Richter Lars, Bruder Ralf, Schlaefer Alexander, Schweikard Achim
Institute for Robotics and Cognitive Systems, University of Lübeck, 23538, Germany.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:2283-6. doi: 10.1109/IEMBS.2010.5627660.
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.
