TRANSCRANIAL MAGNETIC STIMULATION SYSTEM Russian patent published in 2024 - IPC A61N2/00 A61B34/20 

FIELD: medicine.

SUBSTANCE: invention refers to medicine, namely to non-invasive methods of cerebral neurostimulation and neuromodulation, and is intended for electromagnetic induction of an electric field in a given area of the brain. Disclosed is a complex for transcranial magnetic stimulation, comprising a hardware rack, on the housing of which there is a collaborative robot-assisted manipulator comprising links and having six degrees of mobility, equipped with a manipulator gripper made at the distal end of the distal link of the manipulator with the possibility of holding the magnetic stimulator fixation device; magnetic stimulator, comprising a working part, including one or more coils, and a stimulator handle detachably attached by means of the magnetic stimulator fixation device to the manipulator grip such that the longitudinal axis passing through the distal link of the manipulator coincides with the centre of the working portion of the stimulator, wherein at least one infrared marker is installed on the magnetic stimulator; a six-axis force-moment sensing sensor connected to the grip of the manipulator and configured to measure the force at the point of contact of the patient's head and the magnetic stimulator, a joystick for manual adjustment of the position of the manipulator located at the proximal end of the distal link of the manipulator, equipped with an optoelectronic measuring system which converts the movements of the joystick along six axes into electrical signals which enable movement of the links of the manipulator; a three-axis accelerometer located on the distal link of the manipulator and configured to measure the acceleration of the distal link of the manipulator along three axes, sensory monitor configured to enter, edit and visually display data on planning and conducting a transcranial magnetic stimulation procedure, including displaying the force value at the point of contact of the patient's head and the magnetic stimulator, and their transmission to the control system; optical tracking system comprising a spectacle frame configured to be placed on a patient's head and comprising at least one infrared marker, and a rack with infrared cameras arranged thereon, configured to record the position of infrared markers, and transmitting data in form of coordinates along three axes and three angles in real time to a control system; control system, which includes a control computer configured to receive data from the sensor monitor on planning and conducting the transcranial magnetic stimulation procedure and issuing control commands to the actuators of the manipulator, receiving tomographic data of the patient, constructing and displaying 3D model of the patient's brain based on these data, receiving data on position of infrared markers from optical tracking system with calculation of relative coordinates of magnetic stimulator and patient's head, binding the coordinates of the patient's head relative to the coordinates of the magnetic stimulator, comparing points of the real object with the model ones with their visualization on the screen, recalculation of model points and issuing control commands to actuators of manipulator, calculating the positions of the working point relative to the patient's head, planning the trajectories of the transition between the target positions of the magnetic stimulator, tracking the execution of the planned trajectories; receiving data from a joystick for manually adjusting the position of the manipulator, recalculating the displacements of the joystick cover into the desired speed and direction of movement of the manipulator grip, converting the desired speed and direction of movement of the grip of the manipulator into control commands to the actuators of the manipulator and issuing control commands, receiving data from the force measurement system, checking the force applied to the operating point for being within the allowable range, calculating the desired position of the manipulator fit, sending control commands to the manipulator actuators to move to the desired position, receiving the acceleration value from the three-axis accelerometer, comparing them with preset limit value and disconnection of manipulator power supply in case of its exceeding.

EFFECT: invention provides higher safety of the performed procedure of transcranial magnetic stimulation for a patient using a robot-assisted complex.

6 cl, 3 dwg, 2 tbl