Three-dimensional angiography using mobile C-arm with IMU sensor attached: Initial study

Three-dimensional (3D) computed tomography (CT) imaging is becoming an essential demand in several clinical procedures. Mobile C-arm is a useful imaging tool for image-guided interventional radiology. C-arm systems are provided with X-ray image intensifier (XRII) or flat-panel detectors. Essentially, C-arm CT systems requires scanners with flat-panel detectors for its ability to provide homogenous image quality and improve the resolution of low-contrast subjects compared to those equipped with XRII. However, C-arm systems with XRIIs are widely used in several interventional procedures. Such systems can provide a high quality two-dimensional (2D) fluoroscopic images that facilitates minimal invasive surgery. However, it is unable to provide depth information for 3D imaging due to several factors. First, the gantry of XRII-based C-arms is usually operated manually, where the rotation angle is determined using printed angle scale attached to the scanner gantry. Second, the gantry orbital rotation is normally limited to angular range less than theoretically required for exact 3D reconstruction. Third, considering the offset-scan geometry, which is common configuration in mobile C-arm with XRII, the number of rays passing through field-of-view (FOV) is limited. In this paper, we develop a 3D angiographic imaging system using commercial C-arm system equipped with XRII. First, an in-house made gantry rotation unit is developed to control the scanner orbital rotation. Second, the gantry rotation is traced using inertial measurement unit (IMU) sensor attached to the scanner gantry. Geometry information obtained from IMU sensor are used to define the gantry position in the 3D space and synchronized with detector measurements. The SCAN algorithm is used for the 3D reconstruction and achieved results are of high quality.