Universität zu Lübeck - Institut für Robotik - Forschung - - Abgeschlossene Projekte - - Transkranielle Magnetstimulation
Forschung
- Robotics Laboratory
- Open Lab for Robotics and Imaging
in Industry and Medicine (OLRIM) - Ziel-basierendes lebenslanges autonomes
Lernen - Autonome Elektrofahrzeuge als urbane Lieferanten
- Navigation and Visualisation in Endovascular
Aortic Repair (Nav EVAR) - High-Accuracy Head Tracking
- Bewegungskompensation
- Ultraschallgeführte Strahlenchirurgie
- Modellierung von Herzbewegungen
- Neurologische Modellierungen
- - Abgeschlossene Projekte -
Transkranielle Magnetstimulation
Projektbeschreibung
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Ziel des Projektes ist die Entwicklung eines robotischen Assistenzsystems für TMS. Des Weiteren arbeiten wir an einem statistischen Kartifizierungsalgorithmus, der es ermöglicht, funktionelle Repräsentationen einzelner Muskeln im Gehirn darzustellen.
Die Vorteile der robotergestützen TMS sind vielfältig:
- Präzise Ansteuerung der Stimulationsziele.
- Präzise Orientierung der TMS-Spule tangential zum Kopf.
- Einfache Planung und schnelle Abarbeitung von gitterförmigen Stimulationsmustern.
- Bewegungskompensation hält die Spule am Zielpunkt bei Kopfbewegungen. Eine Fixierung des Patienten ist nicht mehr erforderlich.
- Wiederholbarkeit der Versuche.
Der Kartifizierungsalgorithmus verwendet alle drei maßgeblichen Informationen: Die Spulenpositionen für die Stimulation, die erhaltenen Muskelantworten und das charakteristische Feld der TMS-Spule. Die Grundidee des Algorithmus besteht in der Annahme eines monotonen funktionellen Zusammenhangs zwischen elektrischer Feldstärke am Repräsentationspunkt und der erzielten Muskelantwort. Mittels eines modifizierten Korrelationsverhältnisses und dem Kendallschen Rangkoeffizienten TAU berechnen wir eine Wharscheinlichkeitskarte für die Position der Muskelrepräsentation.
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Veröffentlichungen
Ansprechpartner
Ehemalige Projektmitarbeiter
- Dr. Ing. Fernando Gasca
- Dr.-Ing. Lars Richter
- Dr.-Ing. Lars Matthäus
2015
| , , , , , , , , and , Microstructure of the superior longitudinal fasciculus predicts stimulation-induced interference with on-line motor control (2015), in: Neuroimage, accepted for publication |
[Bib|RIS] |
2013
| and , Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor (2013), in: International Journal of Computer Assisted Radiology and Surgery, 8:3(429-436) |
[DOI] [Bib|RIS] |
| , , , and , Optimal Coil Orientation for Transcranial Magnetic Stimulation (2013), in: PLoS ONE, 8:4(e60358) |
[DOI] [Bib|RIS] |
| , Robotized Transcranial Magnetic Stimulation, Springer, 2013 |
[Bib|RIS] [URL] |
| , , and , Stimulus intensity for hand held and robotic transcranial magnetic stimulation (2013), in: Brain Stimulation, 6:3(315-321) |
[DOI] [Bib|RIS] |
| , , , , , , and , Tracking post-error adaptation in the motor system by transcranial magnetic stimulation (2013), in: Neuroscience, 250(342-351) |
[DOI] [Bib|RIS] [URL] |
2012
| , and , Calibration of force/torque and acceleration for an independent safety layer in medical robotic systems (2012), in: Cureus, 4:9(e59) |
[DOI] [Bib|RIS] |
| , and , Calibration of Force/Torque and Acceleration for an Independent Safety Layer in Medical Robotic Systems (2012), in: Cureus, 4:9(e59) |
[DOI] [Bib|RIS] |
| , , and , Comparison of stimulus intensity in hand held and robotized motion compensatedtranscranial magnetic stimulation (2012), in: Neurophysiologie Clinique/Clinical Neurophysiology, 42:1-2(61-62) |
[DOI] [Bib|RIS] [URL] |
| , and , Hand-assisted positioning and contact pressure control for motion compensated robotized transcranial magnetic stimulation, in: Proceedings of the 26th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'12), Pisa, Italy, pages 123-124, 2012 |
[DOI] [Bib|RIS] |
| , and , Hand-assisted positioning and contact pressure control for motion compensated robotized transcranial magnetic stimulation (2012), in: International Journal of Computer Assisted Radiology and Surgery, [Epub ahead of print](1-8) |
[DOI] [Bib|RIS] |
| , , , , , and , Non-orthogonal Tool/Flange and Robot/World Calibration for Realistic Tracking Scenarios (2012), in: International Journal of Medical Robotics and Computer Assisted Surgery, 8:4(407--420) |
[DOI] [Bib|RIS] |
| , , , and , Roboternavigierte Untersuchung der Tiefenabhängigkeit der Reizstärke bei der transkraniellen Magnetstimulation (2012), in: Klin Neurophysiol, 43:1(49-49) |
[Bib|RIS] |
| , Safe and clinically applicable robotized Transcranial Magnetic Stimulation, Universität zu Lübeck, 2012 |
[Bib|RIS] |
| , , , , and , The Effect of Repetitive Transcranial Magnetic Stimulation on Monoamine Outflow in the Accumbens Nucleus Shell in Freely Moving Rats (2012), in: Neuropharmacology, 63:5(898-904) |
[Bib|RIS] |
| , , , , and , Variation of Stimulation Intensity in Transcranial Magnetic Stimulation with Depth (2012), in: Journal of Neuroscience Methods, 211:2(185-190) |
[DOI] [Bib|RIS] [URL] |
2011
