title: Experimental evaluation of the accuracy at the C-arm pose estimation with x-ray images.
abstract: C-arm X-ray systems need a high spatial accuracy for applications like cone beam computed tomography and 2D/3D overlay. One way to achieve the needed precision is a model-based calibration of the C-arm system. For such a calibration a kinematic and dynamic model of the system is constructed whose parameters are computed by pose measurements of the C-arm. Instead of common measurement systems used for a model-based calibration for robots like laser trackers, we use X-ray images of a calibration phantom to measure the C-arm pose. By the direct use of the imaging system, we overcome registration errors between the measurement device and the C-arm system. The C-arm pose measurement by X-ray imaging, the new measurement technique, has to be evaluated to check if the measurement accuracy is sufficient for the model-based calibration regarding the two mentioned applications. The scope of this work is a real world evaluation of the C-arm pose measurement accuracy with X-ray images of a calibration phantom using relative phantom movements and a laser tracker as ground truth.
authors.forename: Sabine
authors.initials: S
authors.lastname: Thurauf
authors.forename: Florian
authors.initials: F
authors.lastname: Vogt
authors.forename: Oliver
authors.initials: O
authors.lastname: Hornung
authors.forename: Mario
authors.initials: M
authors.lastname: Korner
authors.forename: M Ali
authors.initials: MA
authors.lastname: Nasseri
authors.forename: Alois
authors.initials: A
authors.lastname: Knoll
mesh_terms: D002138:Calibration; D054893:Cone-Beam Computed Tomography / Q000295:instrumentation* / Q000379:methods*; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008962:Models, Theoretical; D019047:Phantoms, Imaging; D014965:X-Rays