Comparative performance of the finite element method and the boundary element fast multipole method for problems mimicking transcranial magnetic stimulation (TMS)

A boundary element method of bidomain modeling for predicting cellular responses to electromagnetic fields

Objective.Commonly used cable equation approaches for simulating the effects of electromagnetic fields on excitable cells make several simplifying assumptions that could limit their predictive power. Bidomain or 'whole' finite element methods have been developed to fully couple cells and electric fields for more realistic neuron modeling. Here, we introduce a novel bidomain integral equation designed for determining the full electromagnetic coupling between stimulation devices and the intracellular, membrane, and extracellular regions of neurons.Approach.Our proposed boundary element formulation offers a solution to an integral equation that connects the device, tissue inhomogeneity, and cell membrane-induced E-fields. We solve this integral equation using first-order nodal elements and an unconditionally stable Crank-Nicholson time-stepping scheme. To validate and demonstrate our approach, we simulated cylindrical Hodgkin-Huxley axons and spherical cells in multiple brain stimulation scenarios.Main Results.Comparison studies show that a boundary element approach produces accurate results for both electric and magnetic stimulation. Unlike bidomain finite element methods, the bidomain boundary element method does not require volume meshes containing features at multiple scales. As a result, modeling cells, or tightly packed populations of cells, with microscale features embedded in a macroscale head model, is simplified, and the relative placement of devices and cells can be varied without the need to generate a new mesh.Significance.Device-induced electromagnetic fields are commonly used to modulate brain activity for research and therapeutic applications. Bidomain solvers allow for the full incorporation of realistic cell geometries, device E-fields, and neuron populations. Thus, multi-cell studies of advanced neuronal mechanisms would greatly benefit from the development of fast-bidomain solvers to ensure scalability and the practical execution of neural network simulations with realistic neuron morphologies.

A review of algorithms and software for real-time electric field modeling techniques for transcranial magnetic stimulation

Transcranial magnetic stimulation (TMS) is a device-based neuromodulation technique increasingly used to treat brain diseases. Electric field (E-field) modeling is an important technique in several TMS clinical applications, including the precision stimulation of brain targets with accurate stimulation density for the treatment of mental disorders and the localization of brain function areas for neurosurgical planning. Classical methods for E-field modeling usually take a long computation time. Fast algorithms are usually developed with significantly lower spatial resolutions that reduce the prediction accuracy and limit their usage in real-time or near real-time TMS applications. This review paper discusses several modern algorithms for real-time or near real-time TMS E-field modeling and their advantages and limitations. The reviewed methods include techniques such as basis representation techniques and deep neural-network-based methods. This paper also provides a review of software tools that can integrate E-field modeling with navigated TMS, including a recent software for real-time navigated E-field mapping based on deep neural-network models.

A Boundary Element Method of Bidomain Modeling for Predicting Cellular Responses to Electromagnetic Fields

Objective

Commonly used cable equation-based approaches for determining the effects of electromagnetic fields on excitable cells make several simplifying assumptions that could limit their predictive power. Bidomain or "whole" finite element methods have been developed to fully couple cells and electric fields for more realistic neuron modeling. Here, we introduce a novel bidomain integral equation designed for determining the full electromagnetic coupling between stimulation devices and the intracellular, membrane, and extracellular regions of neurons.

Methods

Our proposed boundary element formulation offers a solution to an integral equation that connects the device, tissue inhomogeneity, and cell membrane-induced E-fields. We solve this integral equation using first-order nodal elements and an unconditionally stable Crank-Nicholson time-stepping scheme. To validate and demonstrate our approach, we simulated cylindrical Hodgkin-Huxley axons and spherical cells in multiple brain stimulation scenarios.

Main Results

Comparison studies show that a boundary element approach produces accurate results for both electric and magnetic stimulation. Unlike bidomain finite element methods, the bidomain boundary element method does not require volume meshes containing features at multiple scales. As a result, modeling cells, or tightly packed populations of cells, with microscale features embedded in a macroscale head model, is made computationally tractable, and the relative placement of devices and cells can be varied without the need to generate a new mesh.

