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.
