Brain Surgery Navigation Surgical Robot Pose Error Compensation And Control

Oriented from the state of the art of surgery robotics system, this paper discussed the feasibility of the MOTOMAN's rebuilding so as to justice whether the robot could achieve the orientation precision which the surgery robotics system need. Analyzing the factors which could work on the orientation precision,I take some measures such as error-compensation matrix , multispot testing and Fuzzy PID so as to control the errors resulting from the robot itself.Meanwhile, I use a way which I construct a middle-coordinate in order to make different coordinates be superposition,and reduce the error of position from another way. Certainy,from the ways mentioned above,we can control the error precision of the robot's position. Through the emulation of the computer, we can draw a conclusion the research talked above proves that the rebuilding of present MOTOMAN is feasible.