Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using {3D} Laserscans: Idea, Setup and Feasibility

Type of publication:  Artikel in einem Konferenzbericht
Buchtitel: Annual International Conference of the {IEEE} Engineering in Medicine and Biology Society
Band: 32
Jahr: 2010
Monat: September
Seiten: 2283-2286
Ort: Buenos Aires, Argentina
Notiz: Transcranial Magnetic Stimulation
Querverweis: EMBC2010
DOI: 10.1109/IEMBS.2010.5627660
Abriss: Direct tracking is more robust than tracking that is based on additional markers. 3D laser scans can be used for direct tracking because they result in a 3D data set of surface points of the scanned object. For head-navigated robotized systems, it is crucial to know where the patient's head is positioned relatively to the robot. We present a novel method to use a 3D laserscanner for direct head navigation in the robotized TMS system that places a coil on the patient's head using an industrial robot. First experimental results showed a translational error < 2mm in the robot hand-eye-calibration with the laserscanner. The rotational error was 0.75° and the scaling error < 0.001. Furthermore, we found that the error of a scanned head to a reference head image was < 0.2mm using ICP. These results have shown that a direct head navigation is feasible for the robotized TMS system. Additional effort has to be made in future systems to speed up the compution time for real time capability.
Nutzerfelder: file={3DScannerIEEE.pdf:3DScannerIEEE.pdf:PDF}
Schlagworte: Head Navigation, Laser scanner, robotic motion compensation, Transcranial Magnetic Stimulation
Autoren: Richter, Lars
Bruder, Ralf
Schlaefer, Alexander
Schweikard, Achim
  • 3DScannerIEEE.pdf