Significance

Device-induced electromagnetic fields are commonly used to modulate brain activity for research and therapeutic applications. Bidomain solvers allow for the full incorporation of realistic cell geometries, device E-fields, and neuron populations. Thus, multi-cell studies of advanced neuronal mechanisms would greatly benefit from the development of fast-bidomain solvers to ensure scalability and the practical execution of neural network simulations with realistic neuron morphologies.

A fast direct solver for surface-based whole-head modeling of transcranial magnetic stimulation

When modeling transcranial magnetic stimulation (TMS) in the brain, a fast and accurate electric field solver can support interactive neuronavigation tasks as well as comprehensive biophysical modeling. We formulate, test, and disseminate a direct (i.e., non-iterative) TMS solver that can accurately determine global TMS fields for any coil type everywhere in a high-resolution MRI-based surface model with ~ 200,000 or more arbitrarily selected observation points within approximately 5 s, with the solution time itself of 3 s. The solver is based on the boundary element fast multipole method (BEM-FMM), which incorporates the latest mathematical advancement in the theory of fast multipole methods-an FMM-based LU decomposition. This decomposition is specific to the head model and needs to be computed only once per subject. Moreover, the solver offers unlimited spatial numerical resolution. Despite the fast execution times, the present direct solution is numerically accurate for the default model resolution. In contrast, the widely used brain modeling software SimNIBS employs a first-order finite element method that necessitates additional mesh refinement, resulting in increased computational cost. However, excellent agreement between the two methods is observed for various practical test cases following mesh refinement, including a biophysical modeling task. The method can be readily applied to a wide range of TMS analyses involving multiple coil positions and orientations, including image-guided neuronavigation. It can even accommodate continuous variations in coil geometry, such as flexible H-type TMS coils. The FMM-LU direct solver is freely available to academic users.

An expert review of the inverse problem in electrocardiographic imaging for the non-invasive identification of atrial fibrillation drivers

BACKGROUND AND OBJECTIVE

Electrocardiographic imaging (ECGI) has emerged as a non-invasive approach to identify atrial fibrillation (AF) driver sources. This paper aims to collect and review the current research literature on the ECGI inverse problem, summarize the research progress, and propose potential research directions for the future.

METHODS AND RESULTS

The effectiveness and feasibility of using ECGI to map AF driver sources may be influenced by several factors, such as inaccuracies in the atrial model due to heart movement or deformation, noise interference in high-density body surface potential (BSP), inconvenient and time-consuming BSP acquisition, errors in solving the inverse problem, and incomplete interpretation of the AF driving source information derived from the reconstructed epicardial potential. We review the current research progress on these factors and discuss possible improvement directions. Additionally, we highlight the limitations of ECGI itself, including the lack of a gold standard to validate the accuracy of ECGI technology in locating AF drivers and the challenges associated with guiding AF ablation based on post-processed epicardial potentials due to the intrinsic difference between epicardial and endocardial potentials.

CONCLUSIONS

Before performing ablation, ECGI can provide operators with predictive information about the underlying locations of AF driver by non-invasively and globally mapping the biatrial electrical activity. In the future, endocardial catheter mapping technology may benefit from the use of ECGI to enhance the diagnosis and ablation of AF.

