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- Achim Schweikard
- Niclas Bockelmann
- Sven Böttger
- Ralf Bruder
- Floris Ernst
- Maria Henke
- Marius Krusen
- Felix von Haxthausen
- Daniel Wulff
- Jingyang Xie
- Honghu Xue
Publikationen ehemalige Mitarbeiter
- Mohammed Al-Badri
- Rehman Ansari
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- Christoph Bodensteiner
- Alexander Derksen
- Robert Dürichen
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- Ivo Kuhlemann
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- Christoph Metzner
- Lukas Ramrath
- Lars Richter
- Nils Rottmann
- Elmar Rückert
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- Birgit Stender
- Patrick Stüber
- Tiberiu Viulet
- Benjamin Wagner
- Christian Wilde
- Tobias Wissel
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: | |
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