Automatic and Accurate Repositioning of C-Arm Prototype Using Motion Capture Systems and Deep Learning

Abstract

The C-Arm x-ray system (C-Arm) is a useful medical device commonly used in surgeries that require the use of x-ray images during operations. In some operations, surgeons rely heavily on the mobile C-Arm to effectively execute the surgery. In some cases, the success of the operation is directly correlated with the C-Arm and its ability to be repositioned to any desired position relative to the patient. In this paper, an integrated approach is provided for the automatic and accurate repositioning of a mobile C-Arm. The development of a C-Arm prototype is explained through the use of computer-aided design and manufacturing. To automatically reposition the C-Arm, a two-step integrated approach is introduced that uses motion capture systems and artificial intelligence-based repositioning. In the first step, the C-Arm is repositioned using Vicon motion capture along with a virtual platform and graphic user interface. In the second step, the accuracy of the repositioning of the C-Arm is further improved by incorporating a deep learning convolutional neural network with image processing and point feature matching. Key results indicate successful integration of the proposed method with the C-Arm prototype for the purpose of automatic and accurate repositioning.

RAY-POS: a LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids

“…For both selected combinations, 30 data points were gathered using the C-arm's laser crosses and coordinate paper. According to the Shapiro-Wilk test, x-and y-coordinates of the resulting repositioning error 5 were normally distributed for both combinations, which is why parametric methods have been used for the statistical analysis. Levene's test was used for testing variance homogeneity.…”

“…Several approaches to the C-arm repositioning problem have been proposed in scientific literature. Some of these rely on the use of infra-red-based tracking or motion capturing systems, where reflective markers are attached to parts of the C-arm and localized by an external stereoscopic infra-red camera [4][5][6]. While such systems provide a high level of accuracy, there are also considerable drawbacks such as the line-of-sight problem, a rather limited workspace and mandatory external components leading to further cluttering of the already confined OR environment.…”