Positioning accuracy analysis and error compensation of medical robot assisted for mandible reconstruction surgery

被引：0
|
作者：
Kong X.-Z. [1 ]
Duan X.-G. [1 ]
Wang Y.-G. [1 ]
Zhao H.-H. [2 ]
Guo C.-B. [3 ]
机构：
[1] Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing
[2] College of Mechanical Engineering, University of Jinan, Jinan, 250022, Shandong
[3] Peking University of Stomatology, Beijing
来源：
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2016年 / 36卷 / 12期
关键词：
Medical robot; Positioning accuracy; Target mapping error; Zero position error;
D O I：
10.15918/j.tbit1001-0645.2016.12.008
中图分类号：
学科分类号：
摘要：
In order to improve the accuracy of the mandible reconstruction robot, the positioning accuracy and error compensation was studied using NDI Polaris based on analysis of surgery procedure. The kinematics parameters were identified based on a revised D-H kinematics model, taking small distortions of the joint axes and link parameter into consideration. Joint transmission error and zero position error were compensated with experiments. Absolute positioning accuracy of the robot was measured using an accurate NDI Polaris measure device according to the model. The experiment results show that the maximum value and the mean value of the absolute positioning accuracy are much better than the previous values after compensating the errors caused by link parameter, transmission and zero position. The method can be widely used in series robot error compensation. © 2016, Editorial Department of Transaction of Beijing Institute of Technology. All right reserved.
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页码：1248 / 1252and1258
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