Closed-form inverse kinematic solution for fluoroscopic C-arms

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.