Cureus | Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using 3D Laserscans: Idea, Setup and Feasibility

Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using 3D Laserscans: Idea, Setup and Feasibility


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 Transcranial Magnetic Stimulation (TMS) system that places a coil on the patient’s head using an industrial robot. First experimental results showed a translational error < 2 mm 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 < 0:2 mm using the iterative closest point (ICP) method. 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.
Poster
non-peer-reviewed

Towards Direct Head Navigation for robot-guided Transcranial Magnetic Stimulation using 3D Laserscans: Idea, Setup and Feasibility


Author Information

Lars Richter Corresponding Author

Institute for Robotics and Cognitive Systems, University of Luebeck; Graduate School for Computing in Medicine and Life Sciences, University of Lubeck, 23538 Lubeck, Germany

Ralf Bruder

Institute for Robotics and Cognitive Systems, University of Lubeck,, Institute for Robotics and Cognitive Systems, University of Lubeck,

Alexander Schlaefer

Institute of Medical Technology, Hamburg University of Technology, Hamburg, DEU

Sandor J. Demeter

Diagnostic Imaging, University of Manitoba/WRHA-HSC


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