Figure 1.

Prototype C-arm and navigation system for CBCT guidance of surgical interventions. The main components of the C-arm prototype are (a) a flat-panel detector, (b) X-ray tube, and (c) a motorized orbit with computer-controlled x-ray exposure, detector readout, and (continuous) C-arm rotation. CBCT reconstructions are computed using a GPU-based variation of the Feldkamp algorithm, with images available on the acquisition computer (d and e) and integrated with video endoscopy, planning data, and surgical navigation at tableside (f). A variety of endoscopic video and tracking technologies (g–i) are integrated with the system.