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Closed-form inverse kinematic solution for fluoroscopic {C}-arms
| 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: | |
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