Department of Psychiatry and Behavioral Sciences, Duke University, Durham, NC 27710, United States of America. Department of Neurosurgery, Duke University, Durham, NC 27710, United States of America. Department of Electrical and Computer Engineering, Duke University, Durham, NC 27708, United States of America.
J Neural Eng. 2019 Sep 17;16(5):054003. doi: 10.1088/1741-2552/ab2953.
Robotic positioning systems for transcranial magnetic stimulation (TMS) promise improved accuracy and stability of coil placement, but there is limited data on their performance. Investigate the usability, accuracy, and limitations of robotic coil placement with a commercial system, ANT Neuro, in a TMS study.
21 subjects underwent a total of 79 TMS sessions corresponding to 160 hours under robotic coil control. Coil position and orientation were monitored concurrently through an additional neuronavigation system.
Robot setup took on average 14.5 min. The robot achieved low position and orientation error with median 3.54 mm (overall, 1.34 mm without coil-head spacing) and 3.48°. The error increased over time at a rate of 0.4%/minute for both position and orientation.
Robotic TMS systems can provide accurate and stable coil position and orientation in long TMS sessions. Lack of pressure feedback and of manual adjustment of all coil degrees of freedom were limitations of this robotic system.
经颅磁刺激（TMS）的机器人定位系统有望提高线圈放置的准确性和稳定性，但关于其性能的数据有限。在 TMS 研究中，研究了一种商业系统 ANT Neuro 的机器人线圈放置的可用性、准确性和局限性。
21 名受试者共接受了 79 次 TMS 治疗，总共在机器人线圈控制下进行了 160 小时。通过额外的神经导航系统同时监测线圈的位置和方向。
机器人设置平均需要 14.5 分钟。机器人实现了低位置和低角度误差，中位数为 3.54 毫米（总体上，无线圈-头部间距时为 1.34 毫米）和 3.48°。位置和角度的误差随着时间的推移以每分钟 0.4%的速度增加。
机器人 TMS 系统可以在长时间的 TMS 治疗中提供准确和稳定的线圈位置和方向。缺乏压力反馈和对所有线圈自由度的手动调整是该机器人系统的局限性。