A Review of Formulations, Boundary Value Problems and Solutions for Numerical Computation of Transcranial Magnetic Stimulation Fields

Since the inception of the transcranial magnetic stimulation (TMS) technique, it has become imperative to numerically compute the distribution of the electric field induced in the brain. Various models of the coil-brain system have been proposed for this purpose. These models yield a set of formulations and boundary conditions that can be employed to calculate the induced electric field. However, the literature on TMS simulation presents several of these formulations, leading to potential confusion regarding the interpretation and contribution of each source of electric field. The present study undertakes an extensive compilation of widely utilized formulations, boundary value problems and numerical solutions employed in TMS fields simulations, analyzing the advantages and disadvantages associated with each used formulation and numerical method. Additionally, it explores the implementation strategies employed for their numerical computation. Furthermore, this work provides numerical expressions that can be utilized for the numerical computation of TMS fields using the finite difference and finite element methods. Notably, some of these expressions are deduced within the present study. Finally, an overview of some of the most significant results obtained from numerical computation of TMS fields is presented. The aim of this work is to serve as a guide for future research endeavors concerning the numerical simulation of TMS.

A fast direct solver for surface-based whole-head modeling of transcranial magnetic stimulation

Background

When modeling transcranial magnetic stimulation (TMS) in the brain, a fast and accurate electric field solver can support interactive neuronavigation tasks as well as comprehensive biophysical modeling.

Objective

We formulate, test, and disseminate a direct (i.e., non-iterative) TMS solver that can accurately determine global TMS fields for any coil type everywhere in a high-resolution MRI-based surface model with ~200,000 or more arbitrarily selected observation points within approximately 5 sec, with the solution time itself of 3 sec.

Method

The solver is based on the boundary element fast multipole method (BEM-FMM), which incorporates the latest mathematical advancement in the theory of fast multipole methods - an FMM-based LU decomposition. This decomposition is specific to the head model and needs to be computed only once per subject. Moreover, the solver offers unlimited spatial numerical resolution.

Results

Despite the fast execution times, the present direct solution is numerically accurate for the default model resolution. In contrast, the widely used brain modeling software SimNIBS employs a first-order finite element method that necessitates additional mesh refinement, resulting in increased computational cost. However, excellent agreement between the two methods is observed for various practical test cases following mesh refinement, including a biophysical modeling task.

Conclusion

The method can be readily applied to a wide range of TMS analyses involving multiple coil positions and orientations, including image-guided neuronavigation. It can even accommodate continuous variations in coil geometry, such as flexible H-type TMS coils. The FMM-LU direct solver is freely available to academic users.

Pinpointing the precise stimulation targets for brain rehabilitation in early-stage Parkinson's disease

BACKGROUND

Transcranial magnetic stimulation (TMS) is increasingly used as a promising non-pharmacological treatment for Parkinson's disease (PD). Scalp-to-cortex distance (SCD), as a key technical parameter of TMS, plays a critical role in determining the locations of treatment targets and corresponding dosage. Due to the discrepancies in TMS protocols, the optimal targets and head models have yet to be established in PD patients.

OBJECTIVE

To investigate the SCDs of the most popular used targets in left dorsolateral prefrontal cortex (DLPFC) and quantify its impact on the TMS-induced electric fields (E-fields) in early-stage PD patients.

METHODS

Structural magnetic resonance imaging scans from PD patients (n = 47) and normal controls (n = 36) were drawn from the NEUROCON and Tao Wu datasets. SCD of left DLPFC was measured by Euclidean Distance in TMS Navigation system. The intensity and focality of SCD-dependent E-fields were examined and quantified using Finite Element Method.

RESULTS

Early-stage PD patients showed an increased SCDs, higher variances in the SCDs and SCD-dependent E-fields across the seven targets of left DLPFC than normal controls. The stimulation targets located on gyral crown had more focal and homogeneous E-fields. The SCD of left DLPFC had a better performance in differentiating early-stage PD patients than global cognition and other brain measures.

CONCLUSION

SCD and SCD-dependent E-fields could determine the optimal TMS treatment targets and may also be used as a novel marker to differentiate early-stage PD patients. Our findings have important implications for developing optimal TMS protocols and personalized dosimetry in real-world clinical practice.

