Transcranial Magnetic Stimulation (TMS)

Project Description

Robot Based TMS Treatment
Robot Based TMS Treatment

Aim of the project is to develop a robot assistance system for delivering TMS. Furthermore, we work on a statistical brain mapping procedure to localise muscle representations in the cortex.

The advantages of robotised TMS are manifold:

  • Precise targeting of stimulation points.
  • Precise tangential orientation of the stimulation coil.
  • Simple planning and fast probing of grid-like stimulation patterns.
  • Motion compensation keeps coil in place even if the patient moves. A fixation of the head is not necessary any more.
  • Repeatability.

For the brain mapping algorithm we combine all three essential pieces of information: The coil positions for stimulation, the corresponding muscle responses, and the characteristic field of the coil used. The main idea is to assume a monotonic functional relation between the electric field strength at the representation point and the evoked muscle response. Using a refined algorithm for Correlation Ratio and Kendall's rank coefficient TAU, we are able to calculate likelihood maps for the representation of specific muscles.

Stimulated Areas of the Brain
Stimulated Areas of the Brain

Publications

2015

Borja Rodriguez-Herreros, Juliá L. Amengual, Ane Gurtubay, Lars Richter, Philipp Jauer, Christian Erdmann, Achim Schweikard, Juan López-Moliner, Antoni Rodriguez-Fornells, and Thomas F. Münte,
Microstructure of the superior longitudinal fasciculus predicts stimulation-induced interference with on-line motor control, Neuroimage , vol. accepted for publication, 2015.

2013

Lars Richter, Gunnar Neumann, Stephen Oung, Achim Schweikard, and Peter Trillenberg,
Optimal Coil Orientation for Transcranial Magnetic Stimulation, PLoS ONE , vol. 8, no. 4, pp. e60358, 2013.
DOI:10.1371/journal.pone.0060358
File: journal.pone.0060358
Lars Richter,
Robotized Transcranial Magnetic Stimulation., .... New York: Springer, 2013.
ISBN:978-1-4614-7359-6
File: 978-1-4614-7359-6
Lars Richter, Peter Trillenberg, Achim Schweikard, and Alexander Schlaefer,
Stimulus intensity for hand held and robotic transcranial magnetic stimulation, Brain Stimulation , vol. 6, no. 3, pp. 315-321, 2013.
DOI:10.1016/j.brs.2012.06.002
File: j.brs.2012.06.002
Juliá L. Amengual, Josep Marco-Pallarés, Lars Richter, Stephen Oung, Achim Schweikard, Bahram Mohammadi, Antoni Rodriguez-Fornells, and Thomas F. Münte,
Tracking post-error adaptation in the motor system by transcranial magnetic stimulation, Neuroscience , vol. 250, pp. 342-351, 2013.
DOI:10.1016/j.neuroscience.2013.07.024
File: j.neuroscience.2013.07.024
Lars Richter, and Ralf Bruder,
Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor, International Journal of Computer Assisted Radiology and Surgery , vol. 8, no. 3, pp. 429-436, 2013.
DOI:10.1007/s11548-012-0791-5
File: s11548-012-0791-5

2012

Susan Bremer, Lars Richter, Stephen Oung, Achim Schweikard, and Peter Trillenberg,
Roboternavigierte Untersuchung der Tiefenabhängigkeit der Reizstärke bei der transkraniellen Magnetstimulation, Klin Neurophysiol , vol. 43, no. 1, pp. 49-49, 2012.
Peter Trillenberg, Susan Bremer, Stephen Oung, Christian Erdmann, Achim Schweikard, and Lars Richter,
Variation of Stimulation Intensity in Transcranial Magnetic Stimulation with Depth, Journal of Neuroscience Methods , vol. 211, no. 2, pp. 185-190, 2012.
DOI:10.1016/j.jneumeth.2012.09.007
File: j.jneumeth.2012.09.007
Susanne Löffler, Fernando Gasca, Lars Richter, Ulrike Leipscher, Peter Trillenberg, and Andreas Moser,
The Effect of Repetitive Transcranial Magnetic Stimulation on Monoamine Outflow in the Accumbens Nucleus Shell in Freely Moving Rats, Neuropharmacology , vol. 63, no. 5, pp. 898-904, 2012.
Lars Richter,
Safe and clinically applicable robotized Transcranial Magnetic Stimulation, 2012.
Floris Ernst, Lars Richter, Lars Matthäus, Volker Martens, Ralf Bruder, Alexander Schlaefer, and Achim Schweikard,
Non-orthogonal Tool/Flange and Robot/World Calibration for Realistic Tracking Scenarios, International Journal of Medical Robotics and Computer Assisted Surgery , vol. 8, no. 4, pp. 407-420, 2012.
DOI:10.1002/rcs.1427
File: rcs.1427
Lars Richter, Ralf Bruder, and Achim Schweikard,
Hand-assisted positioning and contact pressure control for motion compensated robotized transcranial magnetic stimulation, Pisa, Italy: Springer Berlin / Heidelberg, 2012. pp. 123-124.
DOI:10.1007/s11548-012-0708-3
File: s11548-012-0708-3
Lars Richter, Peter Trillenberg, Achim Schweikard, and Alexander Schlaefer,
Comparison of stimulus intensity in hand held and robotized motion compensatedtranscranial magnetic stimulation, Neurophysiologie Clinique/Clinical Neurophysiology , vol. 42, no. 1-2, pp. 61-62, 2012.
DOI:10.1016/j.neucli.2011.11.028
File: j.neucli.2011.11.028
Lars Richter, Ralf Bruder, and Achim Schweikard,
Calibration of Force/Torque and Acceleration for an Independent Safety Layer in Medical Robotic Systems, Cureus , vol. 4, no. 9, pp. e59, 2012.
DOI:10.7759/cureus.59
File: cureus.59

