Sabine Thuerauf

Friedrich-Alexander-University Erlangen-Nürnberg | FAU · Department of Artificial Intelligence in Biomedical Engineering

C-arm X-ray systems are commonly used imaging modalities in medical interventions. With state-of-the-art C-arms, it is possible to perform 2D/3D-overlays which support the physician during a procedure. For achieving the required accuracy, a spatial calibration of the system is needed. This work evaluates how accurately the C-arm pose can be measure...

In interventional radiology or surgery, C-arm systems are typical imaging modalities. Apart from 2D X-ray images, C-arm systems are able to perform 2D/3D overlays. For this application, a previously recorded 3D volume is projected on a 2D X-ray image for providing additional information to the clinician. The required accuracy for this application i...

Image-based pose measurements relative to phantoms are used for various applications. Some examples are: tracking, registration or calibration. If highly precise measurements are needed, even changes of environment factors influence the measurements.

C-arm X-ray systems are commonly used imaging modalities in surgery or interventional radiology. In addition to typical 2D X-ray images, 2D/3D overlays can be performed by these systems. For the 2D/3D overlay a high spatial precision of 1.5mm is needed. This precision is only achievable, if a spatial calibration of the system is performed. In this...

C-arm X-ray systems need a high spatial accuracy for applications like cone beam computed tomography and 2D/3D overlay. One way to achieve the needed precision is a model-based calibration of the C-arm system. For such a calibration a kinematic and dynamic model of the system is constructed whose parameters are computed by pose measurements of the...

Applications like cone beam computed tomographies (CBCTs) or 2D-3D overlays need a high geometrical accuracy of the C-arm system. In order to achieve this, geometry calibrations are performed to increase the accuracy given by the kinematics of the system. Commonly X-ray images of a phantom with known geometry are taken for the calibration. The imag...

A method for operating a robotic device with a kinematic chain of mobile components is provided. The kinematic chain includes a function-specific end-effector at one end. Sensor values are acquired by sensors of the robotic device arranged on the kinematic chain or in the environment of the kinematic chain. A force acting on the end-effector or ano...

A method is provided for operating a robotic device having a kinematic chain of movable components. The method includes: detecting respective values at least one characteristic of a plurality of the movable components by sensors arranged on the kinematic chain or in the vicinity of the kinematic chain; ascertaining a maximum value based on the dete...