@conference{NRDS15a, Author = {M. Neidhardt, O. Rajput, D. Drömann, A. Schlaefer}, Title = {Mobile C-arm Deformation and its implication on Stereoscopic Localization}, Journal = {Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie CURAC'15}, Year = {2015}, Volume = {1}, Pages = {183--187}, Month = {September}, Address = {Bremen, Germany}, Isbn = {978-3-00-050359-7}, Booktitle = {Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie}, Abstract = {Accurate localization in minimally invasive procedures is challenging, particularly in the presence of nonideal imaging systems. Mobile C\-arms present a widely used tool for image guidance, including stereoscopic localization of tools, e.g., during bronchoscopy. However, the localization accuracy is susceptible to non\-idealities like gravitational deformation of the C\-arm gantry. We present a simulation study quantifying the effects of the deformation on two different approaches, namely, external tracking of the gantry pose and marker based pose estimation from within the X\-ray images. A finite element model for a typical C\-arm geometry is used to estimate deformations and their effect on the localization error is determined. Results show possible offsets between the C\-arm source and detector position of up to 12 mm and a detector rotation of 1\°. Furthermore, we demonstrate that localization based on the X\-ray images is superior to external tracking of the gantry, with a target localization error of (0.67 \± 0.25) mm and (4.29 \± 0.69) mm, respectively} } @COMMENT{Bibtex file generated on 2017-7-24 with typo3 si_bibtex plugin. Data from /mtec/publications/2017-2013.html }