Evaluation of a 9D-Position Measurement Method of a C-Arm Based on X-Ray Projections

Sabine Thürauf, Oliver Hornung, Mario Körner, Florian Vogt, M. Ali Nasseri and Alois Knoll

Proceedings of the Workshop on Interventional Microscopy, International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI),

October 2015 · Munich, Germany


For features like X-ray CTs (computed tomography) a high absolute pose accuracy of the C-arm system is needed. Therefore, an extensive calibration has to be performed to make the C-arm system sufficiently accurate. One new approach to calibrate the system is to perform an absolute robot calibration with end effector pose measurements as input. To measure the poses, X-ray images of a calibration phantom can be used. This work determines a lower bound for an X-raybased 9D-position measurement technique for a C-arm system (including the 3D-position of the tube, the 3D-position of the detector and the 3Dorientation of the detector) using a helical calibration phantom regarding its accuracy by a simulation.

subject terms: robotics, roboterröntgen