种用于检查大脑和非侵入性治疗中枢神经系统疾病的强大方法。对运动皮层进行磁刺激会导致相应肌肉群的激活。因此，将TMS线圈准确放置在患者头部对于成功刺激至关重要。我们开发了一种使用机器人定位TMS线圈的方法，并基于颅骨相对于3D磁共振成像数据的在线配准在虚拟现实中对其进行导航。通过跟踪头部和机器人运动补偿，患者头部的固定不再必要。此外，还提出了一种用于运动皮层映射的新方法。机器人化TMS系统用于获取TMS线圈的特征场。该场与患者头部运动诱发电位测量的场进行配准，以预测目标肌肉的运动中心。
