| CPC A61B 34/20 (2016.02) [A61B 6/4441 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/2065 (2016.02)] | 18 Claims |
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1. A method for calibrating a C-arm imaging device, comprising:
for each of a plurality of positions of the C-arm imaging device:
determining an angulation value and an orbital value of the C-arm imaging device,
preoperatively receiving an image of a calibration fixture from the C-arm imaging device, the imaging having been taken while the C-arm imaging device had the angulation value and the orbital value,
determining the position of the calibration fixture and the position of a tracking array positioned on the C-arm imaging device relative to a detector plane of a detector of the C-arm imaging device using a tracking system,
determining intrinsic parameters using the image of the calibration fixture and the position of the calibration fixture, and
determining extrinsic parameters using the position of the tracking array relative to the detector plane; and
generating a model configured to receive orbital and angulation values for a current pose of the C-arm imaging device as input and configured to provide as output extrinsic and intrinsic parameters of the C-arm imaging device, wherein generating the model includes:
determining initial parameters using the intrinsic parameters, the extrinsic parameters, the angulation value, and the orbital value of the plurality of positions of the C-arm imaging device,
determining intermediate parameters using the intrinsic parameters, the angulation value, and the orbital value of the plurality of positions of the C-arm imaging device, and a fixed set of extrinsic parameters, and
determining final parameters using the initial parameters and the intermediate parameters,
wherein at least two of the images received were taken while the C-arm imaging device is in motion.
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