2011

Juliá L. Amengual, Josep Marco-Pallarés, Lars Richter, Bahram Mohammadi, Carles Grau, Antoni Rodriguez-Fornells, and Thomas F. Münte,
IS POST ERROR SLOWING A POST ERROR INHIBITION? A TRANSCRANIAL MAGNETIC STIMULATION APPROACH, Palma, Mallorca, Spain , 2011.
DOI:10.3389/conf.fnhum.2011.207.00385
File: conf.fnhum.2011.207.00385
Lars Richter, Ralf Bruder, Peter Trillenberg, and Achim Schweikard,
Navigated and Robotized Transcranial Magnetic Stimulation based on 3D Laser Scans, Lübeck, Germany: Gesellschaft für Informatik (GI), 2011. pp. 164-168.
Lars Richter, Ralf Bruder, Alexander Schlaefer, and Achim Schweikard,
Realisierung einer schnellen und wiederholbaren Hot-Spot-Bestimmung für die robotergestützte Transkranielle Magnet-stimulation mittels Kraft-Momenten-Steuerung, CURAC, 2011. pp. 31-34.
Lars Richter, Floris Ernst, Alexander Schlaefer, and Achim Schweikard,
Robust robot-camera calibration for robotized Transcranial Magnetic Stimulation, International Journal of Medical Robotics and Computer Assisted Surgery , vol. 7, no. 4, pp. 414-422, 2011.
DOI:10.1002/rcs.411
File: rcs.411
Peter Trillenberg, Gunnar Neumann, Stephen Oung, Achim Schweikard, and Lars Richter,
Threshold for Transcranial Magnetic Stimulation of the foot: precise control of coil orientation with a robotized system, Klin Neurophysiol , vol. 42, no. 01, pp. P280, 2011.
DOI:10.1055/s-0031-1272727
File: s-0031-1272727

2010

Sven Kantelhardt, Tommaso Fadini, Markus Finke, K. Kallenberg, J. Siemerkus, V. Bockermann, Lars Matthäus, Walter Paulus, Achim Schweikard, V. Rohde, and Alf Giese,
Robot-assisted image-guided transcranial magnetic stimulation for somatotopic mapping of the motor cortex: a clinical pilot study, Acta Neurochirurgica , vol. 152, no. 2, pp. 333-343, 2010.
DOI:10.1007/s00701-009-0565-1
File: s00701-009-0565-1
Lars Richter, Ralf Bruder, Alexander Schlaefer, and Achim Schweikard,
Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using 3D Laserscans: Idea, Setup and Feasibility, Armentano, Ricardo and Hudson, Donna and Monzon, Jorge and Patton, Jim, Eds. Buenos Aires, Argentina , 2010. pp. 2283-2286.
DOI:10.1109/IEMBS.2010.5627660
ISBN:978-1-4244-4124-2
File: IEMBS.2010.5627660
Fernando Gasca, Lars Richter, and Achim Schweikard,
Simulation of a Conductive Shield Plate for the Focalization of Transcranial Magnetic Stimulation in the Rat, Armentano, Ricardo and Hudson, Donna and Monzon, Jorge and Patton, Jim, Eds. Buenos Aires, Argentina , 2010. pp. 1593-1596.
ISBN:978-1-4244-4124-2
Lars Richter, Floris Ernst, Volker Martens, Lars Matthäus, and Achim Schweikard,
Client/Server Framework for robot control in medical assistance systems, Geneva, Switzerland , 2010. pp. 306-307.
File:
Lars Richter, Ralf Bruder, and Alexander Schlaefer,
Proper Force-Torque Sensor System for robotized TMS: Automatic Coil Calibration, Geneva, Switzerland , 2010. pp. S422-S423.
File:
Lars Richter, Alexander Schlaefer, Peter Trillenberg, and Achim Schweikard,
Kraft-Momenten-Steuerung für die robotergestützte Transkranielle Magnetstimulation (TMS), 2010.