微创外科机器人导航系统空间映射精度分析与仿真

论文分析了微创外科机器人导航系统空间映射误差的主要来源,定义了空间映射中的四种误差类型。并对每种误差都做了详细的介绍,同时也简要介绍了其他误差源。通过仿真分析标记点定位误差即基准点定位误差对基于仿射坐标系的空间映射精度的影响,得出基准点定位误差与靶点映射误差成正比,基准点在两个空间的定位误差变化范围的差距较小时靶点映射误差较小的结论;通过仿真分析标记点的分布方式对基于仿射坐标系的空间映射精度的影响,得出对空间映射精度影响较大的两种标记点分布方式:共面分布和不能将靶点包围在其分布范围内的标记点分布。共面分布会导致利用仿射坐标系求解映射矩阵时发生畸变,导致映射误差发生突变;靶点在标记点包围区域外时,与靶点在标记点包围区域内时的空间映射相比也会产生很大的靶点映射误差。

Space mapping precision analysis and simulation in navigation system robot-assisted surgery

The main source of space mapping error in the minimally invasive surgical robot navigation system is analyzed.Four types of the space mapping error are described in detail.Through the simulation analysis it is concluded that the benchmark positioning error and the target mapping error is proportional,and the target mapping error is relatively small when the benchmark positioning error range in two dimensions is small.Using simulation analysis to influence the distribution way of marked points space mapping precision based on affine coordinate,two kinds of marked point distribution modes which strongly affects space mapping precision are obtained as the coplanar distribution and the marked point distribution in which the target cannot be surrounded in the distribution scope.Coplanar distribution can lead to aberration when solving mapping matrix by using affine coordinate system and can result in mapping error distortion mutations.When targets are out of the surrounding areas of marked points,the target mapping error will be greater than space mapping when targets are in the surrounding areas of marked points.