Closed-form inverse kinematic solution for fluoroscopic C-arms

Lars Matthäus*, Norbert Binder, Christoph Bodensteiner, Achim Schweikard

*Corresponding author for this work
10 Citations (Scopus)


This paper presents a closed-form solution to the inverse kinematic problem for general fluoroscopic C-arms. The resulting algorithm determines the necessary joint parameters for imaging a given point of interest p→ from a given direction z→. The existence and uniqueness of the solution is proven for all p→ and z→. The inverse kinematics lays the basis for a completely robotized C-arm. The paper describes some applications for such an automatized device and presents the first results.

Original languageEnglish
JournalAdvanced Robotics
Issue number8
Pages (from-to)869-886
Number of pages18
Publication statusPublished - 01.08.2007


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