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Article

Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation

1
School of Electrical and Engineering, Hanyang University, Ansan 15588, Korea
2
Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea
3
School of Robotics, Kwangwoon University, Seoul 01897, Korea
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Appl. Sci. 2019, 9(21), 4561; https://doi.org/10.3390/app9214561
Received: 1 September 2019 / Revised: 22 October 2019 / Accepted: 24 October 2019 / Published: 27 October 2019
(This article belongs to the Special Issue Next-Generation Surgical Robotics)
Although non-invasive brain stimulation techniques do not involve surgical procedures, the challenge remains in correctly locating the stimulator from outside the head. There is a limit to which one can manually and precisely position and orient the stimulator or repeatedly move the stimulator around the same position. Therefore, in this study, we developed a serial robot with 6 degrees-of-freedom to move the stimulator and a neuro-navigation system to determine the stimulus point from looking at the shape of the subject’s brain. The proposed robot applied a spherical mechanism while considering the safety of the subject, and the workspace of the robot was designed considering the shape of the human head. Position-based visual servoing was applied to compensate for unexpected movements during subject stimulation. We also developed a neuro-navigation system that allows us visually to check the focus of the stimulator and the human brain at the same time and command the robot to the desired point. To verify the system performance, we first performed repeatability and motion compensation experiments of the robot and then evaluated the repeated biosignal response experiments through transcranial magnetic stimulation, a representative technique of non-invasive brain stimulation. View Full-Text
Keywords: non-invasive brain stimulation; robotic positioning device; neuro-navigation system non-invasive brain stimulation; robotic positioning device; neuro-navigation system
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MDPI and ACS Style

Shin, H.; Ryu, W.; Cho, S.; Yang, W.; Lee, S. Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation. Appl. Sci. 2019, 9, 4561. https://doi.org/10.3390/app9214561

AMA Style

Shin H, Ryu W, Cho S, Yang W, Lee S. Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation. Applied Sciences. 2019; 9(21):4561. https://doi.org/10.3390/app9214561

Chicago/Turabian Style

Shin, Hyunsoo, Wooseok Ryu, Sungtaek Cho, Woosung Yang, and Sungon Lee. 2019. "Development of a Spherical Positioning Robot and Neuro-Navigation System for Precise and Repetitive Non-Invasive Brain Stimulation" Applied Sciences 9, no. 21: 4561. https://doi.org/10.3390/app9214561

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