3-DOF C-Arm Robotic
System for Medical
Scanning Simulation

A C-arm robot is a highly precise mechanical system designed to position and orient an imaging device in three-dimensional space. The system derives its name from its compact C-shaped frame, which allows for wide angular coverage around a target object. Traditionally utilized in medical environments, this robotic architecture is designed to capture X-ray images from multiple angles during surgeries, enabling doctors to visualize internal structures without requiring large, invasive incisions. While full six-degree-of-freedom robots exist, implementing a focused 3-Degree-of-Freedom (3-DOF) configuration offers significant advantages, including lower costs, reduced mechanical complexity, and improved overall reliability.

The primary objective of this project is to design, develop, and build a functional prototype of a 3-DOF C-Arm robotic system that accurately performs the precise linear and rotary movements necessary for scanning applications. By replicating the complex motion and functionality of professional Medical C-Arm imaging systems , this project aims to capture a sequence of images from varying angles around a subject and seamlessly combine them into a single, comprehensive view using image stitching techniques. To achieve this, the design heavily focuses on ensuring smooth, repeatable motion, structural stability, and accurate positioning. Furthermore, the project involves developing an automated control system powered by a microcontroller, such as a Raspberry Pi, to govern the scanning process. Ultimately, this work seeks to deliver a functional prototype that serves as a robust foundation for more advanced robotic imaging platforms, thereby contributing to enhanced diagnostic accuracy and minimally invasive surgical assistance.

The development of this C-Arm robot began with meticulous 3D modeling in Fusion 360 to ensure a physically accurate and highly functional prototype. I started by taking precise dimensions of the selected stepper and servo motors, translating those real world constraints directly into the digital workspace to prevent alignment issues. Driven by rigorous structural and kinematic calculations, I and my team custom-designed the individual frame parts and the manipulator assembly to guarantee seamless hardware integration, robust mechanical stability, and precise positioning across all three degrees of freedom during the scanning process.