Int J Med Robot - Robust real-time robot-world calibration for robotized transcranial magnetic stimulation.

Tópicos

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Resumo

CKGROUND: For robotized transcranial magnetic stimulation (TMS), the magnetic coil is placed on the patient's head by a robot. As the robotized TMS system requires tracking of head movements, robot and tracking camera need to be calibrated. However, for robotized TMS in a clinical setting, such calibration is required frequently. Mounting/unmounting a marker to the end effector and moving the robot into different poses is impractical. Moreover, if either system is moved during treatment, recalibration is required.METHODS: To overcome this limitation, we propose to directly track a marker at link three of the articulated arm. Using forward kinematics and a constant marker transform to link three, the calibration can be performed instantly.RESULTS: Our experimental results indicate an accuracy similar to standard hand-eye calibration approaches. It also outperforms classical hand-held navigated TMS systems.CONCLUSION: This robust online calibration greatly enhances the system's user-friendliness and safety.

Resumo Limpo

ckground robot transcrani magnet stimul tms magnet coil place patient head robot robot tms system requir track head movement robot track camera need calibr howev robot tms clinic set calibr requir frequent mountingunmount marker end effector move robot differ pose impract moreov either system move treatment recalibr requiredmethod overcom limit propos direct track marker link three articul arm use forward kinemat constant marker transform link three calibr can perform instantlyresult experiment result indic accuraci similar standard handey calibr approach also outperform classic handheld navig tms systemsconclus robust onlin calibr great enhanc system userfriendli safeti

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