{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T20:32:07Z","timestamp":1786393927758,"version":"build-2736575974"},"reference-count":51,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T00:00:00Z","timestamp":1783641600000},"content-version":"vor","delay-in-days":9,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["aapm.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Medical Physics"],"published-print":{"date-parts":[[2026,7]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Dual\u2010arm robotic cone\u2010beam computed tomography (CBCT) systems are susceptible to geometric instability due to their decoupled kinematics, which can limit their practical application.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Purpose<\/jats:title>\n                    <jats:p>This study aims to develop and evaluate a synergistic framework for improving geometric calibration and reconstruction consistency in flexible dual\u2010arm robotic CBCT platforms.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>We introduce the Synergistic Calibration and Reconstruction (SyCaR) framework. It uses a two\u2010stage geometric calibration strategy that combines real\u2010time external metrology for projection\u2010wise pose estimation with an optional reference\u2010free projection\u2010consistency refinement for residual geometric correction. For reconstruction, we developed a Pose\u2010Driven Feldkamp\u2010Davis\u2010Kress (PD\u2010FDK) algorithm that operates directly on per\u2010projection pose data to account for detector misalignments and non\u2010ideal source\u2010detector trajectory deviations.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Physical phantom experiments showed that encoder geometry produced severe streaking artifacts and structural inconsistency, whereas motion\u2010capture geometry restored clearer phantom structures. In the numerical study, PD\u2010FDK achieved the best PSNR and RMSE among the evaluated analytical methods, improving from 28.99 dB and 0.036 with standard FDK to 32.72 dB and 0.023. Across numerical and physical experiments, PD\u2010FDK reduced geometry\u2010related artifacts and showed consistent performance among FDK type methods under the tested conditions.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The proposed SyCaR framework provides a feasible computational approach for mitigating geometric instability in dual\u2010arm robotic CBCT. The combination of geometric calibration and PD\u2010FDK reconstruction improved reconstruction consistency and reduced geometry\u2010related artifacts under the evaluated numerical and physical settings, while retaining the computational efficiency of analytical reconstruction. This work supports the further development of flexible dual\u2010arm robotic CBCT for biomedical imaging applications, although broader validation with more diverse trajectories, objects, and acquisition conditions remains\u00a0necessary.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1002\/mp.70558","type":"journal-article","created":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T08:14:13Z","timestamp":1783671253000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A synergistic framework for geometric calibration and reconstruction in dual\u2010arm robotic cone\u2010beam computed tomography"],"prefix":"10.1002","volume":"53","author":[{"given":"Zeyu","family":"Lai","sequence":"first","affiliation":[{"name":"School of Mathematical Sciences Zhejiang University Hangzhou 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