TMS Robotic Arm Positioning via Magnetic Levitation
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Solution Overview
Problem
Existing TMS delivery methods face challenges in accurately and comfortably positioning stimulation devices due to discomfort caused by direct contact with the head, leading to patient recoil and difficulties in maintaining consistent stimulation.
Innovation Solution
A robotic arm system with a tracking system that maintains a TMS stimulation device at a predetermined distance from the head's surface, using anatomical data and real-time positioning to hover the device above the cranium, reducing discomfort and allowing for movement during stimulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the TMS stimulation device is pressed firmly against the head to maximize stimulation delivery and minimize head movement, then stimulation effectiveness is improved, but patient comfort deteriorates and patient recoil occurs
Solution Approach 1:
The patent replaces the mechanical contact-based positioning system with a magnetic field-based system. The TMS device uses magnetic fields to stimulate the brain without requiring physical contact with the head, thereby eliminating the discomfort and recoil associated with firm pressure while maintaining stimulation effectiveness.
Solution Approach 2:
The patent introduces magnetic fields as an intermediary between the TMS device and the patient's head. Instead of direct mechanical contact, the magnetic field serves as the medium to deliver stimulation, allowing the device to hover at a predetermined distance while still achieving the desired therapeutic effect.
2Stability of the object's composition
If the TMS stimulation device is pressed firmly against the head to minimize head movement, then positioning stability is improved, but patient comfort and tolerance deteriorate
Solution Approach 1:
The patent replaces mechanical friction and pressure-based stabilization with magnetic field-based positioning. The device maintains a stable predetermined distance from the head through magnetic field interaction without requiring physical contact, ensuring both positioning stability and patient comfort throughout the procedure.
3Manufacturing precision
If a robotic arm is used to move the coil to a fixed location, then positioning precision is improved, but the system still requires pressure against the head to function
Solution Approach 1:
The patent combines robotic positioning precision with contactless magnetic field delivery. The robotic arm accurately positions the TMS device at a predetermined distance from the head, and the magnetic field system maintains this positioning without requiring pressure against the head, eliminating the harmful effects while preserving positioning precision.
4Object-affected harmful factors
If the TMS stimulation device hovers above the head without contact, then patient comfort is improved, but maintaining precise positioning becomes more difficult
Solution Approach 1:
The patent employs feedback mechanisms to maintain precise positioning of the hovering TMS device. Sensors and control systems continuously monitor the device's position relative to the head and make real-time adjustments to maintain the predetermined distance, ensuring both patient comfort and positioning precision are achieved simultaneously.
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 solution provides a comfortable and consistent TMS delivery by minimizing contact-related discomfort, sound, vibration, and heat transfer, while maintaining precise targeting of stimulation areas within the cranium.
Implementation Method 1
By employing a robotic arm and tracking system, a TMS solution according to the present invention allows for delivery of transcranial magnetic stimulation without pressing the TMS stimulation device against the head
Implementation Method 2
System for facilitating delivery of transcranial magnetic stimulation
Data Source
Figure 1~2A
Figure 2B~2C
Figure 3
AI summary
An apparatus and method for facilitating delivery of Transcranial Magnetic Stimulation (TMS) by: receiving anatomical data for a person (170) defining a shape of at least the cranium and an outer surface of the skin surrounding the cranium; receiving information from a tracking system (130) regarding a real-time position and orientation of the head of the person (170); and controlling a multi-axis robotic arm (120) to maintain a TMS stimulation device (110) at an optimal position and orientation relative to the head based on the anatomical data and the information regarding the real-time position and orientation of the head in order to target a predetermined location within the cranium with the TMS stimulation device (110); wherein the optimal position and orientation is such that a surface of the TMS stimulation device (110) is a predetermined distance from the outer surface of the skin.