Self-Calibration and Simultaneous Motion Estimation for C-Arm CT Using Fiducial

C-arm cone-beam CT systems have an increasing popularity in the clinical environment due to their highly flexible scan trajectories.Recent work used these systems to acquire images of the knee joint under weight-bearing conditions. During the scan, the patient is in a standing or in a squatting position and is likely to show involuntary motion, which corrupts image reconstruction. The state-of-the-art fully automatic motion compensation relies on fiducial markers for motion estimation. Due to the not reproducible horizontal trajectory, the system has to be calibrated with a calibration phantom before or after each scan. In this work we present a method to incorporate a self-calibration into the existing motion compensation framework without the need of prior geometric calibration. Quantitative and qualitative evaluations on a numerical phantom as well as clinical data, show superior results compared to the current state-of-the-art method. Moreover, the clinical workflow is improved, as a dedicated system calibration for weight-bearing acquisitions is no longer required.