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Kinematics parameter identification and accuracy evaluation method for neurosurgical robot / 生物医学工程学杂志
Article in Zh | WPRIM | ID: wpr-781836
Responsible library: WPRO
ABSTRACT
The kinematic model parameter deviation is the main factor affecting the positioning accuracy of neurosurgical robots. To obtain more realistic kinematic model parameters, this paper proposes an automatic parameters identification and accuracy evaluation method. First, an identification equation contains all robot kinematics parameter was established. Second, a multiple-pivot strategy was proposed to find the relationship between end-effector and tracking marker. Then, the relative distance error and the inverse kinematic coincidence error were designed to evaluate the identification accuracy. Finally, an automatic robot parameter identification and accuracy evaluation system were developed. We tested our method on both laboratory prototypes and real neurosurgical robots. The results show that this method can realize the neurosurgical robot kinematics model parameters identification and evaluation stably and quickly. Using the identified parameters to control the robot can reduce the robot relative distance error by 33.96% and the inverse kinematics consistency error by 67.30%.
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Full text: 1 Index: WPRIM Main subject: Biomechanical Phenomena / Robotic Surgical Procedures Type of study: Diagnostic_studies / Prognostic_studies Language: Zh Journal: Journal of Biomedical Engineering Year: 2019 Type: Article
Full text: 1 Index: WPRIM Main subject: Biomechanical Phenomena / Robotic Surgical Procedures Type of study: Diagnostic_studies / Prognostic_studies Language: Zh Journal: Journal of Biomedical Engineering Year: 2019 Type: Article