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Trajectory tracking control of robotic transcranial magnetic stimulation

Zecai Lin (School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China)
Xin Wang (School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China)
Jian Yang (School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China)

International Journal of Intelligent Computing and Cybernetics

ISSN: 1756-378X

Article publication date: 8 February 2019

Issue publication date: 15 May 2019

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Abstract

Purpose

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/approach

By 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.

Findings

The 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/value

This 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.

Keywords

Citation

Lin, Z., Wang, X. and Yang, J. (2019), "Trajectory tracking control of robotic transcranial magnetic stimulation", International Journal of Intelligent Computing and Cybernetics, Vol. 12 No. 2, pp. 245-259. https://doi.org/10.1108/IJICC-06-2018-0077

Publisher

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Emerald Publishing Limited

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