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Published on: July 1, 2019
Development of a Robot-Assisted TMS Localization System Using Dual Capacitive Sensors for Coil Tilt Detection.
Czaryn Diane Salazar Ompico1, Julius Noel Banayo2, Yamato Mashio1
1Systems and Bioengineering Department, Faculty of Engineering, Maebashi Institute of Technology, Maebashi 371-0816, Gunma, Japan.
This study introduces a cost-effective, markerless robotic system for Transcranial Magnetic Stimulation (TMS) coil placement. It improves accuracy and consistency by using a depth camera and sensors, simplifying TMS procedures.
Area of Science:
- Neurology
- Robotics
- Biomedical Engineering
Background:
- Transcranial Magnetic Stimulation (TMS) effectiveness relies on precise coil placement.
- Current methods like manual localization are inconsistent, while advanced systems are complex and costly.
- Robotic-assisted and neuronavigation systems offer accuracy but increase setup burden.
Purpose of the Study:
- To develop a cost-effective, markerless robotic-assisted TMS system for accurate coil localization.
- To enhance TMS procedure accessibility, safety, and consistency.
- To reduce the complexity associated with optical tracking systems.
Main Methods:
- A 3D depth camera detects facial landmarks for motor cortex (C3) localization.
- Textile capacitive sensors provide soft-landing, contact confirmation, and coil-tilt estimation.
- A collaborative robot adheres to human-robot interaction safety standards.
Main Results:
- Reliable C3 targeting was achieved in experimental evaluations with participants.
- Valid motor evoked potentials (MEPs) were obtained post-calibration in most trials.
- Peak MEP amplitudes correlated with balanced sensor readings in 80% of tilt-verification trials.
Conclusions:
- The markerless robotic system offers a simpler, more accessible alternative to complex optical tracking.
- The developed system enhances the safety and consistency of TMS coil placement.
- This approach has the potential to broaden the application of TMS in research and therapy.

