Pose Measurement And Error Analysis In Stereotactic Surgery System

The research on stereotactic surgery system is an important topic with the rapid development of modern surgery techniques. Stereotactic surgery has revolutionized traditional surgical techniques, and leads to better patient outcomes and faster recoveries. Based on stereotactic Prototyping surgery System and Aiming at improving system surgery precision, this thesis accomplished robot pose measuring module developing, and devotes to research and experiment on analyzing of surgery errors.There are many factors to deteriorate the stereotactic surgery system's accuracy such as localizer, registration methods and system operator. In order to solving pose measurement problem, three absolute robot pose measuring interface modules were discussed. The relationship between sensor quantization error and robot space localization resolution was analyzed. Intraoperative registration is an important link in Stereotactic surgery. In order to improving system registration precision, a new type of mark and its fiducial position recognizing method was clarified. The image Fiducial identification error was estimated by model experiment.The precision of stereotacitic surgery is a complicated and complex result, this thesis focuses on analyzing all the factors that cause surgery errors. System registration error is a main error. Stereotacitic robot frame is not only the localizer but also the executor, it is another key error source. Based on the analysis of robot localization error, several remedy opinions were elicited. For the future research work's going on wheels, system error redistribution and synthesis were discussed, some system operating regulations were established.Based on these theoretic analysis, some model surgery experiments have been conducted, of which the results show that : after system improving , the maximal system surgery distant error has been improved by one times to under 6 mm. The fiducial location precision in image space has been improved to sub-pixel when using new mark method. Experiment proved the technology adopted in this system is feasible, and methods for improving system precision presented in this thesis are effective.