Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom.
Lejing WangRui ZouSimon WeidertJürgen LandesEkkehard EulerDarius BurschkaNassir NavabPublished in: Medical Imaging: Image-Guided Procedures (2011)
Keyphrases
- closed form
- inverse kinematics
- position and orientation
- pre operative
- intraoperative
- surgical navigation
- end effector
- degrees of freedom
- x ray
- robot arm
- pose estimation
- minimally invasive surgery
- motion planning
- computer assisted
- vision system
- robot manipulators
- point correspondences
- surgical instruments
- fluoroscopic images
- ct data
- reference frame
- image guided
- joint angles
- minimally invasive
- real time
- tissue deformation
- prostate brachytherapy
- d objects
- control system