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Sepehri, Anoush

C-arms are mobile X-ray machines frequently used during orthopedic surgeries. The current standard for operating these machines is for radiology technologists to maneuver them into position, often intraoperatively around a patient, to capture an X-ray of a region of interest. Because these machines can be over 350 kg, they can be difficult to maneuver, thus leading to higher risks of musculoskeletal injury. Furthermore, their size and mass result in limited positioning accuracy. Often multiple images, referred to as scouting images, are required to get the exact X-ray necessary for the surgeons. This can result in unnecessary radiation exposure which is harmful over the long term. The work in this paper combines two previously developed technologies, the Easy-C and the OPTIX to develop an autonomous, closed-loop controlled, positioning system for C-arms. The OPTIX is an optical tracking system that can be used to track the position of the C-arm base relative to the operating room. The Easy-C is a power-assisted robotic base that can be used to eliminate the need to manually position and move the C-arm. The system developed and presented in this work utilizes the OPTIX tracking system for position feedback to the Easy-C to enable autonomous positioning using closed-loop control. Preliminary experiments were conducted with this system by adding 40 kg to the Easy-C and moving the robotic base to target positions. Translational and rotational errors were in most cases less than 1 cm and 1 degree. While several limitations were discovered, the results and conclusions drawn from this work demonstrate that the robotic base could be an effective tool in clinical applications.

Text

University of British Columbia. MECH 493

Vancouver : University of British Columbia Library

10.14288/1.0420690

Applied Science, Faculty of; Mechanical Engineering, Department of

Undergraduate

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