Bioelectromagnetism in Human Brain Research: New Applications, New Questions

Bioelectromagnetism has contributed some of the most commonly used techniques to human neuroscience such as magnetoencephalography (MEG), electroencephalography (EEG), transcranial magnetic stimulation (TMS), and transcranial electric stimulation (TES). The considerable differences in their technical design and practical use give rise to the impression that these are quite different techniques altogether. Here, we review, discuss and illustrate the fundamental principle of Helmholtz reciprocity that provides a common ground for all four techniques. We show that, more than 150 years after its discovery by Helmholtz in 1853, reciprocity is important to appreciate the strengths and limitations of these four classical tools in neuroscience. We build this case by explaining the concept of Helmholtz reciprocity, presenting a methodological account of this principle for all four methods and, finally, by illustrating its application in practical clinical studies.

Computation of transcranial magnetic stimulation electric fields using self-supervised deep learning

Electric fields (E-fields) induced by transcranial magnetic stimulation (TMS) can be modeled using partial differential equations (PDEs). Using state-of-the-art finite-element methods (FEM), it often takes tens of seconds to solve the PDEs for computing a high-resolution E-field, hampering the wide application of the E-field modeling in practice and research. To improve the E-field modeling's computational efficiency, we developed a self-supervised deep learning (DL) method to compute precise TMS E-fields. Given a head model and the primary E-field generated by TMS coils, a DL model was built to generate a E-field by minimizing a loss function that measures how well the generated E-field fits the governing PDE. The DL model was trained in a self-supervised manner, which does not require any external supervision. We evaluated the DL model using both a simulated sphere head model and realistic head models of 125 individuals and compared the accuracy and computational speed of the DL model with a state-of-the-art FEM. In realistic head models, the DL model obtained accurate E-fields that were significantly correlated with the FEM solutions. The DL model could obtain precise E-fields within seconds for whole head models at a high spatial resolution, faster than the FEM. The DL model built for the simulated sphere head model also obtained an accurate E-field whose average difference from the analytical E-fields was 0.0054, comparable to the FEM solution. These results demonstrated that the self-supervised DL method could obtain precise E-fields comparable to the FEM solutions with improved computational speed.

Devices and Technology in Transcranial Magnetic Stimulation: A Systematic Review

The technology for transcranial magnetic stimulation (TMS) has significantly changed over the years, with important improvements in the signal generators, the coils, the positioning systems, and the software for modeling, optimization, and therapy planning. In this systematic literature review (SLR), the evolution of each component of TMS technology is presented and analyzed to assess the limitations to overcome. This SLR was carried out following the PRISMA 2020 statement. Published articles of TMS were searched for in four databases (Web of Science, PubMed, Scopus, IEEE). Conference papers and other reviews were excluded. Records were filtered using terms about TMS technology with a semi-automatic software; articles that did not present new technology developments were excluded manually. After this screening, 101 records were included, with 19 articles proposing new stimulator designs (18.8%), 46 presenting or adapting coils (45.5%), 18 proposing systems for coil placement (17.8%), and 43 implementing algorithms for coil optimization (42.6%). The articles were blindly classified by the authors to reduce the risk of bias. However, our results could have been influenced by our research interests, which would affect conclusions for applications in psychiatric and neurological diseases. Our analysis indicates that more emphasis should be placed on optimizing the current technology with a special focus on the experimental validation of models. With this review, we expect to establish the base for future TMS technological developments.

Precise Modulation Strategies for Transcranial Magnetic Stimulation: Advances and Future Directions

Transcranial magnetic stimulation (TMS) is a popular modulatory technique for the noninvasive diagnosis and therapy of neurological and psychiatric diseases. Unfortunately, current modulation strategies are only modestly effective. The literature provides strong evidence that the modulatory effects of TMS vary depending on device components and stimulation protocols. These differential effects are important when designing precise modulatory strategies for clinical or research applications. Developments in TMS have been accompanied by advances in combining TMS with neuroimaging techniques, including electroencephalography, functional near-infrared spectroscopy, functional magnetic resonance imaging, and positron emission tomography. Such studies appear particularly promising as they may not only allow us to probe affected brain areas during TMS but also seem to predict underlying research directions that may enable us to precisely target and remodel impaired cortices or circuits. However, few precise modulation strategies are available, and the long-term safety and efficacy of these strategies need to be confirmed. Here, we review the literature on possible technologies for precise modulation to highlight progress along with limitations with the goal of suggesting future directions for this field.