| , , , , , and , IS POST ERROR SLOWING A POST ERROR INHIBITION? A TRANSCRANIAL MAGNETIC STIMULATION APPROACH, in: Front. Hum. Neurosci. Conference Abstract: XI International Conference on Cognitive Neuroscience (ICON XI)., Palma, Mallorca, Spain, 2011 |
[DOI] [Bib|RIS] |
| , , and , Navigated and Robotized Transcranial Magnetic Stimulation based on 3D Laser Scans, in: Bildverarbeitung für die Medizin, Lübeck, Germany, pages 164-168, Gesellschaft für Informatik (GI), 2011 |
[Bib|RIS] |
| , , and , Realisierung einer schnellen und wiederholbaren Hot-Spot-Bestimmung für die robotergestützte Transkranielle Magnet-stimulation mittels Kraft-Momenten-Steuerung, in: 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirugie (CURAC), pages 31-34, CURAC, 2011 |
[Bib|RIS] |
| , , and , Robust robot-camera calibration for robotized Transcranial Magnetic Stimulation (2011), in: International Journal of Medical Robotics and Computer Assisted Surgery, 7:4(414-422) |
[DOI] [Bib|RIS] |
| , , , and , Threshold for Transcranial Magnetic Stimulation of the foot: precise control of coil orientation with a robotized system (2011), in: Klin Neurophysiol, 42:01(P280) |
[DOI] [Bib|RIS] |
2010
| , , , and , Client/Server Framework for robot control in medical assistance systems, in: Proceedings of the 24th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'10), Geneva, Switzerland, pages 306--307, 2010 |
[Bib|RIS] |
| , , and , Fast robotic compensation of spontaneous head motion during Transcranial Magnetic Stimulation (TMS), in: UKACC International Conference on CONTROL 2010, United Kingdom Automatic Control Council, Coventry, United Kingdom, pages 872-877, 2010 |
[Bib|RIS] |
| , , and , Kraft-Momenten-Steuerung für die robotergestützte Transkranielle Magnetstimulation (TMS), Poster at Doktorandentag - Uni im Dialog, 2010 |
[Bib|RIS] |
| , and , Proper Force-Torque Sensor System for robotized TMS: Automatic Coil Calibration, in: Proceedings of the 24th International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'10), Geneva, Switzerland, pages S422-S423, 2010 |
[Bib|RIS] |
| , , , , , , , , , and , Robot-assisted image-guided transcranial magnetic stimulation for somatotopic mapping of the motor cortex: a clinical pilot study (2010), in: Acta Neurochirurgica, 152:2(333-343) |
[DOI] [Bib|RIS] |
| , and , Simulation of a Conductive Shield Plate for the Focalization of Transcranial Magnetic Stimulation in the Rat, in: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Buenos Aires, Argentina, pages 1593-1596, 2010 |
[Bib|RIS] |
| , , and , Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using 3D Laserscans: Idea, Setup and Feasibility, in: Annual International Conference of the {IEEE} Engineering in Medicine and Biology Society, Buenos Aires, Argentina, pages 2283-2286, 2010 |
[DOI] [Bib|RIS] |
2009
| , Anwendung der FaceAPI zur Bewegungskompensation für die robotergestützte Transkranielle Magnetstimulation, BSc Thesis, University of Lübeck, 2009 |
[Bib|RIS] |
| , , , , and , Behandlung von chronischem Tinnitus mit roboterunterstützter TMS, in: 39. Jahrestagung der Gesellschaft für Informatik, Lübeck, pages 86;1018-1027, GI, 2009 |
[Bib|RIS] |
| , , , , , , , , , and , Robotized image-guided transcranial magnetic stimulation, a novel technique for functional brain-mapping (2009), in: Clinical Neurophysiology, 120:1(e84) |
[DOI] [Bib|RIS] |
2008
| , A robotic assistance system for transcranial magnetic stimulation and its application to motor cortex mapping, Universität zu Lübeck, 2008 |
[Bib|RIS] |
| , , , and , Brain mapping with Transcranial Magnetic Stimulation using a refined Correlation Ratio and Kendall's tau (2008), in: Statistics in Medicine, 27:25(5252--5270) |
[DOI] [Bib|RIS] |
| , , , , and , Brain-Mapping using robotized TMS, in: {30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, Vancouver, British Columbia, Canada, pages 3929--3932, 2008 |
[Bib|RIS] |
| , , , , , , and , Comparison of functional brain mapping by computer controled roboterized transcranial-magnet-stimulation and functional MRI, in: {59. Jahrestagung der Deutschen Gesellschaft für Neurochirugie (DGNC)}, 2008 |
[Bib|RIS] |
2007
| , , and , Spulenpositionierung bei TMS-Behandlungen mit Hilfe von Kraftsensorik, 2007 |
[Bib|RIS] |
2006
| , , and , Planning and analyzing robotized TMS using virtual reality. (2006), in: Studies in Health Technology and Informatics, 119(373--378) |
[Bib|RIS] |
| , , , and , Robotized TMS for motion compensated navigated brain stimulation, in: Computer Assisted Radiology and Surgery (CARS), 20th International Congress, 2006 |
[Bib|RIS] |
| , , and , Solving the positioning problem in TMS (2006), in: GMS CURAC, 1 |
[Bib|RIS] |
2005
| , , and , Brainmapping With TMS Using A Robot Based Protocol And Image Registration Techniques, in: 3rd International Symposium on Computer Aided Surgery around the Head (CAS-H), pages 23, VDI-Verlag, 2005 |
[Bib|RIS] |
| , , and , Solving the positioning problem in TMS, in: CURAC, Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2005 |
[Bib|RIS] |