1 March 2011 Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom
Author Affiliations +
For trauma and orthopedic surgery, maneuvering a mobile C-arm X-ray device into a desired position in order to acquire the right picture is a routine task. The precision and ease of use of the C-arm positioning becomes even more important for more advanced imaging techniques as parallax-free X-ray image stitching, for example. Standard mobile C-arms have only five degrees of freedom (DOF), which definitely restricts their motions that have six DOF in 3D Cartesian space. We have proposed a method to model the kinematics of the mobile Carm and operating table as an integrated 6DOF C-arm X-ray imaging system.1 This enables mobile C-arms to be positioned relative to the patient's table with six DOF in 3D Cartesian space. Moving mobile C-arms to a desired position and orientation requires finding the necessary joint values, which is an inverse kinematics problem. In this paper, we present closed-form solutions, i.e. analytic expressions, obtained in an algebraic way for the inverse kinematics problem of the 6DOF C-arm model. In addition, we implement a 6DOF C-arm system for interactively radiation-free C-arm positioning based on a continuous guidance from C-arm pose estimation. For this we employ a visual marker pattern attached under the operating table and a mobile C-arm system augmented by a video camera and mirror construction. In our experiment, repositioning C-arm to a pre-defined pose in a phantom study demonstrates the practicality and accuracy of our developed 6DOF C-arm system.
© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Lejing Wang, Lejing Wang, Rui Zou, Rui Zou, Simon Weidert, Simon Weidert, Juergen Landes, Juergen Landes, Ekkehard Euler, Ekkehard Euler, Darius Burschka, Darius Burschka, Nassir Navab, Nassir Navab, } "Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom", Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, 79641A (1 March 2011); doi: 10.1117/12.877835; https://doi.org/10.1117/12.877835

Back to Top