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The development and error analysis of a kinematic parameters based spatial positioning method for an orthopedic navigation robot system
Author(s) -
Pei Baoqing,
Zhu Gang,
Wang Yu,
Qiao Huiting,
Chen Xiangqian,
Wang Binbin,
Li Xiaoyun,
Zhang Weijun,
Liu Wenyong,
Fan Yubo
Publication year - 2017
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1782
Subject(s) - kinematics , computer science , navigation system , robot , forward kinematics , computer vision , artificial intelligence , degrees of freedom (physics and chemistry) , simulation , inverse kinematics , physics , classical mechanics , quantum mechanics
Background Spatial positioning is the key function of a surgical navigation robot system, and accuracy is the most important performance index of such a system. Methods The kinematic parameters of a six degrees of freedom (DOF) robot arm were used to form the transformation from intraoperative fluoroscopy images to a robot's coordinate system without C‐arm calibration and to solve the redundant DOF problem. The influences of three typical error sources and their combination on the final navigation error were investigated through Monte Carlo simulation. Results The navigation error of the proposed method is less than 0.6 mm, and the feasibility was verified through cadaver experiments. Error analysis suggests that the robot kinematic error has a linear relationship with final navigation error, while the image error and gauge error have nonlinear influences. Conclusions This kinematic parameters based method can provide accurate and convenient navigation for orthopedic surgeries. The result of error analysis will help error design and assignment for surgical robots.