Pivot calibration concept for sensor attached mobile c-arms
Lee SC, Seibold M, Fuernstahl P, Farshad M, Navab N (2020)
Publication Type: Conference contribution
Publication year: 2020
Journal
Publisher: SPIE
Book Volume: 11315
Conference Proceedings Title: Proceedings of SPIE - The International Society for Optical Engineering
Event location: Houston, TX, USA
ISBN: 9781510633971
DOI: 10.1117/12.2547581
Abstract
Medical augmented reality has been actively studied for decades and many methods have been proposed to revolutionize clinical procedures. One example is the camera augmented mobile C-arm (CAMC), which provides a real-time video augmentation onto medical images by rigidly mounting and calibrating a camera to the imaging device. Since then, several CAMC variations have been suggested by calibrating 2D/3D cameras, trackers, and more recently a Microsoft HoloLens to the C-arm. Different calibration methods have been applied to establish the correspondence between the rigidly attached sensor and the imaging device. A crucial step for these methods is the acquisition of X-Ray images or 3D reconstruction volumes; therefore, requiring the emission of ionizing radiation. In this work, we analyze the mechanical motion of the device and propose an alternative method to calibrate sensors to the C-arm without emitting any radiation. Given a sensor is rigidly attached to the device, we introduce an extended pivot calibration concept to compute the fixed translation from the sensor to the C-arm rotation center. The fixed relationship between the sensor and rotation center can be formulated as a pivot calibration problem with the pivot point moving on a locus. Our method exploits the rigid C-arm motion describing a Torus surface to solve this calibration problem. We explain the geometry of the C-arm motion and its relation to the attached sensor, propose a calibration algorithm and show its robustness against noise, as well as trajectory and observed pose density by computer simulations. We discuss this geometric-based formulation and its potential extensions to different C-arm applications.
Involved external institutions
Technische Universität München (TUM)
Germany (DE)
Johns Hopkins University (JHU)
United States (USA) (US)
University of Zurich / Universität Zürich (UZH)
Switzerland (CH)
Germany (DE)
Johns Hopkins University (JHU)
United States (USA) (US)
University of Zurich / Universität Zürich (UZH)
Switzerland (CH)
How to cite
APA:
Lee, S.C., Seibold, M., Fuernstahl, P., Farshad, M., & Navab, N. (2020). Pivot calibration concept for sensor attached mobile c-arms. In Baowei Fei, Cristian A. Linte (Eds.), Proceedings of SPIE - The International Society for Optical Engineering. Houston, TX, USA: SPIE.
MLA:
Lee, Sing Chun, et al. "Pivot calibration concept for sensor attached mobile c-arms." Proceedings of the Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, Houston, TX, USA Ed. Baowei Fei, Cristian A. Linte, SPIE, 2020.
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