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Session: Poster session II
Session starts: Thursday 24 January, 16:00

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Jan de Jong (University of Twente)
Martijn Wessels (University of Twente)
Arno Stienen (University of Twente)
Herman van der Kooij (University of Twente)

Abstract:
DESIGN OF A TRANSCRANICAL MAGNETIC STIMULTION ROBOT Jan J. de Jong*, Martijn Wessels, Arno H.A. Stienen, and Herman van der Kooij *University of Twente, Drienerlolaan 5, 7522 NB, Enschede The Netherlands e-mail: j.j.dejong@utwente.nl Web page: http://www.utwente.nl/ctw/bw/ ABSTRACT Transcranial Magnetic Stimulation (TMS) is a non-invasive method to modify behaviour of neurons in the brain. TMS is applied by running large currents through a coil close to the scalp. For consistent results it is required to maintain the coil position within millimetres of the targeted location, but natural head sway and practitioner fatigue may hinder this. Serial robots are currently used to assist the application of TMS. However, their low stiffness limits the performance and their high moving mass limits the operating speeds for safety reasons. Since 6-DOF parallel manipulators combine high stiffness with low moving mass, they have potential for safe, fast and accurate positioning required for TMS during activities. Features of the TMS robot design: 1. The TMS coil applies the TMS therapy. 2. A spring connects the coil to the robotic manipulator to ensure a soft interaction between the coil and the head. 3. The 6-DOF parallel manipulator holds the spring and the TMS coil and is actuated to follow the head during head sway. 4. A positioning frame positions the robotic manipulator at the proper height and angle to adjust for different tasks and subjects. 5. A neuronavigation and a visual tracking system is used to track the motion of the head and link the it to a fMRI image. 6. While different base stations on which the subject is situated can be implemented, the TMS robot is designed to be used with a subject walking on a treadmill wearing a robotic exoskeleton (such as the LOPES) or sitting on a chair. In this poster presentation, the TMS robot is elaborated, and a functioning prototype of the manipulator is presented.