CA2443819A1 - Apparatus and methods for delivery of transcranial magnetic stimulation - Google Patents

Apparatus and methods for delivery of transcranial magnetic stimulation Download PDF

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Publication number
CA2443819A1
CA2443819A1 CA002443819A CA2443819A CA2443819A1 CA 2443819 A1 CA2443819 A1 CA 2443819A1 CA 002443819 A CA002443819 A CA 002443819A CA 2443819 A CA2443819 A CA 2443819A CA 2443819 A1 CA2443819 A1 CA 2443819A1
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Canada
Prior art keywords
coil
magnetic stimulation
tms
stimulation device
stimulator
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Granted
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CA002443819A
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French (fr)
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CA2443819C (en
Inventor
Peter Fox
Jack Lancaster
Stephen Dodd
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University of Texas System
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Individual
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Priority to CA2733301A priority Critical patent/CA2733301C/en
Publication of CA2443819A1 publication Critical patent/CA2443819A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N2/00—Magnetotherapy
    • A61N2/004—Magnetotherapy specially adapted for a specific therapy
    • A61N2/006—Magnetotherapy specially adapted for a specific therapy for magnetic stimulation of nerve tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Abstract

Disclosed are apparatus and methods for delivery of transcranial magnetic stimulation. The apparatus includes a TMS coil (10) which when energized generates an electric field substantially parallel to a long axis of the coi l (10) and substantially normal to a surface of the coil (10). Furthermore disclosed an apparatus for delivery of TMS in which a coil (10) is adapted t o a robotic member for computer-aided control and delivery. Further disclosed are methods of TMS planning and delivery in which subject images are utilize d to plan, position and orient the TMS coil (10) for precise delivery. Disclos ed also are TMS coils (10) having unique designs to better focus and direct magnetic stimulation.

Claims (50)

1. A coil for transcranial magnetic stimulation, comprising:
a solid former having a hollow portion extending therethrough on a long axis of said former; and a wire winding wrapped around said long axis and extending at least substantially around said solid former.
2. The coil of claim 1, wherein said solid former comprises a field-enhancing material.
3. The coil of claim 2, wherein said field-enhancing material comprises ferrite.
4. The coil of claim 1, wherein said hollow portion is filled by a field-enhancing insert.
5. The coil of claim 4, wherein said field-enhancing insert comprises iron.
6. The coil of claim 1, wherein said wire winding is wrapped in a helical manner through the hollow portion of said former.
7. The method of claim 1, wherein said solid former comprises a cylinder.
8. The coil of claim 1, wherein said solid former comprises a hollow truncated cone.
9. The coil of claim 1, wherein said coil when energized creates an electric field having a maximum along said long axis.
10. The coil at claim l, further comprising a protective layer surrounding said solid former and said wire winding.
11. A TMS stimulator, comprising:
a core element having a first end and a second end;

a conductor having a plurality of wrappings extending around at least a portion of said first end for permitting a flow of electric current for creation of an electric field, wherein said stimulator when energized develops an induced electric field having a maximum extending substantially normal to said first end;
said TMS stimulator having a shape such that said first end may be positioned in close relation to a region of interest of a patient for delivery of said induced electric field substantially normal to said region of interest.
12. The TMS stimulator of claim 11, wherein said region of interest comprises cortex.
13. The TMS stimulator of claim 11, wherein said induced electric field is delivered substantially perpendicular to the cortical surface at a gyrus.
14. A system for transcranial magnetic stimulation, comprising:
a robotic member having a distal portion and a proximal portion, said robotic member having at least six degrees of freedom; and a coil for generating an electric field, said coil coupled to said distal portion of said robotic member.
15. The system of claim 14, further comprising a computer to control movement of said robotic member to position said coil at a preselected position relative to a subject.
16. The system of claim 14, further comprising a power supply to supply energy to said coil to generate said electric field, said power supply comprising a capacitor bank.
17. The system of claim 14, further comprising a digitizer adapted to said robotic member.
18. A method of transcranial magnetic stimulation, comprising:
defining a cerebral cortical region of interest for a subject;

determining a stimulator position and orientation disposed to deliver an induced electric field substantially perpendicular to said cerebral cortical region of interest;