Boundary element fast multipole method for modeling electrical brain stimulation with voltage and current electrodes

Objective. To formulate, validate, and apply an alternative to the finite element method (FEM) high-resolution modeling technique for electrical brain stimulation-the boundary element fast multipole method (BEM-FMM). To include practical electrode models for both surface and embedded electrodes.Approach. Integral equations of the boundary element method in terms of surface charge density are combined with a general-purpose fast multipole method and are expanded for voltage, shunt, current, and floating electrodes. The solution of coupled and properly weighted/preconditioned integral equations is accompanied by enforcing global conservation laws: charge conservation law and Kirchhoff's current law.Main results.A sub-percent accuracy is reported as compared to the analytical solutions and simple validation geometries. Comparison to FEM considering realistic head models resulted in relative differences of the electric field magnitude in the range of 3%-6% or less. Quantities that contain higher order spatial derivatives, such as the activating function, are determined with a higher accuracy and a faster speed as compared to the FEM. The method can be easily combined with existing head modeling pipelines such as headreco or mri2mesh.Significance.The BEM-FMM does not rely on a volumetric mesh and is therefore particularly suitable for modeling some mesoscale problems with submillimeter (and possibly finer) resolution with high accuracy at moderate computational cost. Utilizing Helmholtz reciprocity principle makes it possible to expand the method to a solution of EEG forward problems with a very large number of cortical dipoles.

DUNEuro-A software toolbox for forward modeling in bioelectromagnetism

Accurate and efficient source analysis in electro- and magnetoencephalography using sophisticated realistic head geometries requires advanced numerical approaches. This paper presents DUNEuro, a free and open-source C++ software toolbox for the numerical computation of forward solutions in bioelectromagnetism. Building upon the DUNE framework, it provides implementations of modern fitted and unfitted finite element methods to efficiently solve the forward problems of electro- and magnetoencephalography. The user can choose between a variety of different source models that are implemented. The software's aim is to provide interfaces that are extendable and easy-to-use. In order to enable a closer integration into existing analysis pipelines, interfaces to Python and MATLAB are provided. The practical use is demonstrated by a source analysis example of somatosensory evoked potentials using a realistic six-compartment head model. Detailed installation instructions and example scripts using spherical and realistic head models are appended.

Rapid computation of TMS-induced E-fields using a dipole-based magnetic stimulation profile approach

BACKGROUND

TMS neuronavigation with on-line display of the induced electric field (E-field) has the potential to improve quantitative targeting and dosing of stimulation, but present commercially available solutions are limited by simplified approximations.

OBJECTIVE

Developing a near real-time method for accurate approximation of TMS induced E-fields with subject-specific high-resolution surface-based head models that can be utilized for TMS navigation.

METHODS

Magnetic dipoles are placed on a closed surface enclosing an MRI-based head model of the subject to define a set of basis functions for the incident and total E-fields that define the subject's Magnetic Stimulation Profile (MSP). The near real-time speed is achieved by recognizing that the total E-field of the coil only depends on the incident E-field and the conductivity boundary geometry. The total E-field for any coil position can be obtained by matching the incident field of the stationary dipole basis set with the incident E-field of the moving coil and applying the same basis coefficients to the total E-field basis functions.

RESULTS

Comparison of the MSP-based approximation with an established TMS solver shows great agreement in the E-field amplitude (relative maximum error around 5%) and the spatial distribution patterns (correlation >98%). Computation of the E-field took ~100 ms on a cortical surface mesh with 120k facets.

