[40790]
Title: Mobile C-arm Deformation and its implication on Stereoscopic Localization Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie
Written by: M. Neidhardt, O. Rajput, D. Drömann, A. Schlaefer
in: Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie CURAC'15 September 2015
Volume: 1 Number:
on pages: 183--187
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Address: Bremen, Germany
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ISBN: 978-3-00-050359-7
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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