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Trajectory tracking control of robotic transcranial magnetic stimulation

Trajectory tracking control of robotic transcranial magnetic stimulation Transcranial magnetic stimulation (TMS) is a non-invasive brain stimulation technique. Based on the unique functions of TMS, it has been widely used in clinical, scientific research and other fields. Nowadays, the robot-assisted automatic TMS has become the trend. In order to simplify the operation procedures of robotic TMS and reduce the costs, the purpose of this paper is to apply the marker-based augmented-reality technology to robotic TMS system.Design/methodology/approachBy using the marker of ARToolKitPlus library and monocular camera, the patient’s head is positioned in real time. Furthermore, the force control is applied to keep contact between the coil and subject’s head.FindingsThe authors fuse with visual positioning which is based on augmented-reality and force-control technologies to track the movements of the patient’s head, bring the coil closer to the stimulation site and increase treatment effects. Experimental results indicate that the trajectory tracking control of robotic TMS system designed in this paper is practical and flexible.Originality/valueThis paper provides a trajectory tracking control method for the robotic TMS. The marker-based augmented-reality technology is implemented which simplifies the operation procedures of robotic TMS as well as reduce the costs. During the treatment process, the patients would wear an AR glasses, which can help patients relax through virtual scenes and reduce the uncomfortableness produce by treatment. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

Trajectory tracking control of robotic transcranial magnetic stimulation

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References (21)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
1756-378X
DOI
10.1108/ijicc-06-2018-0077
Publisher site
See Article on Publisher Site

Abstract

Transcranial magnetic stimulation (TMS) is a non-invasive brain stimulation technique. Based on the unique functions of TMS, it has been widely used in clinical, scientific research and other fields. Nowadays, the robot-assisted automatic TMS has become the trend. In order to simplify the operation procedures of robotic TMS and reduce the costs, the purpose of this paper is to apply the marker-based augmented-reality technology to robotic TMS system.Design/methodology/approachBy using the marker of ARToolKitPlus library and monocular camera, the patient’s head is positioned in real time. Furthermore, the force control is applied to keep contact between the coil and subject’s head.FindingsThe authors fuse with visual positioning which is based on augmented-reality and force-control technologies to track the movements of the patient’s head, bring the coil closer to the stimulation site and increase treatment effects. Experimental results indicate that the trajectory tracking control of robotic TMS system designed in this paper is practical and flexible.Originality/valueThis paper provides a trajectory tracking control method for the robotic TMS. The marker-based augmented-reality technology is implemented which simplifies the operation procedures of robotic TMS as well as reduce the costs. During the treatment process, the patients would wear an AR glasses, which can help patients relax through virtual scenes and reduce the uncomfortableness produce by treatment.

Journal

International Journal of Intelligent Computing and CyberneticsEmerald Publishing

Published: May 15, 2019

Keywords: Trajectory tracking control; Force control; Marker-based augmented-reality technology; Robotic TMS

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