Mobile C-Arm Prototyping and Repositioning using Motion Capture Guidance

摘要

One of the most important surgical tools in spinal surgery is the C-Arm X-ray System (C-Arm). This system works fine for most surgical procedures but falls short when the C-Arm must be repositioned during complicated surgical procedures for validation X-rays. The aim of this paper is to develop an accurate repositioning method with the use of motion capture technology. This will be a novel approach to creating a repositioning integrated system. A virtual prototype and a virtual platform were developed that quantified the dynamics of the C-Arm maneuvering. Next, a complete kinematic model of the C-Arm was developed to relate the joint angles with the respective Cartesian coordinates for critical points on the C-Arm. A fully automatic robotic C-Arm prototype was....