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 |
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