The Application Accuracy of NeuroMaster: a Robot System for Stereotactic Neurosurgery

摘要

The application accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. This paper analyzed the application accuracy of a neurosurgical robot system and presented the details on how to improve it through improving the robot absolute positioning accuracy. Firstly the robot system was introduced briefly and the system error was analyzed. Secondly the robot was calibrated according to a revised Denavit-Hartenberg kinematic model. The neural network was used to compensate the joint transmitting error. Finally the application accuracy of the robot system was measured. The result showed that the maximum value of the application accuracy was 2.4 millimeters, and the mean value was 1.3 millimeters, which proved the effectiveness of the efforts