Proceedings of the Workshop on Interventional Microscopy, International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI),
Oktober 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.
Stichworte: robotics, roboterröntgen