Reference-free calibration method for asynchronous rotation in robotic CT

Geometry calibration for robotic CT system is necessary for obtaining acceptable images under the asynchrony of two manipulators.

We aim to evaluate the impact of different types of asynchrony on images and propose a reference-free calibration method based on a simplified geometry model.

We evaluate the impact of different types of asynchrony on images and propose a novel calibration method focused on asynchronous rotation of robotic CT. The proposed method is initialized with reconstructions under default uncalibrated geometry and uses grid sampling of estimated geometry to determine the direction of optimization. Difference between the re-projections of sampling points and the original projection is used to guide the optimization direction. Images and estimated geometry are optimized alternatively in an iteration, and it stops when the difference of residual projections is close enough, or when the maximum iteration number is reached.

In our simulation experiments, proposed method shows better performance, with the PSNR increasing by 2%, and the SSIM increasing by 13.6% after calibration. The experiments reveal fewer artifacts and higher image quality.

We find that asynchronous rotation has a more significant impact on reconstruction, and the proposed method offers a feasible solution for correcting asynchronous rotation.