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.
|Title of host publication||2010 Annual International Conference of the IEEE Engineering in Medicine and Biology|
|Number of pages||4|
|ISBN (Print)||978-1-4244-4123-5, 978-1-4244-4124-2|
|Publication status||Published - 01.12.2010|
|Event||32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Buenos Aires, Argentina|
Duration: 31.08.2010 → 04.09.2010
Conference number: 83008