Biomedical Engineering Reference
In-Depth Information
real-time calibration method, which allows to check the calibration during oper-
ation for increased safety, is performed.
Chapter 5 introduces Force-Torque (FT)-control to the robotized TMS system
to optimize precision and clinical applicability. The general issue of gravity
compensation and tool calibration is introduced, and two aspects of FT-control are
described: (1) Contact pressure control allows to position the TMS coil on the
head with an optimal pressure and maintains this optimal contact pressure during
operation. (2) Hand-assisted positioning enables the operator to position the TMS
coil in an intuitive fashion with the robotized TMS system.
Even though FT-control greatly enhances usability and precision, general
system safety cannot be ensured. The FT-control is implemented in the TMS
control software and latencies and dependencies are unavoidable. To guarantee
safety, a novel sensor is developed, called FTA sensor, and described in Chap. 6 . It
combines a standard force/torque sensor with an accelerometer for independence
from robot input. An Embedded System (ES) provides the necessary computations
in real-time and triggers the robot's Emergency stop (e-stop) instantaneously in
case of an error or collision. In this way, system safety can be achieved.
As the FTA sensor operates in real-time, the presented FT-control is optimized.
Chapter 7 presents the integration of the FTA sensor into the robotized TMS
system and its application. It shows an advanced hand-assisted positioning method
that is implemented directly on the robot controller. Furthermore, an optimized
tool calibration method and the integration into the robot server are presented.
As a concluding improvement, Chap. 8 introduces the potential of direct
tracking for neuro-navigated and robotized TMS. Two methods for direct head
tracking are presented and first results are shown.
Chapter 9 discusses the presented developments in the context of safety and
clinical applicability of robotized TMS. In conclusion, future prospects of robot-
ized TMS are briefly presented and discussed in Chap. 10 .
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