Robotic TMS Coil Positioning for Cortical Alignment
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Solution Overview
Problem
Current transcranial magnetic stimulation (TMS) technologies lack precision and automation in aiming and holding the TMS coil, leading to imprecise delivery and safety issues during radionuclide imaging, and existing coil designs do not provide focused field penetration for effective brain stimulation.
Innovation Solution
The use of specifically shaped TMS stimulators and robotic systems for precise positioning and orientation, combined with algorithms for treatment planning and delivery, including cortical surface modeling and robotic sensing, to enhance the biological efficacy of TMS by aligning the induced electric field with cortical columns, and the design of coils with minimum inductance and power dissipation for focused field generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If hand-held TMS delivery is used, then ease of operation is improved, but measurement precision and reliability deteriorate due to positional instability and exposure to radiation
Solution Approach 1:
The patent replaces the manual hand-held mechanical positioning system with an automated robotic positioning system. The robotic arm, controlled by computer algorithms, precisely positions and holds the TMS coil according to pre-calculated trajectories, eliminating human hand tremors and maintaining consistent positioning throughout the procedure. This substitution of mechanical manual control with automated robotic control directly resolves the contradiction between ease of operation and positional stability.
2Ease of manufacture
If traditional 10/20 system for coil placement is used, then ease of manufacture is improved, but measurement precision deteriorates due to lack of reliable relationship with functional anatomy
Solution Approach 1:
The patent changes the fundamental parameters for coil placement from the traditional 10/20 system based on scalp landmarks to a personalized approach using individual brain imaging data (MRI or CT scans). The system calculates optimal coil position and orientation by analyzing the specific anatomical structure and functional anatomy of each patient's brain, thereby significantly improving positioning accuracy while maintaining ease of manufacture through automated computation.
Solution Approach 2:
The patent creates a digital copy or model of the patient's brain anatomy from imaging data, then uses this virtual model to calculate and plan the precise coil placement trajectory. This digital copying of anatomical structure allows for accurate pre-simulation and optimization of stimulation parameters before actual treatment, resolving the contradiction between ease of manufacture and positioning precision.
3Ease of manufacture
If conventional TMS coil design is used, then ease of manufacture is improved, but productivity deteriorates due to lack of focused field penetration
Solution Approach 1:
The patent applies local quality by designing coils with non-uniform current distribution patterns that concentrate the magnetic field in specific targeted regions of the brain. The coil geometry and current waveform are optimized to produce a focused electric field at the intended stimulation site while minimizing spread to adjacent areas. This localized field concentration directly improves productivity by enhancing stimulation precision and reducing side effects.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables precise and safe TMS delivery, improving the accuracy of neurological treatments and research by maximizing biological efficacy and minimizing side effects, while allowing for automated and reproducible procedures.
Implementation Method 1
The passage of electrical current induces a strong (2 Tesla) magnetic field which, in turn, induces electrical currents in nearby tissues
Implementation Method 2
The passage of electrical current induces a strong (2 Tesla) magnetic field which, in turn, induces electrical currents in nearby tissues
Data Source
AI summary
Disclosed are apparatus and methods for delivery of transcranial magnetic stimulation. The apparatus includes a TMS coil which when energized generates an electric field substantially parallel to a long axis of the coil and substantially normal to a surface of the coil. Furthermore disclosed an apparatus for delivery of TMS in which a coil is adapted to a robotic member for computer-aided control and delivery. Further disclosed are methods of TMS planning and delivery in which subject images are utilized to plan, position and orient the TMS coil for precise delivery. Disclosed also are TMS coils having unique designs to better focus and direct magnetic stimulation.