INVESALIUS NEURONAVIGATION SYSTEM

The system integrates the InVesalius Navigator three-dimensional tracking capabilities and robotic control. The control is achieved through parallel processing between the Invesalius Neuronavigator, a main message communication script, and a server for connection (WIFI or network cable) to the robot. These three components allow for co-registration of a 3D magnetic resonance image with the patient's actual head, navigation with the Transcranial Magnetic Stimulation (TMS) coil to specific points on the head surface, and increased accuracy, stability, and repeatability of the procedure. This document aims to integrate the initial knowledge for installing the software and hardware systems. The hardware includes the robot, the stimulator, the electromyography (EMG) system, the Polaris NDI for 3D tracking, models of the objects and the adapters for attaching the TMS coil to the robot's flange - the Tool Center Point (TCP) (see section J). The physical connection between them is carried out through an Ethernet router to create a local area network (LAN). The connection between the computer and the MagVenture stimulator is made via an RS-232 port. The system's operation is described in section M below. The diagram below shows the system's organization, with its components and the physical connections between them.