Publikationen

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
Autoren:	Matthäus, Lars Binder, Norbert Bodensteiner, Christoph Schweikard, Achim
Anhänge
mbbs_07.pdf
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