| This paper is devoted to several issues on surgical robot of stereotactic neurosurgery. Based upon the requirement of surgical operation, the general structure of the system is illuminated. Kinematics of the MOTOMAN UP6 robot are analyzed. The control structure and the control software are introduced. The control method adopted by MOTOMAN UP6 is simulated. Adjustment procedure of the operation control is summarized. In order to use it in practice, several compensation methods of robot position errors is analyzed simply. According to pratical demands, the control software of surgical navigation syetem of robot-assisted neurosurgery are developed. |
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