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Method of automatic guiding a C-arm X-ray device

  • US 6,491,429 B1
  • Filed: 09/08/2000
  • Issued: 12/10/2002
  • Est. Priority Date: 09/08/2000
  • Status: Expired due to Term
First Claim
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1. Method of automatically guiding a C-arm X-ray device which is equipped with a motorized exact positioning unit comprising the steps of:

  • (A) attaching a first reference element (3) at a bone (4) or bone joint to be surgically treated;

    (B) positioning the C-arm X-ray device (1) in a desired position with a desired plane of projection (2) at the bone (4) or bone joint to be surgically treated;

    (C) measuring a position and orientation of a second reference element (6) at the C-arm X-ray device (1) with respect to an on-site three-dimensional system of coordinates (5);

    (D) determining a position and orientation of the plane of projection (2) with respect to the on-site system of coordinates (5);

    (E) measuring a position and orientation of the first reference element (3) at the bone (4) or bone joint with respect to the on-site three-dimensional system of coordinates (5);

    (F) referencing the position and orientation of the plane of projection (2) to the position and orientation of the first reference element (3); and

    (G) displacing the bone (4) or bone joint in order to effect a desired surgical treatment at the bone (4) or bone joint, characterized in that the method further comprises the steps of;

    (H) measuring an actual position and orientation of the displaced bone (4) or bone joint;

    (I) determining a deviation between the actual position and orientation of the first reference element (3) and the position and orientation of the first reference element (3) referenced under step (F);

    (J) determining a new position of the C-arm X-ray device (1) in order to reset the plane of projection (2) as referenced under step (F); and

    (K) guiding the C-arm X-ray device (1) in the new position and adjusting the plane of projection (2) as determined under step (J) by means of an automatic controlling means.

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