Method for calibrating a manipulator of a diagnostic and / or therapeutic manipulator system

摘要

The invention relates to a method for calibrating a manipulator (10) of a diagnostic and / or therapeutic manipulator system (1), wherein the manipulator system (1) comprises at least one medical imaging device (50; 60), and wherein the method comprises at least the following steps: a) approaching (110) at least one target pose by means of the manipulator (10), b) acquiring (120) at least one image of at least part of the manipulator (10) and / or at least part of an end effector (15) of the manipulator (10 ) by means of the medical imaging device (50; 60) when the manipulator (10) has approached the desired pose; c) determining (130) the actual pose of the manipulator (10) by means of the acquired image; d) determining (140) the deviation between the target pose and the actual pose of the manipulator (10), e) calculating (150) at least one calibration parameter based on the determined deviation, and f) calibrating (160) the manipulator.