@article{L11a,
Author = {L. Richter and F. Ernst and A. Schlaefer and A. Schweikard},
Title = {Robust robot-camera calibration for robotized Transcranial Magnetic Stimulation.},
Journal = {<em>The International Journal of Medical Robotics and Computer Assisted Surgery</em>.},
Year = {(2011).},
Volume = {<strong>7</strong>.},
Pages = {414-422},
Doi = {10.1002/rcs.411},
Abstract = {Background: 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}
}

@COMMENT{Bibtex file generated on 2026-5-11 with typo3 si_bibtex plugin. Data from https://www.tuhh.de/mtec/publications/2012-2000 }