Seganfreddo, Riccardo
(2021)
Robotic Transcranial Magnetic Stimulation Assistant.
[Laurea magistrale], Università di Bologna, Corso di Studio in
Ingegneria elettronica [LM-DM270]
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Abstract
The Transcranial Magnetic Stimulation (TMS) is a non-invasive technique to stimulate the brain, with main applications in depression treatment and pre-operative planning (via functional motor mapping and speech mapping). On average, a TMS treatment session lasts for 30 minutes and coil handling/positioning might become a strenuous task for the operator. A robotic arm could be used to replace the human operator during the coil positioning tasks allowing the doctor to focus on the data analysis phase.
In this thesis, a navigated TMS Robotic Assistant is designed, implemented and integrated with a commercial TMS system to automate the TMS sessions. Two different navigation approaches are investigated: i) with fixed head position, ii) with head movement compensation. To assess the performances of the implemented Robotic Assistant, several experimental sessions are carried out; the results satisfy the expectations, with an accuracy error of 3.5 mm for stimulation targets, which decreases below 2 mm with repeated stimulus. Most of the functional requirements are fulfilled, however further investigations are needed to improve the proposed methods and implement new functionalities to obtain an enhanced version of nTMS Robotic Assistant.
Abstract
The Transcranial Magnetic Stimulation (TMS) is a non-invasive technique to stimulate the brain, with main applications in depression treatment and pre-operative planning (via functional motor mapping and speech mapping). On average, a TMS treatment session lasts for 30 minutes and coil handling/positioning might become a strenuous task for the operator. A robotic arm could be used to replace the human operator during the coil positioning tasks allowing the doctor to focus on the data analysis phase.
In this thesis, a navigated TMS Robotic Assistant is designed, implemented and integrated with a commercial TMS system to automate the TMS sessions. Two different navigation approaches are investigated: i) with fixed head position, ii) with head movement compensation. To assess the performances of the implemented Robotic Assistant, several experimental sessions are carried out; the results satisfy the expectations, with an accuracy error of 3.5 mm for stimulation targets, which decreases below 2 mm with repeated stimulus. Most of the functional requirements are fulfilled, however further investigations are needed to improve the proposed methods and implement new functionalities to obtain an enhanced version of nTMS Robotic Assistant.
Tipologia del documento
Tesi di laurea
(Laurea magistrale)
Autore della tesi
Seganfreddo, Riccardo
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Indirizzo
INGEGNERIA ELETTRONICA
Ordinamento Cds
DM270
Parole chiave
Robotic arm,Transcranial Magnetic Stimulation,TMS,nTMS,Functional motor mapping,Positioning task
Data di discussione della Tesi
2 Dicembre 2021
URI
Altri metadati
Tipologia del documento
Tesi di laurea
(NON SPECIFICATO)
Autore della tesi
Seganfreddo, Riccardo
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Indirizzo
INGEGNERIA ELETTRONICA
Ordinamento Cds
DM270
Parole chiave
Robotic arm,Transcranial Magnetic Stimulation,TMS,nTMS,Functional motor mapping,Positioning task
Data di discussione della Tesi
2 Dicembre 2021
URI
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