Robust real-time robot-world calibration for robotized transcranial magnetic stimulation
Lars Richter1, Floris Ernst, Alexander Schlaefer
1Institute for Robotics and Cognitive Systems, University of Lübeck, Germany. richter@rob.uni-luebeck.de
Summary
A new online calibration method for robotized transcranial magnetic stimulation (TMS) systems allows instant calibration by directly tracking a marker on the robot arm. This improves user-friendliness and safety in clinical settings.
Area of Science:
- Robotics
- Neuroscience
- Medical Imaging
Background:
- Robotized transcranial magnetic stimulation (TMS) requires frequent calibration between the robot and tracking camera.
- Current calibration methods are impractical for clinical settings due to frequent recalibration needs.
- Moving robot or tracking systems during treatment necessitates recalibration, hindering clinical workflow.
Purpose of the Study:
- To develop a robust online calibration method for robotized TMS systems.
- To overcome the limitations of traditional calibration procedures in clinical environments.
- To enhance the user-friendliness and safety of robotized TMS.
Main Methods:
- Directly tracking a marker on the robot's third link.
- Utilizing forward kinematics and a constant marker transform to link three.
- Implementing an instant calibration procedure.
Main Results:
- Achieved accuracy comparable to standard hand-eye calibration.
- Demonstrated superior performance compared to classical hand-held navigated TMS systems.
- Validated the effectiveness of the proposed online calibration approach.
Conclusions:
- The developed robust online calibration significantly improves TMS system usability.
- Enhanced safety is achieved through the instant and reliable calibration process.
- This method is a key advancement for clinical applications of robotized TMS.
