Axilum TMS Robot 

for automated TMS coil placement and tracking

logo Axilum Robotics (registred)(HD)

Axilum Robotics have developed an innovative system that allows for accurate and safe placement, tracking and recording of a TMS stimulating coil during a TMS experiment or treatment session, together with theBriansight TMS Navigation system.




The Axilum Robotics solution provides the TMS researcher and practitioner with many advantages:


  • System that is specifically developed for TMS when used in conjunction with supported TMS neuronavigation systems;
  • Accuracy and repeatability of coils placement and navigation;
  • Compensation for patients’ head movement during TMS session;
  • Access to any stimulation target or trajectory via hemispheric movement around the subjects head;
  • Patient safety achieved by adapted motor’s power and contact force sensors attached to the stimulating coils surface to ensure appropriate contact force between coil and patient;
  • Easy performance of TMS session allowing users to plan TMS sessions in advance and allow for autonomous execution of the session;
  • Replication of recorded procedures with automated record keeping of stimulation sites and targets.




  1. Foucher JR, Lorgouilloux K, Turek J, Pham B-T, Elowe J, Bayle B, Renaud P, Goffin L, Zorn L, de Mathelin M, Ginhoux R, Maurin B, Lamy J, Armspach J-P. Robotic assistance in coil positioning improves reliability and comfort, 3rd Annual Conference of the German Society for Brain Stimulation, Berlin, Germany, June 21-22, 2012. [Download].
  2. L. Zorn, P. Renaud, B. Bayle, L. Goffin, C. Lebossé, M. de Mathelin, J. Foucher. Design and evaluation of a robotic system for transcranial magnetic stimulation, IEEE Transactions on Biomedical Engineering, March 2012, Volume 59, Issue 3, pages 805 – 815. [Download].
  3. C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, Modeling and evaluation of low cost force sensors, IEEE Transactions on Robotics, August 2011, Volume 27 Issue 4 pages 815 – 822. [Download].
  4. C. Lebossé. Stimulation magnétique transcrânienne robotisée guidée par imagerie médicale, Directeur de thèse : De mathelin Michel, Université Louis Pasteur – Strasbourg I, France, PhD Thesis, May 15th, 2008. [Download] (French version only).
  5. C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, O. Piccin, J. Foucher. A Robotic System for Automated Image-Guided Transcranial Magnetic Stimulation, in the 3rd IEEE-NIH Life Science Systems and Applications Workshop, Bethesda (Maryland), USA, pp. 55-58, November 2007. [Download].
  6. C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, O. Piccin, E. Laroche, J. Foucher. Robotic image-guided transcranial magnetic stimulation, 20th International Congress on Computer Assisted Radiology and Surgery (CARS 2006), pp. 137-139, Osaka, Japan, June 2006. [Download].
  7. C. Lebossé, P. Renaud, B. Bayle, M. de Mathelin, O. Piccin, E. Laroche. Robotized installation for the positioning and movement of a component or instrument, and treatment apparatus comprising such an installation, US Patent Application US20060816343P, June 26th, 2006. PCT/FR2007/051518 Application, June 27th, 2007. [Download].
当前位置:Home 神经调控(TMS、tDCS、tRNS、tACS) TMS导航定位系统 TMS全自动线圈定位追踪装置