Type of publication: | Artikel |
Zeitschrift: | Advanced Robotics |
Band: | 21 |
Nummer: | 8 |
Jahr: | 2007 |
Monat: | August |
Seiten: | 869--886 |
Notiz: | Interactive C-Arm |
DOI: | 10.1163/156855307780851957 |
Abriss: | This paper presents a closed-form solution to the inverse kinematic problem for general fluoroscopic C-arms. The resulting algorithm determines the necessary joint parameters for imaging a given point of interest p from a given direction z. The existence and uniqueness of the solution is proven for all p and z. The inverse kinematics lays the basis for a completely robotized C-arm. The paper describes some applications for such an automatized device and presents the first results. |
Nutzerfelder: | file={mbbs_07.pdf:mbbs_07.pdf:PDF} |
Schlagworte: | computed tomography, digital subtraction angiography, Inverse kinematics, robotized fluoroscopic C-arm |
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