Closed-form inverse kinematics for interventional C-Arm X-Ray imaging with six degrees of freedom: Modeling and application

IEEE Transactions on Medical Imaging

Volumn 31, Issue 5, 2012, Pages 1086-1099

  Wang, Lejing ^a   Fallavollita, Pascal ^a   Zou, Rui ^a   Chen, Xin ^a   Weidert, Simon ^b   Navab, Nassir ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b LUDWIG MAXIMILIANS UNIVERSITY   (Germany)

Author keywords

C arm positioning; closed form inverse kinematics; Computer aided surgery; parallax free X ray image stitching

Indexed keywords

C-ARM FLUOROSCOPES; C-ARM POSITIONING; C-ARM SYSTEMS; CARTESIAN SPACE; CLOSED FORM; CLOSED FORM SOLUTIONS; COMPUTER AIDED SURGERY; DESIRED POSITION; EASE-OF-USE; INTERVENTIONAL; INTERVENTIONAL IMAGING; INVERSE KINEMATICS PROBLEM; KINEMATIC CHAIN; LONG BONE; METRIC MEASUREMENT; ORTHOPEDIC SURGERY; SIX DEGREES OF FREEDOM; SIX-DOF; SURGICAL TASKS; TABLE MOVEMENT; VISUAL QUALITIES; WORKING SPACE; X-RAY IMAGE; XRAY IMAGING;

BONE; EXPERIMENTS; GEOMETRICAL OPTICS; IMAGE PROCESSING; IMAGING TECHNIQUES; INVERSE KINEMATICS; QUALITY CONTROL; SURGERY; THREE DIMENSIONAL; X RAY ANALYSIS;

ROBOTIC ARMS;

ALGORITHM; ARTICLE; BIOMECHANICS; COMPUTER ASSISTED SURGERY; FEMUR; HUMAN; IMAGE QUALITY; INSTRUMENTATION; INTERVENTIONAL RADIOLOGY; METHODOLOGY; RADIOGRAPHY; ROBOTICS; SPINE; THEORETICAL MODEL;

ALGORITHMS; BIOMECHANICS; FEMUR; HUMANS; MODELS, THEORETICAL; PHANTOMS, IMAGING; RADIOGRAPHY, INTERVENTIONAL; ROBOTICS; SPINE; SURGERY, COMPUTER-ASSISTED;

EID: 84860650517     PISSN: 02780062     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMI.2012.2185708     Document Type: Article

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