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Robotize meaning7/29/2023 The new methods outperform the QR24 method in the aspect of translational accuracy and performs similarly in the aspect of rotational accuracy, the total translational error decreased more than fifty percent. We compared our methods with two classical methods: the QR24 method proposed by Floris Ernst and the handheld coil calibration method. The methods were evaluated based on simulation data and on experimental data from an optical tracking device. Finally, the calibration probe is removed after calibration, while the marker remains fixed to the coil during the TMS experiment. Then, a matrix equation system AX = ZB and AY = ZC can be acquired, and it is computed using a least-squares approach. Next, the robot end effector is moved to a series of random positions ‘A’, the tracking data of marker ‘B’ and probe ‘C’ is obtained correspondingly. During the one-step calibration process, a marker is mounted on the top of the coil and a calibration probe is fixed at the actual effective position of the coil. First, the coil is fixed on the end effector of the robot. Hand/eye calibration and coil calibration are performed to confirm the pose relationships of the marker/end effector ‘X’, probe/end effector ‘Y’, and robot/world ‘Z’. MethodsĪ novel one-step calibration method has been developed to confirm hand/eye and coil calibration results by formulating a matrix equation system and estimating its solution. The process is complex and time-consuming, and traditional coil calibration using a handheld probe is susceptible to greater calibration error. Today, these two steps are still separate: hand/eye calibration is performed using methods proposed by Tsai/Lenz or Floris Ernst, and then the coil calibration is carried out based on the traditional TMS experimental step. Since the coil will normally remain unmounted between different clinical uses, hand/eye calibration and coil calibration are required before each experiment. Robotized transcranial magnetic stimulation (TMS) combines the benefits of neuro-navigation with automation and provides a precision brain stimulation method.
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