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Title: Towards direct head navigation for robot-guided transcranial magnetic stimulation using 3D laserscans: idea, setup and feasibility Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Written by: L. Richter, R. Bruder, A. Schlaefer, A. Schweikard
in: Conf Proc IEEE Eng Med Biol Soc 2010
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on pages: 2283-2286
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DOI: 10.1109/IEMBS.2010.5627660
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Abstract: 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