Towards Accurate and Automated TMS Coil Placement with a Robotic System in MRI: A preliminary study

Motivation: Precise TMS control within MRI is fundamental for clinical and neuroscience advancements. However, challenges remain in accurate targeting, variability in functional anatomy, and real-time brain dynamics. Goal(s): We aim to develop a robotic system for accurate, automated TMS coil placement inside MRI. Approach: We developed a 3DOF robotic system to place a mock TMS coil within the MRI environment. Wireless markers identify the end effector's position through fast projection acquisitions, enabling closed-loop adjustments for accurate positioning. Results: We showcase our robotic and localization system working within the MRI environment, detailing the placement precision achieved during initial trials. Impact: This system demonstrates capacity for precise, automated TMS coil positioning within the MRI, laying a foundation for fully integrated TMS-MRI setups. This approach will facilitate patient-specific, adaptive stimulation, enabling studies on dynamic brain-state-driven stimulation and improving clinical reproducibility.