A Robotic {C}-arm Fluoroscope

Type of publication:  Artikel
Zeitschrift: International Journal of Medical Robotics and Computer Assisted Surgery
Band: 1
Nummer: 3
Jahr: 2005
Seiten: 108--116
Notiz: Interactive C-Arm
DOI: 10.1002/rcs.34
Abriss: Fluoroscopic C-arms are common devices for acquiring images during surgery. Manual positioning is timeconsuming and requires considerable experience. Trained users must often take several images to find the best viewing direction. If a second image must be taken from the same position, e.g. for postoperative control, the C-arm must be moved to the exact same position. Without guidance, this is often difficult to accomplish. We developed the idea to completely robotize a standard C-arm, i.e. to equip all joints with motors and encoders. A software environment provides for intelligent control. To archive this goal a complete kinematic analysis of the fluoroscope was necessary. On the basis of this analysis a number of clinical applications have been developed: (1) simplified positioning via cartesian control; (2) automatic acquisition of panoramic images; (3) 3D CT with arbitrary viewing angles; (4) 4D intraoperative CT with/without respiration triggering; (5) automated anatomy-oriented positioning. The goal of this research is thus three-fold: minimise radiation exposure of the OR staff, reduce positioning time and offer enhanced imaging capability.
Nutzerfelder: file={bmbs_05.pdf:bmbs_05.pdf:PDF}
Schlagworte: 3D fluoroscope, C-arm kinematic, intra-surgical imaging, medical robotics, robot-assisted surgery, robotized C-arm
Autoren: Binder, Norbert
Matthäus, Lars
Burgkart, Rainer
Schweikard, Achim