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METHOD FOR CALIBRATING A MANIPULATOR OF A DIAGNOSTIC AND/OR THERAPEUTIC MANIPULATOR SYSTEM
METHOD FOR CALIBRATING A MANIPULATOR OF A DIAGNOSTIC AND/OR THERAPEUTIC MANIPULATOR SYSTEM
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机译:用于校准诊断和/或治疗性操纵器系统的操纵器的方法
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摘要
A method for calibrating a manipulator of a diagnostic and/or therapeutic manipulator system, wherein the manipulator system includes at least one medical imaging device. The method includes at least: a) moving the manipulator to at least one target pose; b) capturing at least one image of at least a part of the manipulator and/or at least of a part of an end effector of the manipulator with the medical imaging device if the manipulator has moved to the target pose; c) determining the actual pose of the manipulator using the captured image; d) determining the deviation between the target pose and the actual pose of the manipulator; and e) calculating at least one calibration parameter on the basis of the determined deviation, and calibrating the manipulator.
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