ArticleInternational journal of computer assisted radiology and surgery2022
RAY-POS: a LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids.
Article in International journal of computer assisted radiology and surgery, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Robotic Intraoperative Imaging in Orthopaedic and Trauma Surgery: Initial Clinical Experience With a Self-Driving Mobile 3D C-Arm in the First 300 Cases.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
- [Self-driving, fully motorized C-arm in spinal surgery: a comparative study].Orthopadie (Heidelberg, Germany) · 2026Article
- [Mobile C-arm-Radiation exposure and workflow killer? : Potential of an innovative assistance system for intraoperative positioning].Unfallchirurgie (Heidelberg, Germany) · 2023Review
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Authors and funding
8 authors.
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Abstract
purposeIn current clinical practice, intraoperative repositioning of mobile C-arms is challenging due to a lack of visual cues and efficient guiding tools. This can be detrimental to the surgical workflow and lead to additional radiation burdens for both patient and personnel. To overcome this problem, we present our novel approach Lidar-based X-ray Positioning for Mobile C-arms (RAY-POS) for assisting circulating nurses during intraoperative C-arm repositioning without requiring external aids.
methodsRAY-POS consists of a localization module and a graphical user interface for guiding the user back to a previously recorded C-Arm position. We conducted a systematic comparison of simultaneous localization and mapping (SLAM) algorithms using different attachment positions of light detection and ranging (LIDAR) sensors to benchmark localization performance within the operating room (OR). For two promising combinations, we conducted further end-to-end repositioning tests within a realistic OR setup.
resultsSLAM algorithm gmapping with a LIDAR sensor mounted 40 cm above the C-arm's horizontal unit performed best regarding localization accuracy and long-term stability. The distribution of the repositioning error yielded an effective standard deviation of 7.61 mm.
conclusionWe conclude that a proof-of-concept for LIDAR-based C-arm repositioning without external aids has been achieved. In future work, we mainly aim at extending the capabilities of our system and evaluating the usability together with clinicians.
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