positioning said subject to immobilize said cerebral cortical region of interest;
directing said stimulator to said subject so that said stimulator is focused to said cerebral cortical region of interest, said directing based on said determined stimulator position and orientation; and delivering said TMS to said subject, said delivering comprising generating an electric field substantially perpendicular to said cerebral cortical region of interest.
19. The method of claim 18, further comprising performing at least one spatial calibration of a delivery device to a data set of said subject.
20. The method of claim 19, wherein said directing is further based on said at least one spatial calibration.
21. The method of claim 19, wherein said at least one spatial calibration comprises a digitizer to a subject image calibration.
22. The method of claim 18, wherein said defining comprises using a functional image to obtain said region of interest.
23. The method of claim 18, wherein said determining comprises calculating said stimulator position and orientation based on a scalar product of a model of said induced electric field times a vector model of said region of interest.
24. The method of claim 22, wherein said determining comprises superimposing a model of said stimulator on a model of said functional image and an anatomical image.
25. The method of claim 24, wherein said directing further comprises modeling said immobilized subject to obtain a scalp surface model and registering said scalp surface model to said model of said functional image and said anatomical image.
26. The method of claim 18, wherein said directing is performed by a robotic arm to which said stimulator is adapted.
27. A method of planning optimal delivery of TMS, comprising:
imaging a subject to obtain an anatomical image, said anatomical image including a representation of a region of interest;
obtaining a functional image of said subject in which said region of interest is selectively activated;
identifying a target point from said region of interest via said functional image;
modeling said anatomical image to obtain an anatomical model;
co-registering said target point with said functional image and said anatomical model; and determining a position and orientation of a TMS stimulator so that maximum biological efficacy of said target point is obtained.
28. The method of claim 27, further comprising storing said position and orientation.
29. The method of claim 27, further comprising providing said position and orientation to a computer, said computer for control of a robot to which TMS
stimulator is adapted.
30. The method of claim 29, further comprising moving said robot into a location such that said TMS stimulator is placed in said position and orientation.
31. The method of claim 30, further comprising delivering said TMS.
32. The method of claim 31, wherein said TMS delivery comprises preoperative mapping.
33. The method of claim 31, wherein said TMS is delivered during imaging.
34. The method of claim 31, wherein said TMS is delivered for treatment of a specified condition.
35. The method of claim 34, wherein said specified condition comprises long term depression.
36. The method of claim 31, wherein said TMS delivery comprises a plurality of individual treatment sessions over a plurality of days.
37. A magnetic stimulation device, comprising:
a first wing having a first plurality of windings, said first plurality of windings having first portions and second portions, said first portions having a smaller spacing therebetween than said second portions;
a second wing having a second plurality of windings, said second plurality of windings having third portions and fourth portions, said third portions having a smaller spacing therebetween than said fourth portions; and wherein said first wing is adjacent said second wing such that said first portions are adjacent said third portions.
38. The magnetic stimulation device of claim 37, wherein said magnetic stimulation device comprises a minimum inductance.
39. The magnetic stimulation device of claim 38, wherein said magnetic stimulation device comprises a minimum power dissipation.
40. A magnetic stimulation device, comprising:
a two-winged coil having a plurality of wires, said plurality of wires being concentrated at a center portion of said two-winged coil and extending from said center portion in a plurality of arcs.
41. The magnetic stimulation device of claim 40, wherein said plurality of arcs extend from said center portion at an increased spacing therebetween.
42. The magnetic stimulation device of claim 40, wherein said plurality of wires comprises a first portion and a second portion, said first portion being adapted to carry current in a direction opposite to said second portion.
43. A magnetic stimulation device, comprising:
a coil comprising a first plurality of turns having a positive polarity and a second plurality of turns having a negative polarity.
44. A magnetic stimulation device, comprising:
a first layer of wires adapted to allow a first current to travel therethrough; and a second layer of wires adapted to allow a second current to travel therethrough, said second current being opposite to said first current.
45. A magnetic stimulation device, comprising:
a coil having a first wing, a second wing, a third wing, and a fourth wing, each of said wings extending peripherally from a center portion of said coil; and wherein each of said first wing, said second wing, said third wing, and said fourth wing comprises a proximal portion adjacent said center portion and a distal portion, said proximal portion having a first plurality of windings having a first spacing therebetween, said distal portion having a second plurality of windings having a second spacing therebetween, said second spacing being.greater than said first spacing.
46. The magnetic stimulation device of claim 45, wherein each of said first and second plurality of windings are generally concentric.
47. A method of designing a magnetic stimulation device, comprising:
defining a desired electric field at a preselected point in a volume, said preselected point corresponding to a first portion of said magnetic stimulation device;
and arranging a plurality of windings to obtain said desired electric field at said preselected point.
48. A magnetic stimulation device, comprising:
a first central coil and a second central coil, each of said first central coil and said second central coil extending outwardly from a proximal portion to a distal portion, said proximal portion of said first central coil adjacent said proximal portion of said second central coil; and a plurality of outer coils adapted around said first central coil and said second central coil, each of said plurality of outer coils extending outwardly from a proximal portion to a distal portion, said proximal portion of each of said plurality of outer coils adjacent said proximal portion of said first and second central coils.
49. The magnetic stimulation device of claim 48, wherein said plurality of outer coils comprise four coils.
50. The magnetic stimulation device of claim 48, wherein said first central coil and said second central coil comprise positive turns and negative turns.
CA2443819A 2001-05-04 2002-05-03 Apparatus and methods for delivery of transcranial magnetic stimulation Expired - Lifetime CA2443819C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2733301A CA2733301C (en) 2001-05-04 2002-05-03 Apparatus and methods for delivery of transcranial magnetic stimulation

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US28867001P 2001-05-04 2001-05-04
US60/288,670 2001-05-04
US10/138,543 2002-05-03
US10/138,543 US7087008B2 (en) 2001-05-04 2002-05-03 Apparatus and methods for delivery of transcranial magnetic stimulation
PCT/US2002/014157 WO2002089902A2 (en) 2001-05-04 2002-05-03 Apparatus and methods for delivery of transcranial magnetic stimulation

Related Child Applications (1)

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CA2443819A1 true CA2443819A1 (en) 2002-11-14
CA2443819C CA2443819C (en) 2011-07-19

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US (2) US7087008B2 (en)
EP (1) EP1383572B2 (en)
AT (1) ATE516846T1 (en)
AU (1) AU2002254777B2 (en)
CA (1) CA2443819C (en)
FI (1) FI1383572T4 (en)
WO (1) WO2002089902A2 (en)

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