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Here, we investigate the feasibility of implementing free-breathing 4D respiratory CBCT for motion mitigated imaging in patients unable to perform a breath-hold or without suspending mechanical ventilation during thoracic interventions. Circular 4D respiratory CBCT imaging trajectories were implemented on a clinical robotic CBCT system using additional real-time control hardware. The circular trajectories consisted of 1\u2009\u00d7\u2009360\u00b0 circle at 0\u00b0 tilt with fixed gantry velocities of 2\u00b0\/s, 10\u00b0\/s, and 20\u00b0\/s. The imaging target was an in-house developed anthropomorphic breathing thorax phantom with deformable lungs and 3D-printed imaging targets. The phantom was programmed to reproduce 3 patient-measured breathing traces. Following image acquisition, projections were retrospectively binned into ten respiratory phases and reconstructed using filtered back projection, model-based, and iterative motion compensated algorithms. A conventional circular acquisition on the system of the free-breathing phantom was used as comparator. Edge Response Width (ERW) of the imaging target boundaries and Contrast-to-Noise Ratio (CNR) were used for image quality quantification. All acquisitions across all traces considered displayed visual evidence of motion blurring, and this was reflected in the quantitative measurements. Additionally, all the 4D respiratory acquisitions displayed a lower contrast compared to the conventional acquisitions for all three traces considered. Overall, the current implementation of 4D respiratory CBCT explored in this study with various gantry velocities combined with motion compensated algorithms improved image sharpness for the slower gantry rotations considered (2\u00b0\/s and 10\u00b0\/s) compared to conventional acquisitions over a variety of patient traces.<\/jats:p>","DOI":"10.1007\/s13246-024-01491-0","type":"journal-article","created":{"date-parts":[[2024,10,24]],"date-time":"2024-10-24T08:03:55Z","timestamp":1729757035000},"page":"1751-1762","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Investigating 4D respiratory cone-beam CT imaging for thoracic interventions on robotic C-arm systems: a deformable phantom study"],"prefix":"10.1007","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0543-9170","authenticated-orcid":false,"given":"Tess","family":"Reynolds","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3002-384X","authenticated-orcid":false,"given":"Owen","family":"Dillon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5941-0739","authenticated-orcid":false,"given":"Yiqun","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0162-8716","authenticated-orcid":false,"given":"Nicholas","family":"Hindley","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4358-378X","authenticated-orcid":false,"given":"J. 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