CONCLUSION

The numerical accuracy and speed of the MSP approximation method make it well suited for a wide range of computational tasks including interactive planning, targeting, dosing, and visualization of the intracranial E-fields for near real-time guidance of coil positioning.

Boundary Element Fast Multipole Method for Enhanced Modeling of Neurophysiological Recordings

OBJECTIVE

A new numerical modeling approach is proposed which provides forward-problem solutions for both noninvasive recordings (EEG/MEG) and higher-resolution intracranial recordings (iEEG).

METHODS

The algorithm is our recently developed boundary element fast multipole method or BEM-FMM. It is based on the integration of the boundary element formulation in terms of surface charge density and the fast multipole method originating from its inventors. The algorithm still possesses the major advantage of the conventional BEM - high speed - but is simultaneously capable of processing a very large number of surface-based unknowns. As a result, an unprecedented spatial resolution could be achieved, which enables multiscale modeling.

RESULTS

For non-invasive EEG/MEG, we are able to accurately solve the forward problem with approximately 1 mm anatomical resolution in the cortex within 1-2 min given several thousand cortical dipoles. Targeting high-resolution iEEG, we are able to compute, for the first time, an integrated electromagnetic response for an ensemble (2,450) of tightly packed realistic pyramidal neocortical neurons in a full-head model with 0.6 mm anatomical cortical resolution. The neuronal arbor is comprised of 5.9 M elementary 1.2 μm long dipoles. On a standard server, the computations require about 5 min.

CONCLUSION

Our results indicate that the BEM-FMM approach may be well suited to support numerical multiscale modeling pertinent to modern high-resolution and submillimeter iEEG.

SIGNIFICANCE

Based on the speed and ease of implementation, this new algorithm represents a method that will greatly facilitate simulations at multi-scale across a variety of applications.

A 3-axis coil design for multichannel TMS arrays

Purpose:

Multichannel Transcranial Magnetic Stimulation (mTMS) arrays enable multiple sites to be stimulated simultaneously or sequentially under electronic control without moving the system’s stimulation coils. Here, we build and characterize the performance of a novel modular 3-axis TMS coil that can be utilized as a unit element in large-scale multichannel TMS arrays.

Methods:

We determined the basic physical characteristics of the 3-axis TMS coil x-, y- and z-elements using a custom 2-channel programmable stimulator prototype. We mapped the temporal rate-of-change of the induced magnetic field (dB/dt) on a 2D plane parallel to the coil surface (including an extended line for full spatial coverage) and compared those values with predictions from magnetic field simulations. Temperature measurements were carried out to assess the incorporated air-cooling method. We measured the mutual and self-inductances of the x/y/z-elements to assess coupling between them. Additionally, we measured and calculated the coupling between z-elements in the array configuration. Finally, we performed electric field simulations to evaluate the stimulation intensity and focality of the coil and compared the results to conventional TMS coils as well as demonstrated suitability of the 3-axis coil for a multichannel array configuration.

Results:

The experimentally obtained dB/dt values validated the computational model of the 3-axis coil and therefore confirmed that both the coil and stimulator system are operating as intended. The air-cooling system was effective for brief high-frequency pulse trains and extended single- and paired-pulse TMS protocols. The electromagnetic simulations suggested that an array of the 3-axis coils would have comparable stimulation intensity to conventional TMS coils, therefore enabling clearly suprathreshold stimulation of the human brain. The recorded coil coupling between the x/y/z-elements was < 1% and the maximal coupling between z-elements in the array configuration was 1.8% and 3.4% for the measured and calculated values, respectively.

Conclusion:

We presented a 3-axis coil intended for multichannel TMS arrays. The electromagnetic measurements and simulations verified that the coil fabrication met the desired specifications and that the inductive coupling between the elements was negligible. The air-cooled 3-axis TMS coil appears suitable to be used as an element in multichannel TMS arrays.

