Robust real-time robot–world calibration for robotized transcranial magnetic stimulation

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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.


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.


Our experimental results indicate an accuracy similar to standard hand-eye calibration approaches. It also outperforms classical hand-held navigated TMS systems.


This robust online calibration greatly enhances the system's user-friendliness and safety. Copyright © 2011 John Wiley & Sons, Ltd.

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