Accurate TMS Head Modeling: Interfacing SimNIBS and BEM-FMM in a MATLAB-Based Module

We interface the head modelling, coil models, Graphical User Interface (GUI), and post-processing capabilities of the SimNIBS package with the boundary element fast multipole method (BEM-FMM), implemented in a MATLAB-based module. The resulting pipeline combines the best of both worlds: the individualized head modelling and ease-of-use of SimNIBS with the numerical accuracy of BEM-FMM. The corresponding TMS (transcranial magnetic stimulation) modeling package is developed and made available online. It imports a SimNIBS surface segmentation and a coil field, and then exports electric-field values in selected surfaces or volumes. Additional information is also made available, such as discontinuous compartment surface electric fields and associated surface electric charge distributions.

Conditions for numerically accurate TMS electric field simulation

BACKGROUND

Computational simulations of the E-field induced by transcranial magnetic stimulation (TMS) are increasingly used to understand its mechanisms and to inform its administration. However, characterization of the accuracy of the simulation methods and the factors that affect it is lacking.

OBJECTIVE

To ensure the accuracy of TMS E-field simulations, we systematically quantify their numerical error and provide guidelines for their setup.

METHOD

We benchmark the accuracy of computational approaches that are commonly used for TMS E-field simulations, including the finite element method (FEM) with and without superconvergent patch recovery (SPR), boundary element method (BEM), finite difference method (FDM), and coil modeling methods.

RESULTS

To achieve cortical E-field error levels below 2%, the commonly used FDM and 1st order FEM require meshes with an average edge length below 0.4 mm, 1st order SPR-FEM requires edge lengths below 0.8 mm, and BEM and 2nd (or higher) order FEM require edge lengths below 2.9 mm. Coil models employing magnetic and current dipoles require at least 200 and 3000 dipoles, respectively. For thick solid-conductor coils and frequencies above 3 kHz, winding eddy currents may have to be modeled.

CONCLUSION

BEM, FDM, and FEM all converge to the same solution. Compared to the common FDM and 1st order FEM approaches, BEM and 2nd (or higher) order FEM require significantly lower mesh densities to achieve the same error level. In some cases, coil winding eddy-currents must be modeled. Both electric current dipole and magnetic dipole models of the coil current can be accurate with sufficiently fine discretization.

Real-time computation of the TMS-induced electric field in a realistic head model

Transcranial magnetic stimulation (TMS) is often targeted using a model of TMS-induced electric field (E). In such navigated TMS, the E-field models have been based on spherical approximation of the head. Such models omit the effects of cerebrospinal fluid (CSF) and gyral folding, leading to potentially large errors in the computed E-field. So far, realistic models have been too slow for interactive TMS navigation. We present computational methods that enable real-time solving of the E-field in a realistic five-compartment (5-C) head model that contains isotropic white matter, gray matter, CSF, skull and scalp. Using reciprocity and Geselowitz integral equation, we separate the computations to coil-dependent and -independent parts. For the Geselowitz integrals, we present a fast numerical quadrature. Further, we present a moment-matching approach for optimizing dipole-based coil models. We verified and benchmarked the new methods using simulations with over 100 coil locations. The new quadrature introduced a relative error (RE) of 0.3-0.6%. For a coil model with 42 dipoles, the total RE of the quadrature and coil model was 0.44-0.72%. Taking also other model errors into account, the contribution of the new approximations to the RE was 0.1%. For comparison, the RE due to omitting the separation of white and gray matter was >11%, and the RE due to omitting also the CSF was >23%. After the coil-independent part of the model has been built, E-fields can be computed very quickly: Using a standard PC and basic GPU, our solver computed the full E-field in a 5-C model in 9000 points on the cortex in 27 coil positions per second (cps). When the separation of white and gray matter was omitted, the speed was 43-65 cps. Solving only one component of the E-field tripled the speed. The presented methods enable real-time solving of the TMS-induced E-field in a realistic head model that contains the CSF and gyral folding. The new methodology allows more accurate targeting and precise adjustment of stimulation intensity during experimental or clinical TMS mapping.